diff --git a/actions/static_manipulation/SM14/session_004/motions/smplx.npz b/actions/static_manipulation/SM14/session_004/motions/smplx.npz index c2d96b7e4cf31352841dd19e37be7ce487b765eb..4126f6a8679883eb0f0a93d77c7e58b42ef5fbe1 100644 --- a/actions/static_manipulation/SM14/session_004/motions/smplx.npz +++ b/actions/static_manipulation/SM14/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:786bf405d371f51a1f6be91cd853ce31692a03369fd6519ba5ed504123326167 -size 6072272 +oid sha256:1a09a4b599e4f6840863ba7640b593292ff5ccbe9698460371c5c5322cb06508 +size 10930487 diff --git a/actions/static_manipulation/SM14/session_008/meta.json b/actions/static_manipulation/SM14/session_008/meta.json index 704f2ff112601c1c616b33f7d1a4e85654f013d0..735d0eb91e75f05c1a80a5de6b093a670ccfc65d 100644 --- a/actions/static_manipulation/SM14/session_008/meta.json +++ b/actions/static_manipulation/SM14/session_008/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -425,19 +425,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 166.94, + "Q_deg": 180.0, "Q_rotvec": [ - 2.90836, - 0.14956, - -0.09201 + -2.98601, + 0.43444, + 0.87442 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 160.5, - "opposite_sign_bend_deg": 37.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.825, + "inlier_spread_deg": 7.56, + "marker_Q_to_gsi_deg": { + "1": 178.6, + "-1": 15.2 + } + }, + "wrist_bend_deg_median": 173.0, + "opposite_sign_bend_deg": 16.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.4, "hand_vs_marker_frame_deg": { - "before": 167.26, + "before": 179.2, "after": 2.4 }, "markers_on_wrist": [ @@ -445,15 +456,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 158.55, + "twist_moved_deg": -167.16, "wrist_twist_deg_after": { - "median": 4.31, + "median": -5.13, "iqr": [ - -1.6, - 11.3 + -11.9, + 1.7 ] }, - "wrist_total_deg_median_after": 17.2, + "wrist_total_deg_median_after": 35.7, "markers_on_forearm": [ "LElbowIn", "LForearm", @@ -465,19 +476,30 @@ }, "right": { "status": "corrected", - "Q_deg": 104.94, + "Q_deg": 0.0, "Q_rotvec": [ - 1.7307, - 0.58882, - 0.11065 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 79.9, - "opposite_sign_bend_deg": 113.9, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.985, + "inlier_spread_deg": 7.86, + "marker_Q_to_gsi_deg": { + "1": 17.8, + "-1": 174.7 + } + }, + "wrist_bend_deg_median": 33.5, + "opposite_sign_bend_deg": 174.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.5, "hand_vs_marker_frame_deg": { - "before": 105.02, + "before": 4.5, "after": 4.5 }, "markers_on_wrist": [ @@ -485,9 +507,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -73.78, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -4.5, 3.8 @@ -502,7 +524,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-29T05:39:29.454471+00:00", + "generated_at_utc": "2026-11-06T14:18:54.476440+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -597,6 +619,116 @@ }, "applied": 6 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 15.05, + "offset_rotvec": [ + -0.1079, + 0.2386, + -0.0199 + ], + "dev_deg": { + "median": 11.79, + "p90": 120.56 + }, + "samples": 4168, + "accepted": 3440, + "wrist_pos_err_mm_median": 40.0, + "per_camera": { + "head": { + "samples": 4168, + "accepted": 3440, + "gate_deg": 30.0, + "offset_deg": 15.05, + "tier": "primary", + "dev_deg_median": 11.79, + "wrist_pos_err_mm_median": 40.0 + } + }, + "frames_by_state": { + "ace_sample": 13766, + "interpolated": 454, + "mean_hand": 3072, + "no_body_fit": 8 + }, + "observed_fraction": 0.822, + "observed_fraction_of_valid": 0.8223, + "palm_axis_vs_markers_deg": { + "gsi": 18.0, + "smplx": 1.82 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.4, + "p90": 29.2 + }, + "registered": { + "median": 14.5, + "p90": 28.4 + } + } + }, + "right": { + "offset_deg": 17.89, + "offset_rotvec": [ + -0.0865, + -0.2859, + 0.0907 + ], + "dev_deg": { + "median": 7.99, + "p90": 15.09 + }, + "samples": 4215, + "accepted": 4151, + "wrist_pos_err_mm_median": 26.5, + "per_camera": { + "head": { + "samples": 4215, + "accepted": 4151, + "gate_deg": 30.0, + "offset_deg": 17.89, + "tier": "primary", + "dev_deg_median": 7.99, + "wrist_pos_err_mm_median": 26.5 + } + }, + "frames_by_state": { + "ace_sample": 16661, + "interpolated": 626, + "mean_hand": 5, + "no_body_fit": 8 + }, + "observed_fraction": 0.9992, + "observed_fraction_of_valid": 0.9997, + "palm_axis_vs_markers_deg": { + "gsi": 18.34, + "smplx": 1.72 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.8, + "p90": 25.6 + }, + "registered": { + "median": 13.7, + "p90": 25.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:55:39.236002+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/static_manipulation/SM14/session_008", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM14/session_008/motions/smplx.npz b/actions/static_manipulation/SM14/session_008/motions/smplx.npz index c50badd80d85e0d4045c45105c8b44185406893c..fef5b5acb13ee5ceb1219bd94dd9782e3c3f3e79 100644 --- a/actions/static_manipulation/SM14/session_008/motions/smplx.npz +++ b/actions/static_manipulation/SM14/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0b66a127c1061c90f002b71bf24799e8c5ef0535af0909605c2d587ca2c91299 -size 6607024 +oid sha256:1c62dac5d5eac35f57e44ee19074cc563b751f1d192152c6a1fad780afe83d6d +size 11975003 diff --git a/actions/static_manipulation/SM15/session_001/meta.json b/actions/static_manipulation/SM15/session_001/meta.json index 47c2f6c5ac9f06f227c1f446e2aef1c0252d21c5..e32d94e5273d17c4ff837850ce7f769229b63559 100644 --- a/actions/static_manipulation/SM15/session_001/meta.json +++ b/actions/static_manipulation/SM15/session_001/meta.json @@ -323,8 +323,8 @@ "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": { @@ -395,14 +395,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 174.0, - "opposite_sign_bend_deg": 25.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.993, + "inlier_spread_deg": 5.47, + "marker_Q_to_gsi_deg": { + "1": 175.4, + "-1": 10.7 + } + }, + "wrist_bend_deg_median": 170.9, + "opposite_sign_bend_deg": 27.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.0, "hand_vs_marker_frame_deg": { "before": 178.43, @@ -414,15 +425,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 172.46, + "twist_moved_deg": -170.7, "wrist_twist_deg_after": { - "median": 2.3, + "median": -1.77, "iqr": [ - -3.1, - 4.4 + -7.1, + 1.5 ] }, - "wrist_total_deg_median_after": 27.5, + "wrist_total_deg_median_after": 24.1, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -434,11 +445,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ + -0.0, 0.0, - 0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 1.0, + "inlier_spread_deg": 5.58, + "marker_Q_to_gsi_deg": { + "1": 4.6, + "-1": 178.6 + } + }, "wrist_bend_deg_median": 20.8, "opposite_sign_bend_deg": 175.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -453,9 +475,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -4.8, 2.2 @@ -469,7 +491,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:16:17.807457+00:00", + "generated_at_utc": "2026-11-06T13:42:01.360077+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -513,6 +535,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.2407311486375565 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.03, + "offset_rotvec": [ + -0.1067, + -0.1027, + 0.0539 + ], + "dev_deg": { + "median": 6.91, + "p90": 15.66 + }, + "samples": 4468, + "accepted": 4453, + "wrist_pos_err_mm_median": 106.0, + "per_camera": { + "head": { + "samples": 4468, + "accepted": 4453, + "gate_deg": 30.0, + "offset_deg": 9.03, + "tier": "primary", + "dev_deg_median": 6.91, + "wrist_pos_err_mm_median": 106.0 + } + }, + "frames_by_state": { + "ace_sample": 17820, + "interpolated": 52, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9993, + "observed_fraction_of_valid": 0.9993, + "palm_axis_vs_markers_deg": { + "gsi": 10.27, + "smplx": 1.76 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.5, + "p90": 11.4 + }, + "registered": { + "median": 8.9, + "p90": 11.7 + } + } + }, + "right": { + "offset_deg": 6.94, + "offset_rotvec": [ + 0.0204, + -0.0653, + 0.0999 + ], + "dev_deg": { + "median": 7.9, + "p90": 12.25 + }, + "samples": 4416, + "accepted": 4416, + "wrist_pos_err_mm_median": 112.3, + "per_camera": { + "head": { + "samples": 4416, + "accepted": 4416, + "gate_deg": 30.0, + "offset_deg": 6.94, + "tier": "primary", + "dev_deg_median": 7.9, + "wrist_pos_err_mm_median": 112.3 + } + }, + "frames_by_state": { + "ace_sample": 17674, + "interpolated": 198, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9993, + "observed_fraction_of_valid": 0.9993, + "palm_axis_vs_markers_deg": { + "gsi": 7.29, + "smplx": 1.21 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.4, + "p90": 7.9 + }, + "registered": { + "median": 6.0, + "p90": 7.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:38:59.541483+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/static_manipulation/SM15/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM15/session_001/motions/smplx.npz b/actions/static_manipulation/SM15/session_001/motions/smplx.npz index 672bb82e7742593cc4a22809c398e6e35160979d..3686963b22bcd0d9387d0ceef5d4087bccdf192c 100644 --- a/actions/static_manipulation/SM15/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM15/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f4ac1865639ed9fb69c351a370cf1aac16a8f94b8b45fd6341565e8290b26414 -size 6710072 +oid sha256:2246ee8e7fb3d3c8a25eb0fa40361c6c99b2d75e688ecedf6a7677870766ea6e +size 12691523 diff --git a/actions/static_manipulation/SM15/session_006/meta.json b/actions/static_manipulation/SM15/session_006/meta.json index 50d5012fd99f7111af8d57f627b715c14db2b8fa..169ba8d85b4c9f6e4563e28ac26b998f7b1a8e3a 100644 --- a/actions/static_manipulation/SM15/session_006/meta.json +++ b/actions/static_manipulation/SM15/session_006/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -430,19 +430,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 157.69, + "Q_deg": 180.0, "Q_rotvec": [ - 2.67544, - -0.55426, - -0.33161 + -2.98601, + 0.43444, + 0.87442 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 94.4, - "opposite_sign_bend_deg": 88.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.957, + "inlier_spread_deg": 9.38, + "marker_Q_to_gsi_deg": { + "1": 178.3, + "-1": 9.9 + } + }, + "wrist_bend_deg_median": 174.1, + "opposite_sign_bend_deg": 19.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.69, "hand_vs_marker_frame_deg": { - "before": 157.04, + "before": 178.87, "after": 2.69 }, "markers_on_wrist": [ @@ -451,15 +462,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 93.13, + "twist_moved_deg": -142.73, "wrist_twist_deg_after": { - "median": 0.22, + "median": -36.25, "iqr": [ - -5.6, - 10.5 + -41.5, + -26.9 ] }, - "wrist_total_deg_median_after": 19.4, + "wrist_total_deg_median_after": 42.8, "markers_on_forearm": [ "LForearm", "LWristIn" @@ -469,19 +480,30 @@ }, "right": { "status": "corrected", - "Q_deg": 69.18, + "Q_deg": 0.0, "Q_rotvec": [ - 0.9789, - 0.45416, - -0.54174 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 62.3, - "opposite_sign_bend_deg": 141.5, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.992, + "inlier_spread_deg": 10.94, + "marker_Q_to_gsi_deg": { + "1": 17.3, + "-1": 173.5 + } + }, + "wrist_bend_deg_median": 37.4, + "opposite_sign_bend_deg": 165.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 7.05, "hand_vs_marker_frame_deg": { - "before": 69.25, + "before": 7.05, "after": 7.05 }, "markers_on_wrist": [ @@ -489,9 +511,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -49.12, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -15.0, 8.4 @@ -506,7 +528,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-29T05:38:49.269357+00:00", + "generated_at_utc": "2026-11-06T14:18:54.361592+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -557,6 +579,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.47, + "offset_rotvec": [ + 0.0046, + 0.1118, + -0.1217 + ], + "dev_deg": { + "median": 9.89, + "p90": 22.03 + }, + "samples": 4027, + "accepted": 3852, + "wrist_pos_err_mm_median": 62.6, + "per_camera": { + "head": { + "samples": 4027, + "accepted": 3852, + "gate_deg": 30.0, + "offset_deg": 9.47, + "tier": "primary", + "dev_deg_median": 9.89, + "wrist_pos_err_mm_median": 62.6 + } + }, + "frames_by_state": { + "ace_sample": 15425, + "interpolated": 230, + "mean_hand": 545, + "no_body_fit": 8 + }, + "observed_fraction": 0.9659, + "observed_fraction_of_valid": 0.9664, + "palm_axis_vs_markers_deg": { + "gsi": 9.68, + "smplx": 2.37 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.2, + "p90": 20.0 + }, + "registered": { + "median": 11.2, + "p90": 20.1 + } + } + }, + "right": { + "offset_deg": 17.45, + "offset_rotvec": [ + -0.0948, + -0.2846, + 0.052 + ], + "dev_deg": { + "median": 10.98, + "p90": 18.59 + }, + "samples": 3944, + "accepted": 3917, + "wrist_pos_err_mm_median": 25.8, + "per_camera": { + "head": { + "samples": 3944, + "accepted": 3917, + "gate_deg": 30.0, + "offset_deg": 17.45, + "tier": "primary", + "dev_deg_median": 10.98, + "wrist_pos_err_mm_median": 25.8 + } + }, + "frames_by_state": { + "ace_sample": 15687, + "interpolated": 288, + "mean_hand": 225, + "no_body_fit": 8 + }, + "observed_fraction": 0.9856, + "observed_fraction_of_valid": 0.9861, + "palm_axis_vs_markers_deg": { + "gsi": 17.77, + "smplx": 2.68 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.5, + "p90": 25.4 + }, + "registered": { + "median": 14.4, + "p90": 25.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:55:38.139917+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/static_manipulation/SM15/session_006", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM15/session_006/motions/smplx.npz b/actions/static_manipulation/SM15/session_006/motions/smplx.npz index 54f0671a6b172d5a3b79ad5bff98ed053e3edd74..25ff71f9735e81b8b89b1e6cb15a34251abbb7a7 100644 --- a/actions/static_manipulation/SM15/session_006/motions/smplx.npz +++ b/actions/static_manipulation/SM15/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:af746f811be9039b0f0680ea3940426c20fde16a9b0fd461a9bef50e14a4e05b -size 6106374 +oid sha256:2f4f3287a33ade6cdb81d161b74565a13618231195a746385ae87936dd7dc893 +size 11440302 diff --git a/actions/static_manipulation/SM16/session_001/meta.json b/actions/static_manipulation/SM16/session_001/meta.json index fdcdaee71ea204d73749f7497edbe4489636c272..97e17daecfd08413adeaf58257fbbc58d0be169e 100644 --- a/actions/static_manipulation/SM16/session_001/meta.json +++ b/actions/static_manipulation/SM16/session_001/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -400,14 +400,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 171.7, - "opposite_sign_bend_deg": 20.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.995, + "inlier_spread_deg": 12.44, + "marker_Q_to_gsi_deg": { + "1": 174.9, + "-1": 6.6 + } + }, + "wrist_bend_deg_median": 172.7, + "opposite_sign_bend_deg": 31.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.75, "hand_vs_marker_frame_deg": { "before": 177.12, @@ -420,15 +431,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 168.6, + "twist_moved_deg": -167.3, "wrist_twist_deg_after": { - "median": 4.46, + "median": -1.31, "iqr": [ - -0.4, - 9.4 + -8.1, + 4.3 ] }, - "wrist_total_deg_median_after": 31.8, + "wrist_total_deg_median_after": 21.6, "markers_on_forearm": [ "LForearm" ] @@ -439,11 +450,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, - -0.0 + 0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.933, + "inlier_spread_deg": 12.15, + "marker_Q_to_gsi_deg": { + "1": 14.0, + "-1": 169.3 + } + }, "wrist_bend_deg_median": 38.8, "opposite_sign_bend_deg": 171.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -475,7 +497,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:16:19.266544+00:00", + "generated_at_utc": "2026-11-06T13:42:13.043091+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -519,6 +541,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.3793257525196987 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 6.15, + "offset_rotvec": [ + -0.0748, + -0.0681, + 0.0358 + ], + "dev_deg": { + "median": 12.18, + "p90": 17.18 + }, + "samples": 4347, + "accepted": 4321, + "wrist_pos_err_mm_median": 48.1, + "per_camera": { + "head": { + "samples": 4347, + "accepted": 4321, + "gate_deg": 30.0, + "offset_deg": 6.15, + "tier": "primary", + "dev_deg_median": 12.18, + "wrist_pos_err_mm_median": 48.1 + } + }, + "frames_by_state": { + "ace_sample": 17323, + "interpolated": 548, + "mean_hand": 5, + "no_body_fit": 8 + }, + "observed_fraction": 0.9993, + "observed_fraction_of_valid": 0.9997, + "palm_axis_vs_markers_deg": { + "gsi": 7.16, + "smplx": 3.16 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.5, + "p90": 14.7 + }, + "registered": { + "median": 12.2, + "p90": 15.9 + } + } + }, + "right": { + "offset_deg": 13.99, + "offset_rotvec": [ + -0.1977, + -0.132, + 0.0561 + ], + "dev_deg": { + "median": 12.62, + "p90": 25.34 + }, + "samples": 4077, + "accepted": 3797, + "wrist_pos_err_mm_median": 27.8, + "per_camera": { + "head": { + "samples": 4077, + "accepted": 3797, + "gate_deg": 30.0, + "offset_deg": 13.99, + "tier": "primary", + "dev_deg_median": 12.62, + "wrist_pos_err_mm_median": 27.8 + } + }, + "frames_by_state": { + "ace_sample": 15287, + "interpolated": 1832, + "mean_hand": 757, + "no_body_fit": 8 + }, + "observed_fraction": 0.9572, + "observed_fraction_of_valid": 0.9577, + "palm_axis_vs_markers_deg": { + "gsi": 16.61, + "smplx": 1.79 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.0, + "p90": 14.5 + }, + "registered": { + "median": 10.0, + "p90": 12.