diff --git a/.gitattributes b/.gitattributes index b65d4c7ad508f5a465246eec583bde595af953a4..39f0fc4020eda3e93e969af791fe20ac0e0fbc5d 100644 --- a/.gitattributes +++ b/.gitattributes @@ -41227,3 +41227,13 @@ actions/dynamic_recovery/DR11/session_007/raw/sensors/robowrist_imu_left.db filt actions/dynamic_recovery/DR11/session_007/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text actions/dynamic_recovery/DR11/session_007/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text actions/dynamic_recovery/DR11/session_007/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text +actions/dynamic_recovery/DR13/session_010/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text +actions/dynamic_recovery/DR13/session_010/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text +actions/dynamic_recovery/DR13/session_010/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text +actions/dynamic_recovery/DR13/session_010/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text +actions/dynamic_recovery/DR13/session_010/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text +actions/dynamic_recovery/DR13/session_010/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text +actions/dynamic_recovery/DR13/session_010/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text +actions/dynamic_recovery/DR13/session_010/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text +actions/dynamic_recovery/DR13/session_010/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text +actions/dynamic_recovery/DR13/session_010/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text diff --git a/actions/dynamic_recovery/DR13/session_009/annotations.json b/actions/dynamic_recovery/DR13/session_009/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..2441d2b21d8ae53394d0451cf58a9ffc54ad047b --- /dev/null +++ b/actions/dynamic_recovery/DR13/session_009/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "DR13", + "instruction": "Carry the box in both hands and walk back and forth across the room. The contents may move around. Carry on as best you can.", + "segments": [ + { + "id": "segment1", + "duration_s": 135.900022, + "video": "left_eye", + "video_t_start": 0.039960293606292205 + } + ], + "episodes": [ + { + "id": "10012786-9d0d-4701-bd19-3efd37bfbb0b", + "segment": "segment1", + "action": "DR13", + "quality": "valid", + "start_s": 0.696, + "end_s": 71.559, + "t_start": 0.736, + "t_end": 71.599, + "instruction": "Carry the box in both hands and walk back and forth across the room. The contents may move around. Carry on as best you can." + }, + { + "id": "3de83e31-8597-48d1-86cb-8cee5d25df52", + "segment": "segment1", + "action": "DR13", + "quality": "valid", + "start_s": 71.559, + "end_s": 132.855, + "t_start": 71.599, + "t_end": 132.895, + "instruction": "Carry the box in both hands and walk back and forth across the room. The contents may move around. Carry on as best you can." + } + ] +} diff --git a/actions/dynamic_recovery/DR13/session_009/cameras/gsi_online_calibration.json b/actions/dynamic_recovery/DR13/session_009/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..bdcb4b1efb3b96fadfbfac53afb6e0de29dfd729 --- /dev/null +++ b/actions/dynamic_recovery/DR13/session_009/cameras/gsi_online_calibration.json @@ -0,0 +1,266 @@ +{ + "camera_fit": { + "groups_dropped": [ + { + "matches": 31, + "median_px": 3.84, + "pair": [ + "left", + "right" + ] + } + ], + "groups_used": 14, + "median_px": 0.404 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 1.4572, + "gate_fail": [], + "held_out_px_after": 0.632, + "held_out_px_before": 20.073, + "inliers": 1603, + "position_fitted": false, + "rotvec_deg": [ + -0.9964, + -0.103, + -1.0582 + ], + "split_deg": 0.1164, + "usable": true + }, + 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b/actions/dynamic_recovery/DR13/session_009/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..6afaf3c004b3a3ed30d4b2928d328e883a77e067 --- /dev/null +++ b/actions/dynamic_recovery/DR13/session_009/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff7fa2e00e24489b6590656e205bf939b5b8c08c763bb1439a07fe2b28f1b504 +size 782164 diff --git a/actions/dynamic_recovery/DR13/session_009/meta.json b/actions/dynamic_recovery/DR13/session_009/meta.json index 6698ac8ac3f35b7c27e9d47c773760fa6cb963dc..fccfb8c17ca06809b44b844226a02c03b4354de2 100644 --- a/actions/dynamic_recovery/DR13/session_009/meta.json +++ b/actions/dynamic_recovery/DR13/session_009/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": { @@ -495,12 +495,126 @@ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 28.06, + "offset_rotvec": [ + 0.4858, + 0.0136, + 0.0607 + ], + "dev_deg": { + "median": 5.5, + "p90": 11.99 + }, + "samples": 4041, + "accepted": 3973, + "wrist_pos_err_mm_median": 27.4, + "per_camera": { + "head": { + "samples": 4041, + "accepted": 3973, + "gate_deg": 30.0, + "offset_deg": 28.06, + "tier": "primary", + "dev_deg_median": 