diff --git a/actions/locomotion_posture_dynamics/D23/session_008/motions/smplx.npz b/actions/locomotion_posture_dynamics/D23/session_008/motions/smplx.npz index 6129030fd728b7fbabf6438fce75e3c80fed6008..fe7c96d7036084a343df43b977378ad92345d1a8 100644 --- a/actions/locomotion_posture_dynamics/D23/session_008/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D23/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:27624b796e1229105bb821b62dbb9265625ad23e25a5a513f35f5f9ee4271864 -size 3177747 +oid sha256:df59ff362f2bfd2fe64c4662d3d971ccb816c7dd92febc74d1e9985e808d21a3 +size 5804359 diff --git a/actions/locomotion_posture_dynamics/D23/session_009/annotations.json b/actions/locomotion_posture_dynamics/D23/session_009/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..9b7f38db3490d5870fa161a135bea6f7b519bbce --- /dev/null +++ b/actions/locomotion_posture_dynamics/D23/session_009/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": "D23", + "instruction": "Mimic boxing into the air at moderate speed with both hands, moving your feet only a little. Stay controlled; do not punch at full speed.", + "segments": [ + { + "id": "segment1", + "duration_s": 68.966667, + "video": "left_eye", + "video_t_start": 0.03892900818113354 + } + ], + "episodes": [ + { + "id": "6557c0c8-d901-44df-aceb-055865ba7425", + "segment": "segment1", + "action": "D23", + "quality": "valid", + "start_s": 0, + "end_s": 34.872, + "t_start": 0.0389, + "t_end": 34.9109, + "instruction": "Mimic boxing into the air at moderate speed with both hands, moving your feet only a little. Stay controlled; do not punch at full speed." + }, + { + "id": "ee574a08-e5e0-45f3-9a9a-f819c7ba7f80", + "segment": "segment1", + "action": "D23", + "quality": "valid", + "start_s": 37.303, + "end_s": 64.624, + "t_start": 37.3419, + "t_end": 64.6629, + "instruction": "Mimic boxing into the air at moderate speed with both hands, moving your feet only a little. Stay controlled; do not punch at full speed." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D23/session_009/cameras/slam.npz b/actions/locomotion_posture_dynamics/D23/session_009/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..523d39f58381a7c5ae8cd4e9e288bd5e7f9dc8da --- /dev/null +++ b/actions/locomotion_posture_dynamics/D23/session_009/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:347bd95812be0389f8ab2cc568d7f5956bd91992f207f3750a1814d09a018230 +size 398091 diff --git a/actions/locomotion_posture_dynamics/D23/session_009/meta.json b/actions/locomotion_posture_dynamics/D23/session_009/meta.json index 939c57b42d505869159875c52b5f6bc02ed71460..e12e42f3e7b7a6a02cc83d3b6c786794f91b167f 100644 --- a/actions/locomotion_posture_dynamics/D23/session_009/meta.json +++ b/actions/locomotion_posture_dynamics/D23/session_009/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": { @@ -521,10 +521,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.7813502399596337 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 19.32, + "offset_rotvec": [ + 0.2745, + -0.0914, + -0.1731 + ], + "dev_deg": { + "median": 20.4, + "p90": 34.88 + }, + "samples": 1297, + "accepted": 1046, + "wrist_pos_err_mm_median": 157.2, + "per_camera": { + "head": { + "samples": 1297, + "accepted": 1046, + "gate_deg": 30.0, + "offset_deg": 19.32, + "tier": "primary", + "dev_deg_median": 20.4, + "wrist_pos_err_mm_median": 157.2 + } + }, + "frames_by_state": { + "ace_sample": 4380, + "interpolated": 3268, + "mean_hand": 636, + "no_body_fit": 0 + }, + "observed_fraction": 0.9232, + "observed_fraction_of_valid": 0.9232, + "palm_axis_vs_markers_deg": { + "gsi": 27.18, + "smplx": 0.99 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.4, + "p90": 7.0 + }, + "registered": { + "median": 7.0, + "p90": 8.1 + } + } + }, + "right": { + "offset_deg": 19.63, + "offset_rotvec": [ + 0.1358, + 0.2409, + 0.2021 + ], + "dev_deg": { + "median": 23.42, + "p90": 41.53 + }, + "samples": 1278, + "accepted": 906, + "wrist_pos_err_mm_median": 100.8, + "per_camera": { + "head": { + "samples": 1278, + "accepted": 906, + "gate_deg": 30.0, + "offset_deg": 19.63, + "tier": "primary", + "dev_deg_median": 23.42, + "wrist_pos_err_mm_median": 100.8 + } + }, + "frames_by_state": { + "ace_sample": 3844, + "interpolated": 4048, + "mean_hand": 392, + "no_body_fit": 0 + }, + "observed_fraction": 0.9527, + "observed_fraction_of_valid": 0.9527, + "palm_axis_vs_markers_deg": { + "gsi": 22.75, + "smplx": 2.16 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.0, + "p90": 11.4 + }, + "registered": { + "median": 10.4, + "p90": 13.