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:38:59.436504+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/static_manipulation/SM16/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM16/session_001/motions/smplx.npz b/actions/static_manipulation/SM16/session_001/motions/smplx.npz index fbb5e356f71169b4a8f054eb5fd49cb1d0100c77..aaf0b943cedb57b167e001132ad738e3547b03a3 100644 --- a/actions/static_manipulation/SM16/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM16/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:bb41b79e5f44f040208a4ba25b7bb7dedb4480a45c76cb4281ea93c353e3144c -size 6696366 +oid sha256:21776953e54de65586ba3ea052edbd384e151e059893339b7695502032bc4180 +size 12612415 diff --git a/actions/static_manipulation/SM18/session_001/meta.json b/actions/static_manipulation/SM18/session_001/meta.json index b347b75a2b5c4454d37459ed9955ffc0c521c8d7..7615531c26ec4b63923a83cd9a77b114963d640b 100644 --- a/actions/static_manipulation/SM18/session_001/meta.json +++ b/actions/static_manipulation/SM18/session_001/meta.json @@ -339,8 +339,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -401,14 +401,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02575, - 0.26943, - 0.80116 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 168.9, - "opposite_sign_bend_deg": 27.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.903, + "inlier_spread_deg": 13.75, + "marker_Q_to_gsi_deg": { + "1": 174.8, + "-1": 8.2 + } + }, + "wrist_bend_deg_median": 152.7, + "opposite_sign_bend_deg": 50.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 8.82, "hand_vs_marker_frame_deg": { "before": 179.14, @@ -419,15 +430,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 150.44, + "twist_moved_deg": -147.73, "wrist_twist_deg_after": { - "median": 24.28, + "median": -2.71, "iqr": [ - 11.6, - 33.1 + -13.0, + 7.2 ] }, - "wrist_total_deg_median_after": 49.8, + "wrist_total_deg_median_after": 28.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -440,11 +451,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.991, + "inlier_spread_deg": 11.89, + "marker_Q_to_gsi_deg": { + "1": 2.4, + "-1": 179.8 + } + }, "wrist_bend_deg_median": 33.2, "opposite_sign_bend_deg": 171.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -460,7 +482,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -10.3, 17.1 @@ -475,7 +497,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:15:31.577775+00:00", + "generated_at_utc": "2026-11-06T13:39:17.447155+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -519,6 +541,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.283190049561061 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 5.68, + "offset_rotvec": [ + -0.0697, + -0.0128, + 0.0694 + ], + "dev_deg": { + "median": 15.29, + "p90": 28.48 + }, + "samples": 4501, + "accepted": 4173, + "wrist_pos_err_mm_median": 45.7, + "per_camera": { + "head": { + "samples": 4501, + "accepted": 4173, + "gate_deg": 30.0, + "offset_deg": 5.68, + "tier": "primary", + "dev_deg_median": 15.29, + "wrist_pos_err_mm_median": 45.7 + } + }, + "frames_by_state": { + "ace_sample": 16714, + "interpolated": 314, + "mean_hand": 1448, + "no_body_fit": 8 + }, + "observed_fraction": 0.9212, + "observed_fraction_of_valid": 0.9216, + "palm_axis_vs_markers_deg": { + "gsi": 7.71, + "smplx": 2.84 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.8, + "p90": 17.2 + }, + "registered": { + "median": 9.6, + "p90": 17.1 + } + } + }, + "right": { + "offset_deg": 2.53, + "offset_rotvec": [ + 0.0028, + -0.0312, + 0.0312 + ], + "dev_deg": { + "median": 12.04, + "p90": 21.61 + }, + "samples": 4445, + "accepted": 4406, + "wrist_pos_err_mm_median": 33.0, + "per_camera": { + "head": { + "samples": 4445, + "accepted": 4406, + "gate_deg": 30.0, + "offset_deg": 2.53, + "tier": "primary", + "dev_deg_median": 12.04, + "wrist_pos_err_mm_median": 33.0 + } + }, + "frames_by_state": { + "ace_sample": 17628, + "interpolated": 196, + "mean_hand": 652, + "no_body_fit": 8 + }, + "observed_fraction": 0.9643, + "observed_fraction_of_valid": 0.9647, + "palm_axis_vs_markers_deg": { + "gsi": 8.05, + "smplx": 3.33 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.6, + "p90": 9.7 + }, + "registered": { + "median": 8.4, + "p90": 9.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:34:24.239306+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/static_manipulation/SM18/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM18/session_001/motions/smplx.npz b/actions/static_manipulation/SM18/session_001/motions/smplx.npz index 9394e7c939722ebe05b5a5a9758983d561cb349d..78fa758faebbb3ade6d6ec792a0353e6502a9172 100644 --- a/actions/static_manipulation/SM18/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM18/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:29a2129e67a6a62faa8228a398e80839fe40e5572f34279f88360e042c4e872c -size 6951151 +oid sha256:3ba134df2313a8af7baebbf0867973f1f2824a523629e7c60faab72ffaf122ef +size 12857054 diff --git a/actions/static_manipulation/SM19/session_001/meta.json b/actions/static_manipulation/SM19/session_001/meta.json index e3ab524cafd4c70038fbfbfd465ed3a8d2b3a85e..31b8fd7ff473198bc0fff967bd549eb925ee7716 100644 --- a/actions/static_manipulation/SM19/session_001/meta.json +++ b/actions/static_manipulation/SM19/session_001/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -390,14 +390,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 146.6, - "opposite_sign_bend_deg": 51.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.723, + "inlier_spread_deg": 12.06, + "marker_Q_to_gsi_deg": { + "1": 173.0, + "-1": 8.4 + } + }, + "wrist_bend_deg_median": 98.0, + "opposite_sign_bend_deg": 85.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.2, "hand_vs_marker_frame_deg": { "before": 177.22, @@ -408,15 +419,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 121.38, + "twist_moved_deg": -110.9, "wrist_twist_deg_after": { - "median": 50.94, + "median": -2.78, "iqr": [ - 20.1, - 83.1 + -38.2, + 25.1 ] }, - "wrist_total_deg_median_after": 68.2, + "wrist_total_deg_median_after": 53.9, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -429,11 +440,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, + -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.988, + "inlier_spread_deg": 5.78, + "marker_Q_to_gsi_deg": { + "1": 7.4, + "-1": 172.9 + } + }, "wrist_bend_deg_median": 26.3, "opposite_sign_bend_deg": 174.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -464,7 +486,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:16:19.263196+00:00", + "generated_at_utc": "2026-11-06T13:42:11.050209+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -725,6 +747,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.4825964538714733 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 5.68, + "offset_rotvec": [ + -0.0342, + -0.0633, + 0.0683 + ], + "dev_deg": { + "median": 15.88, + "p90": 72.81 + }, + "samples": 4571, + "accepted": 3299, + "wrist_pos_err_mm_median": 38.2, + "per_camera": { + "head": { + "samples": 4571, + "accepted": 3299, + "gate_deg": 30.0, + "offset_deg": 5.68, + "tier": "primary", + "dev_deg_median": 15.88, + "wrist_pos_err_mm_median": 38.2 + } + }, + "frames_by_state": { + "ace_sample": 13262, + "interpolated": 3138, + "mean_hand": 2084, + "no_body_fit": 0 + }, + "observed_fraction": 0.8873, + "observed_fraction_of_valid": 0.8873, + "palm_axis_vs_markers_deg": { + "gsi": 10.43, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 7.67, + "offset_rotvec": [ + -0.1102, + -0.054, + -0.0536 + ], + "dev_deg": { + "median": 5.51, + "p90": 18.53 + }, + "samples": 4576, + "accepted": 4513, + "wrist_pos_err_mm_median": 29.3, + "per_camera": { + "head": { + "samples": 4576, + "accepted": 4513, + "gate_deg": 30.0, + "offset_deg": 7.67, + "tier": "primary", + "dev_deg_median": 5.51, + "wrist_pos_err_mm_median": 29.3 + } + }, + "frames_by_state": { + "ace_sample": 18086, + "interpolated": 386, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9994, + "observed_fraction_of_valid": 0.9994, + "palm_axis_vs_markers_deg": { + "gsi": 8.87, + "smplx": 2.81 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.9, + "p90": 12.6 + }, + "registered": { + "median": 7.2, + "p90": 10.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:39:06.041320+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/static_manipulation/SM19/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM19/session_001/motions/smplx.npz b/actions/static_manipulation/SM19/session_001/motions/smplx.npz index 0d6938e7ce22174c2450765287f56eae9e859a4d..d88d30aa31270aa8915a7b80ef26b8cb7e232b26 100644 --- a/actions/static_manipulation/SM19/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM19/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3720237b4fcea1f1ccbdb8e851945047292097c4fd997e79b288cd9128378c13 -size 6974108 +oid sha256:26bf354a283c650f1c66b563deb5f208765136070cc5a0f781a9b3237e00e8a6 +size 12936273 diff --git a/actions/static_manipulation/SM19/session_005/meta.json b/actions/static_manipulation/SM19/session_005/meta.json index 2e648c860cd2715cc89df30b4ae8b419d5d1795a..93a5f765fe84ba2cac584c838d58205e0066e084 100644 --- a/actions/static_manipulation/SM19/session_005/meta.json +++ b/actions/static_manipulation/SM19/session_005/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -430,19 +430,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 143.1, + "Q_deg": 180.0, "Q_rotvec": [ - 2.49441, - -0.12117, - 0.03067 + -2.98601, + 0.43444, + 0.87442 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 126.4, - "opposite_sign_bend_deg": 58.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.929, + "inlier_spread_deg": 5.87, + "marker_Q_to_gsi_deg": { + "1": 175.2, + "-1": 13.4 + } + }, + "wrist_bend_deg_median": 178.1, + "opposite_sign_bend_deg": 19.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.15, "hand_vs_marker_frame_deg": { - "before": 143.03, + "before": 178.98, "after": 2.15 }, "markers_on_wrist": [ @@ -452,15 +463,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 125.11, + "twist_moved_deg": -120.59, "wrist_twist_deg_after": { - "median": 0.9, + "median": -58.91, "iqr": [ - -1.2, - 7.2 + -60.9, + -51.9 ] }, - "wrist_total_deg_median_after": 19.2, + "wrist_total_deg_median_after": 62.2, "markers_on_forearm": [ "LWristIn" ] @@ -469,19 +480,30 @@ }, "right": { "status": "corrected", - "Q_deg": 62.59, + "Q_deg": 0.0, "Q_rotvec": [ - 0.82942, - 0.63581, - -0.31774 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 61.7, - "opposite_sign_bend_deg": 146.8, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.998, + "inlier_spread_deg": 10.55, + "marker_Q_to_gsi_deg": { + "1": 9.7, + "-1": 176.7 + } + }, + "wrist_bend_deg_median": 40.3, + "opposite_sign_bend_deg": 165.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.86, "hand_vs_marker_frame_deg": { - "before": 62.75, + "before": 5.86, "after": 5.86 }, "markers_on_wrist": [ @@ -489,7 +511,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -42.22, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -506,7 +528,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-29T05:40:30.466561+00:00", + "generated_at_utc": "2026-11-06T14:18:57.074817+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -568,6 +590,116 @@ }, "applied": 3 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 14.78, + "offset_rotvec": [ + -0.0951, + 0.2397, + 0.0041 + ], + "dev_deg": { + "median": 5.8, + "p90": 25.61 + }, + "samples": 3990, + "accepted": 3704, + "wrist_pos_err_mm_median": 57.0, + "per_camera": { + "head": { + "samples": 3990, + "accepted": 3704, + "gate_deg": 30.0, + "offset_deg": 14.78, + "tier": "primary", + "dev_deg_median": 5.8, + "wrist_pos_err_mm_median": 57.0 + } + }, + "frames_by_state": { + "ace_sample": 14840, + "interpolated": 332, + "mean_hand": 1036, + "no_body_fit": 0 + }, + "observed_fraction": 0.9361, + "observed_fraction_of_valid": 0.9361, + "palm_axis_vs_markers_deg": { + "gsi": 15.83, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 9.72, + "offset_rotvec": [ + -0.0451, + -0.1613, + 0.0273 + ], + "dev_deg": { + "median": 10.55, + "p90": 17.15 + }, + "samples": 4008, + "accepted": 4003, + "wrist_pos_err_mm_median": 29.0, + "per_camera": { + "head": { + "samples": 4008, + "accepted": 4003, + "gate_deg": 30.0, + "offset_deg": 9.72, + "tier": "primary", + "dev_deg_median": 10.55, + "wrist_pos_err_mm_median": 29.0 + } + }, + "frames_by_state": { + "ace_sample": 16032, + "interpolated": 164, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9993, + "observed_fraction_of_valid": 0.9993, + "palm_axis_vs_markers_deg": { + "gsi": 9.64, + "smplx": 2.36 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 15.2, + "p90": 26.2 + }, + "registered": { + "median": 15.4, + "p90": 26.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:56:17.643148+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/static_manipulation/SM19/session_005", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM19/session_005/motions/smplx.npz b/actions/static_manipulation/SM19/session_005/motions/smplx.npz index a92fce14531ab49288f7cf2e81924ce0bafd46a0..557f011db9695f064c67c590a40a5e36f4471846 100644 --- a/actions/static_manipulation/SM19/session_005/motions/smplx.npz +++ b/actions/static_manipulation/SM19/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d75ef0d0ddc7b382b7d8160762501330d3e2303b04822c20e229c1efda02b1cf -size 6115564 +oid sha256:0006bd0a02f2d7ce9666810a50c141629b63562d339fd4f01e2e7bf1975d65a9 +size 11422147 diff --git a/actions/static_manipulation/SM20/session_001/meta.json b/actions/static_manipulation/SM20/session_001/meta.json index d62c63aded69cfea6ec196f732fd4527cd960f35..8ba7d4d8f6573dcf80a3b2229e23779536954209 100644 --- a/actions/static_manipulation/SM20/session_001/meta.json +++ b/actions/static_manipulation/SM20/session_001/meta.json @@ -327,8 +327,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -389,14 +389,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 176.8, - "opposite_sign_bend_deg": 14.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.998, + "inlier_spread_deg": 3.66, + "marker_Q_to_gsi_deg": { + "1": 171.3, + "-1": 11.9 + } + }, + "wrist_bend_deg_median": 175.9, + "opposite_sign_bend_deg": 29.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.87, "hand_vs_marker_frame_deg": { "before": 179.72, @@ -407,15 +418,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 176.42, + "twist_moved_deg": -175.92, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.49, "iqr": [ - -2.2, - 0.6 + -2.3, + 0.1 ] }, - "wrist_total_deg_median_after": 29.5, + "wrist_total_deg_median_after": 14.6, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -428,11 +439,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.996, + "inlier_spread_deg": 7.92, + "marker_Q_to_gsi_deg": { + "1": 7.2, + "-1": 179.6 + } + }, "wrist_bend_deg_median": 28.2, "opposite_sign_bend_deg": 173.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -448,7 +470,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -3.1, 8.7 @@ -463,7 +485,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:16:21.076590+00:00", + "generated_at_utc": "2026-11-06T13:42:17.645981+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -507,6 +529,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.6642217263951877 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 11.87, + "offset_rotvec": [ + -0.1491, + -0.125, + 0.071 + ], + "dev_deg": { + "median": 3.68, + "p90": 12.24 + }, + "samples": 4904, + "accepted": 4896, + "wrist_pos_err_mm_median": 62.2, + "per_camera": { + "head": { + "samples": 4904, + "accepted": 4896, + "gate_deg": 30.0, + "offset_deg": 11.87, + "tier": "primary", + "dev_deg_median": 3.68, + "wrist_pos_err_mm_median": 62.2 + } + }, + "frames_by_state": { + "ace_sample": 19598, + "interpolated": 74, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9994, + "observed_fraction_of_valid": 0.9994, + "palm_axis_vs_markers_deg": { + "gsi": 11.48, + "smplx": 1.3 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.1, + "p90": 4.7 + }, + "registered": { + "median": 3.9, + "p90": 4.3 + } + } + }, + "right": { + "offset_deg": 7.35, + "offset_rotvec": [ + -0.0049, + -0.1202, + 0.0442 + ], + "dev_deg": { + "median": 7.89, + "p90": 12.54 + }, + "samples": 4839, + "accepted": 4817, + "wrist_pos_err_mm_median": 28.3, + "per_camera": { + "head": { + "samples": 4839, + "accepted": 4817, + "gate_deg": 30.0, + "offset_deg": 7.35, + "tier": "primary", + "dev_deg_median": 7.89, + "wrist_pos_err_mm_median": 28.3 + } + }, + "frames_by_state": { + "ace_sample": 19286, + "interpolated": 254, + "mean_hand": 144, + "no_body_fit": 0 + }, + "observed_fraction": 0.9927, + "observed_fraction_of_valid": 0.9927, + "palm_axis_vs_markers_deg": { + "gsi": 10.57, + "smplx": 1.35 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.1, + "p90": 13.9 + }, + "registered": { + "median": 7.4, + "p90": 12.