5.5, + "wrist_pos_err_mm_median": 27.4 + } + }, + "frames_by_state": { + "ace_sample": 15916, + "interpolated": 320, + "mean_hand": 77, + "no_body_fit": 3 + }, + "observed_fraction": 0.9951, + "observed_fraction_of_valid": 0.9953, + "palm_axis_vs_markers_deg": { + "gsi": 26.2, + "smplx": 0.67 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.1, + "p90": 6.1 + }, + "registered": { + "median": 5.5, + "p90": 6.4 + } + } + }, + "right": { + "offset_deg": 21.81, + "offset_rotvec": [ + 0.3672, + 0.0275, + 0.0963 + ], + "dev_deg": { + "median": 4.89, + "p90": 10.7 + }, + "samples": 4076, + "accepted": 4040, + "wrist_pos_err_mm_median": 37.5, + "per_camera": { + "head": { + "samples": 4076, + "accepted": 4040, + "gate_deg": 30.0, + "offset_deg": 21.81, + "tier": "primary", + "dev_deg_median": 4.89, + "wrist_pos_err_mm_median": 37.5 + } + }, + "frames_by_state": { + "ace_sample": 16176, + "interpolated": 128, + "mean_hand": 9, + "no_body_fit": 3 + }, + "observed_fraction": 0.9993, + "observed_fraction_of_valid": 0.9994, + "palm_axis_vs_markers_deg": { + "gsi": 22.03, + "smplx": 0.73 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.0, + "p90": 9.4 + }, + "registered": { + "median": 7.9, + "p90": 11.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T20:57:53.208688+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_009", "family": "dynamic_recovery", "primitive": "DR13", "source_session": "20261020/DR13/20261020_094459_session47" }, + "task": { + "primitive": "DR13", + "instruction": "Carry the box in both hands and walk back and forth across the room. The contents may move around. Carry on as best you can." + }, "objects": [ { "name": "BigBox", diff --git a/actions/dynamic_recovery/DR13/session_009/motions/hands_mano.npz b/actions/dynamic_recovery/DR13/session_009/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..9f9f2ef28573e83c9e2ba2ae2d20ed3f9fbf38d9 --- /dev/null +++ b/actions/dynamic_recovery/DR13/session_009/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54f763b9716fea8e2560224f9a847fa7353fb5c7e913ebbb6f60c6716d6b71c6 +size 5427910 diff --git a/actions/dynamic_recovery/DR13/session_009/motions/objects.json b/actions/dynamic_recovery/DR13/session_009/motions/objects.json index b2912840c242e9e3e3373117070e2be9294641f2..6720256127b4d30cdb554bdf2c7305aee37f2340 100644 --- a/actions/dynamic_recovery/DR13/session_009/motions/objects.json +++ b/actions/dynamic_recovery/DR13/session_009/motions/objects.json @@ -1,6 +1,6 @@ { "session": "20261020/DR13/20261020_094459_session47", - "generated_at_utc": "2026-10-28T10:21:25.874028+00:00", + "generated_at_utc": "2026-10-29T12:56:50.122291+00:00", "generated_by": "scripts/export_objects.py", "frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)", "grid": "body grid (smplx.npz t / frame_index)", diff --git a/actions/dynamic_recovery/DR13/session_009/motions/smplx.npz b/actions/dynamic_recovery/DR13/session_009/motions/smplx.npz index 292b22df8ec2b0985faf841e1ff56a7e15bff5a8..fb3a3e5303173aa8a66244f915d645e14c8e5805 100644 --- a/actions/dynamic_recovery/DR13/session_009/motions/smplx.npz +++ b/actions/dynamic_recovery/DR13/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3a395b9be883da2225315c69b3b4e041371898a8d27c8058a5e8009664fb5a90 -size 6266371 +oid sha256:f8659024b6671c1d82958e72653b85a628dba83cbef73b69199bf98cb5680c8c +size 11697503 diff --git a/actions/dynamic_recovery/DR13/session_010/cameras/poses.npz b/actions/dynamic_recovery/DR13/session_010/cameras/poses.npz new file mode 100644 index 0000000000000000000000000000000000000000..3573d50841ee259bda2259c66bdfa549e3012f79 --- /dev/null +++ b/actions/dynamic_recovery/DR13/session_010/cameras/poses.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8cd1635cb76afaad9b0c5e39d9b98d88d901b2cc9a7dc7aa4b27b7f44cd99947 +size 1490030 diff --git a/actions/dynamic_recovery/DR13/session_010/meta.json b/actions/dynamic_recovery/DR13/session_010/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e4229ff5b87b30c0738f7cadb2e51e44749ba770 --- /dev/null +++ b/actions/dynamic_recovery/DR13/session_010/meta.json @@ -0,0 +1,526 @@ +{ + "schema_version": 1, + "session": "EgoMotionActions/20261027/DR13/20261027_050905_session49", + "session_id": "20261027_050905_session49", + "primitive": "DR13", + "batch": "20261027", + "participant": "xiaobo", 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1480.241943 +5388 44.891 1793077591980 20.084934 1621.814575 1545.527710 208.418076 1605.529419 1585.566040 172.557220 1583.278076 1502.274902 72.720009 1583.678833 1480.687744 20.120375 1621.767212 1545.470581 208.484299 1605.523071 1585.508789 172.531830 1583.289795 1502.409790 72.643730 1583.720947 1480.667236 +5389 44.900 1793077591988 22.350567 1622.272827 1546.221680 210.760132 1606.180176 1585.672485 174.706573 1584.120605 1502.337891 74.809059 1584.447144 1481.047485 22.343473 1622.226685 1546.139771 210.848389 1606.153564 1585.578857 174.692734 1584.149170 