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629.837280 781.335327 107.766129 630.916748 774.892822 5.747090 +1956 16.291 1793077734523 651.345581 853.657104 -37.154041 634.361572 861.010376 155.456589 630.056152 781.157166 108.514366 631.052002 774.674011 5.612002 651.243469 853.403320 -36.769634 634.401001 861.150940 155.595123 630.043396 781.213867 107.809906 631.127380 774.730469 5.793512 +1957 16.300 1793077734531 651.493225 853.405762 -37.154675 634.519165 860.887939 155.463623 630.234436 780.986145 108.533905 631.209656 774.428772 5.668808 651.387756 853.147888 -36.773224 634.560608 861.015625 155.587997 630.215881 781.046936 107.854599 631.292297 774.498108 5.842298 +1958 16.308 1793077734539 651.626526 853.189758 -37.149540 634.711304 860.733582 155.472794 630.379150 780.794800 108.580521 631.351868 774.232300 5.659483 651.527283 852.935059 -36.771183 634.746338 860.847107 155.592255 630.371948 780.869385 107.876671 631.423279 774.298889 5.865509 +1959 16.316 1793077734548 651.817871 852.966003 -37.105259 634.863037 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653.999695 851.536621 -37.309517 635.829895 858.027161 154.980957 631.434326 778.445862 106.609032 633.211365 772.666565 4.560041 +1977 16.466 1793077734698 654.229187 851.817139 -37.760349 635.787659 857.869751 154.822357 631.485840 778.375610 107.207146 633.145752 772.596924 4.262213 654.101257 851.555786 -37.368298 635.847839 857.993103 154.916046 631.439453 778.429077 106.516823 633.259888 772.681458 4.466804 +1978 16.475 1793077734706 654.343933 851.905212 -37.798622 635.826294 857.920837 154.774063 631.448303 778.414062 107.166733 633.224060 772.726685 4.184129 654.230896 851.653870 -37.398117 635.872009 858.038208 154.877960 631.432495 778.494202 106.448700 633.307129 772.780518 4.397761 +1979 16.483 1793077734714 654.471313 852.040222 -37.833515 635.874695 857.962585 154.737747 631.500854 778.455933 107.042427 633.295654 772.806335 4.108510 654.352173 851.773987 -37.440704 635.921997 858.061829 154.831711 631.478271 778.544739 106.358696 633.390137 772.884521 4.305468 +1980 16.491 1793077734723 654.573120 852.107239 -37.898338 635.964966 858.028320 154.657562 631.582886 778.533508 106.984612 633.391907 772.915894 4.014579 654.458435 851.859009 -37.510700 636.012695 858.134583 154.760635 631.561035 778.621948 106.280991 633.480774 772.969421 4.227484 +1981 16.500 1793077734731 654.674316 852.281616 -37.911407 636.054932 858.121460 154.630737 631.707397 778.643860 106.904015 633.501587 773.055725 3.931734 654.557556 852.035278 -37.544617 636.105530 858.218933 154.729095 631.675720 778.727112 106.213303 633.599365 773.121399 4.157293 +1982 16.508 1793077734739 654.789917 852.377136 -37.964081 636.189148 858.223389 154.545334 631.863708 778.759583 106.844971 633.630310 773.136841 3.893007 654.670044 852.123596 -37.611050 636.242065 858.331238 154.664200 631.824768 778.831238 106.160759 633.736206 773.210815 4.105324 +1983 16.516 1793077734748 654.946899 852.468018 -38.044147 636.306030 858.305481 154.469376 632.017334 778.850037 106.775085 633.858032 773.237122 3.864252 654.836304 852.217041 -37.673325 636.350037 858.428284 154.596207 631.999023 778.921387 106.098061 633.942993 773.293884 4.043631 +1984 16.525 1793077734756 655.101562 852.575562 -38.131229 636.457336 858.399780 154.409882 632.294739 778.998108 106.769218 634.061584 773.305237 3.838383 654.971924 852.310547 -37.732201 636.519531 858.558960 154.539383 632.247620 779.032593 106.066109 634.176208 773.376526 4.012962 +1985 16.533 1793077734764 655.275269 852.670410 -38.149490 636.605225 858.508057 154.380875 632.479492 779.097290 106.784821 634.302002 773.402161 3.791275 655.154297 852.409973 -37.752747 636.659424 858.667480 154.514450 632.447815 779.133179 106.048958 634.400452 773.467285 3.996817 +1986 16.541 1793077734773 655.482910 852.790771 -38.192482 636.778076 858.654602 154.277618 632.675781 779.200623 106.739853 634.530151 773.456055 3.732000 655.361511 852.497070 -37.821709 636.823181 858.798157 154.439880 632.652832 779.249451 105.994514 634.629395 773.557312 3.944295 +1987 16.550 