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:39:02.038394+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/static_manipulation/SM20/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM20/session_001/motions/smplx.npz b/actions/static_manipulation/SM20/session_001/motions/smplx.npz index fc7472325fbf059f640cfa04982282c8a1e15d4a..eee1f03289661ecf22e0e1606b8f81fb9e6361a7 100644 --- a/actions/static_manipulation/SM20/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM20/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c34d19db5783bfd59d5ab402b6668aafd0823a97db22818e61f1e59be53f482a -size 7486172 +oid sha256:d3c9719512c71bc6494b9b0f8d0a94828aa831b6f82794c8ca46422000020220 +size 14063464 diff --git a/actions/static_manipulation/SM20/session_006/meta.json b/actions/static_manipulation/SM20/session_006/meta.json index 465233e5f48d5ea42e6f1cb7c700cd80c3ecfd52..8eea2471b94bf6e40586fcc18b685a23faf5d80f 100644 --- a/actions/static_manipulation/SM20/session_006/meta.json +++ b/actions/static_manipulation/SM20/session_006/meta.json @@ -354,8 +354,8 @@ "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": { @@ -414,19 +414,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 155.03, + "Q_deg": 180.0, "Q_rotvec": [ - 2.67079, - -0.40213, - -0.16185 + -2.98601, + 0.43444, + 0.87442 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 117.6, - "opposite_sign_bend_deg": 64.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.921, + "inlier_spread_deg": 7.64, + "marker_Q_to_gsi_deg": { + "1": 173.6, + "-1": 17.4 + } + }, + "wrist_bend_deg_median": 178.5, + "opposite_sign_bend_deg": 26.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.74, "hand_vs_marker_frame_deg": { - "before": 155.46, + "before": 178.55, "after": 2.74 }, "markers_on_wrist": [ @@ -434,15 +445,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 115.98, + "twist_moved_deg": -177.79, "wrist_twist_deg_after": { - "median": 0.22, + "median": -1.52, "iqr": [ - -3.6, - 1.3 + -3.8, + -0.7 ] }, - "wrist_total_deg_median_after": 26.0, + "wrist_total_deg_median_after": 14.0, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -453,19 +464,30 @@ }, "right": { "status": "corrected", - "Q_deg": 121.4, + "Q_deg": 0.0, "Q_rotvec": [ - 2.08795, - 0.32604, - 0.15456 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 96.3, - "opposite_sign_bend_deg": 87.4, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.976, + "inlier_spread_deg": 7.64, + "marker_Q_to_gsi_deg": { + "1": 22.7, + "-1": 172.7 + } + }, + "wrist_bend_deg_median": 17.4, + "opposite_sign_bend_deg": 178.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.35, "hand_vs_marker_frame_deg": { - "before": 121.45, + "before": 2.35, "after": 2.35 }, "markers_on_wrist": [ @@ -473,7 +495,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -94.99, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -490,10 +512,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-29T05:41:31.199702+00:00", + "generated_at_utc": "2026-11-06T14:18:58.064902+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 18.62, + "offset_rotvec": [ + -0.1534, + 0.2793, + -0.0637 + ], + "dev_deg": { + "median": 8.42, + "p90": 22.18 + }, + "samples": 4357, + "accepted": 3998, + "wrist_pos_err_mm_median": 67.5, + "per_camera": { + "head": { + "samples": 4357, + "accepted": 3998, + "gate_deg": 30.0, + "offset_deg": 18.62, + "tier": "primary", + "dev_deg_median": 8.42, + "wrist_pos_err_mm_median": 67.5 + } + }, + "frames_by_state": { + "ace_sample": 16016, + "interpolated": 288, + "mean_hand": 1476, + "no_body_fit": 0 + }, + "observed_fraction": 0.917, + "observed_fraction_of_valid": 0.917, + "palm_axis_vs_markers_deg": { + "gsi": 20.52, + "smplx": 2.5 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 17.5, + "p90": 33.6 + }, + "registered": { + "median": 17.2, + "p90": 33.1 + } + } + }, + "right": { + "offset_deg": 24.56, + "offset_rotvec": [ + -0.1641, + -0.3213, + 0.2314 + ], + "dev_deg": { + "median": 7.61, + "p90": 15.99 + }, + "samples": 4276, + "accepted": 4169, + "wrist_pos_err_mm_median": 66.3, + "per_camera": { + "head": { + "samples": 4276, + "accepted": 4169, + "gate_deg": 30.0, + "offset_deg": 24.56, + "tier": "primary", + "dev_deg_median": 7.61, + "wrist_pos_err_mm_median": 66.3 + } + }, + "frames_by_state": { + "ace_sample": 16768, + "interpolated": 1000, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9993, + "observed_fraction_of_valid": 0.9993, + "palm_axis_vs_markers_deg": { + "gsi": 19.56, + "smplx": 0.86 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.8, + "p90": 21.5 + }, + "registered": { + "median": 12.9, + "p90": 21.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:56:19.354374+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/static_manipulation/SM20/session_006", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM20/session_006/motions/smplx.npz b/actions/static_manipulation/SM20/session_006/motions/smplx.npz index f5a728519955f2108855d1dcbb162f05ba2f7adb..b9da128875c10565815903bc5488faaeef7b910b 100644 --- a/actions/static_manipulation/SM20/session_006/motions/smplx.npz +++ b/actions/static_manipulation/SM20/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:60612c97fe5b5e9bd49dc021a2c3ab0758c8b0fc7cc0139cfe3e8ad8ad7a8aa1 -size 6722297 +oid sha256:47ec23151698186211200431703d633cece05aff6245a5c9e08edae38cc0fad4 +size 12431448 diff --git a/actions/static_manipulation/SM21/session_001/meta.json b/actions/static_manipulation/SM21/session_001/meta.json index b20833a6c112ea721c8d404f6c64f4af93a2709d..09886d0d7edd92b4fd7d6bd19ad62a7b753623ee 100644 --- a/actions/static_manipulation/SM21/session_001/meta.json +++ b/actions/static_manipulation/SM21/session_001/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -394,10 +394,21 @@ -0.2415, -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 176.3, - "opposite_sign_bend_deg": 13.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.995, + "inlier_spread_deg": 4.98, + "marker_Q_to_gsi_deg": { + "1": 173.8, + "-1": 12.5 + } + }, + "wrist_bend_deg_median": 176.5, + "opposite_sign_bend_deg": 26.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.56, "hand_vs_marker_frame_deg": { "before": 179.39, @@ -408,15 +419,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 176.49, + "twist_moved_deg": -175.99, "wrist_twist_deg_after": { - "median": 0.88, + "median": -0.5, "iqr": [ - -0.6, - 1.8 + -2.1, + 0.3 ] }, - "wrist_total_deg_median_after": 26.9, + "wrist_total_deg_median_after": 12.9, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -429,11 +440,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ + -0.0, 0.0, - 0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.988, + "inlier_spread_deg": 6.88, + "marker_Q_to_gsi_deg": { + "1": 9.3, + "-1": 177.5 + } + }, "wrist_bend_deg_median": 23.4, "opposite_sign_bend_deg": 173.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -447,7 +469,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -464,7 +486,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:16:21.072622+00:00", + "generated_at_utc": "2026-11-06T13:42:19.047109+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -508,6 +530,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.3305186252985 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 12.35, + "offset_rotvec": [ + -0.1008, + -0.1685, + 0.0888 + ], + "dev_deg": { + "median": 5.0, + "p90": 15.06 + }, + "samples": 4595, + "accepted": 4574, + "wrist_pos_err_mm_median": 66.0, + "per_camera": { + "head": { + "samples": 4595, + "accepted": 4574, + "gate_deg": 30.0, + "offset_deg": 12.35, + "tier": "primary", + "dev_deg_median": 5.0, + "wrist_pos_err_mm_median": 66.0 + } + }, + "frames_by_state": { + "ace_sample": 18312, + "interpolated": 160, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9994, + "observed_fraction_of_valid": 0.9994, + "palm_axis_vs_markers_deg": { + "gsi": 11.1, + "smplx": 1.66 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.5, + "p90": 7.1 + }, + "registered": { + "median": 6.1, + "p90": 6.8 + } + } + }, + "right": { + "offset_deg": 9.57, + "offset_rotvec": [ + -0.0494, + -0.1459, + 0.0645 + ], + "dev_deg": { + "median": 6.91, + "p90": 13.87 + }, + "samples": 4554, + "accepted": 4498, + "wrist_pos_err_mm_median": 23.3, + "per_camera": { + "head": { + "samples": 4554, + "accepted": 4498, + "gate_deg": 30.0, + "offset_deg": 9.57, + "tier": "primary", + "dev_deg_median": 6.91, + "wrist_pos_err_mm_median": 23.3 + } + }, + "frames_by_state": { + "ace_sample": 18012, + "interpolated": 308, + "mean_hand": 164, + "no_body_fit": 0 + }, + "observed_fraction": 0.9911, + "observed_fraction_of_valid": 0.9911, + "palm_axis_vs_markers_deg": { + "gsi": 11.32, + "smplx": 1.35 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.7, + "p90": 11.6 + }, + "registered": { + "median": 5.7, + "p90": 10.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:41:19.437266+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/static_manipulation/SM21/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM21/session_001/motions/smplx.npz b/actions/static_manipulation/SM21/session_001/motions/smplx.npz index 6f728d4fc48707a655ce04665700d939dbffe890..623582c3ed4cb6bb06484473218e8be62f45f31a 100644 --- a/actions/static_manipulation/SM21/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM21/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3aded44f6cfa798782e422fc3c393f01c4990486cc5eb5760776fb43e903b39b -size 6889026 +oid sha256:381606ada3e447ef6cf55cebff85780ebb736a6109b15f1a49b364ee8efe7ce0 +size 13065896 diff --git a/actions/static_manipulation/SM22/session_001/meta.json b/actions/static_manipulation/SM22/session_001/meta.json index 6f8b666cd776c1d8de6abd68351369655513668a..2ab24916e1c4e6f5f3d73dc76e05133f25402552 100644 --- a/actions/static_manipulation/SM22/session_001/meta.json +++ b/actions/static_manipulation/SM22/session_001/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -400,14 +400,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 173.0, - "opposite_sign_bend_deg": 24.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.934, + "inlier_spread_deg": 10.72, + "marker_Q_to_gsi_deg": { + "1": 176.9, + "-1": 7.7 + } + }, + "wrist_bend_deg_median": 170.9, + "opposite_sign_bend_deg": 38.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.49, "hand_vs_marker_frame_deg": { "before": 178.46, @@ -420,15 +431,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 171.81, + "twist_moved_deg": -170.24, "wrist_twist_deg_after": { - "median": 0.62, + "median": -1.58, "iqr": [ - -2.6, - 3.8 + -6.3, + 2.2 ] }, - "wrist_total_deg_median_after": 38.2, + "wrist_total_deg_median_after": 24.7, "markers_on_forearm": [ "LForearm" ] @@ -441,9 +452,20 @@ "Q_rotvec": [ 0.0, 0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.983, + "inlier_spread_deg": 7.96, + "marker_Q_to_gsi_deg": { + "1": 13.6, + "-1": 175.9 + } + }, "wrist_bend_deg_median": 20.2, "opposite_sign_bend_deg": 176.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -474,7 +496,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:16:20.961098+00:00", + "generated_at_utc": "2026-11-06T13:42:30.853496+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -518,6 +540,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1493085690207876 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 8.76, + "offset_rotvec": [ + 0.0116, + 0.0576, + -0.1411 + ], + "dev_deg": { + "median": 11.57, + "p90": 24.99 + }, + "samples": 4569, + "accepted": 4282, + "wrist_pos_err_mm_median": 23.4, + "per_camera": { + "head": { + "samples": 4569, + "accepted": 4282, + "gate_deg": 30.0, + "offset_deg": 8.76, + "tier": "primary", + "dev_deg_median": 11.57, + "wrist_pos_err_mm_median": 23.4 + } + }, + "frames_by_state": { + "ace_sample": 17190, + "interpolated": 858, + "mean_hand": 436, + "no_body_fit": 0 + }, + "observed_fraction": 0.9764, + "observed_fraction_of_valid": 0.9764, + "palm_axis_vs_markers_deg": { + "gsi": 9.91, + "smplx": 1.89 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.0, + "p90": 13.0 + }, + "registered": { + "median": 10.3, + "p90": 14.0 + } + } + }, + "right": { + "offset_deg": 13.68, + "offset_rotvec": [ + 0.0397, + -0.1339, + 0.1937 + ], + "dev_deg": { + "median": 8.07, + "p90": 17.0 + }, + "samples": 4584, + "accepted": 4503, + "wrist_pos_err_mm_median": 21.5, + "per_camera": { + "head": { + "samples": 4584, + "accepted": 4503, + "gate_deg": 30.0, + "offset_deg": 13.68, + "tier": "primary", + "dev_deg_median": 8.07, + "wrist_pos_err_mm_median": 21.5 + } + }, + "frames_by_state": { + "ace_sample": 18056, + "interpolated": 416, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9994, + "observed_fraction_of_valid": 0.9994, + "palm_axis_vs_markers_deg": { + "gsi": 12.35, + "smplx": 1.4 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.7, + "p90": 8.8 + }, + "registered": { + "median": 7.5, + "p90": 8.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:41:20.146792+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/static_manipulation/SM22/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM22/session_001/motions/smplx.npz b/actions/static_manipulation/SM22/session_001/motions/smplx.npz index bff4183cde09342bf0ee9e76a79022dd08847e4a..904228d330ef717debe4f35751f32f5824d40ce3 100644 --- a/actions/static_manipulation/SM22/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM22/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5833a1fc66fc10cd3525036f9d2f0c2d6cc08912386d1917520d687633732735 -size 7003358 +oid sha256:0d0d5ad3d3c8581a64bf35bcbbb07a141f53d9464a3be899e11ab0916c1241e2 +size 13158077 diff --git a/actions/static_manipulation/SM23/session_001/meta.json b/actions/static_manipulation/SM23/session_001/meta.json index 21d4c2183672dc0ef0e5c86eb20e25894bd81f78..2048d51a52740c5d140d60d551b1e956ea27472c 100644 --- a/actions/static_manipulation/SM23/session_001/meta.json +++ b/actions/static_manipulation/SM23/session_001/meta.json @@ -327,8 +327,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -408,10 +408,21 @@ -0.2415, -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 172.1, - "opposite_sign_bend_deg": 18.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.997, + "inlier_spread_deg": 6.25, + "marker_Q_to_gsi_deg": { + "1": 171.0, + "-1": 10.5 + } + }, + "wrist_bend_deg_median": 166.5, + "opposite_sign_bend_deg": 27.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.39, "hand_vs_marker_frame_deg": { "before": 179.4, @@ -424,15 +435,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 165.26, + "twist_moved_deg": -163.77, "wrist_twist_deg_after": { - "median": 11.35, + "median": -1.49, "iqr": [ - 8.3, - 29.4 + -5.0, + 20.3 ] }, - "wrist_total_deg_median_after": 30.6, + "wrist_total_deg_median_after": 19.6, "markers_on_forearm": [ "LForearm" ] @@ -443,11 +454,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, + 0.0, 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.979, + "inlier_spread_deg": 9.39, + "marker_Q_to_gsi_deg": { + "1": 9.0, + "-1": 179.9 + } + }, "wrist_bend_deg_median": 28.6, "opposite_sign_bend_deg": 167.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -478,7 +500,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:16:20.794646+00:00", + "generated_at_utc": "2026-11-06T13:42:34.835621+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -522,6 +544,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.606889408137934 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.27, + "offset_rotvec": [ + -0.1628, + -0.074, + 0.0106 + ], + "dev_deg": { + "median": 6.15, + "p90": 18.18 + }, + "samples": 4460, + "accepted": 4447, + "wrist_pos_err_mm_median": 58.0, + "per_camera": { + "head": { + "samples": 4460, + "accepted": 4447, + "gate_deg": 30.0, + "offset_deg": 10.27, + "tier": "primary", + "dev_deg_median": 6.15, + "wrist_pos_err_mm_median": 58.0 + } + }, + "frames_by_state": { + "ace_sample": 17804, + "interpolated": 68, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9993, + "observed_fraction_of_valid": 0.9993, + "palm_axis_vs_markers_deg": { + "gsi": 10.3, + "smplx": 1.0 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.5, + "p90": 10.6 + }, + "registered": { + "median": 8.6, + "p90": 10.2 + } + } + }, + "right": { + "offset_deg": 9.24, + "offset_rotvec": [ + -0.034, + -0.0977, + 0.1237 + ], + "dev_deg": { + "median": 9.46, + "p90": 19.86 + }, + "samples": 4396, + "accepted": 4306, + "wrist_pos_err_mm_median": 28.9, + "per_camera": { + "head": { + "samples": 4396, + "accepted": 4306, + "gate_deg": 30.0, + "offset_deg": 9.24, + "tier": "primary", + "dev_deg_median": 9.46, + "wrist_pos_err_mm_median": 28.9 + } + }, + "frames_by_state": { + "ace_sample": 17256, + "interpolated": 456, + "mean_hand": 172, + "no_body_fit": 0 + }, + "observed_fraction": 0.9904, + "observed_fraction_of_valid": 0.9904, + "palm_axis_vs_markers_deg": { + "gsi": 10.07, + "smplx": 2.85 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.8, + "p90": 9.8 + }, + "registered": { + "median": 8.0, + "p90": 11.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:41:18.445702+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/static_manipulation/SM23/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM23/session_001/motions/smplx.npz b/actions/static_manipulation/SM23/session_001/motions/smplx.npz index cb6a9eca2d31cd772c3dcf0e504be9951ad64b45..223af8f65c49a43b7474edf3dccb4f36afdf1738 100644 --- a/actions/static_manipulation/SM23/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM23/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:07efbe5fb15a72d0b286240f5df76c514bd94860e035e461075b2e063dc47d40 -size 6747162 +oid sha256:16de5e33a1b41ce5ccb94309472df99b08844ba9c06344f774ee07d7fad4b74f +size 12735333 diff --git a/actions/static_manipulation/SM24/session_001/meta.json b/actions/static_manipulation/SM24/session_001/meta.json index 342267267dfec97f38521354345be84c39cbb660..1bfc16222be7afc347d4a47532cb983b55dcec2b 100644 --- a/actions/static_manipulation/SM24/session_001/meta.json +++ b/actions/static_manipulation/SM24/session_001/meta.json @@ -340,8 +340,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -402,14 +402,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02575, - 0.26943, - 0.80116 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 173.2, - "opposite_sign_bend_deg": 38.