1502.507080 74.741753 1584.491455 1481.053833 +5390 44.908 1793077591996 24.486645 1622.621094 1546.854980 213.152512 1606.748291 1585.674316 176.826523 1584.855469 1502.406128 76.892838 1585.071411 1481.434814 24.540730 1622.572144 1546.783936 213.197098 1606.728638 1585.586670 176.819550 1584.886719 1502.568848 76.801140 1585.108765 1481.430786 +5391 44.916 1793077592005 26.692650 1622.997437 1547.458374 215.442200 1607.284058 1585.665894 179.012268 1585.577271 1502.442017 78.977417 1585.689209 1481.767578 26.748087 1622.935425 1547.365234 215.536545 1607.268677 1585.593140 178.958801 1585.606934 1502.616089 78.881126 1585.736938 1481.759399 +5392 44.925 1793077592013 28.874868 1623.257812 1548.059814 217.784866 1607.694824 1585.606079 181.017700 1586.171631 1502.453613 80.972260 1586.204956 1482.064209 28.911077 1623.202637 1547.968018 217.846100 1607.674805 1585.522583 181.019653 1586.196899 1502.607788 80.872864 1586.254883 1482.085327 +5393 44.933 1793077592021 31.101187 1623.472290 1548.543213 220.107071 1608.032349 1585.501709 183.125488 1586.694946 1502.385498 82.992889 1586.616699 1482.338379 31.110764 1623.413940 1548.467529 220.178162 1608.022949 1585.407104 183.123444 1586.696167 1502.555054 82.914268 1586.683105 1482.339233 +5394 44.941 1793077592030 33.228924 1623.541016 1549.033691 222.352585 1608.419067 1585.381226 185.174011 1587.131226 1502.340210 84.913788 1586.931152 1482.613037 33.215065 1623.497681 1548.968018 222.427719 1608.399902 1585.279419 185.149658 1587.146118 1502.508911 84.876854 1586.978882 1482.611816 +5395 44.950 1793077592038 35.301292 1623.681274 1549.537109 224.624817 1608.741577 1585.225830 187.201950 1587.579102 1502.291382 86.890381 1587.239136 1482.836914 35.331097 1623.619873 1549.451904 224.679840 1608.731934 1585.135254 187.171234 1587.583252 1502.442017 86.836273 1587.306030 1482.862061 +5396 44.958 1793077592046 37.409321 1623.729980 1549.971802 226.864517 1609.009155 1584.982910 189.152649 1587.916260 1502.138550 88.829948 1587.475830 1483.073120 37.429707 1623.676025 1549.899780 226.923813 1608.999512 1584.892334 189.152954 1587.921997 1502.300293 88.749969 1587.533813 1483.074097 +5397 44.966 1793077592055 39.466221 1623.736694 1550.343018 229.040680 1609.282471 1584.729004 191.157120 1588.283813 1501.996460 90.669495 1587.635376 1483.230591 39.474197 1623.672729 1550.276978 229.105255 1609.288330 1584.643188 191.108566 1588.259644 1502.142334 90.645493 1587.717651 1483.236450 +5398 44.975 1793077592063 41.432163 1623.684937 1550.680542 231.164154 1609.694458 1584.433960 193.030807 1588.602539 1501.800537 92.536789 1587.809448 1483.386475 41.448723 1623.640503 1550.615967 231.225601 1609.680542 1584.346436 193.006470 1588.618408 1501.956909 92.483101 1587.852051 1483.382202 +5399 44.983 1793077592071 43.382034 1623.671021 1551.014771 233.325989 1610.022705 1584.087891 194.934311 1588.876343 1501.535034 94.350128 1587.923950 1483.533813 43.442131 1623.623291 1550.951416 233.367035 1610.005127 1583.981201 194.886185 1588.906372 1501.723022 94.297119 1587.959229 1483.515869 +5400 44.991 1793077592080 45.334679 1623.637695 1551.378052 235.351273 1610.307739 1583.727539 196.710602 1589.204712 1501.322876 96.108292 1588.058594 1483.626709 45.354778 1623.586670 1551.296143 235.421234 1610.291382 1583.636108 196.689880 1589.223999 1501.487549 96.038971 1588.106812 1483.635376 +5401 45.000 1793077592088 47.249557 1623.516724 1551.611084 237.424820 1610.631714 1583.333252 198.523361 1589.417725 1501.062500 97.866882 1588.066284 1483.741211 47.272591 1623.478271 1551.553223 237.478714 1610.614136 1583.239868 198.511246 1589.442871 1501.229736 97.802078 1588.097290 1483.725098 +5402 45.008 1793077592096 49.168728 1623.390625 1551.893677 239.399429 1610.888550 1582.874146 200.307800 1589.577393 1500.749634 99.438141 1587.999268 1483.746094 49.129097 1623.346436 1551.806763 239.481049 1610.860840 1582.760620 200.238586 1589.597412 1500.905640 99.465378 1588.051270 1483.790527 +5403 45.016 1793077592105 50.878952 1623.184814 1552.128052 241.392715 1611.021362 1582.367676 201.901031 1589.644409 1500.418457 101.069061 1588.024414 1483.694580 50.908768 1623.162720 1552.026367 241.394455 1610.964844 1582.263916 201.885757 1589.722534 1500.531616 101.052780 1588.024780 1483.786987 +5404 45.025 1793077592113 52.813572 1622.843140 1552.311401 243.302536 1611.180786 1581.932129 203.695480 1589.645996 1500.133545 102.682648 1587.712036 1483.765259 52.748955 1622.822632 1552.220581 243.366135 1611.130005 1581.822388 203.632034 1589.697632 1500.249146 102.747116 1587.731689 1483.850220 +5405 45.033 1793077592121 54.490761 1622.351807 1552.560059 245.177353 1611.215698 1581.413574 205.245209 1589.559814 1499.765503 104.241028 1587.354248 1483.842407 54.453094 1622.331543 1552.478271 245.221268 1611.167114 1581.301025 205.212692 1589.614258 1499.893799 104.267288 1587.368652 1483.908325 +5406 45.041 1793077592130 56.205185 1621.890747 