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b/actions/dynamic_recovery/DR15/session_007/raw/mocap/Body0.trc new file mode 100644 index 0000000000000000000000000000000000000000..d36a117db99ec485d621964080e235c678c0bf27 --- /dev/null +++ b/actions/dynamic_recovery/DR15/session_007/raw/mocap/Body0.trc @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e181b343a9dde6a760a5a03b305c39f742dec9db47b8e286e04a41831a3c36f +size 32493490 diff --git a/actions/dynamic_recovery/DR15/session_007/raw/mocap/Cushion.csv b/actions/dynamic_recovery/DR15/session_007/raw/mocap/Cushion.csv new file mode 100644 index 0000000000000000000000000000000000000000..e3cd6cb0319fc7ed152fc7f035b6d3d9c6915e43 --- /dev/null +++ b/actions/dynamic_recovery/DR15/session_007/raw/mocap/Cushion.csv @@ -0,0 +1,17552 @@ +#Hierarchical Translation and Rotation (.csv) file +[Head] +NumFrames,NumSegments,DataFrameRate,EulerRotationOrder,BoneAxis,TranslationUnits +17540,1,120,ZYX,Y,mm + +[SegmentNames&Hierarchy] +Segment,Parent +Segment1,Global + 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b/actions/dynamic_recovery/DR15/session_007/raw/mocap/Tracker0.csv @@ -0,0 +1,17552 @@ +#Hierarchical Translation and Rotation (.csv) file +[Head] +NumFrames,NumSegments,DataFrameRate,EulerRotationOrder,BoneAxis,TranslationUnits +17540,1,120,ZYX,Y,mm + +[SegmentNames&Hierarchy] +Segment,Parent +Segment1,Global + +[SegmentData] + Frame# ,,Segment1,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, +,Timestamp,XToGlobal1,YToGlobal1,ZToGlobal1,VxToGlobal1,VyToGlobal1,VzToGlobal1,VrToGlobal1,AxToGlobal1,AyToGlobal1,AzToGlobal1,ArToGlobal1,QxToGlobal1,QyToGlobal1,QzToGlobal1,QwToGlobal1,ExToGlobal1,EyToGlobal1,EzToGlobal1,EVxToGlobal1,EVyToGlobal1,EVzToGlobal1,EAxToGlobal1,EAyToGlobal1,EAzToGlobal1,Segmentlength1, +1,1792986717376,40.400711, 1570.737671, -1272.134521, , , , , , , , , 0.014378, -0.031781, 0.018929, 0.999212, 1.580827, -3.672700, 2.119872, , , , , , , 198.108017, +2,1792986717385,1.970124, 1558.693481, 1276.504517, , , , , , , , , 0.002326, 0.991944, -0.115440, 0.052103, -166.701538, 5.964049, 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a/actions/dynamic_recovery/DR15/session_007/videos/wrist_right.mp4 b/actions/dynamic_recovery/DR15/session_007/videos/wrist_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3835e069f8e86f6e0cc662fd7822adfbd39b870c --- /dev/null +++ b/actions/dynamic_recovery/DR15/session_007/videos/wrist_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8fe6001a707c462ddb4ee183bc6542a392c3486eccd70ba9588d841a18e53156 +size 70028861 diff --git a/actions/environment_coupled_wholebody/EC01/session_001/meta.json b/actions/environment_coupled_wholebody/EC01/session_001/meta.json index e98c7f208b989b0d053791110d5f1415cb9f9a89..02e4a5dbd860cfb4cc335fe9fd635bca00535d9f 100644 --- a/actions/environment_coupled_wholebody/EC01/session_001/meta.json +++ b/actions/environment_coupled_wholebody/EC01/session_001/meta.json @@ -385,19 +385,19 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 148.71, + "Q_deg": 180.0, "Q_rotvec": [ - 2.58144, - -0.26719, - 0.03645 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": -1, - "wrist_bend_deg_median": 140.6, - "opposite_sign_bend_deg": 59.1, - "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": 1, + "wrist_bend_deg_median": 172.1, + "opposite_sign_bend_deg": 27.1, + "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.31, "hand_vs_marker_frame_deg": { - "before": 149.6, + "before": 178.25, "after": 6.31 }, "markers_on_wrist": [ @@ -405,15 +405,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 139.22, + "twist_moved_deg": 162.54, "wrist_twist_deg_after": { - "median": 1.89, + "median": 12.09, "iqr": [ - -9.1, - 8.3 + 3.5, + 20.1 ] }, - "wrist_total_deg_median_after": 27.1, + "wrist_total_deg_median_after": 38.5, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -424,19 +424,19 @@ }, "right": { "status": "corrected", - "Q_deg": 139.02, + "Q_deg": 0.0, "Q_rotvec": [ - 2.38814, - 0.42855, - 0.01441 + -0.0, + -0.0, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 128.1, - "opposite_sign_bend_deg": 60.5, + "wrist_bend_deg_median": 19.9, + "opposite_sign_bend_deg": 175.