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sha256:ce0433d96f19e4a3a15d453aeef3970fe4d96dca47697b00740c2728c93f37b5 +size 773397 diff --git a/actions/locomotion_primitives/P23/session_028/meta.json b/actions/locomotion_primitives/P23/session_028/meta.json index 1abadf6cae7b2487e03d1b1f17468f9c98d01969..73e0164b2fc4773ba78db2ab7f58db2fbd528ba7 100644 --- a/actions/locomotion_primitives/P23/session_028/meta.json +++ b/actions/locomotion_primitives/P23/session_028/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", 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--- /dev/null +++ b/actions/locomotion_primitives/P23/session_029/annotations.json @@ -0,0 +1,50 @@ +{ + "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": "P23", + "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation.", + "segments": [ + { + "id": "segment1", + "duration_s": 103.966544, + "video": "left_eye", + "video_t_start": 0.038819123376867326 + } + ], + "episodes": [ + { + "id": "4765dae3-d740-45b3-9ad4-b0407162bda7", + "segment": "segment1", + "action": "P23", + "quality": "valid", + "start_s": 2.145, + "end_s": 33.145, + "t_start": 2.1838, + "t_end": 33.1838, + "instruction": "Walk continuously around room; naturally change direction/speed; no 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manipulation." + } + ] +} diff --git a/actions/locomotion_primitives/P23/session_031/cameras/slam.npz b/actions/locomotion_primitives/P23/session_031/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..39a57a238b23dacd79cb93d0d0f1b7e0167c0a4e --- /dev/null +++ b/actions/locomotion_primitives/P23/session_031/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84f40ebc5c1869051180c38d0ff7e39059327fd5c7a53c0a20a42d5637862b85 +size 773260 diff --git a/actions/locomotion_primitives/P23/session_031/meta.json b/actions/locomotion_primitives/P23/session_031/meta.json index 138fa84c040707689b449c9b942526ca10090c40..8b48b4c172b6ce2c4ff834712fef93b5becb4f5a 100644 --- a/actions/locomotion_primitives/P23/session_031/meta.json +++ b/actions/locomotion_primitives/P23/session_031/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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771ca598437a23f3cb8909b473f6872386d1f5d1..5078a3c39a15ff3c1093a92a0c51e0a4992c5ffd 100644 --- a/actions/locomotion_primitives/P23/session_039/meta.json +++ b/actions/locomotion_primitives/P23/session_039/meta.json @@ -380,8 +380,8 @@ "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": { @@ -520,10 +520,124 @@ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + 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for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P23/session_039", "family": "locomotion_primitives", "primitive": "P23", "source_session": "20261017/P23/20261017_022249_session22" + }, + "task": { + "primitive": "P23", + "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation." } } diff --git a/actions/locomotion_primitives/P23/session_039/motions/hands_mano.npz b/actions/locomotion_primitives/P23/session_039/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..7bfe45a7c45e07a95294632da93a73a9ab6c1331 --- /dev/null +++ b/actions/locomotion_primitives/P23/session_039/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c9c38b9d01271143a14087a78de1e0915afeedf0b7adc80b6de640c2d12a373 +size 2514685 diff --git a/actions/locomotion_primitives/P23/session_039/motions/smplx.npz 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a/actions/locomotion_primitives/P23/session_040/meta.json +++ b/actions/locomotion_primitives/P23/session_040/meta.json @@ -542,5 +542,9 @@ "family": "locomotion_primitives", "primitive": "P23", "source_session": "20261019/P23/20261019_042008_session53" + }, + "task": { + "primitive": "P23", + "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation." } } diff --git a/actions/locomotion_primitives/P23/session_041/annotations.json b/actions/locomotion_primitives/P23/session_041/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..38f1f27dc6d4fad8a52bbec087637395288eaae6 --- /dev/null +++ b/actions/locomotion_primitives/P23/session_041/annotations.json @@ -0,0 +1,50 @@ +{ + "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 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b/actions/locomotion_primitives/P24/session_007/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:75527007eefc23956407a65f51b091221122463f672913d20572bbec14a3a74d +size 715799 diff --git a/actions/locomotion_primitives/P24/session_007/meta.json b/actions/locomotion_primitives/P24/session_007/meta.json index