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b/actions/locomotion_posture_dynamics/D41/session_018/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:63f63ecce7570982d723654ea4ea022201cfaa937fd27e4ca0a8b92eb1202299 +size 600261 diff --git a/actions/locomotion_posture_dynamics/D41/session_018/meta.json b/actions/locomotion_posture_dynamics/D41/session_018/meta.json index ed794f28842ff31e7880d6733a1cac729fef748e..6e476c961ce28d37f60c41259598bc338082e710 100644 --- a/actions/locomotion_posture_dynamics/D41/session_018/meta.json +++ b/actions/locomotion_posture_dynamics/D41/session_018/meta.json @@ -329,8 +329,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered 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continuously clockwise around the taped circle at a comfortable pace; do not stop between laps; keep going until the operator says stop." } } diff --git a/actions/locomotion_posture_dynamics/D41/session_020/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D41/session_020/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..1669d05f5d49633826d0ea0a5c310e370f688837 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D41/session_020/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a95e319f61180d481fa857d3ceef5cc72d064819410c89959a9c8ac6ee5afb0 +size 3521336 diff --git a/actions/locomotion_posture_dynamics/D41/session_020/motions/smplx.npz b/actions/locomotion_posture_dynamics/D41/session_020/motions/smplx.npz index fe50044084af774e06d501f5cf3734753dfb6a73..d193b7955eb6279f3f756e4e3266770b6a0d4835 100644 --- a/actions/locomotion_posture_dynamics/D41/session_020/motions/smplx.npz +++ 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native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D41/session_022", "family": "locomotion_posture_dynamics", "primitive": "D41", "source_session": "20260928/D41/20260928_104618_session80" + }, + "task": { + "primitive": "D41", + "instruction": "Jog continuously clockwise around the taped circle at a comfortable pace; do not stop between laps; keep going until the operator says stop." } } diff --git a/actions/locomotion_posture_dynamics/D41/session_022/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D41/session_022/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..e387a190d7cb57e78c0e6e5e09ebcacc9677e8e5 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D41/session_022/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version 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a/actions/locomotion_posture_dynamics/D41/session_024/cameras/slam.npz b/actions/locomotion_posture_dynamics/D41/session_024/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..a450f75743258c837a5f036672b7261c4135ec0b --- /dev/null +++ b/actions/locomotion_posture_dynamics/D41/session_024/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32e9e13d103e042c7202c5053f16c209783dbbdafbd8f7dbc873a4ffde6ce759 +size 658165 diff --git a/actions/locomotion_posture_dynamics/D41/session_024/meta.json b/actions/locomotion_posture_dynamics/D41/session_024/meta.json index 1d1ba89444d989a2440e0182dd9dcb98aa34b921..2f73a01971cb501614961dad45eac2bc2f101b2e 100644 --- a/actions/locomotion_posture_dynamics/D41/session_024/meta.json +++ b/actions/locomotion_posture_dynamics/D41/session_024/meta.json @@ -325,8 +325,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", 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b/actions/locomotion_posture_dynamics/D42/session_005/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd75fac9c0ea2b7b8e4b075bdf4e765014b0cf281bf31be23c7a9a4c7f227c7c +size 601870 diff --git a/actions/locomotion_posture_dynamics/D42/session_005/meta.json b/actions/locomotion_posture_dynamics/D42/session_005/meta.json index 672e7f2e67f27ee4bf85861f3646715cf952eeb8..ca2eab0fd78428672d2ba373c40147b74b9b9f9b 100644 --- a/actions/locomotion_posture_dynamics/D42/session_005/meta.json +++ b/actions/locomotion_posture_dynamics/D42/session_005/meta.json @@ -317,8 +317,8 @@ "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 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laps; keep going until the operator says stop." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D42/session_007/cameras/slam.npz b/actions/locomotion_posture_dynamics/D42/session_007/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..02046c96925dccb813f9544ac8b0b6e0e4962a2c --- /dev/null +++ b/actions/locomotion_posture_dynamics/D42/session_007/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:179ce60a8b5d7be7f118d66eb19f18f50d0590c33c30d0a16af892a6b298e195 +size 573496 diff --git a/actions/locomotion_posture_dynamics/D42/session_007/meta.json b/actions/locomotion_posture_dynamics/D42/session_007/meta.json index 596e5eaf1984ac7ff7bdaa0a3f24fb2265324cb4..d406320dd5619d84c1190e84e3f51115c5a61348 100644 --- a/actions/locomotion_posture_dynamics/D42/session_007/meta.json +++ b/actions/locomotion_posture_dynamics/D42/session_007/meta.json @@ -332,8 +332,8 @@ "frame": "canonical (meta.canonical): Z-up 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+ "instruction": "Jog continuously counter-clockwise around the taped circle at a comfortable pace; do not stop between laps; keep going until the operator says stop." } } diff --git a/actions/locomotion_posture_dynamics/D42/session_007/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D42/session_007/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..73a013e066893e9b2e5f0f8a2365bac2c1132013 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D42/session_007/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:318027336e540e65e901f42239a82708c31112035f7f16e56ca4f6314033dd90 +size 3656380 diff --git a/actions/locomotion_posture_dynamics/D42/session_007/motions/smplx.npz b/actions/locomotion_posture_dynamics/D42/session_007/motions/smplx.npz index 3a9fd20134176e09b7c4939d25f1f273f20581dc..a8a7a144daff347d178b0ce0d2fbddb525bc4592 100644 --- a/actions/locomotion_posture_dynamics/D42/session_007/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D42/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2790ea05353121270a6556c392c885192214c4c9c2fc343b1fafe7b9333e1b31 -size 4602912 +oid sha256:31dc0679be99a7b851dd2a283df83752823358f758955cb04dffda0f324dc900 +size 8527990 diff --git a/actions/locomotion_posture_dynamics/D42/session_008/annotations.json b/actions/locomotion_posture_dynamics/D42/session_008/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..ab175d5621bab778cd31cc5f33e9baf1383a4bb7 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D42/session_008/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D42", + "instruction": "Jog continuously counter-clockwise around the taped circle at a comfortable pace; do not stop between laps; keep going until the operator says stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 108.966578, + "video": "left_eye", + "video_t_start": 0.039259362787290586 + } + ], + "episodes": [ + { + "id": "0e3c16ce-3a7a-42f6-9280-4829dc7ac16d", + "segment": "segment1", + "action": "D42", + "quality": "valid", + "start_s": 0, + "end_s": 102.596, + "t_start": 0.0393, + "t_end": 102.6353, + "instruction": "Jog continuously counter-clockwise around the taped circle at a comfortable pace; do not stop between laps; keep going until the operator says stop." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D42/session_008/cameras/slam.npz b/actions/locomotion_posture_dynamics/D42/session_008/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..85e0324c77db5bc02b555994d8dfaa65a4cb31e6 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D42/session_008/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5cf538bbf24e091b7c76bbc6d17c46dd2194d98596be572d437512333debd867 +size 630574 diff --git a/actions/locomotion_posture_dynamics/D42/session_008/meta.json b/actions/locomotion_posture_dynamics/D42/session_008/meta.json index e68a9b22ca3026720bc82e021c62bc7ac4ad73c4..a37cb0c3a4a806c4edf58462befd45e6825b3d1b 100644 --- a/actions/locomotion_posture_dynamics/D42/session_008/meta.json +++ b/actions/locomotion_posture_dynamics/D42/session_008/meta.json @@ -333,8 +333,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": 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checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D42/session_010", "family": "locomotion_posture_dynamics", "primitive": "D42", "source_session": "20260914/D42/20260914_070529_session3" + }, + "task": { + "primitive": "D42", + "instruction": "Jog continuously counter-clockwise around the taped circle at a comfortable pace; do not stop between laps; keep going until the operator says stop." } } diff --git a/actions/locomotion_posture_dynamics/D42/session_010/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D42/session_010/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..1d0040528f03bbc029fbdcef449068f6dfe4aaea --- /dev/null +++ b/actions/locomotion_posture_dynamics/D42/session_010/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07376a9156e5f534a81b65ee514cd1601bfc8bb655b87d0ac1ceb29e2520f03d +size 3808945 diff --git 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keep going until the operator says stop." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D42/session_011/cameras/slam.npz b/actions/locomotion_posture_dynamics/D42/session_011/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..e380d225bea3d86b17e7e7d5685a618433c3c96b --- /dev/null +++ b/actions/locomotion_posture_dynamics/D42/session_011/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e199b11a3c72a973d906d869c2d782c44a08a58fa48077987b504cd183b86a2c +size 574162 diff --git a/actions/locomotion_posture_dynamics/D42/session_011/meta.json b/actions/locomotion_posture_dynamics/D42/session_011/meta.json index 658a3d4c3ddbbeef6dd406c02fd0a45653fc4e7a..f02fcff46134e77f72a68edeac09bb5293fbda12 100644 --- a/actions/locomotion_posture_dynamics/D42/session_011/meta.json +++ b/actions/locomotion_posture_dynamics/D42/session_011/meta.json @@ -327,8 +327,8 @@ "frame": "canonical (meta.canonical): Z-up metres; 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+version https://git-lfs.github.com/spec/v1 +oid sha256:9862064ed776814fb445df763af977e1a8fc92123b53f443ad33021706957064 +size 570821 diff --git a/actions/locomotion_posture_dynamics/D42/session_012/meta.json b/actions/locomotion_posture_dynamics/D42/session_012/meta.json index c4c981d6756995cda05eecde20dca395a6aa85b0..929318751c9cd6015be46aa459b3615dc71be6c1 100644 --- a/actions/locomotion_posture_dynamics/D42/session_012/meta.json +++ b/actions/locomotion_posture_dynamics/D42/session_012/meta.json @@ -345,8 +345,8 @@ "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) 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b/actions/locomotion_posture_dynamics/D42/session_016/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d102af3b01490cd6f33a19cd1630851e0fbd36fe425ca7f8393efb7a881ac509 +size 572527 diff --git a/actions/locomotion_posture_dynamics/D42/session_016/meta.json b/actions/locomotion_posture_dynamics/D42/session_016/meta.json index 5f74cfc3c90bb0b79af04294c9c0abb99166ad2d..3533b808ddd377cf020d1e27021998a061ff6a9a 100644 --- a/actions/locomotion_posture_dynamics/D42/session_016/meta.json +++ b/actions/locomotion_posture_dynamics/D42/session_016/meta.json @@ -507,5 +507,9 @@ "family": "locomotion_posture_dynamics", "primitive": "D42", "source_session": "20260917/D42/20260917_102423_session169" + }, + "task": { + "primitive": "D42", + "instruction": "Jog continuously counter-clockwise around the taped circle at a comfortable pace; do not stop between laps; keep going until the operator says stop." } } diff --git a/actions/locomotion_posture_dynamics/D42/session_016/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D42/session_016/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..e06d52a18de668103e0c7f050d2c1fa610b59435 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D42/session_016/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d227b4559057dfb6e618791783fa9b3676cefa1e7f5b63b52a4541a2f54fab4 +size 3248747 diff --git a/actions/locomotion_posture_dynamics/D42/session_017/annotations.json b/actions/locomotion_posture_dynamics/D42/session_017/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..6d57821ac85d695ecb1cf778b0a6a611f0cdeac0 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D42/session_017/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D42", + "instruction": "Jog continuously counter-clockwise around the taped circle at a comfortable pace; do not stop between laps; keep going until the operator says stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 103.966656, + "video": "left_eye", + "video_t_start": 0.03936271046674067 + } + ], + "episodes": [ + { + "id": "45e5692a-6f86-4166-8fbd-034addbd94b4", + "segment": "segment1", + "action": "D42", + "quality": "valid", + "start_s": 0, + "end_s": 101.271, + "t_start": 0.0394, + "t_end": 101.3104, + "instruction": "Jog continuously counter-clockwise around the taped circle at a comfortable pace; do not stop between laps; keep going until the operator says stop." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D42/session_017/cameras/slam.npz b/actions/locomotion_posture_dynamics/D42/session_017/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..137f4c971229d15bac049b5122c04063d6313610 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D42/session_017/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e926bdb6831564187db94e162a8b1a04f91341a7f181ebcab3db30a9fac496b +size 601247 diff --git a/actions/locomotion_posture_dynamics/D42/session_017/meta.json b/actions/locomotion_posture_dynamics/D42/session_017/meta.json index 2165d87a521bd33e3f55aabbf0b20b1f43159c78..c52a653de3a938e2649f4f3a83f4e8a9a4addec5 100644 --- a/actions/locomotion_posture_dynamics/D42/session_017/meta.json +++ b/actions/locomotion_posture_dynamics/D42/session_017/meta.json @@ -327,8 +327,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", 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comfortable pace; do not stop between laps; keep going until the operator says stop." } } diff --git a/actions/locomotion_posture_dynamics/D42/session_017/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D42/session_017/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..cba52464532bac251e5831fda4a3bc616ae14709 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D42/session_017/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8326e3e26ee5ecf74228563689899e251ded0c86bf503c96d54596f22faf88d6 +size 3678836 diff --git a/actions/locomotion_posture_dynamics/D42/session_017/motions/smplx.npz b/actions/locomotion_posture_dynamics/D42/session_017/motions/smplx.npz index 6ea02ee4663bb5bd46d9a427b386270c28bb8132..b51bfaed025c9290ba2ecc648f3df5cab7d2f86a 100644 --- a/actions/locomotion_posture_dynamics/D42/session_017/motions/smplx.npz +++ 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video_t_start", + "primitive": "D42", + "instruction": "Jog continuously counter-clockwise around the taped circle at a comfortable pace; do not stop between laps; keep going until the operator says stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 98.966667, + "video": "left_eye", + "video_t_start": 0.03938844074110981 + } + ], + "episodes": [ + { + "id": "7b7a568f-f4ac-48e4-813f-5d645578d205", + "segment": "segment1", + "action": "D42", + "quality": "valid", + "start_s": 0, + "end_s": 92.711, + "t_start": 0.0394, + "t_end": 92.7504, + "instruction": "Jog continuously counter-clockwise around the taped circle at a comfortable pace; do not stop between laps; keep going until the operator says stop." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D42/session_018/cameras/slam.npz b/actions/locomotion_posture_dynamics/D42/session_018/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..a6c4fb80e71a1fe6a80be87d3907f2f5103cda15 --- 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b/actions/locomotion_posture_dynamics/D42/session_020/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..0184042e3ef63fecbe95d5c37727672cfe394278 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D42/session_020/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:806b443c05e7ebf1212dfa3989c2b75e6995b9badab643d847583682c344ea19 +size 599653 diff --git a/actions/locomotion_posture_dynamics/D42/session_020/meta.json b/actions/locomotion_posture_dynamics/D42/session_020/meta.json index 8a9c33e74d820f374ada738e3ca2ab9aae914eb6..9f5fd4fb5cc2f14e524d59092ccbef3119e236fa 100644 --- a/actions/locomotion_posture_dynamics/D42/session_020/meta.json +++ b/actions/locomotion_posture_dynamics/D42/session_020/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)", 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stop." } } diff --git a/actions/locomotion_posture_dynamics/D42/session_020/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D42/session_020/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..ff52f944d796ea49288a1a8f24bb3e10edc4cff8 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D42/session_020/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1c9304290124063ba07e8c3050218da5b1cde84603f3fa2ab4dad55a4985d9b +size 3607061 diff --git a/actions/locomotion_posture_dynamics/D42/session_020/motions/smplx.npz b/actions/locomotion_posture_dynamics/D42/session_020/motions/smplx.npz index 35f76f03bd64b3a8c0efb33dae1cb7ad3331c9be..321c92c18245f68039604a0284563d20e75babab 100644 --- a/actions/locomotion_posture_dynamics/D42/session_020/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D42/session_020/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid 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already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D42/session_022", "family": "locomotion_posture_dynamics", "primitive": "D42", "source_session": "20260923/D42/20260923_101301_session12" + }, + "task": { + "primitive": "D42", + "instruction": "Jog continuously counter-clockwise around the taped circle at a comfortable pace; do not stop between laps; keep going until the operator says stop." } } diff --git a/actions/locomotion_posture_dynamics/D42/session_022/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D42/session_022/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..69f4379e6c0d68f5e7dc06ff8be94b48ddd58e9a --- /dev/null +++ b/actions/locomotion_posture_dynamics/D42/session_022/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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continuously counter-clockwise around the taped circle at a comfortable pace; do not stop between laps; keep going until the operator says stop." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D42/session_023/cameras/slam.npz b/actions/locomotion_posture_dynamics/D42/session_023/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..a7e7d76a0b830f938e915c3850e60c0597410c35 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D42/session_023/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9186986e9f66540ed9017f98e5c3e55b9d2c91be472be577b180932abae49a1 +size 601658 diff --git a/actions/locomotion_posture_dynamics/D42/session_023/meta.json b/actions/locomotion_posture_dynamics/D42/session_023/meta.json index b985d2e0f6fa4ebe06f972c9d3d5810226e07054..d9b0a3e7d2186ca902bbdd3ea6a97ee2539f57f9 100644 --- a/actions/locomotion_posture_dynamics/D42/session_023/meta.json +++ 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going until the operator says stop." } } diff --git a/actions/locomotion_posture_dynamics/D42/session_024/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D42/session_024/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..18775e5b44fe3170c4af3143741c65ee4797e28b --- /dev/null +++ b/actions/locomotion_posture_dynamics/D42/session_024/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5440b7cca2dcdc1134ae21e636322a9dd6f128b9c90b4c7a111f136e80231958 +size 3094979 diff --git a/actions/locomotion_posture_dynamics/D42/session_024/motions/smplx.npz b/actions/locomotion_posture_dynamics/D42/session_024/motions/smplx.npz index 802c60ae30e1732bc17fb2e2cc7276ef82461e62..d3c7f8958d916a7772e43c2952f90d5d680c4bca 100644 --- a/actions/locomotion_posture_dynamics/D42/session_024/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D42/session_024/motions/smplx.npz @@ -1,3 +1,3 @@ version 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Keep going until the operator says stop." } } diff --git a/actions/locomotion_posture_dynamics/D43/session_001/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D43/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..cc7337b0d5ae53a1206c056eeb4319c197768ec9 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D43/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:adea320d6bed59021513533b334cfd1e8dc33cd2c2f23ffdaeab778aab9e9b46 +size 3257694 diff --git a/actions/locomotion_posture_dynamics/D43/session_001/motions/smplx.npz b/actions/locomotion_posture_dynamics/D43/session_001/motions/smplx.npz index 57f630017e3dd5e1ea14c4cc855b7ad440d555df..c19b7fee4618aa2bbe0240c78f6c082218fe5704 100644 --- a/actions/locomotion_posture_dynamics/D43/session_001/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D43/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:53f2b179e2cbf365552da5798982d24efcdec9033bf379350119c6bb8bc2828c -size 4138477 +oid sha256:99d6bc7e68736f891149a10f3f92911257afab63e2d0e5fc871fad0c3435c41e +size 7681890 diff --git a/actions/locomotion_posture_dynamics/D43/session_002/annotations.json b/actions/locomotion_posture_dynamics/D43/session_002/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..b935341441c9dbc2da7dc5ca1a6a6295db344da4 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D43/session_002/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D43", + "instruction": "Jog the curves and run hard along the straight sections, then ease off into the next curve. 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Keep going until the operator says stop." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D43/session_002/cameras/slam.npz b/actions/locomotion_posture_dynamics/D43/session_002/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..f49014ed4510ddb5cc079ed475e96fc7ba7edd25 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D43/session_002/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3626c4a6fc16b018321c43e2453db6f37c0a3a58c4653e50ab04ac27f6c82210 +size 488103 diff --git a/actions/locomotion_posture_dynamics/D43/session_002/meta.json b/actions/locomotion_posture_dynamics/D43/session_002/meta.json index 001790fbd647b56baae9cbac8cf15d0260e546e7..71df77f061eb2acf616c873194f60f55b43d291e 100644 --- a/actions/locomotion_posture_dynamics/D43/session_002/meta.json +++ b/actions/locomotion_posture_dynamics/D43/session_002/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": { @@ -514,10 +514,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0655361968101325 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 12.28, + "offset_rotvec": [ + -0.0374, + 0.0977, + 0.187 + ], + "dev_deg": { + "median": 13.28, + "p90": 28.52 + }, + "samples": 2315, + "accepted": 2127, + "wrist_pos_err_mm_median": 84.7, + "per_camera": { + "head": { + "samples": 2315, + "accepted": 2127, + "gate_deg": 30.0, + "offset_deg": 12.28, + "tier": "primary", + "dev_deg_median": 13.28, + "wrist_pos_err_mm_median": 84.7 + } + }, + "frames_by_state": { + "ace_sample": 8634, + "interpolated": 1222, + "mean_hand": 220, + "no_body_fit": 0 + }, + "observed_fraction": 0.9782, + "observed_fraction_of_valid": 0.9782, + "palm_axis_vs_markers_deg": { + "gsi": 13.29, + "smplx": 1.12 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.0, + "p90": 12.2 + }, + "registered": { + "median": 13.1, + "p90": 14.0 + } + } + }, + "right": { + "offset_deg": 4.25, + "offset_rotvec": [ + 0.0004, + -0.0737, + -0.009 + ], + "dev_deg": { + "median": 10.31, + "p90": 20.63 + }, + "samples": 2401, + "accepted": 2308, + "wrist_pos_err_mm_median": 81.2, + "per_camera": { + "head": { + "samples": 2401, + "accepted": 2308, + "gate_deg": 30.0, + "offset_deg": 4.25, + "tier": "primary", + "dev_deg_median": 10.31, + "wrist_pos_err_mm_median": 81.2 + } + }, + "frames_by_state": { + "ace_sample": 9273, + "interpolated": 382, + "mean_hand": 421, + "no_body_fit": 0 + }, + "observed_fraction": 0.9582, + "observed_fraction_of_valid": 0.9582, + "palm_axis_vs_markers_deg": { + "gsi": 9.86, + "smplx": 1.42 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.1, + "p90": 6.5 + }, + "registered": { + "median": 4.2, + "p90": 6.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T14:44:18.326520+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D43/session_002", "family": "locomotion_posture_dynamics", "primitive": "D43", "source_session": "20260908/D43/20260908_042040_session2" + }, + "task": { + "primitive": "D43", + "instruction": "Jog the curves and run hard along the straight sections, then ease off into the next curve. 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0000000000000000000000000000000000000000..173f64bdbb988eefad89e287caaa8f0651eced5b --- /dev/null +++ b/actions/locomotion_posture_dynamics/D43/session_003/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1fde4dc01d3a76064131d3e2673c781b734b12b9d127a4a6118f63b09bd6f6e8 +size 544904 diff --git a/actions/locomotion_posture_dynamics/D43/session_003/meta.json b/actions/locomotion_posture_dynamics/D43/session_003/meta.json index 576b75e17eadf02517b7d5287dd9d6b10c53752f..bdf6241230c6154f60a0defe2576eb357b8c5b9a 100644 --- a/actions/locomotion_posture_dynamics/D43/session_003/meta.json +++ b/actions/locomotion_posture_dynamics/D43/session_003/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": 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0000000000000000000000000000000000000000..bfada1aebf504f20f3342afc86f1912dcdaac1eb --- /dev/null +++ b/actions/locomotion_posture_dynamics/D43/session_004/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:62dba0426418e890478265f1dca5a19dd237cd706e952c4326a8a7a29cd3da42 +size 487424 diff --git a/actions/locomotion_posture_dynamics/D43/session_004/meta.json b/actions/locomotion_posture_dynamics/D43/session_004/meta.json index 614706c9945485ff00c2a003f021ad948a9f4fb6..d7e68d3f39ba3a98426458d1f555025adb28b6df 100644 --- a/actions/locomotion_posture_dynamics/D43/session_004/meta.json +++ b/actions/locomotion_posture_dynamics/D43/session_004/meta.json @@ -327,8 +327,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": 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Keep going until the operator says stop." } } diff --git a/actions/locomotion_posture_dynamics/D43/session_004/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D43/session_004/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..6f68ad1fa4d822593c41077b9629ad2bf5690360 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D43/session_004/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aaf1721ff54d77a5690e418a48e914ce40608f6c78b3d320a138c9e876556322 +size 2601506 diff --git a/actions/locomotion_posture_dynamics/D43/session_004/motions/smplx.npz b/actions/locomotion_posture_dynamics/D43/session_004/motions/smplx.npz index 5c1333fbbd78f4dc168070bafc154f9fbc75a462..cff4dae4adad989d5ce83c5933962ada6ef39668 100644 --- a/actions/locomotion_posture_dynamics/D43/session_004/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D43/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8124f6796258c5f432acdf1579e71c82fdbeeb3d26000e032e52611731aeed06 -size 3893621 +oid sha256:345c88b8c5989714cc280a0f567c74f4ca33b0ca612318d03b686a96923ba7b0 +size 7222683 diff --git a/actions/locomotion_posture_dynamics/D43/session_005/annotations.json b/actions/locomotion_posture_dynamics/D43/session_005/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..171ba6c5aca98cf2b7abbb2f203bc89658d92793 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D43/session_005/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 2)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D43", + "instruction": "Jog the curves and run hard along the straight sections, then ease off into the next curve. 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Keep going until the operator says stop." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D43/session_005/cameras/slam.npz b/actions/locomotion_posture_dynamics/D43/session_005/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..27e3b27ac472159aeefb4bfc48735933583a897b --- /dev/null +++ b/actions/locomotion_posture_dynamics/D43/session_005/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c2e392f4cd2c21ba79fc6dc7f2be98ac84dc7f4c3987d6e3e2632397b5eaaf3f +size 457940 diff --git a/actions/locomotion_posture_dynamics/D43/session_005/meta.json b/actions/locomotion_posture_dynamics/D43/session_005/meta.json index 94bde53fb523be7994c44f0a218b224bb5b720dc..77bf0823faa3ba2c373b2eb9ec07a7e8d53235b4 100644 --- a/actions/locomotion_posture_dynamics/D43/session_005/meta.json +++ b/actions/locomotion_posture_dynamics/D43/session_005/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -513,10 +513,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0461926345960466 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 12.42, + "offset_rotvec": [ + 0.1116, + 0.1351, + 0.1276 + ], + "dev_deg": { + "median": 9.46, + "p90": 23.57 + }, + "samples": 2290, + "accepted": 2204, + "wrist_pos_err_mm_median": 102.4, + "per_camera": { + "head": { + "samples": 2290, + "accepted": 2204, + "gate_deg": 30.0, + "offset_deg": 12.42, + "tier": "primary", + "dev_deg_median": 9.46, + "wrist_pos_err_mm_median": 102.4 + } + }, + "frames_by_state": { + "ace_sample": 8894, + "interpolated": 578, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9987, + "observed_fraction_of_valid": 0.9987, + "palm_axis_vs_markers_deg": { + "gsi": 11.4, + "smplx": 0.98 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.9, + "p90": 9.2 + }, + "registered": { + "median": 5.6, + "p90": 6.9 + } + } + }, + "right": { + "offset_deg": 8.85, + "offset_rotvec": [ + 0.1512, + 0.0003, + -0.0315 + ], + "dev_deg": { + "median": 7.73, + "p90": 18.58 + }, + "samples": 2042, + "accepted": 1952, + "wrist_pos_err_mm_median": 100.0, + "per_camera": { + "head": { + "samples": 2042, + "accepted": 1952, + "gate_deg": 30.0, + "offset_deg": 8.85, + "tier": "primary", + "dev_deg_median": 7.73, + "wrist_pos_err_mm_median": 100.0 + } + }, + "frames_by_state": { + "ace_sample": 7898, + "interpolated": 1002, + "mean_hand": 584, + "no_body_fit": 0 + }, + "observed_fraction": 0.9384, + "observed_fraction_of_valid": 0.9384, + "palm_axis_vs_markers_deg": { + "gsi": 8.6, + "smplx": 1.22 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.7, + "p90": 13.1 + }, + "registered": { + "median": 10.2, + "p90": 11.