1552.734253 247.059586 1611.181274 1580.894775 206.758759 1589.486694 1499.226562 105.748886 1586.842651 1483.910767 56.157589 1621.825928 1552.682617 247.075928 1611.168457 1580.691528 206.773010 1589.460693 1499.470947 105.765884 1586.946411 1483.921265 +5407 45.050 1793077592138 57.842632 1621.258667 1552.936157 248.918045 1611.019043 1580.413696 208.308624 1589.109131 1498.882324 107.262596 1586.283203 1484.010986 57.845455 1621.205811 1552.903442 248.892166 1610.996704 1580.194824 208.327148 1589.109863 1499.152954 107.267143 1586.357666 1483.991821 +5408 45.058 1793077592146 59.477192 1620.741333 1553.228516 250.659973 1610.766357 1579.807739 209.838654 1588.665527 1498.575928 108.757538 1585.565796 1484.057617 59.518616 1620.638794 1553.123657 250.692566 1610.770264 1579.638306 209.820328 1588.631958 1498.819336 108.701836 1585.697876 1484.088501 +5409 45.066 1793077592155 61.095661 1619.937622 1553.314331 252.370850 1610.457886 1579.277710 211.252197 1588.176758 1498.211792 110.204521 1584.851685 1484.144531 61.109085 1619.861694 1553.271118 252.399155 1610.466675 1579.111694 211.289261 1588.140503 1498.465210 110.125732 1584.955078 1484.100342 +5410 45.075 1793077592163 62.734547 1619.348999 1553.522705 254.119385 1610.146729 1578.689819 212.682724 1587.629395 1497.874146 111.483101 1584.188232 1484.205200 62.720947 1619.287354 1553.489014 254.130936 1610.145020 1578.519531 212.694702 1587.600708 1498.100952 111.473160 1584.280273 1484.182373 +5411 45.083 1793077592171 64.357552 1618.826172 1553.692139 255.739929 1609.842285 1578.149658 214.100220 1587.115356 1497.545166 112.850471 1583.512329 1484.268188 64.303070 1618.752930 1553.644287 255.812714 1609.848633 1577.989136 214.100754 1587.071289 1497.779053 112.831642 1583.623291 1484.242676 +5412 45.091 1793077592180 65.831024 1618.375366 1553.864136 257.454620 1609.503784 1577.566040 215.438324 1586.666748 1497.173706 114.177391 1582.952148 1484.297607 65.856888 1618.285767 1553.816040 257.467041 1609.525635 1577.410645 215.448853 1586.605957 1497.401245 114.128601 1583.080688 1484.273682 +5413 45.100 1793077592188 67.419670 1618.056396 1553.974976 259.136383 1609.267700 1577.068848 216.739044 1586.244995 1496.783813 115.464737 1582.590698 1484.357544 67.417709 1617.998535 1553.965698 259.113098 1609.263550 1576.867188 216.798615 1586.218628 1497.050049 115.430405 1582.679077 1484.302124 +5414 45.108 1793077592196 68.921204 1617.917480 1554.137695 260.798706 1609.083740 1576.488403 217.978287 1585.970581 1496.436157 116.677185 1582.310425 1484.367676 68.933823 1617.858643 1554.137085 260.716064 1609.083130 1576.283203 218.072708 1585.929810 1496.672729 116.652786 1582.410645 1484.337036 +5415 45.116 1793077592205 70.337112 1617.879517 1554.280396 262.368835 1609.001587 1576.013428 219.282928 1585.844116 1496.076172 117.859863 1582.149658 1484.401001 70.396233 1617.803711 1554.284058 262.251221 1609.011963 1575.784546 219.331711 1585.785156 1496.344116 117.869576 1582.273926 1484.358276 +5416 45.125 1793077592213 71.855782 1617.906494 1554.398804 263.872009 1608.977173 1575.482422 220.514206 1585.759033 1495.762695 119.034019 1582.121460 1484.433228 71.855782 1617.851807 1554.428955 263.780029 1608.985474 1575.270264 220.572601 1585.699585 1496.003418 119.067596 1582.227295 1484.374512 +5417 45.133 1793077592221 73.304214 1618.037476 1554.579346 265.287598 1608.995605 1575.008667 221.679352 1585.683838 1495.413330 120.177330 1582.171021 1484.438599 73.257195 1617.988770 1554.582153 265.243774 1608.979614 1574.778076 221.747192 1585.658447 1495.679932 120.200317 1582.261108 1484.399780 +5418 45.141 1793077592230 74.634308 1618.193237 1554.693237 266.799866 1609.033813 1574.497803 222.771027 1585.698486 1495.109741 121.263268 1582.245117 1484.475220 74.622223 1618.157227 1554.736206 266.671539 1609.024658 1574.269531 222.881439 1585.660645 1495.346069 121.293259 1582.328125 1484.424072 +5419 45.150 1793077592238 75.928947 1618.436768 1554.836914 268.206238 1609.134155 1574.012817 223.849380 1585.726929 1494.838135 122.347092 1582.318115 1484.567871 75.947784 1618.398560 1554.898315 268.054352 1609.139771 1573.798950 223.978394 1585.672241 1495.065674 122.351135 1582.405396 1484.492920 +5420 45.158 1793077592246 77.272430 1618.665039 1554.994263 269.500946 1609.244995 1573.577026 224.842468 1585.721680 1494.584839 123.318718 1582.403442 1484.680176 77.211784 1618.647339 1555.083618 269.372437 1609.241699 1573.351318 225.007919 1585.668091 1494.811890 123.342407 1582.477905 1484.589355 +5421 45.166 1793077592255 78.516609 1618.865479 1555.178223 270.812073 1609.361206 1573.193848 225.895737 1585.820190 1494.364136 124.293068 1582.525146 1484.793335 78.455223 1618.851562 1555.291748 270.667267 1609.366089 1572.968140 226.046722 1585.751465 1494.586426 124.348297 1582.602905 1484.683228 +5422 45.175 1793077592263 79.642479 1619.210571 1555.360962 272.084991 1609.530029 1572.852417 226.837280 