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:41:20.785186+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/D23/session_009", "family": "locomotion_posture_dynamics", "primitive": "D23", "source_session": "20260923/D23/20260923_112550_session42" + }, + "task": { + "primitive": "D23", + "instruction": "Mimic boxing into the air at moderate speed with both hands, moving your feet only a little. Stay controlled; do not punch at full speed." } } diff --git a/actions/locomotion_posture_dynamics/D23/session_009/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D23/session_009/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..b33eee4ecfda5aa2709791a743eaead28701a3ff --- /dev/null +++ b/actions/locomotion_posture_dynamics/D23/session_009/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:78a744c1e9be80334334e3876caccb44c9baa25c99f3dbcd365e5219d4aa508c +size 1814103 diff --git a/actions/locomotion_posture_dynamics/D23/session_009/motions/smplx.npz b/actions/locomotion_posture_dynamics/D23/session_009/motions/smplx.npz index ce0e3561967abfd0c2b7b0f2a02f27fcb2c23cb6..b13c1ec1c4d56ee9f5a5be0ca7aa9469be664dd6 100644 --- a/actions/locomotion_posture_dynamics/D23/session_009/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D23/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8617bc7ae9b530849710ad1d25ae49e91c9a82c362980249afcd49b74755876a -size 3165146 +oid sha256:25c2c635d414258553033fed92d166e5140c24bfa6e8385e9b2bf492fdcbea2f +size 5851353 diff --git a/actions/locomotion_posture_dynamics/D23/session_010/annotations.json b/actions/locomotion_posture_dynamics/D23/session_010/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..eb2e33ac89b042b817835acececff38968e5d1e6 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D23/session_010/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": "D23", + "instruction": "Mimic boxing into the air at moderate speed with both hands, moving your feet only a little. 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Stay controlled; do not punch at full speed." } } diff --git a/actions/locomotion_posture_dynamics/D23/session_010/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D23/session_010/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..ae07461ff377352a5ab0436bb4abc3056a416d88 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D23/session_010/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37865d9c03d9f8ec3a28c03660332de8b3f683f3c8d631ad7769f0c46838aed2 +size 2140743 diff --git a/actions/locomotion_posture_dynamics/D23/session_011/annotations.json b/actions/locomotion_posture_dynamics/D23/session_011/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..32ec6c1c29dd991cf7b6a1f8b3f9c393bcc64238 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D23/session_011/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": "D23", + "instruction": "Mimic boxing into the air at moderate speed with both hands, moving your feet only a little. 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Stay controlled; do not punch at full speed." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D23/session_011/cameras/slam.npz b/actions/locomotion_posture_dynamics/D23/session_011/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..8ffa9655c704f5c0d92c28277fe1def2d206e1c0 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D23/session_011/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b4c1801d8d03abfd82d8bbf87399c79bcfb08fd4536a7c4077b03a9d8b19b0d +size 426288 diff --git a/actions/locomotion_posture_dynamics/D23/session_011/meta.json b/actions/locomotion_posture_dynamics/D23/session_011/meta.json index 072e15f42788a5490a35a1a10f0aeeadea183d27..548d5bc9daec4bbd176c69437175ed2dc5e41bad 100644 --- a/actions/locomotion_posture_dynamics/D23/session_011/meta.json +++ b/actions/locomotion_posture_dynamics/D23/session_011/meta.json @@ -580,5 +580,9 @@ "family": "locomotion_posture_dynamics", "primitive": "D23", "source_session": "20260929/D23/20260929_091314_session168" + }, + "task": { + "primitive": "D23", + "instruction": "Mimic boxing into the air at moderate speed with both hands, moving your feet only a little. 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Stay controlled; do not punch at full speed." } } diff --git a/actions/locomotion_posture_dynamics/D23/session_012/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D23/session_012/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..f80670ced58931c9dea023278164e76343ed980d --- /dev/null +++ b/actions/locomotion_posture_dynamics/D23/session_012/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c41723426940c674830e696b851bbc2da5613d0597f1f5226c1915d2942c9f1 +size 1717619 diff --git a/actions/locomotion_posture_dynamics/D23/session_013/annotations.json b/actions/locomotion_posture_dynamics/D23/session_013/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..8026174a35da51de6d5644961c101f3f8ce9f77e --- /dev/null +++ b/actions/locomotion_posture_dynamics/D23/session_013/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": "D23", + "instruction": "Mimic boxing into the air at moderate speed with both hands, moving your feet only a little. 