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T16:56:54.428843+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D43/session_005", "family": "locomotion_posture_dynamics", "primitive": "D43", "source_session": "20260912/D43/20260912_044537_session3" + }, + "task": { + "primitive": "D43", + "instruction": "Jog the curves and run hard along the straight sections, then ease off into the next curve. Keep going until the operator says stop." } } diff --git a/actions/locomotion_posture_dynamics/D43/session_005/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D43/session_005/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..34f417a29548fa98753514f033beff668cadddd7 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D43/session_005/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc33dc6c9c3f9fbb2d253938d70e506b40f94bc5780b0f65af12f0f3b224adf5 +size 2921938 diff --git a/actions/locomotion_posture_dynamics/D43/session_005/motions/smplx.npz b/actions/locomotion_posture_dynamics/D43/session_005/motions/smplx.npz index a7a521a1299f2136150dc3b6ac4c34c635b9202f..2f941de5ccc8569c29b6d21bd220d1ff35b4f2be 100644 --- a/actions/locomotion_posture_dynamics/D43/session_005/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D43/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ee0389cf5c695fb9b6462983bf01ff2421bf3bfdd81e995875c29d96c8abee1d -size 3658461 +oid sha256:aac66fbd6053713782e349051500056b6fdeae73492079994a88f3254459063f +size 6741711 diff --git a/actions/locomotion_posture_dynamics/D43/session_006/annotations.json b/actions/locomotion_posture_dynamics/D43/session_006/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..622dcb2a67cd81771a4db8961f9ccd4e02fc68cf --- /dev/null +++ b/actions/locomotion_posture_dynamics/D43/session_006/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D43", + "instruction": "Jog the curves and run hard along the straight sections, then ease off into the next curve. 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Keep going until the operator says stop." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D43/session_006/cameras/slam.npz b/actions/locomotion_posture_dynamics/D43/session_006/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..cf3bf30b2b71b1a1912f3ec9cfe5456d50cde977 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D43/session_006/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e979dfa5ab794410fb02713b3b27a0d0ef55ccd906231d7904e0f2df512bb43 +size 457880 diff --git a/actions/locomotion_posture_dynamics/D43/session_006/meta.json b/actions/locomotion_posture_dynamics/D43/session_006/meta.json index 488827b84c2871e935310e166186ac7c7eebf304..6ebb18ba9e52d714b9394d72ff4015d39aad8814 100644 --- a/actions/locomotion_posture_dynamics/D43/session_006/meta.json +++ b/actions/locomotion_posture_dynamics/D43/session_006/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -515,10 +515,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0247517539726037 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 12.68, + "offset_rotvec": [ + 0.12, + 0.0888, + 0.1633 + ], + "dev_deg": { + "median": 10.06, + "p90": 21.27 + }, + "samples": 2155, + "accepted": 2055, + "wrist_pos_err_mm_median": 101.0, + "per_camera": { + "head": { + "samples": 2155, + "accepted": 2055, + "gate_deg": 30.0, + "offset_deg": 12.68, + "tier": "primary", + "dev_deg_median": 10.06, + "wrist_pos_err_mm_median": 101.0 + } + }, + "frames_by_state": { + "ace_sample": 8322, + "interpolated": 1002, + "mean_hand": 160, + "no_body_fit": 0 + }, + "observed_fraction": 0.9831, + "observed_fraction_of_valid": 0.9831, + "palm_axis_vs_markers_deg": { + "gsi": 10.47, + "smplx": 0.91 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.8, + "p90": 11.4 + }, + "registered": { + "median": 6.6, + "p90": 9.8 + } + } + }, + "right": { + "offset_deg": 5.91, + "offset_rotvec": [ + 0.0829, + 0.0449, + -0.0418 + ], + "dev_deg": { + "median": 12.96, + "p90": 38.54 + }, + "samples": 1605, + "accepted": 1347, + "wrist_pos_err_mm_median": 97.2, + "per_camera": { + "head": { + "samples": 1605, + "accepted": 1347, + "gate_deg": 30.0, + "offset_deg": 5.91, + "tier": "primary", + "dev_deg_median": 12.96, + "wrist_pos_err_mm_median": 97.2 + } + }, + "frames_by_state": { + "ace_sample": 5536, + "interpolated": 3008, + "mean_hand": 940, + "no_body_fit": 0 + }, + "observed_fraction": 0.9009, + "observed_fraction_of_valid": 0.9009, + "palm_axis_vs_markers_deg": { + "gsi": 8.94, + "smplx": 1.38 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.0, + "p90": 15.8 + }, + "registered": { + "median": 9.7, + "p90": 14.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T16:57:00.420577+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D43/session_006", "family": "locomotion_posture_dynamics", "primitive": "D43", "source_session": "20260912/D43/20260912_044716_session4" + }, + "task": { + "primitive": "D43", + "instruction": "Jog the curves and run hard along the straight sections, then ease off into the next curve. 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Keep going until the operator says stop." } } diff --git a/actions/locomotion_posture_dynamics/D43/session_007/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D43/session_007/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..79c9607c987e2728db8c14e13a6be187d17e123d --- /dev/null +++ b/actions/locomotion_posture_dynamics/D43/session_007/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6076363d5f6553005ab4e8984c2173f891f6e20b947a4c07374dc219366f9f2e +size 3719861 diff --git a/actions/locomotion_posture_dynamics/D43/session_007/motions/smplx.npz b/actions/locomotion_posture_dynamics/D43/session_007/motions/smplx.npz index c9239200ae64b0df812a0e4fefed2308cf6c121e..40f6a81f7490c6b4c74583a6a59bcf985152932c 100644 --- a/actions/locomotion_posture_dynamics/D43/session_007/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D43/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5ff9fa89753fed555f5ccd47890e9632c7fdd474d93b5fca10d1477adb8cdc8e -size 5044966 +oid sha256:a2cb4a34e4f05530620f64061f87d9e834e00f1f2c3653f2f644937048d63a0a +size 9306048 diff --git a/actions/locomotion_posture_dynamics/D43/session_008/annotations.json b/actions/locomotion_posture_dynamics/D43/session_008/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..66f08f5841bdeda61de3c61d0f2ea78873dfa388 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D43/session_008/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D43", + "instruction": "Jog the curves and run hard along the straight sections, then ease off into the next curve. 