1793077734781 655.574402 852.805237 -38.210865 636.888733 858.750854 154.218170 632.858032 779.278320 106.721855 634.743774 773.529846 3.700228 655.467896 852.544556 -37.867630 636.927612 858.896851 154.392090 632.844604 779.325439 105.976532 634.824829 773.597412 3.928391 +1988 16.558 1793077734789 655.715088 852.843445 -38.264580 636.995911 858.873962 154.180084 632.993286 779.346008 106.652733 634.905701 773.584106 3.704821 655.610291 852.585938 -37.917068 637.032837 859.002075 154.336945 632.983093 779.411926 105.949440 634.983826 773.647583 3.903744 +1989 16.566 1793077734798 655.835999 852.882202 -38.365623 637.167786 858.968689 154.153076 633.153320 779.388733 106.633842 635.018616 773.575562 3.685781 655.719177 852.592834 -37.977383 637.207520 859.080322 154.280579 633.141602 779.472168 105.924049 635.107422 773.669922 3.879823 +1990 16.575 1793077734806 655.902405 852.856628 -38.409557 637.258118 859.019592 154.080490 633.327393 779.469666 106.584663 635.164124 773.591736 3.641155 655.789368 852.596436 -38.048325 637.303711 859.150574 154.209885 633.302429 779.517700 105.888611 635.256592 773.672913 3.846583 +1991 16.583 1793077734814 655.950073 852.812561 -38.521160 637.384460 859.070923 154.000061 633.437744 779.434143 106.525185 635.226746 773.562195 3.597921 655.832825 852.544617 -38.143417 637.430725 859.175476 154.120178 633.412781 779.522827 105.832870 635.322754 773.636902 3.792376 +1992 16.591 1793077734823 656.032837 852.727600 -38.641418 637.511658 859.058899 153.882767 633.577881 779.433289 106.419205 635.302002 773.543884 3.524119 655.911255 852.484131 -38.264355 637.569885 859.178345 154.002838 633.532837 779.510254 105.742676 635.410461 773.591064 3.703507 +1993 16.600 1793077734831 656.068359 852.654236 -38.734615 637.596924 859.019836 153.769043 633.650269 779.379639 106.353210 635.399841 773.497986 3.380826 655.960205 852.425903 -38.374252 637.645020 859.134216 153.894943 633.622925 779.460205 105.643311 635.487305 773.531372 3.604456 +1994 16.608 1793077734839 656.062744 852.541870 -38.845089 637.680969 858.978027 153.640717 633.666809 779.289307 106.269264 635.396606 773.356018 3.322741 655.956787 852.285156 -38.490639 637.718628 859.079468 153.782867 633.654480 779.386414 105.566246 635.477234 773.414185 3.529166 +1995 16.616 1793077734848 656.088745 852.409302 -38.955887 637.665466 858.903870 153.544693 633.679443 779.227722 106.226158 635.435425 773.222351 3.225422 655.982178 852.149780 -38.589211 637.703491 859.018250 153.677811 633.669250 779.304382 105.493019 635.514160 773.290833 3.458770 +1996 16.625 1793077734856 656.080750 852.176025 -39.032284 637.638977 858.817749 153.450867 633.635925 779.117004 106.142830 635.369873 773.053528 3.146900 655.973450 851.939636 -38.690929 637.684143 858.923767 153.570923 633.609314 779.185730 105.429565 635.458557 773.115173 3.398766 +1997 16.633 1793077734864 655.979309 851.955017 -39.179764 637.602356 858.736206 153.354401 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633.322693 778.596008 105.114243 635.047241 772.296387 3.095152 +2001 16.666 1793077734897 655.623901 850.968201 -39.776421 637.524170 858.159241 152.776962 633.210510 778.386719 105.674583 634.696411 771.983704 2.707860 655.500122 850.713989 -39.398731 637.582703 858.284180 152.875946 633.163940 778.427979 104.961334 634.808228 772.071777 2.944425 +2002 16.675 1793077734906 655.439758 850.708130 -39.962200 637.401123 857.962708 152.598892 633.062256 778.181030 105.483597 634.517090 771.763489 2.622588 655.316833 850.459595 -39.575481 637.460571 858.096497 152.702255 633.015686 778.224915 104.815697 634.627197 771.834412 2.800406 +2003 16.683 1793077734914 655.229492 850.488220 -40.164791 637.371704 857.783508 152.352722 632.876282 777.970093 105.351334 634.363525 771.542175 2.439475 655.129517 850.217896 -39.786102 637.400757 857.916748 152.500946 632.884033 778.034302 104.639214 634.426697 771.614990 2.624671 +2004 16.691 1793077734922 655.063416 850.209717 -40.425797 637.246094 857.595032 152.135681 632.693481 777.766663 105.158463 634.010254 771.260071 2.205381 654.930481 849.921509 -40.033066 637.304626 857.719177 152.259476 632.646729 777.825439 104.430084 634.131409 771.365356 2.417250 +2005 16.700 1793077734931 654.890015 849.965454 -40.630421 637.128967 857.407227 151.918243 632.510864 777.592163 104.948738 633.806702 771.099548 2.062419 654.762573 849.699951 -40.237766 637.188599 857.549072 152.057419 632.464905 777.648743 104.245590 633.920471 771.166687 2.233734 +2006 16.708 1793077734939 654.703125 849.727051 -40.917324 637.057068 857.267151 151.664719 632.298706 777.345337 104.686378 633.578308 770.882874 1.824492 654.581543 849.450500 -40.513603 637.104492 857.364746 151.787750 632.274780 777.457825 103.997528 633.676453 770.949463 1.986590 +2007 16.716 1793077734947 654.504578 849.479126 -41.177208 637.000305 857.071655 151.410980 632.166443 777.227600 104.508102 633.404724 770.652649 1.607608 654.390930 849.203491 -40.767288 637.042603 857.212952 151.541779 632.154907 777.285400 103.791901 633.487610 770.729187 1.783100 +2008 16.725 1793077734956 654.338257 849.324036 -41.389618 636.935120 856.940186 151.165573 632.040100 777.065613 104.255348 633.224121 770.573242 1.321342 654.232178 849.083740 -41.015751 636.978455 857.060791 151.303177 632.022888 777.146545 103.538033 633.304077 770.612000 1.527186 +2009 16.733 1793077734964 654.162842 849.159607 -41.683826 636.828674 856.736877 150.869751 631.945679 776.964966 103.974586 633.009827 770.337708 1.050301 654.038635 848.893555 -41.313843 636.887512 856.897827 151.013123 631.897217 776.977966 103.261093 633.123657 770.429871 1.250439 +2010 16.741 1793077734972 654.011536 849.024048 -42.004795 636.771118 856.611450 150.553894 631.798645 776.795105 103.635048 632.831665 770.221008 0.740739 653.890930 848.757690 -41.637173 636.824707 856.750488 150.697830 631.758789 776.839966 102.938087 632.938599 770.303467 0.926142 +2011 16.750 1793077734981 653.845947 848.940613 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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": { @@ -510,10 +510,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.6333282932706175 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 40.79, + "offset_rotvec": [ + 0.435, + -0.5593, + -0.0691 + ], + "dev_deg": { + "median": 23.8, + "p90": 44.14 + }, + "samples": 3161, + "accepted": 2022, + "wrist_pos_err_mm_median": 57.1, + "per_camera": { + "head": { + "samples": 3161, + "accepted": 2022, + "gate_deg": 30.0, + "offset_deg": 40.79, + "tier": "primary", + "dev_deg_median": 23.8, + "wrist_pos_err_mm_median": 57.1 + } + }, + "frames_by_state": { + "ace_sample": 8304, + "interpolated": 4496, + "mean_hand": 2684, + "no_body_fit": 0 + }, + "observed_fraction": 0.8267, + "observed_fraction_of_valid": 0.8267, + "palm_axis_vs_markers_deg": { + "gsi": 49.61, + "smplx": 1.48 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.9, + "p90": 11.6 + }, + "registered": { + "median": 8.7, + "p90": 10.0 + } + } + }, + "right": { + "offset_deg": 29.79, + "offset_rotvec": [ + 0.2467, + 0.4133, + 0.1965 + ], + "dev_deg": { + "median": 24.0, + "p90": 54.02 + }, + "samples": 3504, + "accepted": 2432, + "wrist_pos_err_mm_median": 57.3, + "per_camera": { + "head": { + "samples": 3504, + "accepted": 2432, + "gate_deg": 30.0, + "offset_deg": 29.79, + "tier": "primary", + "dev_deg_median": 24.0, + "wrist_pos_err_mm_median": 57.3 + } + }, + "frames_by_state": { + "ace_sample": 9856, + "interpolated": 2464, + "mean_hand": 3164, + "no_body_fit": 0 + }, + "observed_fraction": 0.7957, + "observed_fraction_of_valid": 0.7957, + "palm_axis_vs_markers_deg": { + "gsi": 25.61, + "smplx": 0.83 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.1, + "p90": 10.2 + }, + "registered": { + "median": 6.8, + "p90": 9.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T14:52:52.835155+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/dynamic_recovery/DR07/session_002", "family": "dynamic_recovery", "primitive": "DR07", "source_session": "20260908/DR07/20260908_102514_session118" + }, + "task": { + "primitive": "DR07", + "instruction": "Stand with one foot directly in front of the other, heel to toe, on the marked line. Hold your balance until you lose it, then step out. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe." } } diff --git a/actions/dynamic_recovery/DR07/session_002/motions/hands_mano.npz b/actions/dynamic_recovery/DR07/session_002/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..9148db51870831bf9c7787bf51877d745b06ebc1 --- /dev/null +++ b/actions/dynamic_recovery/DR07/session_002/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6a7be6a7cb248d65424c0e324d4aa86e9605b858dc2100b319be4aee01cb281 +size 4534682 diff --git a/actions/dynamic_recovery/DR07/session_002/motions/smplx.npz b/actions/dynamic_recovery/DR07/session_002/motions/smplx.npz index 1a597d73186a60a024cebf4ca0d346677d4c5500..7103b170fad27d9e55c9289139b7576c19e7637f 100644 --- a/actions/dynamic_recovery/DR07/session_002/motions/smplx.npz +++ b/actions/dynamic_recovery/DR07/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8b7fc6873ce8e9f307391cfe3df3bf96c7f47a9cccc4af59e7a7498b760c6808 -size 5917060 +oid sha256:2325c5dfee7eaf04313f09b8d13b7ffc25aa542988d4b0fb58a935498bd3b3bb +size 10357386 diff --git a/actions/dynamic_recovery/DR07/session_003/annotations.json b/actions/dynamic_recovery/DR07/session_003/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..01aaa9846efb2bc28cb86f74a4bc59b1d3615f19 --- /dev/null +++ b/actions/dynamic_recovery/DR07/session_003/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 + video_t_start", + "primitive": "DR07", + "instruction": "Stand with one foot directly in front of the other, heel to toe, on the marked line. Hold your balance until you lose it, then step out. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe.", + "segments": [ + { + "id": "segment1", + "duration_s": 68.9667, + "video": "left_eye", + "video_t_start": 0.03936138229906949 + } + ], + "episodes": [ + { + "id": "dfe284d6-7f82-45ee-aa06-eb17f5a8865c", + "segment": "segment1", + "action": "DR07", + "quality": "valid", + "start_s": 0.48, + "end_s": 64.042, + "t_start": 0.5194, + "t_end": 64.0814, + "instruction": "Stand with one foot directly in front of the other, heel to toe, on the marked line. Hold your balance until you lose it, then step out. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe." + } + ] +} diff --git a/actions/dynamic_recovery/DR07/session_003/cameras/slam.npz b/actions/dynamic_recovery/DR07/session_003/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..cfc717b70aa3c96a15c0e52ef59817381afc706a --- /dev/null +++ b/actions/dynamic_recovery/DR07/session_003/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36d85c3f24bb9eef77e70f7510de35449ea5f111652f3294a76e14108ede464b +size 393046 diff --git a/actions/dynamic_recovery/DR07/session_003/meta.json b/actions/dynamic_recovery/DR07/session_003/meta.json index bd3f1b7d6bd5d1f4d7ee70f03d602c5e604a8094..c81136a79b7c7b46bb383af06b0ebf3ddf2d3eeb 100644 --- a/actions/dynamic_recovery/DR07/session_003/meta.json +++ b/actions/dynamic_recovery/DR07/session_003/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": 0.9689217517582015 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 13.65, + "offset_rotvec": [ + 0.0451, + -0.2191, + -0.0818 + ], + "dev_deg": { + "median": 5.84, + "p90": 13.74 + }, + "samples": 2017, + "accepted": 2002, + "wrist_pos_err_mm_median": 179.5, + "per_camera": { + "head": { + "samples": 2017, + "accepted": 2002, + "gate_deg": 30.0, + "offset_deg": 13.65, + "tier": "primary", + "dev_deg_median": 5.84, + "wrist_pos_err_mm_median": 179.5 + } + }, + "frames_by_state": { + "ace_sample": 8034, + "interpolated": 118, + "mean_hand": 124, + "no_body_fit": 8 + }, + "observed_fraction": 0.9841, + "observed_fraction_of_valid": 0.985, + "palm_axis_vs_markers_deg": { + "gsi": 15.62, + "smplx": 2.99 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.5, + "p90": 10.3 + }, + "registered": { + "median": 7.9, + "p90": 12.3 + } + } + }, + "right": { + "offset_deg": 25.3, + "offset_rotvec": [ + 0.2568, + 0.3571, + 0.0385 + ], + "dev_deg": { + "median": 10.9, + "p90": 19.83 + }, + "samples": 1945, + "accepted": 1864, + "wrist_pos_err_mm_median": 149.8, + "per_camera": { + "head": { + "samples": 1945, + "accepted": 1864, + "gate_deg": 30.0, + "offset_deg": 25.3, + "tier": "primary", + "dev_deg_median": 10.9, + "wrist_pos_err_mm_median": 149.8 + } + }, + "frames_by_state": { + "ace_sample": 7492, + "interpolated": 240, + "mean_hand": 544, + "no_body_fit": 8 + }, + "observed_fraction": 0.9334, + "observed_fraction_of_valid": 0.9343, + "palm_axis_vs_markers_deg": { + "gsi": 18.45, + "smplx": 0.32 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.6, + "p90": 14.3 + }, + "registered": { + "median": 10.8, + "p90": 12.