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.73, "hand_vs_marker_frame_deg": { - "before": 138.82, + "before": 3.73, "after": 3.73 }, "markers_on_wrist": [ @@ -444,9 +444,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -127.46, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -6.0, 6.5 @@ -461,7 +461,7 @@ }, "frames_used": 1128 }, - "generated_at_utc": "2026-10-15T10:29:46.316233+00:00", + "generated_at_utc": "2026-10-28T06:14:33.778857+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/environment_coupled_wholebody/EC01/session_001/motions/smplx.npz b/actions/environment_coupled_wholebody/EC01/session_001/motions/smplx.npz index 44edddf76d4aa3576ad0c4ff0e7cdf767877c089..a8a4a4be0fe67493e862e8becf8f5c31d868f3c9 100644 --- a/actions/environment_coupled_wholebody/EC01/session_001/motions/smplx.npz +++ b/actions/environment_coupled_wholebody/EC01/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:dc80df9b604f2e8add05ac477b397b1a6aebbd216596536003c5e2162614692f -size 4336337 +oid sha256:4d87f4f6200da9fcd8808dc7d0351d7cb7bd970d18f3716c91c857ae543ad65b +size 4337013 diff --git a/actions/environment_coupled_wholebody/EC01/session_002/meta.json b/actions/environment_coupled_wholebody/EC01/session_002/meta.json index c9556dc0f51fa09fd0f09777e76a81bdded924b7..562bd05e12a32a4690c3094e64e44c470d46885c 100644 --- a/actions/environment_coupled_wholebody/EC01/session_002/meta.json +++ b/actions/environment_coupled_wholebody/EC01/session_002/meta.json @@ -315,7 +315,7 @@ ] }, "smplx": { - "generated_at_utc": "2026-10-15T10:30:30.714704+00:00", + "generated_at_utc": "2026-10-27T15:05:36.520103+00:00", "generated_by": "scripts/fit_smplx_dataset.py", "file": "smplx.npz", "gender": "male", @@ -330,46 +330,46 @@ "hand_marker_offsets_m": { "left": { "LHandIn": [ - 0.04987313225865364, - 0.021166864782571793, - 0.0171700157225132 + 0.050138920545578, + 0.021001212298870087, + 0.016678471118211746 ], "LHandOut": [ - 0.058352645486593246, - -0.019898703321814537, - -0.0020053228363394737 + 0.05883786454796791, + -0.02002517692744732, + -0.0024407256860285997 ] }, "right": { "RHandIn": [ - -0.06838025152683258, - -0.02955911122262478, - 0.0103587806224823 + -0.06729298830032349, + -0.029611429199576378, + 0.010039628483355045 ], "RHandOut": [ - -0.07110019773244858, - 0.02059324085712433, - 0.010142669081687927 + -0.07150605320930481, + 0.02045484073460102, + 0.011428099125623703 ] } } }, "marker_rmse_mm": { - "median_frame": 5.55, - "p95_frame": 9.89 + "median_frame": 5.51, + "p95_frame": 8.57 }, "worst_markers": [ "LElbow 12mm", - "LForearm 10mm", "LKneeIn 10mm", - "LElbowIn 10mm", - "LWristOut 10mm" + "RKneeIn 9mm", + "RKnee 9mm", + "LElbowIn 9mm" ], "valid_fraction": 1.0, "qc": { "lowest_vertex_mm": { "median": 0.4, - "p5": -4.5 + "p5": -4.4 }, "frames_checked": 377, "stature_mm": 1770.9 @@ -378,80 +378,80 @@ "weight": 1.0, "marker_height_mm": 11.0, "markers_on_surface": 52, - "surface_rmse_mm_median": 12.08 + "surface_rmse_mm_median": 11.8 }, "shape_source": "participant median", "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 120.68, + "Q_deg": 0.0, "Q_rotvec": [ - 2.10364, - -0.07549, - -0.0741 + -0.0, + -0.0, + -0.0 ], - "in_out_sign": -1, - "wrist_bend_deg_median": 130.4, - "opposite_sign_bend_deg": 