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b/actions/locomotion_posture_dynamics/D43/session_011/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:27ac49b9aa9d3c0037a33762cafbce082026283d2f9e915020d16fc92353dcbf +size 428399 diff --git a/actions/locomotion_posture_dynamics/D43/session_011/meta.json b/actions/locomotion_posture_dynamics/D43/session_011/meta.json index db9a8ff56857a46a20d143691f83a99a99b37f02..4bdab34fc29bf686a6507b04867dd7a2401dfa44 100644 --- a/actions/locomotion_posture_dynamics/D43/session_011/meta.json +++ b/actions/locomotion_posture_dynamics/D43/session_011/meta.json @@ -281,8 +281,8 @@ "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 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Keep going until the operator says stop." } } diff --git a/actions/locomotion_posture_dynamics/D43/session_011/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D43/session_011/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..ae99dbdb181da69ed285b694326cabe0765e8d54 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D43/session_011/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b50a8a159d0349b35b5e3d4a53ad8c555dfa9df45847411d607ff40a045fc5f +size 2316634 diff --git a/actions/locomotion_posture_dynamics/D43/session_011/motions/smplx.npz b/actions/locomotion_posture_dynamics/D43/session_011/motions/smplx.npz index 8b8bfa8c5f678001a9cdb13deca9268b660b7c07..ff42a4e5f78a56047f4f2d9bf2a515cdf8295829 100644 --- a/actions/locomotion_posture_dynamics/D43/session_011/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D43/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:847cb65250549b05eb4959503ddaa1c1c1e28d7397d255027cd302f46bf04d00 -size 3434032 +oid sha256:11ad8e51d8ba5d3a99af98795b06ea34aef45124b639b060ba224e29240be682 +size 6141794 diff --git a/actions/locomotion_posture_dynamics/D43/session_012/annotations.json b/actions/locomotion_posture_dynamics/D43/session_012/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..906501786c29b414732ad184f7a0a40a7f00dfa7 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D43/session_012/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D43", + "instruction": "Jog the curves and run hard along the straight sections, then ease off into the next curve. Keep going until the operator says stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 83.966778, + "video": "left_eye", + "video_t_start": 0.039109057153190685 + } + ], + "episodes": [ + { + "id": "f4891737-91bb-451d-b7fd-3af0a9873b57", + "segment": "segment1", + "action": "D43", + "quality": "valid", + "start_s": 1.682, + "end_s": 76.326, + "t_start": 1.7211, + "t_end": 76.3651, + "instruction": "Jog the curves and run hard along the straight sections, then ease off into the next curve. Keep going until the operator says stop." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D43/session_012/cameras/slam.npz b/actions/locomotion_posture_dynamics/D43/session_012/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..0960316e90e4b654b8e94cf87f40c030f2d9268d --- /dev/null +++ b/actions/locomotion_posture_dynamics/D43/session_012/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a823b886eb18ec89b8fe5161f6410e140abcb0d1506508ee34c3704e86a88209 +size 485910 diff --git a/actions/locomotion_posture_dynamics/D43/session_012/meta.json b/actions/locomotion_posture_dynamics/D43/session_012/meta.json index 5cf2c95c1026804c1daa19a7203dd05f639e4f91..43392a520d6aff2becf4c58e60b79b4933a262a9 100644 --- a/actions/locomotion_posture_dynamics/D43/session_012/meta.json +++ b/actions/locomotion_posture_dynamics/D43/session_012/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": { @@ -506,10 +506,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.6937378303927162 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 30.76, + "offset_rotvec": [ + 0.3268, + 0.3848, + -0.1827 + ], + "dev_deg": { + "median": 11.62, + "p90": 32.72 + }, + "samples": 2293, + "accepted": 2022, + "wrist_pos_err_mm_median": 84.3, + "per_camera": { + "head": { + "samples": 2293, + "accepted": 2022, + "gate_deg": 30.0, + "offset_deg": 30.76, + "tier": "primary", + "dev_deg_median": 11.62, + "wrist_pos_err_mm_median": 84.3 + } + }, + "frames_by_state": { + "ace_sample": 8184, + "interpolated": 1028, + "mean_hand": 857, + "no_body_fit": 15 + }, + "observed_fraction": 0.9135, + "observed_fraction_of_valid": 0.9149, + "palm_axis_vs_markers_deg": { + "gsi": 30.48, + "smplx": 0.8 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.5, + "p90": 11.8 + }, + "registered": { + "median": 7.9, + "p90": 9.9 + } + } + }, + "right": { + "offset_deg": 29.41, + "offset_rotvec": [ + 0.3993, + -0.2215, + 0.2346 + ], + "dev_deg": { + "median": 10.42, + "p90": 26.71 + }, + "samples": 2365, + "accepted": 2221, + "wrist_pos_err_mm_median": 82.8, + "per_camera": { + "head": { + "samples": 2365, + "accepted": 2221, + "gate_deg": 30.0, + "offset_deg": 29.41, + "tier": "primary", + "dev_deg_median": 10.42, + "wrist_pos_err_mm_median": 82.8 + } + }, + "frames_by_state": { + "ace_sample": 8990, + "interpolated": 1062, + "mean_hand": 17, + "no_body_fit": 15 + }, + "observed_fraction": 0.9968, + "observed_fraction_of_valid": 0.9983, + "palm_axis_vs_markers_deg": { + "gsi": 31.09, + "smplx": 0.86 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.6, + "p90": 8.1 + }, + "registered": { + "median": 6.4, + "p90": 7.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:26:59.232312+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D43/session_012", "family": "locomotion_posture_dynamics", "primitive": "D43", "source_session": "20260929/D43/20260929_081046_session142" + }, + "task": { + "primitive": "D43", + "instruction": "Jog the curves and run hard along the straight sections, then ease off into the next curve. 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index 0000000000000000000000000000000000000000..849fbbabdd1fa80a21ae34c0748a34b081f6a686 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D43/session_014/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7fbd6ff41c53de037cae3407285db3c11b7dbd5246b90bdce8f76e3ba66f5d06 +size 601989 diff --git a/actions/locomotion_posture_dynamics/D43/session_014/meta.json b/actions/locomotion_posture_dynamics/D43/session_014/meta.json index d28365ee0c4d099a83a43f5b7c254ceee3b7ca09..16a15c42fe2182312b1dc507f3d2af5fc0780d0b 100644 --- a/actions/locomotion_posture_dynamics/D43/session_014/meta.json +++ b/actions/locomotion_posture_dynamics/D43/session_014/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)", + 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"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": { @@ -531,10 +531,124 @@ "file": "derived/rig_tracker_provider/rig_tracker.json", "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 4.93, + "offset_rotvec": [ + -0.0764, + -0.009, + -0.0385 + ], + "dev_deg": { + "median": 7.89, + "p90": 20.22 + }, + "samples": 1902, + "accepted": 1791, + "wrist_pos_err_mm_median": 30.5, + "per_camera": { + "head": { + "samples": 1902, + "accepted": 1791, + "gate_deg": 30.0, + "offset_deg": 4.93, + "tier": "primary", + "dev_deg_median": 7.89, + "wrist_pos_err_mm_median": 30.5 + } + }, 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The operator confirms the space behind you is clear before each take." } } diff --git a/actions/locomotion_posture_dynamics/D44/session_001/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D44/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..fdb2675a29c4040faab9fd9209e504d9246c4282 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D44/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5555903c19b5ff5718348f53bb250665d1d894152f49a890ad94608413e7a43f +size 2572403 diff --git a/actions/locomotion_posture_dynamics/D44/session_001/motions/smplx.npz b/actions/locomotion_posture_dynamics/D44/session_001/motions/smplx.npz index 65d36179201abb6ee15a2377922f93a55c56e010..fa6edfa26ee97ae0147ade73646194987a00ffd6 100644 --- a/actions/locomotion_posture_dynamics/D44/session_001/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D44/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6c319dc70943180b3255e255c6852e33f814232848cdaf85eb9414cb78c5cace -size 3208546 +oid sha256:42ff5cdfa5b5aa2d99806f62f93b6704fd1916844cb6e9c63b95ad116bd92195 +size 5944792 diff --git a/actions/locomotion_posture_dynamics/D44/session_002/annotations.json b/actions/locomotion_posture_dynamics/D44/session_002/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..0532d184650b3add7b59c9d69de9f4a8053d6a5f --- /dev/null +++ b/actions/locomotion_posture_dynamics/D44/session_002/annotations.json @@ -0,0 +1,83 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 2)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D44", + "instruction": "Jog backward at a comfortable pace. 