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166.574829 326.100800 1468.464111 233.428665 427.234375 1482.236572 224.948746 452.751251 1531.468018 149.300552 +6363 53.016 1793444851919 265.022949 1489.654663 166.924774 326.728149 1467.939331 234.027054 427.355316 1482.112671 225.712158 453.147675 1531.305908 150.174850 264.659485 1489.497314 166.963867 326.552521 1468.119995 233.929672 427.693573 1482.001343 225.720871 453.348541 1531.393799 150.224442 +6364 53.025 1793444851927 265.577087 1489.485596 167.216415 327.160065 1467.725464 234.463959 427.798401 1481.949097 226.502335 453.804230 1531.272949 151.115128 265.267120 1489.337158 167.255341 326.965088 1467.894653 234.380142 428.123413 1481.842285 226.503418 453.984192 1531.359253 151.158920 +6365 53.033 1793444851935 266.117706 1489.354370 167.463074 327.481659 1467.509521 234.876160 428.243103 1481.858276 227.266251 454.433899 1531.278320 151.993378 265.841248 1489.199097 167.499008 327.339844 1467.708984 234.791336 428.513702 1481.730835 227.253342 454.581573 1531.361450 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167.654495 330.789093 1467.918823 236.412704 432.105865 1482.008911 231.316605 459.946655 1531.652222 156.765045 +6373 53.100 1793444852002 271.987244 1489.757446 167.521576 331.478577 1468.007080 236.642349 432.396301 1482.374268 231.803741 460.742371 1531.760742 157.263153 271.742279 1489.618530 167.542557 331.346924 1468.203735 236.541473 432.687592 1482.250610 231.815414 460.827698 1531.826538 157.331390 +6374 53.108 1793444852010 272.769928 1490.049438 167.397415 332.065125 1468.320679 236.766678 433.005188 1482.633789 232.280563 461.678345 1532.010864 157.803543 272.581177 1489.920654 167.429352 331.929077 1468.513916 236.651688 433.291138 1482.522827 232.285049 461.717163 1532.057373 157.882111 +6375 53.116 1793444852019 273.646515 1490.404419 167.320007 332.662231 1468.661255 236.805588 433.624420 1482.899658 232.705841 462.576080 1532.211792 158.298233 273.429199 1490.278809 167.314728 332.532990 1468.849365 236.738602 433.919495 1482.780029 232.700653 462.627563 1532.268921 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73.233 1793444872127 289.224243 1520.943359 1068.962524 267.950226 1506.575317 978.744751 173.725510 1512.547485 940.281982 110.221359 1546.884277 999.575928 289.309662 1520.868774 1068.994995 268.206573 1506.676636 978.854004 173.595062 1512.379028 940.050293 110.010010 1547.026001 999.665955 +8790 73.241 1793444872136 289.876923 1520.919067 1068.536011 268.239227 1506.819580 977.977295 174.167175 1512.739136 940.028076 110.835800 1546.964722 999.376953 289.956421 1520.854858 1068.419678 268.673645 1506.857788 978.290466 173.981384 1512.617920 939.692749 110.507660 1547.111938 999.515442 +8791 73.250 1793444872144 290.665344 1520.858276 1068.119873 268.888489 1506.875122 977.571655 174.735519 1512.912476 939.727661 111.373611 1547.119629 999.387024 290.725464 1520.784790 1067.992676 269.269226 1506.943359 977.880493 174.507919 1512.806641 939.468262 111.160332 1547.230591 999.464783 +8792 73.258 1793444872152 291.379303 1520.736938 1067.605225 269.477448 1506.886353 977.125305 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1793444873010 414.854401 1523.811401 978.977478 361.250061 1511.107544 903.107544 259.729492 1519.858398 902.371338 223.576508 1554.961548 981.529358 414.979156 1523.710815 978.994934 361.481201 1511.260132 903.132568 259.415955 1519.726196 902.360168 223.534164 1555.041748 981.498047 +8896 74.125 1793444873019 415.012848 1523.658447 978.197998 361.343384 1510.818237 902.416870 259.804565 1519.672974 901.791260 223.801575 1555.051025 980.913086 415.159241 1523.559204 978.213989 361.552307 1510.966797 902.451965 259.496216 1519.551392 901.783325 223.754608 1555.123291 980.869934 +8897 74.133 1793444873027 415.148163 1523.519287 977.506226 361.439850 1510.626221 901.724670 259.907471 1519.501343 901.163635 223.943542 1555.024902 980.314819 415.299225 1523.421997 977.505188 361.640747 1510.770508 901.789551 259.588257 1519.401733 901.172974 223.910828 1555.077637 980.241638 +8898 74.141 1793444873035 415.251282 1523.310425 976.785400 361.491913 1510.379272 901.025940 259.914337 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a/actions/environment_coupled_wholebody/EC11/session_026/raw/mocap/Tracker0.csv b/actions/environment_coupled_wholebody/EC11/session_026/raw/mocap/Tracker0.csv new file mode 100644 index 0000000000000000000000000000000000000000..d710e596a5796a6611cbacea37127c4362cdd4a5 --- /dev/null +++ b/actions/environment_coupled_wholebody/EC11/session_026/raw/mocap/Tracker0.csv @@ -0,0 +1,12084 @@ +#Hierarchical Translation and Rotation (.csv) file +[Head] +NumFrames,NumSegments,DataFrameRate,EulerRotationOrder,BoneAxis,TranslationUnits +12072,1,120,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, 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Keep going until the operator says stop." + } + ] +} diff --git a/actions/environment_coupled_wholebody/EC12/session_001/cameras/slam.npz b/actions/environment_coupled_wholebody/EC12/session_001/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..332e28283fbfab6b0759e8b26810860a03d16f8a --- /dev/null +++ b/actions/environment_coupled_wholebody/EC12/session_001/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d25409e5e63908d1d70836f88ef4bb4a646cb842eafcedc5f6427fd1a69161a5 +size 513864 diff --git a/actions/environment_coupled_wholebody/EC12/session_001/meta.json b/actions/environment_coupled_wholebody/EC12/session_001/meta.json index 35d906373bed50f50271d97f223168356ed781eb..99de344321ed855363b1855870a67062c5b69cac 100644 --- a/actions/environment_coupled_wholebody/EC12/session_001/meta.json +++ b/actions/environment_coupled_wholebody/EC12/session_001/meta.json @@ -325,8 +325,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -505,10 +505,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.7193264503888149 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 20.36, + "offset_rotvec": [ + 0.1397, + 0.2767, + -0.1739 + ], + "dev_deg": { + "median": 11.33, + "p90": 43.32 + }, + "samples": 2337, + "accepted": 1956, + "wrist_pos_err_mm_median": 45.1, + "per_camera": { + "head": { + "samples": 2337, + "accepted": 1956, + "gate_deg": 30.0, + "offset_deg": 20.36, + "tier": "primary", + "dev_deg_median": 11.33, + "wrist_pos_err_mm_median": 45.1 + } + }, + "frames_by_state": { + "ace_sample": 7824, + "interpolated": 388, + "mean_hand": 2464, + "no_body_fit": 8 + }, + "observed_fraction": 0.7686, + "observed_fraction_of_valid": 0.7692, + "palm_axis_vs_markers_deg": { + "gsi": 23.79, + "smplx": 1.38 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.1, + "p90": 15.3 + }, + "registered": { + "median": 7.5, + "p90": 13.2 + } + } + }, + "right": { + "offset_deg": 13.29, + "offset_rotvec": [ + 0.0078, + -0.1602, + 0.1675 + ], + "dev_deg": { + "median": 13.45, + "p90": 39.21 + }, + "samples": 2455, + "accepted": 1951, + "wrist_pos_err_mm_median": 64.4, + "per_camera": { + "head": { + "samples": 2455, + "accepted": 1951, + "gate_deg": 30.0, + "offset_deg": 13.29, + "tier": "primary", + "dev_deg_median": 13.45, + "wrist_pos_err_mm_median": 64.4 + } + }, + "frames_by_state": { + "ace_sample": 7842, + "interpolated": 1030, + "mean_hand": 1804, + "no_body_fit": 8 + }, + "observed_fraction": 0.8304, + "observed_fraction_of_valid": 0.831, + "palm_axis_vs_markers_deg": { + "gsi": 11.81, + "smplx": 1.56 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.1, + "p90": 12.9 + }, + "registered": { + "median": 4.4, + "p90": 11.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T19:34:22.698368+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/environment_coupled_wholebody/EC12/session_001", "family": "environment_coupled_wholebody", "primitive": "EC12", "source_session": "20260915/EC12/20260915_122842_session157" + }, + "task": { + "primitive": "EC12", + "instruction": "Put the rope over your shoulder and drag the sled across the room. 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predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 12.59, + "offset_rotvec": [ + -0.0388, + 0.2128, + -0.0383 + ], + "dev_deg": { + "median": 18.79, + "p90": 55.35 + }, + "samples": 3345, + "accepted": 2333, + "wrist_pos_err_mm_median": 43.5, + "per_camera": { + "head": { + "samples": 3345, + "accepted": 2333, + "gate_deg": 30.0, + "offset_deg": 12.59, + "tier": "primary", + "dev_deg_median": 18.79, + "wrist_pos_err_mm_median": 43.5 + } + }, + "frames_by_state": { + "ace_sample": 9361, + "interpolated": 1546, + "mean_hand": 4681, + "no_body_fit": 8 + }, + "observed_fraction": 0.6993, + "observed_fraction_of_valid": 0.6997, + "palm_axis_vs_markers_deg": { + "gsi": 15.6, + "smplx": 3.42 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.7, + "p90": 16.7 + }, + "registered": { + "median": 11.2, + "p90": 16.8 + } + } + }, + "right": { + "offset_deg": 22.9, + "offset_rotvec": [ + -0.0567, + -0.3954, + -0.0117 + ], + 