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T15:29:06.429672+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/dynamic_recovery/DR07/session_003", "family": "dynamic_recovery", "primitive": "DR07", "source_session": "20260909/DR07/20260909_025021_session39" + }, + "task": { + "primitive": "DR07", + "instruction": "Stand with one foot directly in front of the other, heel to toe, on the marked line. Hold your balance until you lose it, then step out. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe." } } diff --git a/actions/dynamic_recovery/DR07/session_003/motions/hands_mano.npz b/actions/dynamic_recovery/DR07/session_003/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..4e9ef0dd24b647963fd9e400870f7e4e4739ff3c --- /dev/null +++ b/actions/dynamic_recovery/DR07/session_003/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71e0592d8396175fca58269c9917246c217aaf9b1f5e1627254ac114e4aa9e6c +size 2691630 diff --git a/actions/dynamic_recovery/DR07/session_003/motions/smplx.npz b/actions/dynamic_recovery/DR07/session_003/motions/smplx.npz index 238820029e07960f55f19bc634c6c6fc85ddcbdb..c657ee1c14cb89d22bcff95d4f6ad7a0bf471fea 100644 --- a/actions/dynamic_recovery/DR07/session_003/motions/smplx.npz +++ b/actions/dynamic_recovery/DR07/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e359ae9482dcbe4012d4a177ade904e61b879b81870463a4fd0d6bc36b1f0fdc -size 3090847 +oid sha256:0e8ae11494a57bb50f9c42006aa3959e2b1243cebc910e90cf920728a53031c6 +size 5787515 diff --git a/actions/dynamic_recovery/DR07/session_004/annotations.json b/actions/dynamic_recovery/DR07/session_004/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..b2e8a0879b180c39711c4d79ffe9126730bc0c42 --- /dev/null +++ b/actions/dynamic_recovery/DR07/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": "DR07", + "instruction": "Stand with one foot directly in front of the other, heel to toe, on the marked line. Hold your balance until you lose it, then step out. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe.", + "segments": [ + { + "id": "segment1", + "duration_s": 128.966667, + "video": "left_eye", + "video_t_start": 0.03916224538594193 + } + ], + "episodes": [ + { + "id": "6ddb966d-4fb2-4aea-9b5a-2d09ff5d440a", + "segment": "segment1", + "action": "DR07", + "quality": "valid", + "start_s": 1.004, + "end_s": 80.158, + "t_start": 1.0432, + "t_end": 80.1972, + "instruction": "Stand with one foot directly in front of the other, heel to toe, on the marked line. Hold your balance until you lose it, then step out. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe." + }, + { + "id": "0414c3db-40f7-44ed-9438-5e58cd7610a3", + "segment": "segment1", + "action": "DR07", + "quality": "valid", + "start_s": 80.158, + "end_s": 122.932, + "t_start": 80.1972, + "t_end": 122.9712, + "instruction": "Stand with one foot directly in front of the other, heel to toe, on the marked line. Hold your balance until you lose it, then step out. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe." + } + ] +} diff --git a/actions/dynamic_recovery/DR07/session_004/cameras/slam.npz b/actions/dynamic_recovery/DR07/session_004/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..e9efeaf70cea7f297257f44319a3c33785cfabf1 --- /dev/null +++ b/actions/dynamic_recovery/DR07/session_004/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a66de353db27bc689a22d17bc171844b180e4f8672706092e7ac90fcf871ce0 +size 732417 diff --git a/actions/dynamic_recovery/DR07/session_004/meta.json b/actions/dynamic_recovery/DR07/session_004/meta.json index a1cdae0c3cfe47df98b3344498de2c43fa3bffc5..eb6fe16d45b2851eba33317fe22d81eca534c780 100644 --- a/actions/dynamic_recovery/DR07/session_004/meta.json +++ b/actions/dynamic_recovery/DR07/session_004/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -515,10 +515,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0558235759860688 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 19.99, + "offset_rotvec": [ + 0.289, + -0.1174, + 0.1564 + ], + "dev_deg": { + "median": 15.33, + "p90": 29.05 + }, + "samples": 2993, + "accepted": 2721, + "wrist_pos_err_mm_median": 201.7, + "per_camera": { + "head": { + "samples": 2993, + "accepted": 2721, + "gate_deg": 30.0, + "offset_deg": 19.99, + "tier": "primary", + "dev_deg_median": 15.33, + "wrist_pos_err_mm_median": 201.7 + } + }, + "frames_by_state": { + "ace_sample": 11162, + "interpolated": 3162, + "mean_hand": 1160, + "no_body_fit": 0 + }, + "observed_fraction": 0.9251, + "observed_fraction_of_valid": 0.9251, + "palm_axis_vs_markers_deg": { + "gsi": 19.99, + "smplx": 0.14 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.0, + "p90": 16.0 + }, + "registered": { + "median": 11.3, + "p90": 12.2 + } + } + }, + "right": { + "offset_deg": 61.42, + "offset_rotvec": [ + 1.0404, + 0.2579, + -0.0039 + ], + "dev_deg": { + "median": 11.59, + "p90": 24.67 + }, + "samples": 1335, + "accepted": 1278, + "wrist_pos_err_mm_median": 326.2, + "per_camera": { + "head": { + "samples": 1335, + "accepted": 1278, + "gate_deg": 30.0, + "offset_deg": 61.42, + "tier": "primary", + "dev_deg_median": 11.59, + "wrist_pos_err_mm_median": 326.2 + } + }, + "frames_by_state": { + "ace_sample": 5136, + "interpolated": 1180, + "mean_hand": 9168, + "no_body_fit": 0 + }, + "observed_fraction": 0.4079, + "observed_fraction_of_valid": 0.4079, + "palm_axis_vs_markers_deg": { + "gsi": 64.81, + "smplx": 0.36 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.5, + "p90": 15.1 + }, + "registered": { + "median": 10.3, + "p90": 14.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T17:07:16.924282+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/dynamic_recovery/DR07/session_004", "family": "dynamic_recovery", "primitive": "DR07", "source_session": "20260912/DR07/20260912_041405_session6" + }, + "task": { + "primitive": "DR07", + "instruction": "Stand with one foot directly in front of the other, heel to toe, on the marked line. Hold your balance until you lose it, then step out. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe." } } diff --git a/actions/dynamic_recovery/DR07/session_004/motions/hands_mano.npz b/actions/dynamic_recovery/DR07/session_004/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..a47b41298a8ba8ddcbeb672a2230fdc17dfe0227 --- /dev/null +++ b/actions/dynamic_recovery/DR07/session_004/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c52a6a67cc6705503d00012731265c0a86ba2e882498dee3fc7dafd55755306 +size 3053385 diff --git a/actions/dynamic_recovery/DR07/session_004/motions/smplx.npz b/actions/dynamic_recovery/DR07/session_004/motions/smplx.npz index 67fd2d958cee31b5a896a79b58ad05cf1af44a31..df3c8d33e441bd5c10a59bff4aa8d73c3ce98906 100644 --- a/actions/dynamic_recovery/DR07/session_004/motions/smplx.npz +++ b/actions/dynamic_recovery/DR07/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a86677daf5a1778a99bc5c7649df691f458b9d36a62cd954b626a9151d47eabc -size 5791137 +oid sha256:9f6c80ae4c9884ff80a314d0616d83cffa4a8540d493698cd957e3f7a63e4496 +size 9434866 diff --git a/actions/dynamic_recovery/DR07/session_005/annotations.json b/actions/dynamic_recovery/DR07/session_005/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..3cdc1ea37eac463b049ff7ef0593ac152eebceba --- /dev/null +++ b/actions/dynamic_recovery/DR07/session_005/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": "DR07", + "instruction": "Stand with one foot directly in front of the other, heel to toe, on the marked line. Hold your balance until you lose it, then step out. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe.", + "segments": [ + { + "id": "segment1", + "duration_s": 123.966667, + "video": "left_eye", + "video_t_start": 0.03896421955381024 + } + ], + "episodes": [ + { + "id": "b6c8f664-3f8d-45a5-8732-19be5e14e611", + "segment": "segment1", + "action": "DR07", + "quality": "valid", + "start_s": 1.609, + "end_s": 61.89, + "t_start": 1.648, + "t_end": 61.929, + "instruction": "Stand with one foot directly in front of the other, heel to toe, on the marked line. Hold your balance until you lose it, then step out. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe." + }, + { + "id": "1edab2e8-47c4-4c2e-91ea-fe95ecff9f15", + "segment": "segment1", + "action": "DR07", + "quality": "valid", + "start_s": 61.89, + "end_s": 121.231, + "t_start": 61.929, + "t_end": 121.27, + "instruction": "Stand with one foot directly in front of the other, heel to toe, on the marked line. Hold your balance until you lose it, then step out. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe." + } + ] +} diff --git a/actions/dynamic_recovery/DR07/session_005/cameras/slam.npz b/actions/dynamic_recovery/DR07/session_005/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..6394584236dba4f04fc4261446fb6513d5c65706 --- /dev/null +++ b/actions/dynamic_recovery/DR07/session_005/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea190c87d61e3ceaed7ddea019f157707fa8534b82eac5d7e179e4af1047788f +size 713280 diff --git a/actions/dynamic_recovery/DR07/session_005/meta.json b/actions/dynamic_recovery/DR07/session_005/meta.json index f66b7805ff6b613a71ef6f3745a4798d456d7ae1..dca14354b560d8170a7cba4b9bd3fe4f923760ab 100644 --- a/actions/dynamic_recovery/DR07/session_005/meta.json +++ b/actions/dynamic_recovery/DR07/session_005/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": { @@ -524,10 +524,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.114713587318204 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 12.14, + "offset_rotvec": [ + -0.0949, + 0.0749, + -0.174 + ], + "dev_deg": { + "median": 5.42, + "p90": 10.57 + }, + "samples": 3642, + "accepted": 3615, + "wrist_pos_err_mm_median": 107.4, + "per_camera": { + "head": { + "samples": 3642, + "accepted": 3615, + "gate_deg": 30.0, + "offset_deg": 12.14, + "tier": "primary", + "dev_deg_median": 5.42, + "wrist_pos_err_mm_median": 107.4 + } + }, + "frames_by_state": { + "ace_sample": 14458, + "interpolated": 34, + "mean_hand": 392, + "no_body_fit": 0 + }, + "observed_fraction": 0.9737, + "observed_fraction_of_valid": 0.9737, + "palm_axis_vs_markers_deg": { + "gsi": 6.94, + "smplx": 0.56 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.5, + "p90": 17.8 + }, + "registered": { + "median": 12.8, + "p90": 17.6 + } + } + }, + "right": { + "offset_deg": 17.77, + "offset_rotvec": [ + -0.2148, + 0.1553, + 0.1611 + ], + "dev_deg": { + "median": 7.73, + "p90": 21.99 + }, + "samples": 3345, + "accepted": 3159, + "wrist_pos_err_mm_median": 136.6, + "per_camera": { + "head": { + "samples": 3345, + "accepted": 3159, + "gate_deg": 30.0, + "offset_deg": 17.77, + "tier": "primary", + "dev_deg_median": 7.73, + "wrist_pos_err_mm_median": 136.6 + } + }, + "frames_by_state": { + "ace_sample": 12728, + "interpolated": 1068, + "mean_hand": 1088, + "no_body_fit": 0 + }, + "observed_fraction": 0.9269, + "observed_fraction_of_valid": 0.9269, + "palm_axis_vs_markers_deg": { + "gsi": 15.96, + "smplx": 1.07 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 16.6, + "p90": 23.4 + }, + "registered": { + "median": 15.4, + "p90": 23.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T17:07:17.426442+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/dynamic_recovery/DR07/session_005", "family": "dynamic_recovery", "primitive": "DR07", "source_session": "20260912/DR07/20260912_113532_session15" + }, + "task": { + "primitive": "DR07", + "instruction": "Stand with one foot directly in front of the other, heel to toe, on the marked line. Hold your balance until you lose it, then step out. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe." } } diff --git a/actions/dynamic_recovery/DR07/session_005/motions/hands_mano.npz b/actions/dynamic_recovery/DR07/session_005/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..429de641c58bfc71fa615ffc1f1dcb643f10728d --- /dev/null +++ b/actions/dynamic_recovery/DR07/session_005/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c20d14265c329e464f2acae88127cdc256dcaec22cc698fae7e16cdfca20726 +size 4761428 diff --git a/actions/dynamic_recovery/DR07/session_005/motions/smplx.npz b/actions/dynamic_recovery/DR07/session_005/motions/smplx.npz index f6bd268e2c01e951680b632eb3f49af0312d68bf..4cdff430dcda29ce9f365c5503b9585c2de6274a 100644 --- a/actions/dynamic_recovery/DR07/session_005/motions/smplx.npz +++ b/actions/dynamic_recovery/DR07/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e02db533c800255756555e3043ef5c99232f05431d6b5fc8fb31f9a85609b6db -size 5702315 +oid sha256:15857c8e158a8bee1e1f3afd35f104292395e921dbb8c3d091cdd4fb024a561e +size 10500731 diff --git a/actions/dynamic_recovery/DR07/session_006/annotations.json b/actions/dynamic_recovery/DR07/session_006/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..f8b7f5fe7f8a37af17a12af4db86a36133d77969 --- /dev/null +++ b/actions/dynamic_recovery/DR07/session_006/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": "DR07", + "instruction": "Stand with one foot directly in front of the other, heel to toe, on the marked line. Hold your balance until you lose it, then step out. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe.", + "segments": [ + { + "id": "segment1", + "duration_s": 128.966633, + "video": "left_eye", + "video_t_start": 0.03920286923938643 + } + ], + "episodes": [ + { + "id": "0e4f7767-1177-482e-985d-72ef013d2a1d", + "segment": "segment1", + "action": "DR07", + "quality": "valid", + "start_s": 1.472, + "end_s": 59.02, + "t_start": 1.5112, + "t_end": 59.0592, + "instruction": "Stand with one foot directly in front of the other, heel to toe, on the marked line. Hold your balance until you lose it, then step out. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. 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Step whenever you need to; do not try to hold on longer than feels safe." + } + ] +} diff --git a/actions/dynamic_recovery/DR07/session_006/cameras/gsi_online_calibration.json b/actions/dynamic_recovery/DR07/session_006/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..78b27bf5566984ee56a60c10232d2191913166e7 --- /dev/null +++ b/actions/dynamic_recovery/DR07/session_006/cameras/gsi_online_calibration.json @@ -0,0 +1,254 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 14, + "median_px": 0.335 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.9093, + "gate_fail": [], + "held_out_px_after": 0.534, + "held_out_px_before": 4.358, + "inliers": 2572, + "position_fitted": false, + "rotvec_deg": [ + 0.4343, + -0.3428, + -0.7216 + ], + "split_deg": 0.0792, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": 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b/actions/dynamic_recovery/DR07/session_006/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8ba43d3581b46afef188eed208daa3e95caacb080ac3ee5b8ed9873f3f2732b +size 737346 diff --git a/actions/dynamic_recovery/DR07/session_006/meta.json b/actions/dynamic_recovery/DR07/session_006/meta.json index f97b782ad9ffb14bd9c5aa8b5046aa238d05edc3..6827c2a4c6dc1e5b4ad6be8069215aa7a65642cc 100644 --- a/actions/dynamic_recovery/DR07/session_006/meta.json +++ b/actions/dynamic_recovery/DR07/session_006/meta.json @@ -514,5 +514,9 @@ "family": "dynamic_recovery", "primitive": "DR07", "source_session": "20260917/DR07/20260917_095915_session161" + }, + "task": { + "primitive": "DR07", + "instruction": "Stand with one foot directly in front of the other, heel to toe, on the marked line. Hold your balance until you lose it, then step out. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe." } } diff --git a/actions/dynamic_recovery/DR07/session_006/motions/hands_mano.npz b/actions/dynamic_recovery/DR07/session_006/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..4f4713751c7e56d4c547a0fa514b0f28ff7a7597 --- /dev/null +++ b/actions/dynamic_recovery/DR07/session_006/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:838069bcf5ed7b657e8902c60a724c9c8ef2f44a16fbd5fc859398c8604b0fe0 +size 4410627