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The operator confirms the space behind you is clear before each take." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D44/session_002/cameras/slam.npz b/actions/locomotion_posture_dynamics/D44/session_002/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..92b3135a3eef96194e1bef7ea5f96267cf151a2f --- /dev/null +++ b/actions/locomotion_posture_dynamics/D44/session_002/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a9acac58748957c76dfcd2d51fe9f0a2737934fc5f1d22c9a79ceb8aafbcb23 +size 372209 diff --git a/actions/locomotion_posture_dynamics/D44/session_002/meta.json b/actions/locomotion_posture_dynamics/D44/session_002/meta.json index 85354618f38cac3791fa166d0262f47bb6f29915..dd250e4791f1c17bcb64afe163d442aa0e9b47eb 100644 --- a/actions/locomotion_posture_dynamics/D44/session_002/meta.json +++ b/actions/locomotion_posture_dynamics/D44/session_002/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -513,10 +513,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8744583528576011 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.23, + "offset_rotvec": [ + -0.0046, + -0.1243, + 0.128 + ], + "dev_deg": { + "median": 21.79, + "p90": 32.28 + }, + "samples": 1527, + "accepted": 1289, + "wrist_pos_err_mm_median": 102.7, + "per_camera": { + "head": { + "samples": 1527, + "accepted": 1289, + "gate_deg": 30.0, + "offset_deg": 10.23, + "tier": "primary", + "dev_deg_median": 21.79, + "wrist_pos_err_mm_median": 102.7 + } + }, + "frames_by_state": { + "ace_sample": 5278, + "interpolated": 1194, + "mean_hand": 6, + "no_body_fit": 1206 + }, + "observed_fraction": 0.8423, + "observed_fraction_of_valid": 0.9991, + "palm_axis_vs_markers_deg": { + "gsi": 19.25, + "smplx": 1.12 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.9, + "p90": 12.8 + }, + "registered": { + "median": 12.2, + "p90": 14.4 + } + } + }, + "right": { + "offset_deg": 7.46, + "offset_rotvec": [ + -0.022, + 0.1235, + 0.035 + ], + "dev_deg": { + "median": 14.25, + "p90": 30.01 + }, + "samples": 1503, + "accepted": 1352, + "wrist_pos_err_mm_median": 126.2, + "per_camera": { + "head": { + "samples": 1503, + "accepted": 1352, + "gate_deg": 30.0, + "offset_deg": 7.46, + "tier": "primary", + "dev_deg_median": 14.25, + "wrist_pos_err_mm_median": 126.2 + } + }, + "frames_by_state": { + "ace_sample": 5464, + "interpolated": 640, + "mean_hand": 374, + "no_body_fit": 1206 + }, + "observed_fraction": 0.7944, + "observed_fraction_of_valid": 0.9423, + "palm_axis_vs_markers_deg": { + "gsi": 11.18, + "smplx": 1.65 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.5, + "p90": 7.7 + }, + "registered": { + "median": 6.9, + "p90": 7.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T14:45:16.946677+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D44/session_002", "family": "locomotion_posture_dynamics", "primitive": "D44", "source_session": "20260908/D44/20260908_042244_session3" + }, + "task": { + "primitive": "D44", + "instruction": "Jog backward at a comfortable pace. 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sha256:06ca6f7343e5722b895303075df76e67018f323060881790975c8ff3f0801332 +size 227875 diff --git a/actions/locomotion_posture_dynamics/D44/session_003/meta.json b/actions/locomotion_posture_dynamics/D44/session_003/meta.json index 5f2290a53dd73457d1ef23331267aed335b79f6c..b6d843da7b6454d31aa642332092e144db2db076 100644 --- a/actions/locomotion_posture_dynamics/D44/session_003/meta.json +++ b/actions/locomotion_posture_dynamics/D44/session_003/meta.json @@ -312,8 +312,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame 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The operator confirms the space behind you is clear before each take." } } diff --git a/actions/locomotion_posture_dynamics/D44/session_003/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D44/session_003/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..62c97d94eae291550f0b4d9da78c56ff893f5b70 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D44/session_003/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72be949d6791f97e67e5a65e6d47bb942b9385fa00a0ab7301c37c77dc8103e0 +size 1537666 diff --git a/actions/locomotion_posture_dynamics/D44/session_003/motions/smplx.npz b/actions/locomotion_posture_dynamics/D44/session_003/motions/smplx.npz index dab1bfbcf796d1cbe7bec325723eac31f307b617..6149a36f0f4649f7161f1d3adb11f9b39e24b6d3 100644 --- a/actions/locomotion_posture_dynamics/D44/session_003/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D44/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:943608f73122bfb6ce182f31f445bfeb7e88a61244d5bb039aa358f6be6047b8 -size 1809466 +oid sha256:0a7f02383b821d70969b4a2718bfca8de0b831f0b8656b52b7e6475838300b64 +size 3318938 diff --git a/actions/locomotion_posture_dynamics/D44/session_004/annotations.json b/actions/locomotion_posture_dynamics/D44/session_004/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..e90f83e2dbcb5ec19952e1150f5e85884dbe2117 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D44/session_004/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D44", + "instruction": "Jog backward at a comfortable pace. 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The operator confirms the space behind you is clear before each take." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D44/session_004/cameras/slam.npz b/actions/locomotion_posture_dynamics/D44/session_004/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..516b4df5bb5c78ce1b6eb1161687f6a1cf12d579 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D44/session_004/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68819f9f18c412239827013e001e8ea27ef9df10d54264e467db0b60c178c4e5 +size 428749 diff --git a/actions/locomotion_posture_dynamics/D44/session_004/meta.json b/actions/locomotion_posture_dynamics/D44/session_004/meta.json index 49bd5c4157229d64ef20a3ca124b80fd361eda24..c5eb56501e895be301e512f46ec70872b7b96a23 100644 --- a/actions/locomotion_posture_dynamics/D44/session_004/meta.json +++ b/actions/locomotion_posture_dynamics/D44/session_004/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": { @@ -515,10 +515,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.7527216549111952 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 13.85, + "offset_rotvec": [ + 0.036, + 0.1456, + -0.1896 + ], + "dev_deg": { + "median": 12.22, + "p90": 29.11 + }, + "samples": 1964, + "accepted": 1790, + "wrist_pos_err_mm_median": 114.9, + "per_camera": { + "head": { + "samples": 1964, + "accepted": 1790, + "gate_deg": 30.0, + "offset_deg": 13.85, + "tier": "primary", + "dev_deg_median": 12.22, + "wrist_pos_err_mm_median": 114.9 + } + }, + "frames_by_state": { + "ace_sample": 7286, + "interpolated": 1530, + "mean_hand": 60, + "no_body_fit": 8 + }, + "observed_fraction": 0.9923, + "observed_fraction_of_valid": 0.9932, + "palm_axis_vs_markers_deg": { + "gsi": 16.19, + "smplx": 3.05 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.0, + "p90": 8.0 + }, + "registered": { + "median": 6.0, + "p90": 7.1 + } + } + }, + "right": { + "offset_deg": 10.3, + "offset_rotvec": [ + 0.1693, + 0.0397, + 0.0452 + ], + "dev_deg": { + "median": 11.43, + "p90": 21.78 + }, + "samples": 2119, + "accepted": 1982, + "wrist_pos_err_mm_median": 107.6, + "per_camera": { + "head": { + "samples": 2119, + "accepted": 1982, + "gate_deg": 30.0, + "offset_deg": 10.3, + "tier": "primary", + "dev_deg_median": 11.43, + "wrist_pos_err_mm_median": 107.6 + } + }, + "frames_by_state": { + "ace_sample": 8000, + "interpolated": 836, + "mean_hand": 40, + "no_body_fit": 8 + }, + "observed_fraction": 0.9946, + "observed_fraction_of_valid": 0.9955, + "palm_axis_vs_markers_deg": { + "gsi": 11.64, + "smplx": 1.16 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.1, + "p90": 13.9 + }, + "registered": { + "median": 8.9, + "p90": 12.