1585.820801 1494.201416 125.173584 1582.627930 1484.949097 79.620689 1619.200317 1555.487793 271.873901 1609.531372 1572.608276 226.987701 1585.755249 1494.427246 125.256027 1582.702393 1484.840698 +5423 45.183 1793077592271 80.792267 1619.472290 1555.578369 272.935455 1609.492920 1572.461304 227.763275 1585.832886 1494.038818 126.046997 1582.715698 1485.087280 80.672935 1619.439941 1555.670654 272.956909 1609.525635 1572.298096 227.834290 1585.735962 1494.257446 126.073860 1582.812378 1484.939575 +5424 45.191 1793077592280 81.947571 1619.672852 1555.801392 274.119385 1609.581177 1572.198730 228.589096 1585.784302 1493.953979 126.888832 1582.777344 1485.323608 81.781128 1619.671631 1555.943115 274.104126 1609.602783 1572.017334 228.725128 1585.692017 1494.162476 126.934486 1582.849243 1485.154785 +5425 45.200 1793077592288 82.984230 1619.868042 1556.102783 275.177612 1609.600708 1572.002563 229.495438 1585.733521 1493.938110 127.774612 1582.732788 1485.567261 82.841743 1619.839844 1556.222412 275.195496 1609.644287 1571.842407 229.604767 1585.613892 1494.148315 127.789886 1582.837158 1485.397583 +5426 45.208 1793077592296 84.021088 1619.979858 1556.402588 276.244598 1609.608643 1571.780640 230.296173 1585.600952 1493.884888 128.551514 1582.673462 1485.855835 83.865982 1619.961670 1556.542236 276.257507 1609.649414 1571.610474 230.416290 1585.484009 1494.105835 128.573593 1582.767944 1485.665161 +5427 45.216 1793077592305 85.034416 1620.110474 1556.707397 277.255737 1609.627808 1571.673828 231.118195 1585.469971 1493.908813 129.224106 1582.591919 1486.102905 84.834953 1620.093872 1556.845337 277.253967 1609.655884 1571.469482 231.204330 1585.350464 1494.132446 129.339188 1582.699951 1485.945679 +5428 45.225 1793077592313 85.796089 1620.020508 1557.686646 278.248260 1609.558594 1571.585938 231.903488 1585.349854 1493.968262 130.116394 1582.550903 1486.405762 85.805397 1619.925537 1557.579102 278.286133 1609.543335 1571.409302 231.934494 1585.345093 1494.219116 130.038223 1582.665771 1486.439331 +5429 45.233 1793077592321 86.731644 1620.050781 1557.938843 279.260254 1609.448853 1571.537598 232.691757 1585.192017 1494.034790 130.845673 1582.521973 1486.737793 86.751480 1619.986572 1557.895142 279.249054 1609.433838 1571.356567 232.721390 1585.191284 1494.286377 130.807373 1582.601807 1486.711182 +5430 45.241 1793077592330 87.689308 1620.085693 1558.322144 280.168976 1609.325684 1571.549194 233.421280 1585.056641 1494.158325 131.573273 1582.433228 1487.050659 87.661407 1620.017578 1558.276978 280.176666 1609.312012 1571.359985 233.473007 1585.040405 1494.405396 131.541748 1582.531372 1487.037964 +5431 45.250 1793077592338 88.519180 1620.081055 1558.765747 281.017975 1609.079834 1571.551758 234.100922 1584.896362 1494.302856 132.319504 1582.386475 1487.360962 88.520958 1620.001587 1558.695312 281.049225 1609.075195 1571.398438 234.167816 1584.879395 1494.528076 132.219589 1582.487427 1487.359375 +5432 45.258 1793077592346 89.335930 1620.141357 1559.244019 281.973907 1608.861694 1571.605835 234.878174 1584.707153 1494.407959 132.996811 1582.243042 1487.707153 89.420174 1620.017822 1559.133057 281.962494 1608.870239 1571.424438 234.884308 1584.670166 1494.675781 132.917862 1582.395020 1487.731567 +5433 45.266 1793077592355 90.263046 1619.923706 1559.633911 282.751373 1608.537231 1571.726440 235.560059 1584.411865 1494.611206 133.658127 1582.134888 1488.047729 90.246140 1619.845337 1559.550293 282.796234 1608.518311 1571.552490 235.584351 1584.411987 1494.856567 133.605881 1582.232056 1488.059937 +5434 45.275 1793077592363 91.039848 1619.790039 1560.083740 283.541962 1608.082642 1571.884399 236.264038 1584.055420 1494.883667 134.319901 1581.904663 1488.447632 91.053009 1619.700195 1559.994629 283.601501 1608.082031 1571.741821 236.250931 1584.038208 1495.111694 134.260315 1582.012573 1488.451172 +5435 45.283 1793077592371 91.863434 1619.583984 1560.471313 284.371368 1607.563110 1572.113770 236.931107 1583.619751 1495.072876 135.057571 1581.619873 1488.795532 91.881577 1619.484375 1560.379272 284.422760 1607.559570 1571.937134 236.959641 1583.602905 1495.349365 134.959503 1581.739746 1488.787842 +5436 45.291 1793077592380 92.548668 1619.365845 1560.937378 285.193634 1606.967407 1572.348511 237.567566 1583.102661 1495.403931 135.628922 1581.283203 1489.158569 92.635483 1619.255615 1560.827026 285.166046 1606.965942 1572.177734 237.573914 1583.083740 1495.646851 135.563324 1581.413818 1489.196777 +5437 45.300 1793077592388 93.479279 1619.043457 1561.324829 285.971252 1606.283447 1572.649414 238.275604 1582.553833 1495.722168 136.302689 1580.922852 1489.590332 93.472755 1618.953979 1561.260376 285.986908 1606.284058 1572.470703 238.293701 1582.516968 1495.966919 136.275467 1581.048584 1489.588867 +5438 45.308 1793077592396 94.182320 1618.758667 1561.798096 286.753784 1605.588623 1572.994751 238.931808 1581.911865 1496.051636 136.990936 1580.593384 1489.975342 94.245613 