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.992, + "inlier_spread_deg": 9.75, + "marker_Q_to_gsi_deg": { + "1": 173.0, + "-1": 13.3 + } + }, + "wrist_bend_deg_median": 172.0, + "opposite_sign_bend_deg": 20.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.7, "hand_vs_marker_frame_deg": { "before": 178.95, @@ -420,15 +431,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 172.01, + "twist_moved_deg": -169.13, "wrist_twist_deg_after": { - "median": 2.82, + "median": -2.89, "iqr": [ - -2.2, - 6.8 + -7.6, + 1.5 ] }, - "wrist_total_deg_median_after": 20.0, + "wrist_total_deg_median_after": 38.8, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -441,11 +452,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.994, + "inlier_spread_deg": 7.92, + "marker_Q_to_gsi_deg": { + "1": 7.1, + "-1": 176.0 + } + }, "wrist_bend_deg_median": 31.6, "opposite_sign_bend_deg": 171.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -459,7 +481,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -476,7 +498,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:15:32.061689+00:00", + "generated_at_utc": "2026-11-06T13:39:24.548358+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -520,6 +542,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1960922403240821 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 13.13, + "offset_rotvec": [ + -0.1449, + -0.1775, + -0.0055 + ], + "dev_deg": { + "median": 9.88, + "p90": 16.75 + }, + "samples": 4439, + "accepted": 4400, + "wrist_pos_err_mm_median": 35.8, + "per_camera": { + "head": { + "samples": 4439, + "accepted": 4400, + "gate_deg": 30.0, + "offset_deg": 13.13, + "tier": "primary", + "dev_deg_median": 9.88, + "wrist_pos_err_mm_median": 35.8 + } + }, + "frames_by_state": { + "ace_sample": 17600, + "interpolated": 20, + "mean_hand": 264, + "no_body_fit": 0 + }, + "observed_fraction": 0.9852, + "observed_fraction_of_valid": 0.9852, + "palm_axis_vs_markers_deg": { + "gsi": 13.18, + "smplx": 1.99 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.6, + "p90": 11.7 + }, + "registered": { + "median": 7.9, + "p90": 13.0 + } + } + }, + "right": { + "offset_deg": 6.79, + "offset_rotvec": [ + 0.0493, + -0.0546, + 0.0928 + ], + "dev_deg": { + "median": 7.88, + "p90": 16.07 + }, + "samples": 4389, + "accepted": 4356, + "wrist_pos_err_mm_median": 29.5, + "per_camera": { + "head": { + "samples": 4389, + "accepted": 4356, + "gate_deg": 30.0, + "offset_deg": 6.79, + "tier": "primary", + "dev_deg_median": 7.88, + "wrist_pos_err_mm_median": 29.5 + } + }, + "frames_by_state": { + "ace_sample": 17416, + "interpolated": 0, + "mean_hand": 468, + "no_body_fit": 0 + }, + "observed_fraction": 0.9738, + "observed_fraction_of_valid": 0.9738, + "palm_axis_vs_markers_deg": { + "gsi": 10.37, + "smplx": 3.67 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.4, + "p90": 14.1 + }, + "registered": { + "median": 10.9, + "p90": 13.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:34:39.241840+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/static_manipulation/SM24/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM24/session_001/motions/smplx.npz b/actions/static_manipulation/SM24/session_001/motions/smplx.npz index e2e9526acc470a74914a1af88e1cf64599908077..31adde177e0e0c68a38a0ac7f6f9949722a54a38 100644 --- a/actions/static_manipulation/SM24/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM24/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6fc313abf0bc82127d18dd40266d92602907e800d14bfe9ec29bf91cf3e964ae -size 6700287 +oid sha256:2afed8739f7748dc2dac6a97f915e9bb802a1737f8c093f5bd529f1990c49e9f +size 12618093 diff --git a/actions/static_manipulation/SM24/session_005/meta.json b/actions/static_manipulation/SM24/session_005/meta.json index f54b6a5114769353141e7b6ad34ccd23eed2a0ee..1f5128472c7c0581e59c46bc5be45313341136b1 100644 --- a/actions/static_manipulation/SM24/session_005/meta.json +++ b/actions/static_manipulation/SM24/session_005/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -430,19 +430,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + 2.98164, + -0.44128, + -0.88584 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 48.2, - "opposite_sign_bend_deg": 168.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.468, + "inlier_spread_deg": 16.69, + "marker_Q_to_gsi_deg": { + "1": 155.8, + "-1": 28.9 + } + }, + "wrist_bend_deg_median": 169.0, + "opposite_sign_bend_deg": 48.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 11.6, "hand_vs_marker_frame_deg": { - "before": 11.6, + "before": 179.25, "after": 11.6 }, "markers_on_wrist": [ @@ -450,15 +461,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.99, + "twist_moved_deg": -157.97, "wrist_twist_deg_after": { - "median": 0.01, + "median": -16.18, "iqr": [ - -15.7, - 22.1 + -27.5, + -6.0 ] }, - "wrist_total_deg_median_after": 48.4, + "wrist_total_deg_median_after": 52.6, "markers_on_forearm": [ "LElbow", "LForearm", @@ -473,10 +484,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.977, + "inlier_spread_deg": 10.96, + "marker_Q_to_gsi_deg": { + "1": 25.2, + "-1": 163.7 + } + }, "wrist_bend_deg_median": 38.1, "opposite_sign_bend_deg": 171.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -493,7 +515,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -9.2, 10.8 @@ -508,7 +530,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:44:29.122499+00:00", + "generated_at_utc": "2026-11-06T14:09:43.941590+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -559,6 +581,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 40.33, + "offset_rotvec": [ + 0.6475, + -0.266, + -0.0745 + ], + "dev_deg": { + "median": 32.64, + "p90": 163.41 + }, + "samples": 4039, + "accepted": 1802, + "wrist_pos_err_mm_median": 38.3, + "per_camera": { + "head": { + "samples": 4039, + "accepted": 1802, + "gate_deg": 30.0, + "offset_deg": 40.33, + "tier": "primary", + "dev_deg_median": 32.64, + "wrist_pos_err_mm_median": 38.3 + } + }, + "frames_by_state": { + "ace_sample": 7540, + "interpolated": 3524, + "mean_hand": 6588, + "no_body_fit": 8 + }, + "observed_fraction": 0.6265, + "observed_fraction_of_valid": 0.6268, + "palm_axis_vs_markers_deg": { + "gsi": 38.51, + "smplx": 3.05 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.1, + "p90": 12.2 + }, + "registered": { + "median": 9.2, + "p90": 10.8 + } + } + }, + "right": { + "offset_deg": 25.17, + "offset_rotvec": [ + 0.2836, + -0.2801, + 0.1844 + ], + "dev_deg": { + "median": 11.1, + "p90": 21.31 + }, + "samples": 4059, + "accepted": 3967, + "wrist_pos_err_mm_median": 14.8, + "per_camera": { + "head": { + "samples": 4059, + "accepted": 3967, + "gate_deg": 30.0, + "offset_deg": 25.17, + "tier": "primary", + "dev_deg_median": 11.1, + "wrist_pos_err_mm_median": 14.8 + } + }, + "frames_by_state": { + "ace_sample": 16420, + "interpolated": 1156, + "mean_hand": 76, + "no_body_fit": 8 + }, + "observed_fraction": 0.9952, + "observed_fraction_of_valid": 0.9957, + "palm_axis_vs_markers_deg": { + "gsi": 27.36, + "smplx": 2.53 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.6, + "p90": 17.2 + }, + "registered": { + "median": 9.4, + "p90": 14.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:37:56.745984+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/static_manipulation/SM24/session_005", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM24/session_005/motions/smplx.npz b/actions/static_manipulation/SM24/session_005/motions/smplx.npz index b374ca640e9928bd54661497d0d94dea0403a6b6..5c3161c52c7432f47780e3616f24325804a6d5f6 100644 --- a/actions/static_manipulation/SM24/session_005/motions/smplx.npz +++ b/actions/static_manipulation/SM24/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:da27604606acb23d518a1835cd5dfa0270b43fbc14207640eccebbd39d249658 -size 6622376 +oid sha256:1f8325c093852c67e940a5f8f8b786efe6a58aea5521dc7f787b39a5aa185802 +size 11592020 diff --git a/actions/static_manipulation/SM25/session_001/meta.json b/actions/static_manipulation/SM25/session_001/meta.json index 9d11d00964efdee8f26ceb9c08d1d21d54c13a3f..b12562bc170c49f57dfd3f98924871a9854d5788 100644 --- a/actions/static_manipulation/SM25/session_001/meta.json +++ b/actions/static_manipulation/SM25/session_001/meta.json @@ -323,8 +323,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -385,14 +385,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 168.1, - "opposite_sign_bend_deg": 24.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.987, + "inlier_spread_deg": 10.64, + "marker_Q_to_gsi_deg": { + "1": 165.1, + "-1": 15.1 + } + }, + "wrist_bend_deg_median": 137.5, + "opposite_sign_bend_deg": 51.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.48, "hand_vs_marker_frame_deg": { "before": 178.49, @@ -403,15 +414,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 135.85, + "twist_moved_deg": -135.85, "wrist_twist_deg_after": { - "median": 43.73, + "median": -0.0, "iqr": [ - 31.2, - 57.1 + -7.7, + 17.2 ] }, - "wrist_total_deg_median_after": 53.2, + "wrist_total_deg_median_after": 24.4, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -424,11 +435,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + -0.0, + -0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.998, + "inlier_spread_deg": 8.0, + "marker_Q_to_gsi_deg": { + "1": 14.3, + "-1": 169.5 + } + }, "wrist_bend_deg_median": 20.0, "opposite_sign_bend_deg": 173.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -442,9 +464,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -7.6, 5.6 @@ -459,7 +481,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:16:21.009219+00:00", + "generated_at_utc": "2026-11-06T13:42:43.035560+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -503,6 +525,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0175283434381206 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 18.35, + "offset_rotvec": [ + -0.3118, + 0.0528, + 0.0502 + ], + "dev_deg": { + "median": 11.67, + "p90": 19.44 + }, + "samples": 4176, + "accepted": 4091, + "wrist_pos_err_mm_median": 69.2, + "per_camera": { + "head": { + "samples": 4176, + "accepted": 4091, + "gate_deg": 30.0, + "offset_deg": 18.35, + "tier": "primary", + "dev_deg_median": 11.67, + "wrist_pos_err_mm_median": 69.2 + } + }, + "frames_by_state": { + "ace_sample": 16408, + "interpolated": 428, + "mean_hand": 448, + "no_body_fit": 0 + }, + "observed_fraction": 0.9741, + "observed_fraction_of_valid": 0.9741, + "palm_axis_vs_markers_deg": { + "gsi": 15.8, + "smplx": 2.01 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.8, + "p90": 15.7 + }, + "registered": { + "median": 13.4, + "p90": 16.1 + } + } + }, + "right": { + "offset_deg": 17.61, + "offset_rotvec": [ + -0.2212, + -0.2062, + 0.0545 + ], + "dev_deg": { + "median": 8.7, + "p90": 14.3 + }, + "samples": 4257, + "accepted": 4239, + "wrist_pos_err_mm_median": 65.7, + "per_camera": { + "head": { + "samples": 4257, + "accepted": 4239, + "gate_deg": 30.0, + "offset_deg": 17.61, + "tier": "primary", + "dev_deg_median": 8.7, + "wrist_pos_err_mm_median": 65.7 + } + }, + "frames_by_state": { + "ace_sample": 16986, + "interpolated": 286, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9993, + "observed_fraction_of_valid": 0.9993, + "palm_axis_vs_markers_deg": { + "gsi": 15.62, + "smplx": 1.5 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.4, + "p90": 8.8 + }, + "registered": { + "median": 5.9, + "p90": 7.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:41:20.741022+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/static_manipulation/SM25/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM25/session_001/motions/smplx.npz b/actions/static_manipulation/SM25/session_001/motions/smplx.npz index 59831e10bb0e28b91e9c91778a7f3cd5e39f0af2..d512f3cfaaf4db5a243947aa7f518bb69d716f4c 100644 --- a/actions/static_manipulation/SM25/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM25/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8145f2a6eed9154870cb012357ff10718fa8f75f98c057f506271241c17d983a -size 6549771 +oid sha256:6fdca33620ed6cb675299ae504641eb090f72c17808cbb863bff73e253394d77 +size 12290168 diff --git a/actions/static_manipulation/SM26/session_001/meta.json b/actions/static_manipulation/SM26/session_001/meta.json index 179fb407742e1bd5c56e3d4cfd3472c85b9f2780..9189c388d2b2d0fc2132a3dd2719f86fb263495d 100644 --- a/actions/static_manipulation/SM26/session_001/meta.json +++ b/actions/static_manipulation/SM26/session_001/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -390,14 +390,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 168.1, - "opposite_sign_bend_deg": 35.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.974, + "inlier_spread_deg": 9.95, + "marker_Q_to_gsi_deg": { + "1": 175.8, + "-1": 10.2 + } + }, + "wrist_bend_deg_median": 152.5, + "opposite_sign_bend_deg": 40.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.33, "hand_vs_marker_frame_deg": { "before": 178.25, @@ -408,15 +419,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 149.33, + "twist_moved_deg": -145.63, "wrist_twist_deg_after": { - "median": 23.42, + "median": -3.7, "iqr": [ - 8.0, - 32.4 + -18.6, + 6.2 ] }, - "wrist_total_deg_median_after": 41.9, + "wrist_total_deg_median_after": 33.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -429,11 +440,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, + 0.0, 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.991, + "inlier_spread_deg": 8.04, + "marker_Q_to_gsi_deg": { + "1": 3.8, + "-1": 177.4 + } + }, "wrist_bend_deg_median": 29.7, "opposite_sign_bend_deg": 171.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -464,7 +486,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:16:22.200951+00:00", + "generated_at_utc": "2026-11-06T13:42:42.536675+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -508,6 +530,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.147087837477844 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.15, + "offset_rotvec": [ + -0.0521, + -0.1058, + 0.1323 + ], + "dev_deg": { + "median": 10.14, + "p90": 20.21 + }, + "samples": 4578, + "accepted": 4463, + "wrist_pos_err_mm_median": 32.8, + "per_camera": { + "head": { + "samples": 4578, + "accepted": 4463, + "gate_deg": 30.0, + "offset_deg": 10.15, + "tier": "primary", + "dev_deg_median": 10.14, + "wrist_pos_err_mm_median": 32.8 + } + }, + "frames_by_state": { + "ace_sample": 17890, + "interpolated": 582, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9994, + "observed_fraction_of_valid": 0.9994, + "palm_axis_vs_markers_deg": { + "gsi": 9.64, + "smplx": 2.15 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.5, + "p90": 9.2 + }, + "registered": { + "median": 7.9, + "p90": 9.4 + } + } + }, + "right": { + "offset_deg": 3.79, + "offset_rotvec": [ + 0.042, + -0.0428, + 0.0277 + ], + "dev_deg": { + "median": 8.09, + "p90": 16.53 + }, + "samples": 4576, + "accepted": 4529, + "wrist_pos_err_mm_median": 21.8, + "per_camera": { + "head": { + "samples": 4576, + "accepted": 4529, + "gate_deg": 30.0, + "offset_deg": 3.79, + "tier": "primary", + "dev_deg_median": 8.09, + "wrist_pos_err_mm_median": 21.8 + } + }, + "frames_by_state": { + "ace_sample": 18144, + "interpolated": 328, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9994, + "observed_fraction_of_valid": 0.9994, + "palm_axis_vs_markers_deg": { + "gsi": 7.42, + "smplx": 1.71 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.9, + "p90": 11.0 + }, + "registered": { + "median": 7.7, + "p90": 10.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:41:18.542595+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/static_manipulation/SM26/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM26/session_001/motions/smplx.npz b/actions/static_manipulation/SM26/session_001/motions/smplx.npz index c6f901cd163198504a79ea00c2c406ee2965b23b..e590a0cae45273fc86884396c5162c0df498d058 100644 --- a/actions/static_manipulation/SM26/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM26/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a2a59b7a536c1fe2020bd0c5cadf9b2cd7184e6ba4c345bd0a3ecf95059fd2df -size 7031859 +oid sha256:f28557c8dee309d40bc125a73364f5b7604bbd8d89ec34ae0a5b1bb774084c22 +size 13231713 diff --git a/actions/static_manipulation/SM28/session_001/meta.json b/actions/static_manipulation/SM28/session_001/meta.json index 4a34c911e92ac6c60a39cb11cd8df82d6e7732cd..19996366adaabb5ac50d3517d1aa4eddab82ceef 100644 --- a/actions/static_manipulation/SM28/session_001/meta.json +++ b/actions/static_manipulation/SM28/session_001/meta.json @@ -327,8 +327,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -399,14 +399,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 167.9, - "opposite_sign_bend_deg": 33.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.992, + "inlier_spread_deg": 5.93, + "marker_Q_to_gsi_deg": { + "1": 170.0, + "-1": 11.4 + } + }, + "wrist_bend_deg_median": 160.3, + "opposite_sign_bend_deg": 35.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.14, "hand_vs_marker_frame_deg": { "before": 178.53, @@ -418,15 +429,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 160.24, + "twist_moved_deg": -160.21, "wrist_twist_deg_after": { - "median": 14.79, + "median": -0.0, "iqr": [ - 7.0, - 33.9 + -4.2, + 19.9 ] }, - "wrist_total_deg_median_after": 35.2, + "wrist_total_deg_median_after": 33.9, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -438,11 +449,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.992, + "inlier_spread_deg": 6.17, + "marker_Q_to_gsi_deg": { + "1": 9.5, + "-1": 173.8 + } + }, "wrist_bend_deg_median": 33.4, "opposite_sign_bend_deg": 166.