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T15:26:29.924378+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D44/session_004", "family": "locomotion_posture_dynamics", "primitive": "D44", "source_session": "20260909/D44/20260909_030301_session45" + }, + "task": { + "primitive": "D44", + "instruction": "Jog backward at a comfortable pace. The operator confirms the space behind you is clear before each take." } } diff --git a/actions/locomotion_posture_dynamics/D44/session_004/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D44/session_004/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..39485281d4b09dca317bc2039cad760064b72062 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D44/session_004/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:559927f613ae2fa2f913a555197cd7b11ddac485813602455eb4cb7e7b27012b +size 2778343 diff --git a/actions/locomotion_posture_dynamics/D44/session_004/motions/smplx.npz b/actions/locomotion_posture_dynamics/D44/session_004/motions/smplx.npz index 8ec2d0729c054c1cc6e09b9d36db4ca31bbd868b..8524e0642adb405bf94d2cf83246005aaca6df8c 100644 --- a/actions/locomotion_posture_dynamics/D44/session_004/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D44/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a64546f687ce424c74af14dd083e6b83a7f6f1ce47d77cdc1705c7d884d7938b -size 3433285 +oid sha256:70ccae66e981495454ae9d7a6309a7ef0c631741ad83d200cecd765acae2b167 +size 6396640 diff --git a/actions/locomotion_posture_dynamics/D44/session_005/annotations.json b/actions/locomotion_posture_dynamics/D44/session_005/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..0b76571aa6c70ce4f196ab8fa9774e2df817b049 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D44/session_005/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D44", + "instruction": "Jog backward at a comfortable pace. 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The operator confirms the space behind you is clear before each take." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D44/session_005/cameras/slam.npz b/actions/locomotion_posture_dynamics/D44/session_005/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..71fe5b7c540e80c876dd0c429f25884f31a96853 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D44/session_005/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aaaefa6f6b55826c7f1dd4149064ef062f02b62f6a40e631ebaef4e19e67fd5d +size 342849 diff --git a/actions/locomotion_posture_dynamics/D44/session_005/meta.json b/actions/locomotion_posture_dynamics/D44/session_005/meta.json index 1f9eee2a0c9d533d45b038e7524d2cfba6f9a7ab..945f4788b5377cde3e881e029971580d2e3ce5ce 100644 --- a/actions/locomotion_posture_dynamics/D44/session_005/meta.json +++ b/actions/locomotion_posture_dynamics/D44/session_005/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": { @@ -518,10 +518,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1280582049526757 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 12.72, + "offset_rotvec": [ + 0.0145, + 0.1896, + 0.1145 + ], + "dev_deg": { + "median": 8.99, + "p90": 21.96 + }, + "samples": 1740, + "accepted": 1674, + "wrist_pos_err_mm_median": 120.1, + "per_camera": { + "head": { + "samples": 1740, + "accepted": 1674, + "gate_deg": 30.0, + "offset_deg": 12.72, + "tier": "primary", + "dev_deg_median": 8.99, + "wrist_pos_err_mm_median": 120.1 + } + }, + "frames_by_state": { + "ace_sample": 6724, + "interpolated": 348, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9983, + "observed_fraction_of_valid": 0.9983, + "palm_axis_vs_markers_deg": { + "gsi": 11.56, + "smplx": 0.87 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.5, + "p90": 9.6 + }, + "registered": { + "median": 6.9, + "p90": 8.1 + } + } + }, + "right": { + "offset_deg": 12.59, + "offset_rotvec": [ + 0.2074, + 0.0508, + -0.0521 + ], + "dev_deg": { + "median": 13.69, + "p90": 18.3 + }, + "samples": 1548, + "accepted": 1504, + "wrist_pos_err_mm_median": 123.8, + "per_camera": { + "head": { + "samples": 1548, + "accepted": 1504, + "gate_deg": 30.0, + "offset_deg": 12.59, + "tier": "primary", + "dev_deg_median": 13.69, + "wrist_pos_err_mm_median": 123.8 + } + }, + "frames_by_state": { + "ace_sample": 6024, + "interpolated": 376, + "mean_hand": 684, + "no_body_fit": 0 + }, + "observed_fraction": 0.9034, + "observed_fraction_of_valid": 0.9034, + "palm_axis_vs_markers_deg": { + "gsi": 5.12, + "smplx": 0.8 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.3, + "p90": 16.5 + }, + "registered": { + "median": 12.8, + "p90": 15.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T16:58:47.128941+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D44/session_005", "family": "locomotion_posture_dynamics", "primitive": "D44", "source_session": "20260912/D44/20260912_044945_session5" + }, + "task": { + "primitive": "D44", + "instruction": "Jog backward at a comfortable pace. The operator confirms the space behind you is clear before each take." } } diff --git a/actions/locomotion_posture_dynamics/D44/session_005/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D44/session_005/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..1e867ecee43d6bb521f27906b1951cab37a73ed3 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D44/session_005/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b19e86a4ea49185887164841cefb251febe98b725e586b7122e61fefad17aec +size 2234084 diff --git a/actions/locomotion_posture_dynamics/D44/session_005/motions/smplx.npz b/actions/locomotion_posture_dynamics/D44/session_005/motions/smplx.npz index 89dee256ddf2193352b581570ac32405f3d1ac7e..9f196f3df4dd04f6cbffbb3c9e0d509ef1afe77b 100644 --- a/actions/locomotion_posture_dynamics/D44/session_005/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D44/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:629e8c84179084ce4b1a47e0683e2b7ee7c65f259f168429d8c789b62f076637 -size 2730382 +oid sha256:ed962df92b75bd8550f4b5b1ee531f28798d2296d89d74e912b3f28e5d4b7566 +size 5011642 diff --git a/actions/locomotion_posture_dynamics/D44/session_006/annotations.json b/actions/locomotion_posture_dynamics/D44/session_006/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..c7fde8d0b6bbb2dce08745e7aa9c80a2f11e9152 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D44/session_006/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D44", + "instruction": "Jog backward at a comfortable pace. The operator confirms the space behind you is clear before each take.", + "segments": [ + { + "id": "segment1", + "duration_s": 58.966667, + "video": "left_eye", + "video_t_start": 0.03907734884898373 + } + ], + "episodes": [ + { + "id": "129303c9-edd5-4b52-8d4f-f3ebb644a47c", + "segment": "segment1", + "action": "D44", + "quality": "valid", + "start_s": 1.999, + "end_s": 30.224, + "t_start": 2.0381, + "t_end": 30.2631, + "instruction": "Jog backward at a comfortable pace. The operator confirms the space behind you is clear before each take." + }, + { + "id": "3ca4b035-67bc-4311-8d13-57f2e80a6812", + "segment": "segment1", + "action": "D44", + "quality": "valid", + "start_s": 33.128, + "end_s": 56.391, + "t_start": 33.1671, + "t_end": 56.4301, + "instruction": "Jog backward at a comfortable pace. The operator confirms the space behind you is clear before each take." + } + ] +}