68.7, - "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", - "marker_frame_spread_deg": 5.29, + "in_out_sign": 1, + "wrist_bend_deg_median": 37.2, + "opposite_sign_bend_deg": 167.2, + "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "marker_frame_spread_deg": 5.26, "hand_vs_marker_frame_deg": { - "before": 121.02, - "after": 5.29 + "before": 5.26, + "after": 5.26 }, "markers_on_wrist": [ "LHandIn", "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 127.96, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.17, + "median": 0.0, "iqr": [ - -13.5, - 10.7 + -12.0, + 13.1 ] }, - "wrist_total_deg_median_after": 31.4, + "wrist_total_deg_median_after": 37.2, "markers_on_forearm": [ "LForearm", "LWristIn", "LWristOut" ] }, - "frames_used": 1129 + "frames_used": 1096 }, "right": { "status": "corrected", - "Q_deg": 96.45, + "Q_deg": 0.0, "Q_rotvec": [ - 1.63928, - 0.314, - 0.2191 + -0.0, + -0.0, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 108.4, - "opposite_sign_bend_deg": 82.3, + "wrist_bend_deg_median": 27.1, + "opposite_sign_bend_deg": 170.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", - "marker_frame_spread_deg": 3.47, + "marker_frame_spread_deg": 3.4, "hand_vs_marker_frame_deg": { - "before": 96.29, - "after": 3.47 + "before": 3.4, + "after": 3.4 }, "markers_on_wrist": [ "RHandIn", "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -106.84, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ - -8.8, + -8.9, 22.3 ] }, - "wrist_total_deg_median_after": 27.4, + "wrist_total_deg_median_after": 27.2, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -460,7 +460,7 @@ }, "frames_used": 1129 }, - "generated_at_utc": "2026-10-15T10:30:33.385316+00:00", + "generated_at_utc": "2026-10-28T06:14:33.944158+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -504,6 +504,37 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.2946096880470455 }, + "marker_relabel": { + "generated_at_utc": "2026-10-27T14:50:12.025983+00:00", + "generated_by": "scripts/relabel_marker_swaps.py", + "margin_s": 0.75, + "sides": { + "left": { + "evidence": [ + "imu" + ], + "frames_ok": 2617, + "frames_flipped": 32, + "stretches": [ + { + "t0": 0.45, + "t1": 3.2, + "dur_s": 2.75, + "marker_turn_deg": 15.0, + "confirm": "imu", + "err_as_labelled_deg": 101.7, + "err_swapped_deg": 12.9, + "calib_err_deg": 11.2, + "applied": true + } + ] + }, + "right": { + "status": "no IMU / GSI evidence" + } + }, + "applied": 1 + }, "release": { "release_path": "actions/environment_coupled_wholebody/EC01/session_002", "family": "environment_coupled_wholebody", diff --git a/actions/environment_coupled_wholebody/EC01/session_002/motions/markers.npz b/actions/environment_coupled_wholebody/EC01/session_002/motions/markers.npz index 35077e7cafe5760066e1c4f166b025fb5415d856..870498512c378745f6cdd08142212bd54e5edf77 100644 --- a/actions/environment_coupled_wholebody/EC01/session_002/motions/markers.npz +++ b/actions/environment_coupled_wholebody/EC01/session_002/motions/markers.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7a249068f9b6771460d2b72a05826060c0b5c03d7fe3de7424580b24f7829428 -size 6461121 +oid sha256:c49ac64f0f424e81b5bb656a01036e1326d57fc1ac649ad29bde4729a092220f +size 6448592 diff --git a/actions/environment_coupled_wholebody/EC01/session_002/motions/smplx.npz b/actions/environment_coupled_wholebody/EC01/session_002/motions/smplx.npz index 2adcf52caf337cbad63f9fec52f5301e79736475..021c8a1177f07f9174cdf3b42c69a43eb891f7e1 100644 --- a/actions/environment_coupled_wholebody/EC01/session_002/motions/smplx.npz +++ b/actions/environment_coupled_wholebody/EC01/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5779e2da6c6a66aad64dbd0878abf6f61b7586eb2c9cb67f564e6b8f4f85b111 -size 