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -473,7 +495,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:16:26.358677+00:00", + "generated_at_utc": "2026-11-06T13:42:54.635508+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -517,6 +539,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.3048663608455737 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 11.45, + "offset_rotvec": [ + -0.1894, + -0.0639, + -0.0037 + ], + "dev_deg": { + "median": 5.84, + "p90": 14.6 + }, + "samples": 4618, + "accepted": 4573, + "wrist_pos_err_mm_median": 28.9, + "per_camera": { + "head": { + "samples": 4618, + "accepted": 4573, + "gate_deg": 30.0, + "offset_deg": 11.45, + "tier": "primary", + "dev_deg_median": 5.84, + "wrist_pos_err_mm_median": 28.9 + } + }, + "frames_by_state": { + "ace_sample": 18298, + "interpolated": 14, + "mean_hand": 172, + "no_body_fit": 0 + }, + "observed_fraction": 0.9907, + "observed_fraction_of_valid": 0.9907, + "palm_axis_vs_markers_deg": { + "gsi": 11.11, + "smplx": 1.5 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.4, + "p90": 12.4 + }, + "registered": { + "median": 10.6, + "p90": 12.8 + } + } + }, + "right": { + "offset_deg": 10.14, + "offset_rotvec": [ + -0.1274, + -0.1024, + 0.0681 + ], + "dev_deg": { + "median": 5.97, + "p90": 12.7 + }, + "samples": 4564, + "accepted": 4526, + "wrist_pos_err_mm_median": 19.6, + "per_camera": { + "head": { + "samples": 4564, + "accepted": 4526, + "gate_deg": 30.0, + "offset_deg": 10.14, + "tier": "primary", + "dev_deg_median": 5.97, + "wrist_pos_err_mm_median": 19.6 + } + }, + "frames_by_state": { + "ace_sample": 18150, + "interpolated": 322, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9994, + "observed_fraction_of_valid": 0.9994, + "palm_axis_vs_markers_deg": { + "gsi": 10.71, + "smplx": 1.95 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.5, + "p90": 18.1 + }, + "registered": { + "median": 13.2, + "p90": 17.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:41:16.835066+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/static_manipulation/SM28/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM28/session_001/motions/smplx.npz b/actions/static_manipulation/SM28/session_001/motions/smplx.npz index a32d9673e6d4092919e29a25638362a74d5c2202..d84528a3d9a21da2121bfdf2a4f874e6c369a85f 100644 --- a/actions/static_manipulation/SM28/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM28/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5bc37dcccf46ed1d73d64efcc7b1c33b1f1c2bb354c2a52272ca29e9cc7c5844 -size 6807589 +oid sha256:4f9f75525f74054c0ada72552733c2c088cac79e4edccccbebcfaf7d3b1b81ea +size 12968332 diff --git a/actions/static_manipulation/SM29/session_001/meta.json b/actions/static_manipulation/SM29/session_001/meta.json index a1a130da4465ce311dccded82b2cdfaad09a5356..91b4afee34a22bef512a5267f1b5c9d2ec3d6237 100644 --- a/actions/static_manipulation/SM29/session_001/meta.json +++ b/actions/static_manipulation/SM29/session_001/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -395,14 +395,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 172.1, - "opposite_sign_bend_deg": 55.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.99, + "inlier_spread_deg": 11.94, + "marker_Q_to_gsi_deg": { + "1": 173.1, + "-1": 16.4 + } + }, + "wrist_bend_deg_median": 156.4, + "opposite_sign_bend_deg": 40.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.04, "hand_vs_marker_frame_deg": { "before": 178.86, @@ -414,15 +425,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 158.97, + "twist_moved_deg": -146.5, "wrist_twist_deg_after": { - "median": 10.78, + "median": -12.47, "iqr": [ - -19.9, - 18.4 + -48.4, + -2.9 ] }, - "wrist_total_deg_median_after": 40.4, + "wrist_total_deg_median_after": 59.0, "markers_on_forearm": [ "LForearm", "LWristIn" @@ -435,10 +446,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - 0.0, - 0.0 + -0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.847, + "inlier_spread_deg": 11.13, + "marker_Q_to_gsi_deg": { + "1": 9.1, + "-1": 173.2 + } + }, "wrist_bend_deg_median": 21.3, "opposite_sign_bend_deg": 173.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -452,9 +474,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -7.4, 7.3 @@ -469,7 +491,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:16:27.018751+00:00", + "generated_at_utc": "2026-11-06T13:42:58.635420+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -513,6 +535,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.2880288716041461 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 16.1, + "offset_rotvec": [ + -0.0566, + -0.0732, + 0.2654 + ], + "dev_deg": { + "median": 11.98, + "p90": 18.08 + }, + "samples": 4618, + "accepted": 4578, + "wrist_pos_err_mm_median": 26.1, + "per_camera": { + "head": { + "samples": 4618, + "accepted": 4578, + "gate_deg": 30.0, + "offset_deg": 16.1, + "tier": "primary", + "dev_deg_median": 11.98, + "wrist_pos_err_mm_median": 26.1 + } + }, + "frames_by_state": { + "ace_sample": 18334, + "interpolated": 138, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9994, + "observed_fraction_of_valid": 0.9994, + "palm_axis_vs_markers_deg": { + "gsi": 12.08, + "smplx": 1.9 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.4, + "p90": 9.4 + }, + "registered": { + "median": 7.7, + "p90": 9.5 + } + } + }, + "right": { + "offset_deg": 9.56, + "offset_rotvec": [ + -0.1489, + -0.0716, + 0.0225 + ], + "dev_deg": { + "median": 13.14, + "p90": 36.38 + }, + "samples": 4210, + "accepted": 3593, + "wrist_pos_err_mm_median": 30.4, + "per_camera": { + "head": { + "samples": 4210, + "accepted": 3593, + "gate_deg": 30.0, + "offset_deg": 9.56, + "tier": "primary", + "dev_deg_median": 13.14, + "wrist_pos_err_mm_median": 30.4 + } + }, + "frames_by_state": { + "ace_sample": 14502, + "interpolated": 2666, + "mean_hand": 1316, + "no_body_fit": 0 + }, + "observed_fraction": 0.9288, + "observed_fraction_of_valid": 0.9288, + "palm_axis_vs_markers_deg": { + "gsi": 14.98, + "smplx": 2.88 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.7, + "p90": 13.8 + }, + "registered": { + "median": 8.6, + "p90": 12.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:41:25.135490+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/static_manipulation/SM29/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM29/session_001/motions/smplx.npz b/actions/static_manipulation/SM29/session_001/motions/smplx.npz index 2e38faa4735083940c3877bc402d7a792e579bd3..1a8970f48d95f53cd946689f7c513311ffff1852 100644 --- a/actions/static_manipulation/SM29/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM29/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d645d200980c57a64f51c7245f7ce955f2ca5a45559a92f226ea70b63796c0ec -size 7043830 +oid sha256:d491cdf9938e8f003e63e602c1f834f7431ff8cf8c71d43c3efd50ad9adac946 +size 13087350 diff --git a/actions/static_manipulation/SM31/session_001/meta.json b/actions/static_manipulation/SM31/session_001/meta.json index d714a87b109ae2b1ec375951b839a6119b0baed4..3e2bee0b4912badbcfdc4cedcb9b74e82828a951 100644 --- a/actions/static_manipulation/SM31/session_001/meta.json +++ b/actions/static_manipulation/SM31/session_001/meta.json @@ -327,8 +327,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -389,14 +389,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 166.1, - "opposite_sign_bend_deg": 32.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.996, + "inlier_spread_deg": 6.05, + "marker_Q_to_gsi_deg": { + "1": 174.0, + "-1": 6.9 + } + }, + "wrist_bend_deg_median": 140.5, + "opposite_sign_bend_deg": 44.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.02, "hand_vs_marker_frame_deg": { "before": 178.55, @@ -407,15 +418,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 138.13, + "twist_moved_deg": -134.72, "wrist_twist_deg_after": { - "median": 34.65, + "median": -3.41, "iqr": [ - 10.7, - 48.9 + -28.9, + 11.8 ] }, - "wrist_total_deg_median_after": 44.8, + "wrist_total_deg_median_after": 32.7, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -428,11 +439,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, - 0.0 + -0.0, + -0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.999, + "inlier_spread_deg": 5.91, + "marker_Q_to_gsi_deg": { + "1": 7.5, + "-1": 177.2 + } + }, "wrist_bend_deg_median": 26.7, "opposite_sign_bend_deg": 168.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -446,9 +468,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -8.6, 14.8 @@ -463,7 +485,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:16:28.447060+00:00", + "generated_at_utc": "2026-11-06T13:43:03.349148+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -507,6 +529,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.5428833516005986 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 6.87, + "offset_rotvec": [ + -0.11, + -0.0475, + 0.004 + ], + "dev_deg": { + "median": 6.05, + "p90": 13.56 + }, + "samples": 4311, + "accepted": 4294, + "wrist_pos_err_mm_median": 37.1, + "per_camera": { + "head": { + "samples": 4311, + "accepted": 4294, + "gate_deg": 30.0, + "offset_deg": 6.87, + "tier": "primary", + "dev_deg_median": 6.05, + "wrist_pos_err_mm_median": 37.1 + } + }, + "frames_by_state": { + "ace_sample": 17190, + "interpolated": 82, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9993, + "observed_fraction_of_valid": 0.9993, + "palm_axis_vs_markers_deg": { + "gsi": 6.94, + "smplx": 2.48 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.7, + "p90": 13.2 + }, + "registered": { + "median": 10.8, + "p90": 14.1 + } + } + }, + "right": { + "offset_deg": 7.54, + "offset_rotvec": [ + 0.0336, + -0.0892, + 0.0908 + ], + "dev_deg": { + "median": 5.94, + "p90": 11.52 + }, + "samples": 4249, + "accepted": 4243, + "wrist_pos_err_mm_median": 27.2, + "per_camera": { + "head": { + "samples": 4249, + "accepted": 4243, + "gate_deg": 30.0, + "offset_deg": 7.54, + "tier": "primary", + "dev_deg_median": 5.94, + "wrist_pos_err_mm_median": 27.2 + } + }, + "frames_by_state": { + "ace_sample": 16998, + "interpolated": 274, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9993, + "observed_fraction_of_valid": 0.9993, + "palm_axis_vs_markers_deg": { + "gsi": 8.6, + "smplx": 1.61 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.2, + "p90": 9.8 + }, + "registered": { + "median": 6.1, + "p90": 8.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:41:16.344867+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/static_manipulation/SM31/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM31/session_001/motions/smplx.npz b/actions/static_manipulation/SM31/session_001/motions/smplx.npz index 3d557fb60ea48a2cf9e018a223854bf8ae1416ce..a111be6679cdc584cdb3f5d1f8184bc71d088f49 100644 --- a/actions/static_manipulation/SM31/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM31/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b132b0411fea7481c5fdc9417c11921ec4b189bf16a2cea5c083163ceff15216 -size 6454973 +oid sha256:c714c4c8469a825da8fdaf5404c59ae392481fa45fb7d2692b2a70f700bf6a5e +size 12230861 diff --git a/actions/static_manipulation/SM32/session_001/meta.json b/actions/static_manipulation/SM32/session_001/meta.json index ac838ff853136e46f139a876d0742f958badcb37..dcec29fbd59116488b2fa188948db139da225395 100644 --- a/actions/static_manipulation/SM32/session_001/meta.json +++ b/actions/static_manipulation/SM32/session_001/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -395,14 +395,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 160.3, - "opposite_sign_bend_deg": 39.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.968, + "inlier_spread_deg": 10.65, + "marker_Q_to_gsi_deg": { + "1": 173.0, + "-1": 9.7 + } + }, + "wrist_bend_deg_median": 141.7, + "opposite_sign_bend_deg": 44.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.2, "hand_vs_marker_frame_deg": { "before": 177.09, @@ -414,15 +425,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 139.29, + "twist_moved_deg": -135.79, "wrist_twist_deg_after": { - "median": 32.76, + "median": -3.5, "iqr": [ - 17.2, - 53.9 + -19.3, + 13.3 ] }, - "wrist_total_deg_median_after": 46.3, + "wrist_total_deg_median_after": 38.0, "markers_on_forearm": [ "LForearm", "LWristIn" @@ -434,11 +445,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, + -0.0, + -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.994, + "inlier_spread_deg": 9.43, + "marker_Q_to_gsi_deg": { + "1": 4.2, + "-1": 179.0 + } + }, "wrist_bend_deg_median": 34.3, "opposite_sign_bend_deg": 166.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -452,9 +474,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -19.5, 8.8 @@ -469,7 +491,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:16:28.603311+00:00", + "generated_at_utc": "2026-11-06T13:43:12.135863+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -560,6 +582,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.221115838615859 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.84, + "offset_rotvec": [ + -0.0945, + -0.1177, + 0.082 + ], + "dev_deg": { + "median": 10.88, + "p90": 19.14 + }, + "samples": 4459, + "accepted": 4315, + "wrist_pos_err_mm_median": 41.8, + "per_camera": { + "head": { + "samples": 4459, + "accepted": 4315, + "gate_deg": 30.0, + "offset_deg": 9.84, + "tier": "primary", + "dev_deg_median": 10.88, + "wrist_pos_err_mm_median": 41.8 + } + }, + "frames_by_state": { + "ace_sample": 17264, + "interpolated": 116, + "mean_hand": 504, + "no_body_fit": 0 + }, + "observed_fraction": 0.9718, + "observed_fraction_of_valid": 0.9718, + "palm_axis_vs_markers_deg": { + "gsi": 10.83, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 4.28, + "offset_rotvec": [ + -0.0133, + -0.0735, + 0.0009 + ], + "dev_deg": { + "median": 9.5, + "p90": 17.19 + }, + "samples": 4422, + "accepted": 4396, + "wrist_pos_err_mm_median": 23.1, + "per_camera": { + "head": { + "samples": 4422, + "accepted": 4396, + "gate_deg": 30.0, + "offset_deg": 4.28, + "tier": "primary", + "dev_deg_median": 9.5, + "wrist_pos_err_mm_median": 23.1 + } + }, + "frames_by_state": { + "ace_sample": 17612, + "interpolated": 260, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9993, + "observed_fraction_of_valid": 0.9993, + "palm_axis_vs_markers_deg": { + "gsi": 8.64, + "smplx": 2.35 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.3, + "p90": 12.6 + }, + "registered": { + "median": 8.4, + "p90": 12.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:41:33.138598+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/static_manipulation/SM32/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM32/session_001/motions/smplx.npz b/actions/static_manipulation/SM32/session_001/motions/smplx.npz index cf205bf0e5339d85f150bb59a16357418c3825bc..7477755faa2ea8b96748074b2d7095f3890130ae 100644 --- a/actions/static_manipulation/SM32/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM32/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b615e22ba9a4d874cb4b24a600b427a94831521887cf9b5f3cea689b8b31688e -size 6727157 +oid sha256:a67a12ffd8086c18865b979103860523209576000475dcb097000b6d3e54395b +size 12669147 diff --git a/actions/static_manipulation/SM33/session_001/meta.json b/actions/static_manipulation/SM33/session_001/meta.json index 87ef276523595555267afcfdad4a410b65119dfb..3d4e6142415e6426a689d2b928e848b7e9f38a21 100644 --- a/actions/static_manipulation/SM33/session_001/meta.json +++ b/actions/static_manipulation/SM33/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": { @@ -396,10 +396,21 @@ 0.2415, 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 167.2, - "opposite_sign_bend_deg": 41.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.983, + "inlier_spread_deg": 10.44, + "marker_Q_to_gsi_deg": { + "1": 178.8, + "-1": 9.8 + } + }, + "wrist_bend_deg_median": 148.0, + "opposite_sign_bend_deg": 41.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.99, "hand_vs_marker_frame_deg": { "before": 177.25, @@ -411,15 +422,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 147.88, + "twist_moved_deg": -143.85, "wrist_twist_deg_after": { - "median": 29.09, + "median": -4.03, "iqr": [ - 13.2, - 42.7 + -16.2, + 17.2 ] }, - "wrist_total_deg_median_after": 41.4, + "wrist_total_deg_median_after": 40.2, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -431,11 +442,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.989, + "inlier_spread_deg": 9.48, + "marker_Q_to_gsi_deg": { + "1": 3.0, + "-1": 179.7 + } + }, "wrist_bend_deg_median": 33.3, "opposite_sign_bend_deg": 167.