f99fa83568a5a4d9678cf72a848fa2b8b3d1369b..24c7413f396778c08cd4d3b7cbc1f3af0ecb581f 100644 --- a/actions/locomotion_primitives/P24/session_007/meta.json +++ b/actions/locomotion_primitives/P24/session_007/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 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index 0000000000000000000000000000000000000000..caffe40f15598d44b1dd5b5ece7d76ad4a375e7b --- /dev/null +++ b/actions/locomotion_primitives/P24/session_011/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9911d217682ea5fceca93dc6117082d1472d783fa58956bed28b2f3559d023a3 +size 571702 diff --git a/actions/locomotion_primitives/P24/session_011/meta.json b/actions/locomotion_primitives/P24/session_011/meta.json index c11ec531488fbba37d1ba179e82c17b1f4249563..fd4bf68a8747952f0ece63d4f5630ea9ead8510a 100644 --- a/actions/locomotion_primitives/P24/session_011/meta.json +++ b/actions/locomotion_primitives/P24/session_011/meta.json @@ -324,8 +324,8 @@ "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": 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144.693497 12.048827 1009.358948 160.478165 -41.776524 1020.331970 90.535393 155.276932 1019.133850 69.343323 131.187943 1004.093628 144.661148 13.024796 1009.096619 160.219803 -41.708275 1020.479248 90.532608 +2013 16.766 1793099411071 154.498962 1017.109253 67.183105 131.030334 1001.644043 142.832230 11.161589 1007.106567 159.033646 -42.835098 1018.173523 89.323982 154.139236 1016.950928 67.446724 130.300873 1001.895508 142.841217 12.190114 1006.895203 158.793762 -42.774422 1018.291748 89.291267 +2014 16.775 1793099411079 153.613235 1014.962158 65.382660 130.061966 999.449707 141.195358 10.293415 1005.135803 157.544006 -43.810513 1016.252686 87.958305 153.145874 1014.775879 65.726692 129.409576 999.735107 141.156296 11.332311 1004.898560 157.303436 -43.729656 1016.390869 87.893906 +2015 16.783 1793099411087 152.496353 1013.122009 63.595814 129.229172 997.735229 139.448441 9.570375 1003.208374 156.252701 -44.817265 1014.463379 86.693512 152.077057 1012.988159 63.923630 128.579422 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0000000000000000000000000000000000000000..508ad5000445cd546e665e00e1c0312f20cc71d8 --- /dev/null +++ b/actions/locomotion_primitives/P25/session_018/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3513056695eaf65cdab5d0d5c7c5eb33c8055e53d2f5dc354909e48e84442d7 +size 846175 diff --git a/actions/locomotion_primitives/P25/session_018/meta.json b/actions/locomotion_primitives/P25/session_018/meta.json index d28b2a90fb2ba9c0a245895a55ac88e6148544e4..ff6f62b1bd30bbc38c0717b1b20cd71b7dafbf7f 100644 --- a/actions/locomotion_primitives/P25/session_018/meta.json +++ b/actions/locomotion_primitives/P25/session_018/meta.json @@ -392,8 +392,8 @@ "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 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a/actions/locomotion_primitives/P25/session_022/cameras/slam.npz b/actions/locomotion_primitives/P25/session_022/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..419889c415526a19e30c0193d1ed088fcfa8044a --- /dev/null +++ b/actions/locomotion_primitives/P25/session_022/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b198fe2b3e786554f316ec7016ad16bf5f3e5bc99f24ef97195f6eb1dc6be0f9 +size 812440 diff --git a/actions/locomotion_primitives/P25/session_022/meta.json b/actions/locomotion_primitives/P25/session_022/meta.json index 79bdf62f9c5fad84fb6291080df83d3d3549dd92..45e5b5508c27613d63127b6e797b676e43304b94 100644 --- a/actions/locomotion_primitives/P25/session_022/meta.json +++ b/actions/locomotion_primitives/P25/session_022/meta.json @@ -353,8 +353,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -505,12 +505,126 @@ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 16.47, + "offset_rotvec": [ + 0.1472, + -0.2451, + -0.0292 + ], + "dev_deg": { + "median": 9.51, + "p90": 27.0 + }, + "samples": 4027, + "accepted": 3716, + "wrist_pos_err_mm_median": 36.4, + "per_camera": { + "head": { + "samples": 4027, + "accepted": 3716, + "gate_deg": 30.0, + "offset_deg": 16.47, + "tier": "primary", + "dev_deg_median": 9.51, + "wrist_pos_err_mm_median": 36.4 + 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74f4d8fdd5733d27561268e05cea56310b5373f1..4ff85b4beffefa5d4730d3df7aba5c4a1fbe7b01 100644 --- a/actions/locomotion_primitives/P25/session_023/meta.json +++ b/actions/locomotion_primitives/P25/session_023/meta.json @@ -372,8 +372,8 @@ "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": { @@ -513,12 +513,126 @@ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + 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