4332898 +oid sha256:fe6c68295a1537ad653932e157238c536f6d1fa233d47e2e3ff5a0cf59cb6f18 +size 4335998 diff --git a/actions/environment_coupled_wholebody/EC01/session_003/meta.json b/actions/environment_coupled_wholebody/EC01/session_003/meta.json index 9d8e491d9a20b30ef4f7b4a64fc12689da786e2b..6c99e36995be6c5d8ca78f8071897c030a840019 100644 --- a/actions/environment_coupled_wholebody/EC01/session_003/meta.json +++ b/actions/environment_coupled_wholebody/EC01/session_003/meta.json @@ -317,7 +317,7 @@ ] }, "smplx": { - "generated_at_utc": "2026-10-15T10:31:10.855068+00:00", + "generated_at_utc": "2026-10-27T15:05:38.650837+00:00", "generated_by": "scripts/fit_smplx_dataset.py", "file": "smplx.npz", "gender": "male", @@ -332,45 +332,45 @@ "hand_marker_offsets_m": { "left": { "LHandIn": [ - 0.04938376322388649, - 0.025156231597065926, - 0.0018219086341559887 + 0.04976661875844002, + 0.024734776467084885, + 0.0010490275453776121 ], "LHandOut": [ - 0.058222685009241104, - -0.02058054506778717, - 0.00311828195117414 + 0.05871712043881416, + -0.020924845710396767, + 0.003598716575652361 ] }, "right": { "RHandIn": [ - -0.067820705473423, - -0.029202036559581757, - 0.00344095123000443 + -0.06665202975273132, + -0.02865421399474144, + 0.003332556923851371 ], "RHandOut": [ - -0.061852604150772095, - 0.007018899079412222, - 0.03906860202550888 + -0.0607152059674263, + 0.0071752252988517284, + 0.039387334138154984 ] } } }, "marker_rmse_mm": { - "median_frame": 5.38, - "p95_frame": 7.85 + "median_frame": 5.33, + "p95_frame": 7.39 }, "worst_markers": [ - "RKneeIn 12mm", + "RKneeIn 13mm", "LKneeIn 11mm", - "RKnee 11mm", + "RKnee 10mm", "WaistRFront 10mm", "RShin 9mm" ], "valid_fraction": 0.9977, "qc": { "lowest_vertex_mm": { - "median": 9.9, + "median": 9.4, "p5": -1.3 }, "frames_checked": 416, @@ -380,80 +380,80 @@ "weight": 1.0, "marker_height_mm": 11.0, "markers_on_surface": 52, - "surface_rmse_mm_median": 12.93 + "surface_rmse_mm_median": 12.73 }, "shape_source": "participant median", "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 94.41, + "Q_deg": 0.0, "Q_rotvec": [ - 1.64445, - -0.10217, - -0.0234 + -0.0, + -0.0, + 0.0 ], - "in_out_sign": -1, - "wrist_bend_deg_median": 104.2, - "opposite_sign_bend_deg": 93.2, - "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", - "marker_frame_spread_deg": 4.39, + "in_out_sign": 1, + "wrist_bend_deg_median": 39.5, + "opposite_sign_bend_deg": 169.9, + "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "marker_frame_spread_deg": 4.44, "hand_vs_marker_frame_deg": { - "before": 95.11, - "after": 4.39 + "before": 4.44, + "after": 4.44 }, "markers_on_wrist": [ "LHandIn", "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 100.84, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ - -6.0, - 4.1 + -7.6, + 5.2 ] }, - "wrist_total_deg_median_after": 28.6, + "wrist_total_deg_median_after": 39.8, "markers_on_forearm": [ "LForearm", "LWristIn", "LWristOut" ] }, - "frames_used": 1246 + "frames_used": 1211 }, "right": { "status": "corrected", - "Q_deg": 143.8, + "Q_deg": 0.0, "Q_rotvec": [ - 2.47516, - 0.41543, - 0.01779 + -0.0, + -0.0, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 135.7, - "opposite_sign_bend_deg": 59.5, + "wrist_bend_deg_median": 24.7, + "opposite_sign_bend_deg": 174.