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -466,7 +488,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:16:28.739085+00:00", + "generated_at_utc": "2026-11-06T13:43:19.042978+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -510,6 +532,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0970235248811693 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 7.43, + "offset_rotvec": [ + -0.009, + -0.074, + 0.1061 + ], + "dev_deg": { + "median": 11.14, + "p90": 20.78 + }, + "samples": 4222, + "accepted": 4153, + "wrist_pos_err_mm_median": 44.7, + "per_camera": { + "head": { + "samples": 4222, + "accepted": 4153, + "gate_deg": 30.0, + "offset_deg": 7.43, + "tier": "primary", + "dev_deg_median": 11.14, + "wrist_pos_err_mm_median": 44.7 + } + }, + "frames_by_state": { + "ace_sample": 16662, + "interpolated": 490, + "mean_hand": 132, + "no_body_fit": 0 + }, + "observed_fraction": 0.9924, + "observed_fraction_of_valid": 0.9924, + "palm_axis_vs_markers_deg": { + "gsi": 9.11, + "smplx": 3.17 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.5, + "p90": 8.6 + }, + "registered": { + "median": 5.3, + "p90": 8.2 + } + } + }, + "right": { + "offset_deg": 4.1, + "offset_rotvec": [ + 0.0066, + -0.0678, + 0.022 + ], + "dev_deg": { + "median": 9.85, + "p90": 17.93 + }, + "samples": 4162, + "accepted": 4121, + "wrist_pos_err_mm_median": 29.7, + "per_camera": { + "head": { + "samples": 4162, + "accepted": 4121, + "gate_deg": 30.0, + "offset_deg": 4.1, + "tier": "primary", + "dev_deg_median": 9.85, + "wrist_pos_err_mm_median": 29.7 + } + }, + "frames_by_state": { + "ace_sample": 16528, + "interpolated": 496, + "mean_hand": 260, + "no_body_fit": 0 + }, + "observed_fraction": 0.985, + "observed_fraction_of_valid": 0.985, + "palm_axis_vs_markers_deg": { + "gsi": 8.14, + "smplx": 1.84 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.3, + "p90": 10.0 + }, + "registered": { + "median": 6.6, + "p90": 9.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:41:25.045696+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/static_manipulation/SM33/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM33/session_001/motions/smplx.npz b/actions/static_manipulation/SM33/session_001/motions/smplx.npz index 898a408949d173211baee85c3c96a354034b960e..3236c11c593a083b0c1343dbcae6468dfa0e5a75 100644 --- a/actions/static_manipulation/SM33/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM33/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8037523e252c81185de46f8a5e148accc6e0e9fc9620cf3f88fe59f5e965d68b -size 6576396 +oid sha256:9d4651cbfeb9918b1e0bcbea9599915b9298d93571d637149109e5d8d9620a41 +size 12335043 diff --git a/actions/static_manipulation/SM33/session_007/meta.json b/actions/static_manipulation/SM33/session_007/meta.json index eda7e17747449062438214acae2526ce3c040edb..d1fe4a037efeff3354da6ae9e929e570f14bd05f 100644 --- a/actions/static_manipulation/SM33/session_007/meta.json +++ b/actions/static_manipulation/SM33/session_007/meta.json @@ -366,8 +366,8 @@ "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": { @@ -426,19 +426,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 112.15, + "Q_deg": 180.0, "Q_rotvec": [ - 1.9489, - -0.05347, - -0.17481 + -2.98601, + 0.43444, + 0.87442 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 115.5, - "opposite_sign_bend_deg": 66.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.702, + "inlier_spread_deg": 10.45, + "marker_Q_to_gsi_deg": { + "1": 179.5, + "-1": 8.3 + } + }, + "wrist_bend_deg_median": 172.8, + "opposite_sign_bend_deg": 24.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.68, "hand_vs_marker_frame_deg": { - "before": 113.29, + "before": 177.52, "after": 6.68 }, "markers_on_wrist": [ @@ -446,15 +457,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 114.16, + "twist_moved_deg": -134.1, "wrist_twist_deg_after": { - "median": 0.33, + "median": -43.24, "iqr": [ - -12.8, - 37.2 + -53.3, + -15.7 ] }, - "wrist_total_deg_median_after": 25.6, + "wrist_total_deg_median_after": 47.3, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -465,19 +476,30 @@ }, "right": { "status": "corrected", - "Q_deg": 72.07, + "Q_deg": 0.0, "Q_rotvec": [ - 1.11481, - 0.22024, - -0.53933 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 67.9, - "opposite_sign_bend_deg": 118.2, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.93, + "inlier_spread_deg": 9.91, + "marker_Q_to_gsi_deg": { + "1": 17.8, + "-1": 175.6 + } + }, + "wrist_bend_deg_median": 23.0, + "opposite_sign_bend_deg": 177.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.67, "hand_vs_marker_frame_deg": { - "before": 73.85, + "before": 5.67, "after": 5.67 }, "markers_on_wrist": [ @@ -485,7 +507,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -64.37, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -502,7 +524,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-29T05:49:13.885655+00:00", + "generated_at_utc": "2026-11-06T14:18:58.485045+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -550,6 +572,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 7.55, + "offset_rotvec": [ + 0.0032, + 0.0609, + -0.1167 + ], + "dev_deg": { + "median": 14.93, + "p90": 173.09 + }, + "samples": 3960, + "accepted": 2802, + "wrist_pos_err_mm_median": 74.4, + "per_camera": { + "head": { + "samples": 3960, + "accepted": 2802, + "gate_deg": 30.0, + "offset_deg": 7.55, + "tier": "primary", + "dev_deg_median": 14.93, + "wrist_pos_err_mm_median": 74.4 + } + }, + "frames_by_state": { + "ace_sample": 11286, + "interpolated": 974, + "mean_hand": 4552, + "no_body_fit": 8 + }, + "observed_fraction": 0.7289, + "observed_fraction_of_valid": 0.7292, + "palm_axis_vs_markers_deg": { + "gsi": 18.83, + "smplx": 5.62 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.9, + "p90": 24.0 + }, + "registered": { + "median": 14.3, + "p90": 23.0 + } + } + }, + "right": { + "offset_deg": 16.84, + "offset_rotvec": [ + -0.0348, + -0.1331, + 0.2597 + ], + "dev_deg": { + "median": 13.17, + "p90": 22.87 + }, + "samples": 3682, + "accepted": 3491, + "wrist_pos_err_mm_median": 98.7, + "per_camera": { + "head": { + "samples": 3682, + "accepted": 3491, + "gate_deg": 30.0, + "offset_deg": 16.84, + "tier": "primary", + "dev_deg_median": 13.17, + "wrist_pos_err_mm_median": 98.7 + } + }, + "frames_by_state": { + "ace_sample": 14189, + "interpolated": 2618, + "mean_hand": 5, + "no_body_fit": 8 + }, + "observed_fraction": 0.9992, + "observed_fraction_of_valid": 0.9997, + "palm_axis_vs_markers_deg": { + "gsi": 15.0, + "smplx": 1.48 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.2, + "p90": 19.8 + }, + "registered": { + "median": 11.1, + "p90": 19.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:56:17.538887+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/static_manipulation/SM33/session_007", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM33/session_007/motions/smplx.npz b/actions/static_manipulation/SM33/session_007/motions/smplx.npz index ae7282f66858e2ba2f62153a3cd2eb727ff4042b..87f6a7d6849e44461ef291f536fde377f29d5288 100644 --- a/actions/static_manipulation/SM33/session_007/motions/smplx.npz +++ b/actions/static_manipulation/SM33/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c15508e02ce72accaf7f6a5e49782be4a6d1c2e93a6545d7812529791eaf1f22 -size 6425394 +oid sha256:0ad452acf633cf25e1fcb125c7a2b0232e31ec8406b552af598351f44e005227 +size 11405358 diff --git a/actions/static_manipulation/SM34/session_001/meta.json b/actions/static_manipulation/SM34/session_001/meta.json index e15bb63166c897e004801aefeba83a42e5e29f58..f7725bbd6cc8749993ebf9e5542f038fc4fc463b 100644 --- a/actions/static_manipulation/SM34/session_001/meta.json +++ b/actions/static_manipulation/SM34/session_001/meta.json @@ -323,8 +323,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -390,14 +390,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 168.7, - "opposite_sign_bend_deg": 54.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.993, + "inlier_spread_deg": 13.34, + "marker_Q_to_gsi_deg": { + "1": 178.5, + "-1": 7.3 + } + }, + "wrist_bend_deg_median": 166.1, + "opposite_sign_bend_deg": 38.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.05, "hand_vs_marker_frame_deg": { "before": 179.01, @@ -408,15 +419,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 164.44, + "twist_moved_deg": -162.8, "wrist_twist_deg_after": { - "median": 3.48, + "median": -1.65, "iqr": [ - -4.3, - 13.1 + -8.9, + 2.4 ] }, - "wrist_total_deg_median_after": 35.8, + "wrist_total_deg_median_after": 52.5, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -429,11 +440,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ + -0.0, 0.0, - 0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.995, + "inlier_spread_deg": 9.38, + "marker_Q_to_gsi_deg": { + "1": 7.9, + "-1": 179.8 + } + }, "wrist_bend_deg_median": 27.2, "opposite_sign_bend_deg": 171.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -448,9 +470,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -14.1, 4.9 @@ -464,7 +486,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:16:28.876775+00:00", + "generated_at_utc": "2026-11-06T13:43:21.935949+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -508,6 +530,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9621656648954766 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 7.23, + "offset_rotvec": [ + 0.0313, + -0.0807, + -0.0917 + ], + "dev_deg": { + "median": 12.65, + "p90": 23.14 + }, + "samples": 4618, + "accepted": 4586, + "wrist_pos_err_mm_median": 62.5, + "per_camera": { + "head": { + "samples": 4618, + "accepted": 4586, + "gate_deg": 30.0, + "offset_deg": 7.23, + "tier": "primary", + "dev_deg_median": 12.65, + "wrist_pos_err_mm_median": 62.5 + } + }, + "frames_by_state": { + "ace_sample": 18372, + "interpolated": 100, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9994, + "observed_fraction_of_valid": 0.9994, + "palm_axis_vs_markers_deg": { + "gsi": 10.05, + "smplx": 2.06 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.2, + "p90": 9.9 + }, + "registered": { + "median": 7.6, + "p90": 10.7 + } + } + }, + "right": { + "offset_deg": 12.27, + "offset_rotvec": [ + 0.0393, + -0.1824, + 0.1049 + ], + "dev_deg": { + "median": 11.46, + "p90": 15.96 + }, + "samples": 4555, + "accepted": 4530, + "wrist_pos_err_mm_median": 93.9, + "per_camera": { + "head": { + "samples": 4555, + "accepted": 4530, + "gate_deg": 30.0, + "offset_deg": 12.27, + "tier": "primary", + "dev_deg_median": 11.46, + "wrist_pos_err_mm_median": 93.9 + } + }, + "frames_by_state": { + "ace_sample": 18156, + "interpolated": 316, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9994, + "observed_fraction_of_valid": 0.9994, + "palm_axis_vs_markers_deg": { + "gsi": 10.33, + "smplx": 2.0 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.7, + "p90": 11.2 + }, + "registered": { + "median": 7.7, + "p90": 10.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:41:19.241191+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/static_manipulation/SM34/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM34/session_001/motions/smplx.npz b/actions/static_manipulation/SM34/session_001/motions/smplx.npz index b60236e905b917d890835d4e372ea9e8f27f3087..127dce7e7306a05760ca2d115093e40d6ce9f993 100644 --- a/actions/static_manipulation/SM34/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM34/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9282d50f6a8ca1445aae6f7abcbcba771166a2d4a7a7eabbc9d50951e14b6c5b -size 6980766 +oid sha256:d94f64c9085df27e87f4518d4e3bcebacd57f1ca3a56ac328c51b6857f2e07e4 +size 13168139 diff --git a/actions/static_manipulation/SM34/session_006/meta.json b/actions/static_manipulation/SM34/session_006/meta.json index 4325cd484da62dfb00e29d23cf0cd451b09666ee..2a745d13d222309ec283cc1077d6bd40ff1b939c 100644 --- a/actions/static_manipulation/SM34/session_006/meta.json +++ b/actions/static_manipulation/SM34/session_006/meta.json @@ -378,8 +378,8 @@ "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": { @@ -438,19 +438,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - 0.0 + -2.98442, + 0.43848, + 0.87784 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 28.9, - "opposite_sign_bend_deg": 171.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2173, + "inlier_frac": 0.779, + "inlier_spread_deg": 10.95, + "marker_Q_to_gsi_deg": { + "1": 153.4, + "-1": 37.5 + } + }, + "wrist_bend_deg_median": 171.5, + "opposite_sign_bend_deg": 28.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.19, "hand_vs_marker_frame_deg": { - "before": 6.19, + "before": 178.97, "after": 6.19 }, "markers_on_wrist": [ @@ -458,15 +469,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": -169.36, "wrist_twist_deg_after": { - "median": -0.0, + "median": -0.39, "iqr": [ - -3.4, - 8.8 + -4.7, + 4.8 ] }, - "wrist_total_deg_median_after": 28.6, + "wrist_total_deg_median_after": 45.5, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -481,9 +492,20 @@ "Q_rotvec": [ 0.0, 0.0, - -0.0 + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2261, + "inlier_frac": 0.929, + "inlier_spread_deg": 15.3, + "marker_Q_to_gsi_deg": { + "1": 21.4, + "-1": 172.4 + } + }, "wrist_bend_deg_median": 26.7, "opposite_sign_bend_deg": 174.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -515,7 +537,7 @@ }, "frames_used": 964 }, - "generated_at_utc": "2026-10-28T06:41:59.513157+00:00", + "generated_at_utc": "2026-11-06T14:08:23.336636+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -577,6 +599,116 @@ }, "applied": 3 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 34.58, + "offset_rotvec": [ + 0.4308, + 0.317, + -0.2795 + ], + "dev_deg": { + "median": 16.45, + "p90": 35.02 + }, + "samples": 2173, + "accepted": 1808, + "wrist_pos_err_mm_median": 49.5, + "per_camera": { + "head": { + "samples": 2173, + "accepted": 1808, + "gate_deg": 30.0, + "offset_deg": 34.58, + "tier": "primary", + "dev_deg_median": 16.45, + "wrist_pos_err_mm_median": 49.5 + } + }, + "frames_by_state": { + "ace_sample": 7268, + "interpolated": 796, + "mean_hand": 1575, + "no_body_fit": 5 + }, + "observed_fraction": 0.8362, + "observed_fraction_of_valid": 0.8366, + "palm_axis_vs_markers_deg": { + "gsi": 39.91, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 25.12, + "offset_rotvec": [ + 0.1071, + -0.2882, + 0.3125 + ], + "dev_deg": { + "median": 14.99, + "p90": 29.13 + }, + "samples": 2261, + "accepted": 2052, + "wrist_pos_err_mm_median": 70.4, + "per_camera": { + "head": { + "samples": 2261, + "accepted": 2052, + "gate_deg": 30.0, + "offset_deg": 25.12, + "tier": "primary", + "dev_deg_median": 14.99, + "wrist_pos_err_mm_median": 70.4 + } + }, + "frames_by_state": { + "ace_sample": 8250, + "interpolated": 534, + "mean_hand": 855, + "no_body_fit": 5 + }, + "observed_fraction": 0.9108, + "observed_fraction_of_valid": 0.9113, + "palm_axis_vs_markers_deg": { + "gsi": 24.33, + "smplx": 3.63 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.8, + "p90": 8.6 + }, + "registered": { + "median": 8.1, + "p90": 9.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:34:55.247082+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/static_manipulation/SM34/session_006", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM34/session_006/motions/smplx.npz b/actions/static_manipulation/SM34/session_006/motions/smplx.npz index d01f419cd30da67b2c252677df5696c539e6fae1..0a2cc9140e9084fcaa8bbe7bce5a5775ceeafec0 100644 --- a/actions/static_manipulation/SM34/session_006/motions/smplx.npz +++ b/actions/static_manipulation/SM34/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9af0aa1264eb2e635de9155d3fa9f29b1f99acb818fa6170178c30dbd29fa563 -size 3628034 +oid sha256:b2aa8041b7b01c812ea94188a473009996e6ab8b1debae3c28e9c10e5982c43f +size 6537541 diff --git a/actions/static_manipulation/SM35/session_001/meta.json b/actions/static_manipulation/SM35/session_001/meta.json index 801bce3530b4716333c26606bf49a9bf419e39fc..34fe468fe32e9e2d976b45d965b3cb83eeaf55be 100644 --- a/actions/static_manipulation/SM35/session_001/meta.json +++ b/actions/static_manipulation/SM35/session_001/meta.json @@ -338,8 +338,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -415,14 +415,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 169.3, - "opposite_sign_bend_deg": 37.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.998, + "inlier_spread_deg": 7.44, + "marker_Q_to_gsi_deg": { + "1": 175.6, + "-1": 5.7 + } + }, + "wrist_bend_deg_median": 167.8, + "opposite_sign_bend_deg": 36.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.59, "hand_vs_marker_frame_deg": { "before": 179.26, @@ -435,15 +446,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 166.94, + "twist_moved_deg": -161.98, "wrist_twist_deg_after": { - "median": 2.04, + "median": -4.96, "iqr": [ - -0.9, - 12.0 + -11.5, + 4.1 ] }, - "wrist_total_deg_median_after": 36.9, + "wrist_total_deg_median_after": 37.0, "markers_on_forearm": [ "LForearm" ] @@ -454,11 +465,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, - 0.0 + -0.0, + -0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.997, + "inlier_spread_deg": 4.62, + "marker_Q_to_gsi_deg": { + "1": 6.7, + "-1": 178.4 + } + }, "wrist_bend_deg_median": 24.2, "opposite_sign_bend_deg": 175.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -473,9 +495,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -7.1, 7.8 @@ -489,7 +511,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:16:28.728189+00:00", + "generated_at_utc": "2026-11-06T13:43:23.840044+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -533,6 +555,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1376092021336481 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 7.67, + "offset_rotvec": [ + -0.0976, + 0.0444, + -0.08 + ], + "dev_deg": { + "median": 5.47, + "p90": 19.23 + }, + "samples": 4439, + "accepted": 4415, + "wrist_pos_err_mm_median": 48.9, + "per_camera": { + "head": { + "samples": 4439, + "accepted": 4415, + "gate_deg": 30.0, + "offset_deg": 7.67, + "tier": "primary", + "dev_deg_median": 5.47, + "wrist_pos_err_mm_median": 48.9 + } + }, + "frames_by_state": { + "ace_sample": 17674, + "interpolated": 82, + "mean_hand": 128, + "no_body_fit": 0 + }, + "observed_fraction": 0.9928, + "observed_fraction_of_valid": 0.9928, + "palm_axis_vs_markers_deg": { + "gsi": 8.92, + "smplx": 1.43 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.1, + "p90": 13.3 + }, + "registered": { + "median": 9.6, + "p90": 13.6 + } + } + }, + "right": { + "offset_deg": 8.26, + "offset_rotvec": [ + 0.0268, + -0.0959, + 0.1042 + ], + "dev_deg": { + "median": 3.94, + "p90": 11.3 + }, + "samples": 4370, + "accepted": 4358, + "wrist_pos_err_mm_median": 25.6, + "per_camera": { + "head": { + "samples": 4370, + "accepted": 4358, + "gate_deg": 30.0, + "offset_deg": 8.26, + "tier": "primary", + "dev_deg_median": 3.94, + "wrist_pos_err_mm_median": 25.6 + } + }, + "frames_by_state": { + "ace_sample": 17448, + "interpolated": 168, + "mean_hand": 268, + "no_body_fit": 0 + }, + "observed_fraction": 0.985, + "observed_fraction_of_valid": 0.985, + "palm_axis_vs_markers_deg": { + "gsi": 9.12, + "smplx": 1.52 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.7, + "p90": 9.8 + }, + "registered": { + "median": 6.0, + "p90": 8.