1618.669922 1561.699463 286.736755 1605.566162 1572.805542 238.950531 1581.927368 1496.319946 136.925949 1580.689087 1489.994873 +5439 45.316 1793077592405 94.968712 1618.535889 1562.125977 287.502228 1604.845093 1573.354736 239.594589 1581.370117 1496.435913 137.608917 1580.254395 1490.380737 95.008614 1618.451782 1562.076294 287.465607 1604.845947 1573.170654 239.614014 1581.339966 1496.685059 137.586227 1580.367798 1490.365234 +5440 45.325 1793077592413 95.766251 1618.450195 1562.510254 288.241699 1604.136597 1573.751465 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124.798904 1600.280273 1500.527588 +5486 45.708 1793077592796 79.572014 1629.466431 1575.950928 272.495667 1621.066406 1586.980225 225.323502 1603.881714 1507.905029 123.757332 1600.156982 1500.589844 79.575409 1629.404053 1575.780518 272.334839 1621.021240 1586.800049 225.576614 1603.897827 1507.978760 123.661659 1600.248535 1500.866821 +5487 45.716 1793077592804 78.484657 1629.233032 1576.416382 271.501007 1621.260742 1587.105591 224.249008 1604.079834 1508.080200 122.677010 1600.102783 1500.872925 78.528557 1629.154419 1576.209106 271.323883 1621.217773 1586.926514 224.487900 1604.093628 1508.151489 122.571350 1600.210449 1501.187866 +5488 45.725 1793077592813 77.553452 1629.022705 1576.974365 270.559418 1621.360474 1587.180664 223.168457 1604.248535 1508.260620 121.305191 1600.144531 1501.931641 77.555183 1629.017334 1577.062256 270.402893 1621.364136 1587.016357 223.282837 1604.213501 1508.416626 121.345596 1600.181274 1501.852051 +5489 45.733 1793077592821 76.536583 1628.844360 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Things may be put on it or taken off it as you go. Carry on walking.", + "segments": [ + { + "id": "segment1", + "duration_s": 143.966611, + "video": "left_eye", + "video_t_start": 0.030820711549206042 + } + ], + "episodes": [ + { + "id": "7a81014f-6b93-40e5-8ff5-4f147e869c13", + "segment": "segment1", + "action": "DR14", + "quality": "valid", + "start_s": 2.117, + "end_s": 78.375, + "t_start": 2.1478, + "t_end": 78.4058, + "instruction": "Carry the tray and walk back and forth. Things may be put on it or taken off it as you go. Carry on walking." + }, + { + "id": "5f28275d-d621-46ea-a59b-1ea43d3945ca", + "segment": "segment1", + "action": "DR14", + "quality": "valid", + "start_s": 81.973, + "end_s": 139.581, + "t_start": 82.0038, + "t_end": 139.6118, + "instruction": "Carry the tray and walk back and forth. Things may be put on it or taken off it as you go. Carry on walking." + } + ] +} diff --git a/actions/dynamic_recovery/DR14/session_001/cameras/slam.npz b/actions/dynamic_recovery/DR14/session_001/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..909eda76e339fbc180ff3121470a0801189b0c3c --- /dev/null +++ b/actions/dynamic_recovery/DR14/session_001/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b90271b7ef86628841e83b53b7290f1caedb8fdbeb81347304017a3f4573eab4 +size 831245 diff --git a/actions/dynamic_recovery/DR14/session_001/meta.json b/actions/dynamic_recovery/DR14/session_001/meta.json index df52cbd5006b171d77bdfbc6bdce01de8f955e29..ca4b40e5c4e22e31b8e475824798086545f7e927 100644 --- a/actions/dynamic_recovery/DR14/session_001/meta.json +++ b/actions/dynamic_recovery/DR14/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": { @@ -505,10 +505,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8484431805871776 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 12.39, + "offset_rotvec": [ + 0.1357, + 0.1591, + -0.0552 + ], + "dev_deg": { + "median": 6.05, + "p90": 60.29 + }, + "samples": 3511, + "accepted": 3056, + "wrist_pos_err_mm_median": 72.0, + "per_camera": { + "head": { + "samples": 3511, + "accepted": 3056, + "gate_deg": 30.0, + "offset_deg": 12.39, + "tier": "primary", + "dev_deg_median": 6.05, + "wrist_pos_err_mm_median": 72.0 + } + }, + "frames_by_state": { + "ace_sample": 12246, + "interpolated": 406, + "mean_hand": 4631, + "no_body_fit": 0 + }, + "observed_fraction": 0.732, + "observed_fraction_of_valid": 0.732, + "palm_axis_vs_markers_deg": { + "gsi": 12.57, + "smplx": 2.28 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.1, + "p90": 12.5 + }, + "registered": { + "median": 10.2, + "p90": 12.2 + } + } + }, + "right": { + "offset_deg": 15.76, + "offset_rotvec": [ + 0.1815, + 0.0081, + 0.2064 + ], + "dev_deg": { + "median": 17.21, + "p90": 38.61 + }, + "samples": 3816, + "accepted": 3320, + "wrist_pos_err_mm_median": 115.5, + "per_camera": { + "head": { + "samples": 3816, + "accepted": 3320, + "gate_deg": 30.0, + "offset_deg": 15.76, + "tier": "primary", + "dev_deg_median": 17.21, + "wrist_pos_err_mm_median": 115.5 + } + }, + "frames_by_state": { + "ace_sample": 13304, + "interpolated": 996, + "mean_hand": 2983, + "no_body_fit": 0 + }, + "observed_fraction": 0.8274, + "observed_fraction_of_valid": 0.8274, + "palm_axis_vs_markers_deg": { + "gsi": 8.05, + "smplx": 1.41 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.4, + "p90": 8.1 + }, + "registered": { + "median": 5.1, + "p90": 6.