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", - "marker_frame_spread_deg": 2.59, + "marker_frame_spread_deg": 2.72, "hand_vs_marker_frame_deg": { - "before": 143.8, - "after": 2.59 + "before": 2.72, + "after": 2.72 }, "markers_on_wrist": [ "RHandIn", "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -134.61, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ - -5.9, - 11.1 + -5.8, + 10.9 ] }, - "wrist_total_deg_median_after": 24.8, + "wrist_total_deg_median_after": 24.7, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -462,7 +462,7 @@ }, "frames_used": 1246 }, - "generated_at_utc": "2026-10-15T10:31:13.500042+00:00", + "generated_at_utc": "2026-10-28T06:14:34.105896+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -506,6 +506,37 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.992895431778915 }, + "marker_relabel": { + "generated_at_utc": "2026-10-27T14:50:12.206837+00:00", + "generated_by": "scripts/relabel_marker_swaps.py", + "margin_s": 0.75, + "sides": { + "left": { + "evidence": [ + "imu" + ], + "frames_ok": 2941, + "frames_flipped": 25, + "stretches": [ + { + "t0": 1.05, + "t1": 2.48, + "dur_s": 1.43, + "marker_turn_deg": 159.0, + "confirm": "imu", + "err_as_labelled_deg": 105.6, + "err_swapped_deg": 7.1, + "calib_err_deg": 10.8, + "applied": true + } + ] + }, + "right": { + "status": "no IMU / GSI evidence" + } + }, + "applied": 1 + }, "release": { "release_path": "actions/environment_coupled_wholebody/EC01/session_003", "family": "environment_coupled_wholebody", diff --git a/actions/environment_coupled_wholebody/EC01/session_003/motions/markers.npz b/actions/environment_coupled_wholebody/EC01/session_003/motions/markers.npz index 13105d7a722e3a897123e99a2b847bcea69d3eee..ac6b41d42e4ac96dee2c191a56191502a40674b5 100644 --- a/actions/environment_coupled_wholebody/EC01/session_003/motions/markers.npz +++ b/actions/environment_coupled_wholebody/EC01/session_003/motions/markers.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2db760a44d1ca38c4ab4ee6c3cf77d1c9401dbca4efd7d667da305ef789a1e61 -size 7113201 +oid sha256:c3bdcda4f7450cfc5e1a8b288ab2e057996333feea4f937f7091a6b6f2bac1bf +size 7099560 diff --git a/actions/environment_coupled_wholebody/EC01/session_003/motions/smplx.npz b/actions/environment_coupled_wholebody/EC01/session_003/motions/smplx.npz index 766dc9afa25621b73b88e837db334fb555dcd64c..4d460cafe98bfbda46b249cf713a74dadb04c110 100644 --- a/actions/environment_coupled_wholebody/EC01/session_003/motions/smplx.npz +++ b/actions/environment_coupled_wholebody/EC01/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:756faf904a08e14bf8b1dfb254c2b5123b675675bb892c30ede6c3020c53caa3 -size 4766740 +oid sha256:7c65d0bc3b86d41440954cb1d08dacf5d9811387f4dbe28294b6c98b84cae341 +size 4767952 diff --git a/actions/environment_coupled_wholebody/EC01/session_004/meta.json b/actions/environment_coupled_wholebody/EC01/session_004/meta.json index ffe66b7d8f4206306b2357e24ed3cfdd85ef120f..cda0f594ed896e1ea3696389b0f67ece5d55a602 100644 --- a/actions/environment_coupled_wholebody/EC01/session_004/meta.json +++ b/actions/environment_coupled_wholebody/EC01/session_004/meta.json @@ -446,19 +446,19 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 86.09, + "Q_deg": 180.0, "Q_rotvec": [ - -1.44234, - -0.33846, - 0.25107 + 2.98163, + -0.44128, + -0.88585 ], - "in_out_sign": -1, - "wrist_bend_deg_median": 98.4, - "opposite_sign_bend_deg": 99.9, - "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": 1, + "wrist_bend_deg_median": 168.4, + "opposite_sign_bend_deg": 37.4, + "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.11, "hand_vs_marker_frame_deg": { - "before": 85.83, + "before": 177.72, "after": 4.11 }, "markers_on_wrist": [ @@ -466,15 +466,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -92.82, + "twist_moved_deg": -164.55, "wrist_twist_deg_after": { - "median": -0.03, + "median": -6.7, "iqr": [ - -8.7, - 4.1 + -19.0, + -1.5 ] }, - "wrist_total_deg_median_after": 37.5, + "wrist_total_deg_median_after": 36.7, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -485,19 +485,19 @@ }, "right": { "status": "corrected", - "Q_deg": 112.52, + "Q_deg": 0.0, "Q_rotvec": [ - 1.92186, - 0.38084, - 0.13555 + -0.0, + 0.0, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 94.2, - "opposite_sign_bend_deg": 97.0, + "wrist_bend_deg_median": 30.1, + "opposite_sign_bend_deg": 172.