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:41:20.340697+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/static_manipulation/SM35/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM35/session_001/motions/smplx.npz b/actions/static_manipulation/SM35/session_001/motions/smplx.npz index 6315f6b131ec75d7099fab6c11dff26f02916618..5c8edcc6733fda2bb15a0ec560e1e30d1a0e0da8 100644 --- a/actions/static_manipulation/SM35/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM35/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a3cbba038e04bd730e5cd256e19fbf3002a181452cec60ee49b57111a22020e7 -size 6630077 +oid sha256:36745d5148a7970e2728d88bae6a94d16f65f3506df355cb23e30cecc26542a8 +size 12556349 diff --git a/actions/static_manipulation/SM37/session_001/meta.json b/actions/static_manipulation/SM37/session_001/meta.json index 9f81a0590367c80ee81a989be1110500fc9cf17d..7faad355fcfab1543691b2818ea2f8ed8ea81255 100644 --- a/actions/static_manipulation/SM37/session_001/meta.json +++ b/actions/static_manipulation/SM37/session_001/meta.json @@ -327,8 +327,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -399,14 +399,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 170.5, - "opposite_sign_bend_deg": 43.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.993, + "inlier_spread_deg": 6.75, + "marker_Q_to_gsi_deg": { + "1": 179.3, + "-1": 2.3 + } + }, + "wrist_bend_deg_median": 167.5, + "opposite_sign_bend_deg": 35.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.03, "hand_vs_marker_frame_deg": { "before": 178.16, @@ -419,15 +430,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 168.01, + "twist_moved_deg": -165.88, "wrist_twist_deg_after": { - "median": 0.69, + "median": -2.13, "iqr": [ - -5.0, - 7.5 + -10.5, + 4.6 ] }, - "wrist_total_deg_median_after": 35.3, + "wrist_total_deg_median_after": 41.9, "markers_on_forearm": [ "LForearm" ] @@ -443,6 +454,17 @@ 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.983, + "inlier_spread_deg": 6.78, + "marker_Q_to_gsi_deg": { + "1": 10.5, + "-1": 177.0 + } + }, "wrist_bend_deg_median": 32.7, "opposite_sign_bend_deg": 174.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -473,7 +495,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:16:29.646893+00:00", + "generated_at_utc": "2026-11-06T13:43:23.635557+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -517,6 +539,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.4649128744757252 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 1.37, + "offset_rotvec": [ + -0.0069, + -0.0171, + -0.0151 + ], + "dev_deg": { + "median": 6.63, + "p90": 18.35 + }, + "samples": 4384, + "accepted": 4331, + "wrist_pos_err_mm_median": 42.4, + "per_camera": { + "head": { + "samples": 4384, + "accepted": 4331, + "gate_deg": 30.0, + "offset_deg": 1.37, + "tier": "primary", + "dev_deg_median": 6.63, + "wrist_pos_err_mm_median": 42.4 + } + }, + "frames_by_state": { + "ace_sample": 17364, + "interpolated": 300, + "mean_hand": 220, + "no_body_fit": 0 + }, + "observed_fraction": 0.9877, + "observed_fraction_of_valid": 0.9877, + "palm_axis_vs_markers_deg": { + "gsi": 4.53, + "smplx": 2.09 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.4, + "p90": 9.9 + }, + "registered": { + "median": 6.3, + "p90": 10.1 + } + } + }, + "right": { + "offset_deg": 11.66, + "offset_rotvec": [ + -0.0737, + -0.147, + 0.12 + ], + "dev_deg": { + "median": 6.42, + "p90": 17.35 + }, + "samples": 4350, + "accepted": 4273, + "wrist_pos_err_mm_median": 29.5, + "per_camera": { + "head": { + "samples": 4350, + "accepted": 4273, + "gate_deg": 30.0, + "offset_deg": 11.66, + "tier": "primary", + "dev_deg_median": 6.42, + "wrist_pos_err_mm_median": 29.5 + } + }, + "frames_by_state": { + "ace_sample": 17140, + "interpolated": 724, + "mean_hand": 20, + "no_body_fit": 0 + }, + "observed_fraction": 0.9989, + "observed_fraction_of_valid": 0.9989, + "palm_axis_vs_markers_deg": { + "gsi": 10.68, + "smplx": 1.94 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.6, + "p90": 10.8 + }, + "registered": { + "median": 8.0, + "p90": 9.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:43:35.947218+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/static_manipulation/SM37/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM37/session_001/motions/smplx.npz b/actions/static_manipulation/SM37/session_001/motions/smplx.npz index cfbc200a551b12cc92713c18637ba1a726f1ff1a..99b7270ffbc3bdd696dee3218141c8bd0b41dd42 100644 --- a/actions/static_manipulation/SM37/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM37/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:da2b3f69ed079542a6499de26e8682adb394cdc0261aaae906d879210588222a -size 6758251 +oid sha256:41d0c5494675165294706c7fa96af48b6df709556d0d79bf3efdcc858d22f836 +size 12699719 diff --git a/actions/static_manipulation/SM38/session_001/meta.json b/actions/static_manipulation/SM38/session_001/meta.json index d06f6ef3dac4f6c2a3ae43c1c0fb409f4c88fedb..e8b75477571c292d23b789670619bb3652fbe3fd 100644 --- a/actions/static_manipulation/SM38/session_001/meta.json +++ b/actions/static_manipulation/SM38/session_001/meta.json @@ -339,8 +339,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -411,14 +411,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 169.8, - "opposite_sign_bend_deg": 40.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.992, + "inlier_spread_deg": 8.25, + "marker_Q_to_gsi_deg": { + "1": 176.6, + "-1": 10.4 + } + }, + "wrist_bend_deg_median": 165.0, + "opposite_sign_bend_deg": 42.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.01, "hand_vs_marker_frame_deg": { "before": 176.78, @@ -430,15 +441,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 167.07, + "twist_moved_deg": -161.63, "wrist_twist_deg_after": { - "median": 0.0, + "median": -5.44, "iqr": [ - -18.9, - 4.0 + -31.6, + -2.4 ] }, - "wrist_total_deg_median_after": 41.3, + "wrist_total_deg_median_after": 41.1, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -450,11 +461,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, + -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.995, + "inlier_spread_deg": 5.93, + "marker_Q_to_gsi_deg": { + "1": 8.4, + "-1": 174.1 + } + }, "wrist_bend_deg_median": 24.8, "opposite_sign_bend_deg": 174.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -469,9 +491,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -3.3, 4.9 @@ -485,7 +507,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:16:30.452851+00:00", + "generated_at_utc": "2026-11-06T13:43:38.735716+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -529,6 +551,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0920265108887344 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 8.41, + "offset_rotvec": [ + -0.037, + -0.0773, + 0.1191 + ], + "dev_deg": { + "median": 8.17, + "p90": 17.71 + }, + "samples": 4589, + "accepted": 4553, + "wrist_pos_err_mm_median": 48.7, + "per_camera": { + "head": { + "samples": 4589, + "accepted": 4553, + "gate_deg": 30.0, + "offset_deg": 8.41, + "tier": "primary", + "dev_deg_median": 8.17, + "wrist_pos_err_mm_median": 48.7 + } + }, + "frames_by_state": { + "ace_sample": 18232, + "interpolated": 124, + "mean_hand": 128, + "no_body_fit": 0 + }, + "observed_fraction": 0.9931, + "observed_fraction_of_valid": 0.9931, + "palm_axis_vs_markers_deg": { + "gsi": 5.92, + "smplx": 3.44 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.8, + "p90": 9.7 + }, + "registered": { + "median": 6.9, + "p90": 9.7 + } + } + }, + "right": { + "offset_deg": 9.72, + "offset_rotvec": [ + 0.1133, + -0.0891, + 0.0894 + ], + "dev_deg": { + "median": 5.7, + "p90": 14.01 + }, + "samples": 4489, + "accepted": 4464, + "wrist_pos_err_mm_median": 21.7, + "per_camera": { + "head": { + "samples": 4489, + "accepted": 4464, + "gate_deg": 30.0, + "offset_deg": 9.72, + "tier": "primary", + "dev_deg_median": 5.7, + "wrist_pos_err_mm_median": 21.7 + } + }, + "frames_by_state": { + "ace_sample": 17894, + "interpolated": 462, + "mean_hand": 128, + "no_body_fit": 0 + }, + "observed_fraction": 0.9931, + "observed_fraction_of_valid": 0.9931, + "palm_axis_vs_markers_deg": { + "gsi": 11.26, + "smplx": 1.71 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.3, + "p90": 11.0 + }, + "registered": { + "median": 7.9, + "p90": 9.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:43:43.052255+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/static_manipulation/SM38/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM38/session_001/motions/smplx.npz b/actions/static_manipulation/SM38/session_001/motions/smplx.npz index b3158039858a5987677be852839422ce4db104e8..d110750dc502c9f4a5ee2250d166ab68e2b677b4 100644 --- a/actions/static_manipulation/SM38/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM38/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b464fc06bf29e1b98e01b057043946b83edaa91015b285438bbd31d372190034 -size 6930418 +oid sha256:938482843b9aa7bce0864fe5a9aed21d99a88225d9ffde6ad286ef5ab96898a2 +size 13091397 diff --git a/actions/static_manipulation/SM39/session_001/meta.json b/actions/static_manipulation/SM39/session_001/meta.json index fefc5aa35e16ad84e928b91efa1f6899827754e2..168c7c97581fd41a40d88ee3a57862747af8069a 100644 --- a/actions/static_manipulation/SM39/session_001/meta.json +++ b/actions/static_manipulation/SM39/session_001/meta.json @@ -340,8 +340,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -407,14 +407,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 172.4, - "opposite_sign_bend_deg": 30.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.936, + "inlier_spread_deg": 12.46, + "marker_Q_to_gsi_deg": { + "1": 178.1, + "-1": 13.4 + } + }, + "wrist_bend_deg_median": 166.9, + "opposite_sign_bend_deg": 35.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.47, "hand_vs_marker_frame_deg": { "before": 174.32, @@ -426,15 +437,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 167.09, + "twist_moved_deg": -165.19, "wrist_twist_deg_after": { - "median": 6.09, + "median": -1.9, "iqr": [ - -7.6, - 9.3 + -10.1, + 1.3 ] }, - "wrist_total_deg_median_after": 35.0, + "wrist_total_deg_median_after": 26.9, "markers_on_forearm": [ "LForearm", "LWristIn" @@ -448,9 +459,20 @@ "Q_rotvec": [ 0.0, 0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.9, + "inlier_spread_deg": 11.31, + "marker_Q_to_gsi_deg": { + "1": 8.4, + "-1": 174.0 + } + }, "wrist_bend_deg_median": 45.1, "opposite_sign_bend_deg": 171.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -466,7 +488,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -9.3, 11.9 @@ -481,7 +503,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:16:32.755332+00:00", + "generated_at_utc": "2026-11-06T13:43:37.750026+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -525,6 +547,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1742877515965917 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 12.49, + "offset_rotvec": [ + 0.0676, + -0.1251, + 0.1651 + ], + "dev_deg": { + "median": 15.43, + "p90": 22.46 + }, + "samples": 4127, + "accepted": 3878, + "wrist_pos_err_mm_median": 87.2, + "per_camera": { + "head": { + "samples": 4127, + "accepted": 3878, + "gate_deg": 30.0, + "offset_deg": 12.49, + "tier": "primary", + "dev_deg_median": 15.43, + "wrist_pos_err_mm_median": 87.2 + } + }, + "frames_by_state": { + "ace_sample": 15532, + "interpolated": 276, + "mean_hand": 1588, + "no_body_fit": 0 + }, + "observed_fraction": 0.9087, + "observed_fraction_of_valid": 0.9087, + "palm_axis_vs_markers_deg": { + "gsi": 9.71, + "smplx": 5.92 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.1, + "p90": 10.4 + }, + "registered": { + "median": 7.2, + "p90": 11.0 + } + } + }, + "right": { + "offset_deg": 10.65, + "offset_rotvec": [ + -0.1122, + -0.1482, + -0.0035 + ], + "dev_deg": { + "median": 12.36, + "p90": 29.05 + }, + "samples": 4170, + "accepted": 3787, + "wrist_pos_err_mm_median": 32.8, + "per_camera": { + "head": { + "samples": 4170, + "accepted": 3787, + "gate_deg": 30.0, + "offset_deg": 10.65, + "tier": "primary", + "dev_deg_median": 12.36, + "wrist_pos_err_mm_median": 32.8 + } + }, + "frames_by_state": { + "ace_sample": 15278, + "interpolated": 1770, + "mean_hand": 348, + "no_body_fit": 0 + }, + "observed_fraction": 0.98, + "observed_fraction_of_valid": 0.98, + "palm_axis_vs_markers_deg": { + "gsi": 12.66, + "smplx": 2.25 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.4, + "p90": 9.0 + }, + "registered": { + "median": 7.2, + "p90": 8.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:43:42.034796+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/static_manipulation/SM39/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM39/session_001/motions/smplx.npz b/actions/static_manipulation/SM39/session_001/motions/smplx.npz index 8c66795cd1b808127d579d6eddf03bf78ec9b4bc..88a7854af55ab31dd3bd8a9caa8955169fb00ee1 100644 --- a/actions/static_manipulation/SM39/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM39/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:86c2ca9a73cceb8ace91524b1d0965deeb4436ffe828be0a3314377b0191d33c -size 6635647 +oid sha256:b614e50127dfa2f223239e32bbe3c165873bbd33ecd6b3a3af74b1c69fe64358 +size 12176844 diff --git a/actions/static_manipulation/SM40/session_001/meta.json b/actions/static_manipulation/SM40/session_001/meta.json index b50cfad28cef74804497906294e618346b4dcff3..9cb7e253e2fbaf666707ed0c3611d3b179a1aa54 100644 --- a/actions/static_manipulation/SM40/session_001/meta.json +++ b/actions/static_manipulation/SM40/session_001/meta.json @@ -340,8 +340,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -411,10 +411,21 @@ -0.2415, -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 177.3, - "opposite_sign_bend_deg": 13.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.997, + "inlier_spread_deg": 3.12, + "marker_Q_to_gsi_deg": { + "1": 174.6, + "-1": 11.0 + } + }, + "wrist_bend_deg_median": 176.4, + "opposite_sign_bend_deg": 26.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.71, "hand_vs_marker_frame_deg": { "before": 179.64, @@ -427,15 +438,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 176.68, + "twist_moved_deg": -175.74, "wrist_twist_deg_after": { - "median": 0.73, + "median": -0.94, "iqr": [ - -1.0, - 2.2 + -2.7, + 0.5 ] }, - "wrist_total_deg_median_after": 26.2, + "wrist_total_deg_median_after": 13.4, "markers_on_forearm": [ "LElbow", "LWristOut" @@ -447,11 +458,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.993, + "inlier_spread_deg": 6.74, + "marker_Q_to_gsi_deg": { + "1": 2.9, + "-1": 178.2 + } + }, "wrist_bend_deg_median": 18.0, "opposite_sign_bend_deg": 176.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -482,7 +504,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:16:33.395124+00:00", + "generated_at_utc": "2026-11-06T13:43:43.849044+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -526,6 +548,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1732930853662205 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.73, + "offset_rotvec": [ + -0.0892, + -0.1422, + 0.0831 + ], + "dev_deg": { + "median": 3.18, + "p90": 6.2 + }, + "samples": 4275, + "accepted": 4260, + "wrist_pos_err_mm_median": 124.2, + "per_camera": { + "head": { + "samples": 4275, + "accepted": 4260, + "gate_deg": 30.0, + "offset_deg": 10.73, + "tier": "primary", + "dev_deg_median": 3.18, + "wrist_pos_err_mm_median": 124.2 + } + }, + "frames_by_state": { + "ace_sample": 17058, + "interpolated": 98, + "mean_hand": 128, + "no_body_fit": 0 + }, + "observed_fraction": 0.9926, + "observed_fraction_of_valid": 0.9926, + "palm_axis_vs_markers_deg": { + "gsi": 9.0, + "smplx": 0.59 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.0, + "p90": 4.8 + }, + "registered": { + "median": 4.4, + "p90": 5.4 + } + } + }, + "right": { + "offset_deg": 6.56, + "offset_rotvec": [ + -0.0021, + 0.0077, + -0.1143 + ], + "dev_deg": { + "median": 8.48, + "p90": 13.89 + }, + "samples": 4059, + "accepted": 4031, + "wrist_pos_err_mm_median": 122.3, + "per_camera": { + "head": { + "samples": 4059, + "accepted": 4031, + "gate_deg": 30.0, + "offset_deg": 6.56, + "tier": "primary", + "dev_deg_median": 8.48, + "wrist_pos_err_mm_median": 122.3 + } + }, + "frames_by_state": { + "ace_sample": 16186, + "interpolated": 970, + "mean_hand": 128, + "no_body_fit": 0 + }, + "observed_fraction": 0.9926, + "observed_fraction_of_valid": 0.9926, + "palm_axis_vs_markers_deg": { + "gsi": 5.2, + "smplx": 0.69 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.0, + "p90": 7.3 + }, + "registered": { + "median": 5.8, + "p90": 7.