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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/environment_coupled_wholebody/EC12/session_002", "family": "environment_coupled_wholebody", "primitive": "EC12", "source_session": "20261020/EC12/20261020_045421_session12" }, + "task": { + "primitive": "EC12", + "instruction": "Put the rope over your shoulder and drag the sled across the room. Keep going until the operator says stop." + }, "objects": [ { "name": "BigBox", diff --git a/actions/environment_coupled_wholebody/EC12/session_002/motions/hands_mano.npz b/actions/environment_coupled_wholebody/EC12/session_002/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..d42a67fd5c671c3d7ffc6d84f426af9b004865cd --- /dev/null +++ b/actions/environment_coupled_wholebody/EC12/session_002/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5c9bc3dfb352b82852373bfe13481e318307bd5b1fc8714cc2a578ec7f5fc42 +size 4664006 diff --git a/actions/environment_coupled_wholebody/EC12/session_002/motions/smplx.npz b/actions/environment_coupled_wholebody/EC12/session_002/motions/smplx.npz index 385a40131b0dd98ce69138b91aa734f4eca11647..a288e8a49b526ad4a0d105b45df8a55b127664b4 100644 --- a/actions/environment_coupled_wholebody/EC12/session_002/motions/smplx.npz +++ b/actions/environment_coupled_wholebody/EC12/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6e3ed179aac37a1d4b003d810d1eada0a6e470b888bfb1bcc2b0036c722450f4 -size 5994120 +oid sha256:74c5edbfe69f98c75fba4ad3de6494ce60e353af618af6cdbe4178944a03b0ec +size 10163234 diff --git a/actions/environment_coupled_wholebody/EC12/session_003/annotations.json b/actions/environment_coupled_wholebody/EC12/session_003/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..4c5c4e45a9addf9217036c501e72a700803075ea --- /dev/null +++ b/actions/environment_coupled_wholebody/EC12/session_003/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "EC12", + "instruction": "Put the rope over your shoulder and drag the sled across the room. 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file mode 100644 index 0000000000000000000000000000000000000000..b015339bbb98498a981912550081fc44ad6ce23a --- /dev/null +++ b/actions/environment_coupled_wholebody/EC12/session_003/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5df01c98dd1781dc5093f11c30c74ebacaca12c1da9684012b5b3796ad97c3ee +size 754349 diff --git a/actions/environment_coupled_wholebody/EC12/session_003/meta.json b/actions/environment_coupled_wholebody/EC12/session_003/meta.json index dfdb2064b6999c0c30f40f18960a211fa520886b..cde5f354196b5ea58e83850b71eb53e6bd4162bb 100644 --- a/actions/environment_coupled_wholebody/EC12/session_003/meta.json +++ b/actions/environment_coupled_wholebody/EC12/session_003/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": { @@ -498,12 +498,126 @@ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 14.28, + "offset_rotvec": [ + -0.041, + 0.2453, + -0.0179 + ], + "dev_deg": { + "median": 25.03, + "p90": 48.96 + }, + "samples": 3532, + "accepted": 2215, + "wrist_pos_err_mm_median": 56.8, + "per_camera": { + "head": { + "samples": 3532, + "accepted": 2215, + "gate_deg": 30.0, + "offset_deg": 14.28, + "tier": "primary", + "dev_deg_median": 25.03, + "wrist_pos_err_mm_median": 56.8 + } + }, + "frames_by_state": { + "ace_sample": 8928, + "interpolated": 1864, + 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Keep going until the operator says stop." + }, "objects": [ { "name": "BigBox", diff --git a/actions/environment_coupled_wholebody/EC12/session_003/motions/hands_mano.npz b/actions/environment_coupled_wholebody/EC12/session_003/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..a9c44793854e82e46760b8f596180bb308681d23 --- /dev/null +++ b/actions/environment_coupled_wholebody/EC12/session_003/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:91cf838af3038c9b4b0c059f2f5e39ad9466acc3043693a3069d132ab0ee4389 +size 4799967 diff --git a/actions/environment_coupled_wholebody/EC12/session_003/motions/smplx.npz b/actions/environment_coupled_wholebody/EC12/session_003/motions/smplx.npz index f4e3a3fa1408e283275b261293d551f9a8baab79..18ce660b6deee91be12d006ba41cf5398f5c10ce 100644 --- a/actions/environment_coupled_wholebody/EC12/session_003/motions/smplx.npz +++ b/actions/environment_coupled_wholebody/EC12/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:22fcf10340974a33c7dbfaf9d69b13e4aa094a40017bdb54a9738a240e767290 -size 6038717 +oid sha256:2a4728a5e1faa2c0a53d8a956e80ad35be1d4ed8f1578c4c8fbc073062d422b0 +size 9898934