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.63, "hand_vs_marker_frame_deg": { - "before": 113.14, + "before": 4.63, "after": 4.63 }, "markers_on_wrist": [ @@ -506,7 +506,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -91.07, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -522,7 +522,7 @@ }, "frames_used": 1117 }, - "generated_at_utc": "2026-10-23T05:10:44.218459+00:00", + "generated_at_utc": "2026-10-28T06:42:13.460301+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -531,5 +531,13 @@ "family": "environment_coupled_wholebody", "primitive": "EC01", "source_session": "20261019/EC01/20261019_110343_session89" - } + }, + "objects": [ + { + "name": "BigBox", + "object_type": "BigBox", + "source": "mocap", + "pose_frame": "mesh" + } + ] } diff --git a/actions/environment_coupled_wholebody/EC01/session_004/motions/object_markers.npz b/actions/environment_coupled_wholebody/EC01/session_004/motions/object_markers.npz new file mode 100644 index 0000000000000000000000000000000000000000..09a15ec20c47950aa406e7691921573fa906f03e --- /dev/null +++ b/actions/environment_coupled_wholebody/EC01/session_004/motions/object_markers.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ebadfc0480a799086c447dd58e7855cc6c4cf1cc28527d334f7bd69db5634987 +size 425581 diff --git a/actions/environment_coupled_wholebody/EC01/session_004/motions/objects.json b/actions/environment_coupled_wholebody/EC01/session_004/motions/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..2ccf2ba16e1f6f5ecba085c1cdb6cedc8f6883ab --- /dev/null +++ b/actions/environment_coupled_wholebody/EC01/session_004/motions/objects.json @@ -0,0 +1,41 @@ +{ + "session": "20261019/EC01/20261019_110343_session89", + "generated_at_utc": "2026-10-28T02:09:47.846144+00:00", + "generated_by": "scripts/export_objects.py", + "frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)", + "grid": "body grid (smplx.npz t / frame_index)", + "held_by": "from mocap hands", + "instances": [ + { + "name": "BigBox", + "object_type": "BigBox", + "source": "mocap", + "pose_frame": "mesh", + "mesh": "objects/BigBox/bigbox.ply", + "calibration": { + "instance": "BigBox", + "rms_mm": 0.54 + }, + "valid_pct": 82.13, + "verified_pct": 82.11, + "moving_pct": 82.02, + "vision_source": null + } + ], + "object_list": { + "status": "corrected", + "notes": [], + "declared": [ + "BigBox0" + ], + "listed": [ + { + "name": "BigBox", + "object": "BigBox", + "source": "mocap", + "needs_video_check": false + } + ] + }, + "notes": [] +} diff --git a/actions/environment_coupled_wholebody/EC01/session_004/motions/objects.npz b/actions/environment_coupled_wholebody/EC01/session_004/motions/objects.npz new file mode 100644 index 0000000000000000000000000000000000000000..7bbeec37912cd54e51841df736f62fc30b1a7e5c --- /dev/null +++ b/actions/environment_coupled_wholebody/EC01/session_004/motions/objects.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bfc149a0c704ad3090651cee1bd1df3d1b995ebbd045679d225de2d541c39746 +size 463742 diff --git a/actions/environment_coupled_wholebody/EC01/session_004/motions/smplx.npz b/actions/environment_coupled_wholebody/EC01/session_004/motions/smplx.npz index 9c30c5e96a57691709bfa1a50131483bfd3824c3..44447858ed38e9bf73a7f09c2ce65ff42947ace6 100644 --- a/actions/environment_coupled_wholebody/EC01/session_004/motions/smplx.npz +++ b/actions/environment_coupled_wholebody/EC01/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:10d680dcdb15f1b1e124816b9eb4d0d9cfaa5c96f944437348321dadb68484ab -size 4293178 +oid