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:43:35.940326+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/static_manipulation/SM40/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM40/session_001/motions/smplx.npz b/actions/static_manipulation/SM40/session_001/motions/smplx.npz index a40bae5be0bec7d2fd58e4ea3b2ddb46471c0d1f..abd6e0fd782f50dc9e565ee9e8e2ef100e9069d0 100644 --- a/actions/static_manipulation/SM40/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM40/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8c0422ef2155dd181329dd8afc75fe0248a46c978aea6a05992ec69016bbab0b -size 6606530 +oid sha256:f76b1fb922088d7a0dd56f887ce0094d92a731bb3ed74392914ddcf3965759bc +size 12361637 diff --git a/actions/static_manipulation/SM41/session_001/meta.json b/actions/static_manipulation/SM41/session_001/meta.json index 6a9518c37f5c197c86fe63d1c9c1bdb45c39070a..272eb9b9b8abef8a142d5b3c229adf1257a1f111 100644 --- a/actions/static_manipulation/SM41/session_001/meta.json +++ b/actions/static_manipulation/SM41/session_001/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -393,14 +393,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02575, - 0.26943, - 0.80116 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 174.0, - "opposite_sign_bend_deg": 17.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.957, + "inlier_spread_deg": 9.86, + "marker_Q_to_gsi_deg": { + "1": 176.1, + "-1": 9.5 + } + }, + "wrist_bend_deg_median": 163.4, + "opposite_sign_bend_deg": 33.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.65, "hand_vs_marker_frame_deg": { "before": 179.03, @@ -411,15 +422,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 162.61, + "twist_moved_deg": -158.83, "wrist_twist_deg_after": { - "median": 12.81, + "median": -3.78, "iqr": [ - 1.3, - 17.6 + -16.1, + 0.8 ] }, - "wrist_total_deg_median_after": 33.5, + "wrist_total_deg_median_after": 17.5, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -432,11 +443,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ + 0.0, -0.0, - -0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.96, + "inlier_spread_deg": 6.85, + "marker_Q_to_gsi_deg": { + "1": 7.5, + "-1": 177.5 + } + }, "wrist_bend_deg_median": 12.8, "opposite_sign_bend_deg": 176.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -451,9 +473,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -1.3, 1.6 @@ -467,7 +489,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:15:31.762584+00:00", + "generated_at_utc": "2026-11-06T13:39:32.946470+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -511,6 +533,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8740275760137554 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.43, + "offset_rotvec": [ + -0.0809, + -0.1385, + 0.037 + ], + "dev_deg": { + "median": 10.14, + "p90": 23.51 + }, + "samples": 4018, + "accepted": 3836, + "wrist_pos_err_mm_median": 57.2, + "per_camera": { + "head": { + "samples": 4018, + "accepted": 3836, + "gate_deg": 30.0, + "offset_deg": 9.43, + "tier": "primary", + "dev_deg_median": 10.14, + "wrist_pos_err_mm_median": 57.2 + } + }, + "frames_by_state": { + "ace_sample": 15423, + "interpolated": 928, + "mean_hand": 325, + "no_body_fit": 8 + }, + "observed_fraction": 0.98, + "observed_fraction_of_valid": 0.9805, + "palm_axis_vs_markers_deg": { + "gsi": 11.24, + "smplx": 1.34 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.3, + "p90": 12.2 + }, + "registered": { + "median": 10.2, + "p90": 11.5 + } + } + }, + "right": { + "offset_deg": 7.75, + "offset_rotvec": [ + -0.0811, + 0.0527, + 0.0945 + ], + "dev_deg": { + "median": 7.09, + "p90": 17.48 + }, + "samples": 3868, + "accepted": 3711, + "wrist_pos_err_mm_median": 51.0, + "per_camera": { + "head": { + "samples": 3868, + "accepted": 3711, + "gate_deg": 30.0, + "offset_deg": 7.75, + "tier": "primary", + "dev_deg_median": 7.09, + "wrist_pos_err_mm_median": 51.0 + } + }, + "frames_by_state": { + "ace_sample": 14889, + "interpolated": 670, + "mean_hand": 1117, + "no_body_fit": 8 + }, + "observed_fraction": 0.9326, + "observed_fraction_of_valid": 0.933, + "palm_axis_vs_markers_deg": { + "gsi": 6.35, + "smplx": 0.99 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.3, + "p90": 9.9 + }, + "registered": { + "median": 6.8, + "p90": 8.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:34:18.436615+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/static_manipulation/SM41/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM41/session_001/motions/smplx.npz b/actions/static_manipulation/SM41/session_001/motions/smplx.npz index 459df67c1452fcf05bac4fba6a76d8793b4cfd28..f442f387d90836075ec1e8dcc52ab0319f6c2e42 100644 --- a/actions/static_manipulation/SM41/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM41/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d4722926982ba46bc36b97487cbd7c2015b225aea86e5ac3c2a07b3d6820f633 -size 6381145 +oid sha256:3c10f83937488ed1db199eabe5cee5882aa0b1175641d6ed5d8b17ba4c62bb70 +size 11817509 diff --git a/actions/static_manipulation/SM42/session_001/meta.json b/actions/static_manipulation/SM42/session_001/meta.json index c7afd6c011d26dcebcf10ed82e665a9494cd93c5..6e15fb9fddf3f0ad3d9c745885bc881de23200da 100644 --- a/actions/static_manipulation/SM42/session_001/meta.json +++ b/actions/static_manipulation/SM42/session_001/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -393,14 +393,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02575, - 0.26943, - 0.80116 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 171.1, - "opposite_sign_bend_deg": 25.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2550, + "inlier_frac": 0.867, + "inlier_spread_deg": 10.42, + "marker_Q_to_gsi_deg": { + "1": 171.7, + "-1": 11.8 + } + }, + "wrist_bend_deg_median": 132.0, + "opposite_sign_bend_deg": 54.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.92, "hand_vs_marker_frame_deg": { "before": 177.29, @@ -412,15 +423,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 131.75, + "twist_moved_deg": -129.66, "wrist_twist_deg_after": { - "median": 45.3, + "median": -2.1, "iqr": [ - 29.3, - 51.8 + -17.7, + 7.5 ] }, - "wrist_total_deg_median_after": 53.8, + "wrist_total_deg_median_after": 23.4, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -437,6 +448,17 @@ 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1968, + "inlier_frac": 0.896, + "inlier_spread_deg": 8.9, + "marker_Q_to_gsi_deg": { + "1": 4.1, + "-1": 177.2 + } + }, "wrist_bend_deg_median": 21.4, "opposite_sign_bend_deg": 172.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -467,7 +489,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:15:32.122372+00:00", + "generated_at_utc": "2026-11-06T13:39:33.336432+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -511,6 +533,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1644060445065738 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.85, + "offset_rotvec": [ + -0.1071, + -0.1385, + 0.0721 + ], + "dev_deg": { + "median": 11.73, + "p90": 36.61 + }, + "samples": 2550, + "accepted": 2209, + "wrist_pos_err_mm_median": 53.8, + "per_camera": { + "head": { + "samples": 2550, + "accepted": 2209, + "gate_deg": 30.0, + "offset_deg": 10.85, + "tier": "primary", + "dev_deg_median": 11.73, + "wrist_pos_err_mm_median": 53.8 + } + }, + "frames_by_state": { + "ace_sample": 8846, + "interpolated": 2202, + "mean_hand": 5636, + "no_body_fit": 0 + }, + "observed_fraction": 0.6622, + "observed_fraction_of_valid": 0.6622, + "palm_axis_vs_markers_deg": { + "gsi": 12.88, + "smplx": 3.69 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.6, + "p90": 12.5 + }, + "registered": { + "median": 7.7, + "p90": 12.9 + } + } + }, + "right": { + "offset_deg": 4.44, + "offset_rotvec": [ + -0.0493, + 0.0597, + 0.0057 + ], + "dev_deg": { + "median": 10.02, + "p90": 30.27 + }, + "samples": 1968, + "accepted": 1768, + "wrist_pos_err_mm_median": 47.7, + "per_camera": { + "head": { + "samples": 1968, + "accepted": 1768, + "gate_deg": 30.0, + "offset_deg": 4.44, + "tier": "primary", + "dev_deg_median": 10.02, + "wrist_pos_err_mm_median": 47.7 + } + }, + "frames_by_state": { + "ace_sample": 7074, + "interpolated": 1994, + "mean_hand": 7616, + "no_body_fit": 0 + }, + "observed_fraction": 0.5435, + "observed_fraction_of_valid": 0.5435, + "palm_axis_vs_markers_deg": { + "gsi": 7.45, + "smplx": 2.55 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.2, + "p90": 15.8 + }, + "registered": { + "median": 11.0, + "p90": 15.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:34:31.639517+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/static_manipulation/SM42/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM42/session_001/motions/smplx.npz b/actions/static_manipulation/SM42/session_001/motions/smplx.npz index 7537e272a9037c832a0a1da2733de5f68dcf16dd..12c8f625ec82ac7ce3ac5bd790a466215ce5b9df 100644 --- a/actions/static_manipulation/SM42/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM42/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8240bbff30de601026890a5ef73a61e1035f38db937b6389941eff288cfaa185 -size 6392251 +oid sha256:dc7bbaa895431994e795f5ab89fb485459368e17ac790196b24a5561f9beb2ee +size 10302973 diff --git a/actions/static_manipulation/SM43/session_001/meta.json b/actions/static_manipulation/SM43/session_001/meta.json index b5b59309a6e45def6e38b9fe50c4c9ffd017a060..f971375d52bd591b31bc591230a5bb0ca78d639c 100644 --- a/actions/static_manipulation/SM43/session_001/meta.json +++ b/actions/static_manipulation/SM43/session_001/meta.json @@ -340,8 +340,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -400,19 +400,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 36.8, - "opposite_sign_bend_deg": 169.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.916, + "inlier_spread_deg": 12.01, + "marker_Q_to_gsi_deg": { + "1": 170.3, + "-1": 10.3 + } + }, + "wrist_bend_deg_median": 169.9, + "opposite_sign_bend_deg": 36.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.18, "hand_vs_marker_frame_deg": { - "before": 6.18, + "before": 178.07, "after": 6.18 }, "markers_on_wrist": [ @@ -420,15 +431,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.09, + "twist_moved_deg": -150.26, "wrist_twist_deg_after": { - "median": 0.0, + "median": -23.14, "iqr": [ - -10.7, - 11.1 + -36.2, + -8.9 ] }, - "wrist_total_deg_median_after": 38.3, + "wrist_total_deg_median_after": 39.7, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -446,8 +457,19 @@ 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.92, + "inlier_spread_deg": 10.64, + "marker_Q_to_gsi_deg": { + "1": 2.0, + "-1": 179.2 + } + }, "wrist_bend_deg_median": 23.0, - "opposite_sign_bend_deg": 166.1, + "opposite_sign_bend_deg": 165.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.48, "hand_vs_marker_frame_deg": { @@ -459,9 +481,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.15, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -11.2, 12.4 @@ -476,7 +498,7 @@ }, "frames_used": 1464 }, - "generated_at_utc": "2026-10-28T06:15:32.105458+00:00", + "generated_at_utc": "2026-11-06T13:39:48.041344+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -579,6 +601,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 11.33, + "offset_rotvec": [ + -0.1961, + -0.0248, + 0.0038 + ], + "dev_deg": { + "median": 12.56, + "p90": 25.58 + }, + "samples": 4462, + "accepted": 4110, + "wrist_pos_err_mm_median": 30.2, + "per_camera": { + "head": { + "samples": 4462, + "accepted": 4110, + "gate_deg": 30.0, + "offset_deg": 11.33, + "tier": "primary", + "dev_deg_median": 12.56, + "wrist_pos_err_mm_median": 30.2 + } + }, + "frames_by_state": { + "ace_sample": 16490, + "interpolated": 670, + "mean_hand": 1916, + "no_body_fit": 8 + }, + "observed_fraction": 0.8992, + "observed_fraction_of_valid": 0.8996, + "palm_axis_vs_markers_deg": { + "gsi": 12.72, + "smplx": 3.29 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.2, + "p90": 8.0 + }, + "registered": { + "median": 7.0, + "p90": 9.2 + } + } + }, + "right": { + "offset_deg": 2.71, + "offset_rotvec": [ + -0.0086, + 0.0359, + 0.0296 + ], + "dev_deg": { + "median": 11.24, + "p90": 26.61 + }, + "samples": 4466, + "accepted": 4119, + "wrist_pos_err_mm_median": 25.2, + "per_camera": { + "head": { + "samples": 4466, + "accepted": 4119, + "gate_deg": 30.0, + "offset_deg": 2.71, + "tier": "primary", + "dev_deg_median": 11.24, + "wrist_pos_err_mm_median": 25.2 + } + }, + "frames_by_state": { + "ace_sample": 16492, + "interpolated": 368, + "mean_hand": 2216, + "no_body_fit": 8 + }, + "observed_fraction": 0.8835, + "observed_fraction_of_valid": 0.8838, + "palm_axis_vs_markers_deg": { + "gsi": 10.21, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:34:36.846103+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/static_manipulation/SM43/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM43/session_001/motions/smplx.npz b/actions/static_manipulation/SM43/session_001/motions/smplx.npz index 67530da907927e63331bda2459872028910bbcd1..3d8635694ea500509cc41314aaa97a61aa58ddbb 100644 --- a/actions/static_manipulation/SM43/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM43/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f0657895347bb4f56b75ae47186d6fddf8ecd4da06e822893fb60506bcba656a -size 7234805 +oid sha256:a807c7b9d1b1f448806fd3c03802709c7c870d960a3150fde1514ec8150b9498 +size 13052532 diff --git a/actions/static_manipulation/SM44/session_001/meta.json b/actions/static_manipulation/SM44/session_001/meta.json index 4aac56b74e7211f5af5668f4674345fecf3b6305..af90f4e7d0e3f6bbf715cf99dc584b6a75f027df 100644 --- a/actions/static_manipulation/SM44/session_001/meta.json +++ b/actions/static_manipulation/SM44/session_001/meta.json @@ -335,8 +335,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -407,14 +407,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02575, - 0.26943, - 0.80116 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 171.9, - "opposite_sign_bend_deg": 29.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.989, + "inlier_spread_deg": 11.21, + "marker_Q_to_gsi_deg": { + "1": 175.6, + "-1": 11.8 + } + }, + "wrist_bend_deg_median": 167.1, + "opposite_sign_bend_deg": 37.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.64, "hand_vs_marker_frame_deg": { "before": 177.7, @@ -427,15 +438,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 166.84, + "twist_moved_deg": -166.25, "wrist_twist_deg_after": { - "median": 6.26, + "median": -0.59, "iqr": [ - -2.3, - 12.0 + -5.2, + 6.8 ] }, - "wrist_total_deg_median_after": 36.9, + "wrist_total_deg_median_after": 29.1, "markers_on_forearm": [ "LForearm" ] @@ -446,11 +457,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, - -0.0, + 0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.941, + "inlier_spread_deg": 6.68, + "marker_Q_to_gsi_deg": { + "1": 3.2, + "-1": 177.8 + } + }, "wrist_bend_deg_median": 16.4, "opposite_sign_bend_deg": 175.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -464,7 +486,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -481,7 +503,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:15:31.721760+00:00", + "generated_at_utc": "2026-11-06T13:39:45.042245+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -525,6 +547,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9902366136686682 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 11.84, + "offset_rotvec": [ + -0.0434, + -0.104, + 0.1731 + ], + "dev_deg": { + "median": 11.29, + "p90": 17.33 + }, + "samples": 3693, + "accepted": 3655, + "wrist_pos_err_mm_median": 22.3, + "per_camera": { + "head": { + "samples": 3693, + "accepted": 3655, + "gate_deg": 30.0, + "offset_deg": 11.84, + "tier": "primary", + "dev_deg_median": 11.29, + "wrist_pos_err_mm_median": 22.3 + } + }, + "frames_by_state": { + "ace_sample": 14719, + "interpolated": 1352, + "mean_hand": 5, + "no_body_fit": 8 + }, + "observed_fraction": 0.9992, + "observed_fraction_of_valid": 0.9997, + "palm_axis_vs_markers_deg": { + "gsi": 9.18, + "smplx": 2.9 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.7, + "p90": 15.2 + }, + "registered": { + "median": 12.1, + "p90": 15.0 + } + } + }, + "right": { + "offset_deg": 3.8, + "offset_rotvec": [ + -0.027, + 0.0214, + -0.0568 + ], + "dev_deg": { + "median": 6.97, + "p90": 20.56 + }, + "samples": 3774, + "accepted": 3561, + "wrist_pos_err_mm_median": 27.2, + "per_camera": { + "head": { + "samples": 3774, + "accepted": 3561, + "gate_deg": 30.0, + "offset_deg": 3.8, + "tier": "primary", + "dev_deg_median": 6.97, + "wrist_pos_err_mm_median": 27.2 + } + }, + "frames_by_state": { + "ace_sample": 14349, + "interpolated": 1538, + "mean_hand": 189, + "no_body_fit": 8 + }, + "observed_fraction": 0.9878, + "observed_fraction_of_valid": 0.9882, + "palm_axis_vs_markers_deg": { + "gsi": 5.51, + "smplx": 1.98 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.3, + "p90": 11.4 + }, + "registered": { + "median": 10.2, + "p90": 11.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:34:24.543129+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/static_manipulation/SM44/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM44/session_001/motions/smplx.npz b/actions/static_manipulation/SM44/session_001/motions/smplx.npz index 5776d93b04267c9cae5f63bef75550e2d75c2ff1..1419da04f22691411141ff67edbd34e06e2181d9 100644 --- a/actions/static_manipulation/SM44/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM44/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:81d2d8684b3a4b53518688b5bcc6fd1ec86e04688f78a2fce503d002af349486 -size 6057493 +oid sha256:2380d62231a372b18046211b24beebcf99b611a43b40bbe39e41c9a049ca5172 +size 11426573