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T19:32:46.396192+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/DR14/session_001", "family": "dynamic_recovery", "primitive": "DR14", "source_session": "20260915/DR14/20260915_111905_session142" + }, + "task": { + "primitive": "DR14", + "instruction": "Carry the tray and walk back and forth. Things may be put on it or taken off it as you go. Carry on walking." } } diff --git a/actions/dynamic_recovery/DR14/session_001/motions/hands_mano.npz b/actions/dynamic_recovery/DR14/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..1eb4d11863b50a7f90c00dc0e212040b64604380 --- /dev/null +++ b/actions/dynamic_recovery/DR14/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d95501ca99835d1ca33ae5d603100f34fcad89d885a8fb035c2fd4365ad37d9f +size 4958438 diff --git a/actions/dynamic_recovery/DR14/session_001/motions/smplx.npz b/actions/dynamic_recovery/DR14/session_001/motions/smplx.npz index bc58ce02f0936b8ad4d7dcfc2ea8e61b64dfa761..a2ef89ce8c6234123da9c22c1ac902d3caa02d99 100644 --- a/actions/dynamic_recovery/DR14/session_001/motions/smplx.npz +++ b/actions/dynamic_recovery/DR14/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c13aac43b30db4d057b349f17a402b1e53f91a7e6c1d8427b4feb822a7dea3d9 -size 6665426 +oid sha256:f0d879311c4da853175bbecd71fb457d88899901fd3adda6cf464176455dc8f5 +size 11304021 diff --git a/actions/dynamic_recovery/DR14/session_002/annotations.json b/actions/dynamic_recovery/DR14/session_002/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..4bb76c38b12e2c8697df3481e101b706d43831e8 --- /dev/null +++ b/actions/dynamic_recovery/DR14/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": "DR14", + "instruction": "Carry the tray and walk back and forth. Things may be put on it or taken off it as you go. Carry on walking.", + "segments": [ + { + "id": "segment1", + "duration_s": 148.966644, + "video": "left_eye", + "video_t_start": 0.03904610739682468 + } + ], + "episodes": [ + { + "id": "ef2f74e2-1b7c-4a1c-9a93-894ad93f5565", + "segment": "segment1", + "action": "DR14", + "quality": "valid", + "start_s": 0.955, + "end_s": 68.282, + "t_start": 0.994, + "t_end": 68.321, + "instruction": "Carry the tray and walk back and forth. Things may be put on it or taken off it as you go. Carry on walking." + }, + { + "id": "d064c36c-a295-49fa-86f3-0f67c14b40da", + "segment": "segment1", + "action": "DR14", + "quality": "valid", + "start_s": 68.84, + "end_s": 139.875, + "t_start": 68.879, + "t_end": 139.914, + "instruction": "Carry the tray and walk back and forth. Things may be put on it or taken off it as you go. Carry on walking." + } + ] +} diff --git a/actions/dynamic_recovery/DR14/session_002/cameras/slam.npz b/actions/dynamic_recovery/DR14/session_002/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..660c5be7d6fc9f0b11e87fd0ddd031d03eb58712 --- /dev/null +++ b/actions/dynamic_recovery/DR14/session_002/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:122b23af86c8335ccbc120a5cd2ffbc5d0b6aa15d914cbfc939699b26d0dc43f +size 857828 diff --git a/actions/dynamic_recovery/DR14/session_002/meta.json b/actions/dynamic_recovery/DR14/session_002/meta.json index bb7a90a17380b69554e2a51b94be0ad23e58f4af..ca290f38e03cabf3ca1daa532ae84642e12e1408 100644 --- a/actions/dynamic_recovery/DR14/session_002/meta.json +++ b/actions/dynamic_recovery/DR14/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": { @@ -507,10 +507,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.4250861426241261 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 6.63, + "offset_rotvec": [ + -0.0171, + 0.1111, + -0.027 + ], + "dev_deg": { + "median": 10.15, + "p90": 16.25 + }, + "samples": 4461, + "accepted": 4400, + "wrist_pos_err_mm_median": 159.3, + "per_camera": { + "head": { + "samples": 4461, + "accepted": 4400, + "gate_deg": 30.0, + "offset_deg": 6.63, + "tier": "primary", + "dev_deg_median": 10.15, + "wrist_pos_err_mm_median": 159.3 + } + }, + "frames_by_state": { + "ace_sample": 17612, + "interpolated": 72, + "mean_hand": 200, + "no_body_fit": 0 + }, + "observed_fraction": 0.9888, + "observed_fraction_of_valid": 0.9888, + "palm_axis_vs_markers_deg": { + "gsi": 9.46, + "smplx": 0.83 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.3, + "p90": 5.6 + }, + "registered": { + "median": 7.3, + "p90": 9.7 + } + } + }, + "right": { + "offset_deg": 8.94, + "offset_rotvec": [ + 0.1234, + 0.0955, + 0.0038 + ], + "dev_deg": { + "median": 5.37, + "p90": 12.98 + }, + "samples": 4408, + "accepted": 4352, + "wrist_pos_err_mm_median": 119.0, + "per_camera": { + "head": { + "samples": 4408, + "accepted": 4352, + "gate_deg": 30.0, + "offset_deg": 8.94, + "tier": "primary", + "dev_deg_median": 5.37, + "wrist_pos_err_mm_median": 119.0 + } + }, + "frames_by_state": { + "ace_sample": 17448, + "interpolated": 420, + "mean_hand": 16, + "no_body_fit": 0 + }, + "observed_fraction": 0.9991, + "observed_fraction_of_valid": 0.9991, + "palm_axis_vs_markers_deg": { + "gsi": 9.36, + "smplx": 0.36 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.5, + "p90": 17.1 + }, + "registered": { + "median": 9.3, + "p90": 16.