sha256:523ab4793aa0d0a669bc0c1c3804a3e7e6539e5e81c4236c11ce6dc9d857d069 +size 4294727 diff --git a/actions/environment_coupled_wholebody/EC01/session_005/meta.json b/actions/environment_coupled_wholebody/EC01/session_005/meta.json index 49285d5cde78f0c0da281331665f33260c1d638d..b51fc336ab7c71a8b7be3a5a63796b55c283b096 100644 --- a/actions/environment_coupled_wholebody/EC01/session_005/meta.json +++ b/actions/environment_coupled_wholebody/EC01/session_005/meta.json @@ -425,19 +425,19 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 108.33, + "Q_deg": 180.0, "Q_rotvec": [ - -1.80819, - -0.40353, - 0.37733 + 2.98163, + -0.44128, + -0.88585 ], - "in_out_sign": -1, - "wrist_bend_deg_median": 99.5, - "opposite_sign_bend_deg": 92.9, - "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": 1, + "wrist_bend_deg_median": 170.7, + "opposite_sign_bend_deg": 30.2, + "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.83, "hand_vs_marker_frame_deg": { - "before": 108.26, + "before": 178.81, "after": 2.83 }, "markers_on_wrist": [ @@ -445,15 +445,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -95.94, + "twist_moved_deg": -164.95, "wrist_twist_deg_after": { - "median": -0.0, + "median": -8.81, "iqr": [ - -4.1, - 5.5 + -18.6, + -1.4 ] }, - "wrist_total_deg_median_after": 30.3, + "wrist_total_deg_median_after": 29.3, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -464,19 +464,19 @@ }, "right": { "status": "corrected", - "Q_deg": 111.68, + "Q_deg": 0.0, "Q_rotvec": [ - 1.89348, - 0.43962, - 0.14476 + 0.0, + -0.0, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 93.0, - "opposite_sign_bend_deg": 101.0, + "wrist_bend_deg_median": 31.8, + "opposite_sign_bend_deg": 172.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.78, "hand_vs_marker_frame_deg": { - "before": 111.76, + "before": 2.78, "after": 2.78 }, "markers_on_wrist": [ @@ -484,9 +484,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -87.67, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -7.2, 9.7 @@ -501,7 +501,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-23T05:11:22.993520+00:00", + "generated_at_utc": "2026-10-28T06:42:14.248549+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -510,5 +510,13 @@ "family": "environment_coupled_wholebody", "primitive": "EC01", "source_session": "20261019/EC01/20261019_110532_session90" - } + }, + "objects": [ + { + "name": "BigBox", + "object_type": "BigBox", + "source": "mocap", + "pose_frame": "mesh" + } + ] } diff --git a/actions/environment_coupled_wholebody/EC01/session_005/motions/object_markers.npz b/actions/environment_coupled_wholebody/EC01/session_005/motions/object_markers.npz new file mode 100644 index 0000000000000000000000000000000000000000..546d8c743cf5dcccfe89dec85f2eda4b274c1061 --- /dev/null +++ b/actions/environment_coupled_wholebody/EC01/session_005/motions/object_markers.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c965cf31bf56ed07aac0ddd20397a13043668d35df6513ff56e0607d774e40a +size 617133 diff --git a/actions/environment_coupled_wholebody/EC01/session_005/motions/objects.json b/actions/environment_coupled_wholebody/EC01/session_005/motions/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..d0bad7f13b20031837e00db053d5ca767436b5ba --- /dev/null +++ b/actions/environment_coupled_wholebody/EC01/session_005/motions/objects.json @@ -0,0 +1,41 @@ +{ + "session": "20261019/EC01/20261019_110532_session90", + "generated_at_utc": "2026-10-28T02:11:07.086126+00:00", + "generated_by": "scripts/export_objects.py", + "frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)", + "grid": "body grid (smplx.npz t / frame_index)", + "held_by": "from mocap hands", + "instances": [ + { + 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