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T23:07:57.874502+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/DR14/session_002", "family": "dynamic_recovery", "primitive": "DR14", "source_session": "20260916/DR14/20260916_072857_session115" + }, + "task": { + "primitive": "DR14", + "instruction": "Carry the tray and walk back and forth. 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Carry on walking." } } diff --git a/actions/dynamic_recovery/DR14/session_002/motions/hands_mano.npz b/actions/dynamic_recovery/DR14/session_002/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..283e9179ea288142da5ed62677d56a00e5b0cdd5 --- /dev/null +++ b/actions/dynamic_recovery/DR14/session_002/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b07e461324af11141d51abf11cda24df28d3e89f5c0b8d71788d989f12f30e0 +size 5951617 diff --git a/actions/dynamic_recovery/DR14/session_002/motions/smplx.npz b/actions/dynamic_recovery/DR14/session_002/motions/smplx.npz index b4243e02f62a9a72adb92a2e190f031fb921ca78..cc034f53bff38a34ac8918cfda0050570a687d74 100644 --- a/actions/dynamic_recovery/DR14/session_002/motions/smplx.npz +++ b/actions/dynamic_recovery/DR14/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6faedef0c7b2939c49b2f1973805ed4fa36c58e9e5044c4c184cc942c8e47afa -size 6864505 +oid sha256:6c8dd5c6b7ffd40ce1d9beff5b70d46efe54491933aebe34114a6789e5f64daa +size 12837980 diff --git a/actions/dynamic_recovery/DR14/session_003/annotations.json b/actions/dynamic_recovery/DR14/session_003/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..961fd0b1a2677d7ab57eee09c0b8a97e546a4397 --- /dev/null +++ b/actions/dynamic_recovery/DR14/session_003/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "DR14", + "instruction": "Carry the tray and walk back and forth. 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0000000000000000000000000000000000000000..b927cceb68ecc74243ad1c4e35efbbeca64a5ecc --- /dev/null +++ b/actions/dynamic_recovery/DR14/session_003/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e46ebfba25080590f5fd30e497953db9c4b63200fb8c6458a591dc58947933f +size 827882 diff --git a/actions/dynamic_recovery/DR14/session_003/meta.json b/actions/dynamic_recovery/DR14/session_003/meta.json index e86f4da91b51c146f65cdb2f19fe65b8563c0617..13dfd00e20947247537c45c85ef82320c271bb50 100644 --- a/actions/dynamic_recovery/DR14/session_003/meta.json +++ b/actions/dynamic_recovery/DR14/session_003/meta.json @@ -342,8 +342,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -535,10 +535,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0325501852510868 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 31.05, + "offset_rotvec": [ + 0.4903, + 0.1523, + -0.1735 + ], + "dev_deg": { + "median": 4.07, + "p90": 8.18 + }, + "samples": 4214, + "accepted": 4143, + "wrist_pos_err_mm_median": 39.4, + "per_camera": { + "head": { + "samples": 4214, + "accepted": 4143, + "gate_deg": 30.0, + "offset_deg": 31.05, + "tier": "primary", + "dev_deg_median": 4.07, + "wrist_pos_err_mm_median": 39.4 + } + }, + "frames_by_state": { + "ace_sample": 16578, + "interpolated": 330, + "mean_hand": 368, + "no_body_fit": 8 + }, + "observed_fraction": 0.9782, + 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"registered": { + "median": 15.6, + "p90": 27.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:54:04.960120+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/DR14/session_003", "family": "dynamic_recovery", "primitive": "DR14", "source_session": "20260920/DR14/20260920_050232_session33" + }, + "task": { + "primitive": "DR14", + "instruction": "Carry the tray and walk back and forth. Things may be put on it or taken off it as you go. Carry on walking." } } diff --git a/actions/dynamic_recovery/DR14/session_003/motions/hands_mano.npz b/actions/dynamic_recovery/DR14/session_003/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..ed90795a9ae58cfbeb25156f0431291d56fc8d26 --- /dev/null +++ b/actions/dynamic_recovery/DR14/session_003/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d9057568cb213e943c0f81eb3fc9fa137a1394f0ac1072d5bccc91d476d544e +size 5613384 diff --git a/actions/dynamic_recovery/DR14/session_003/motions/smplx.npz b/actions/dynamic_recovery/DR14/session_003/motions/smplx.npz index 3217c639df1013f2fc17cb9ec8c449cd8d505dfa..d9dfae0ff843dfe82b1837f8c50394062e84fa31 100644 --- a/actions/dynamic_recovery/DR14/session_003/motions/smplx.npz +++ b/actions/dynamic_recovery/DR14/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ccc1adf1426d3a8f09a4f9c95d4f203f1c8e8925e1a0ea469dbce53bbff78207 -size 6675719 +oid sha256:7fb60f398f5b581761c1561a6fa661fe25a0ac87d1e82841df2ebc07552d8419 +size 12253700