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b/actions/locomotion_posture_dynamics/D24/session_001/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..f8ab23e5f4784c6cafcbbb768ddf442939e5adb9 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D24/session_001/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01dad8c9dc3030d982037e75f56b7a0f4120e4a6c5a827a58df96acb68a351fe +size 455279 diff --git a/actions/locomotion_posture_dynamics/D24/session_001/meta.json b/actions/locomotion_posture_dynamics/D24/session_001/meta.json index 6a6e708d673b2ebad15c1deff4b999ca52fee2ea..c12f4b189758502d0b6458c28390d1dcc3fa5965 100644 --- a/actions/locomotion_posture_dynamics/D24/session_001/meta.json +++ b/actions/locomotion_posture_dynamics/D24/session_001/meta.json @@ -347,8 +347,8 @@ "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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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D24/session_001/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D24/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..1a052fabe8b950db6edf94fb691cdc415f7ac99b --- /dev/null +++ b/actions/locomotion_posture_dynamics/D24/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02ea61c28ce4274c45d5592ab033970e27823811c61526336faaf7d57ce99283 +size 2824823 diff --git a/actions/locomotion_posture_dynamics/D24/session_001/motions/smplx.npz b/actions/locomotion_posture_dynamics/D24/session_001/motions/smplx.npz index f9a1327d27e0249b8a4efbc85a209e4d116e8fac..d14b62e4a914af6376043d400812bde9575eeb1c 100644 --- a/actions/locomotion_posture_dynamics/D24/session_001/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D24/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:cb9b7ea5ce9288987172bc0f1c74c80ad62d03af85eb24b86c93a7334170740e -size 3652535 +oid sha256:2df9e760baaf8c1160881ee78f84f4078c4bf8c80c4ebc5cdf0634c16f114e94 +size 6812400 diff --git a/actions/locomotion_posture_dynamics/D24/session_002/annotations.json b/actions/locomotion_posture_dynamics/D24/session_002/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..151353f6fbfd3fce2f282ec878f394cf193aa395 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D24/session_002/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": "D24", + "instruction": "Kick into the air with each leg in turn, front kicks and side kicks, at a comfortable height. 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D24/session_003/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D24/session_003/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..2915595b9bfa50885651004e236c407ac32e0b3c --- /dev/null +++ b/actions/locomotion_posture_dynamics/D24/session_003/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd9ac4edb16fe6d7c6b781f1a1b11d759b61cc8d9f1b18f0e1b5c4d70d883082 +size 2233391 diff --git a/actions/locomotion_posture_dynamics/D24/session_003/motions/smplx.npz b/actions/locomotion_posture_dynamics/D24/session_003/motions/smplx.npz index 20d75b7cd4a05cde5d6f065b532c6801a1e2906a..f64b326f2ca2be92b787a8951d98aa392450712b 100644 --- a/actions/locomotion_posture_dynamics/D24/session_003/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D24/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:29997e9ffee5fc5961bc5a256451bb08b36e85118b08370098025fab8c0f42b4 -size 3158577 +oid sha256:99760e6163b1f642d1cd2ac9d7478c4471707f5007b480bd71457dc2f6ce806c +size 5872233 diff --git a/actions/locomotion_posture_dynamics/D24/session_004/annotations.json b/actions/locomotion_posture_dynamics/D24/session_004/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..0106fddcae819b2a56ed93507cdb6338ddb481dc --- /dev/null +++ b/actions/locomotion_posture_dynamics/D24/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": "D24", + "instruction": "Kick into the air with each leg in turn, front kicks and side kicks, at a comfortable height. 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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": { @@ -508,10 +508,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.7457398064344886 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 3.61, + "offset_rotvec": [ + -0.0117, + -0.06, + 0.0151 + ], + "dev_deg": { + "median": 15.72, + "p90": 43.1 + }, + "samples": 1648, + "accepted": 1338, + "wrist_pos_err_mm_median": 35.5, + "per_camera": { + "head": { + "samples": 1648, + "accepted": 1338, + "gate_deg": 30.0, + "offset_deg": 3.61, + "tier": "primary", + "dev_deg_median": 15.72, + "wrist_pos_err_mm_median": 35.5 + } + }, + "frames_by_state": { + 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D24/session_004/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D24/session_004/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..6da5d416d75f46f440ef406e03c6002f7f6d9a8f --- /dev/null +++ b/actions/locomotion_posture_dynamics/D24/session_004/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:349d7a0556e960d47c00253c332d1f2f07b0a67cd5040d06ab38b280e27336ac +size 2190697 diff --git a/actions/locomotion_posture_dynamics/D24/session_004/motions/smplx.npz b/actions/locomotion_posture_dynamics/D24/session_004/motions/smplx.npz index 438b51c901eb90fa878fda07a4a7ebcd585c8759..ded8769a204d61127ca25cafbea0436df1d35718 100644 --- a/actions/locomotion_posture_dynamics/D24/session_004/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D24/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b3e716bb9ed4135be834906d579ce4829145f8eee1d152a9b923b3571afb7240 -size 3207235 +oid sha256:6b799b674edbae299d1f2260595990d2285f27418c64172b47129e608e607498 +size 5870333 diff --git a/actions/locomotion_posture_dynamics/D24/session_005/annotations.json b/actions/locomotion_posture_dynamics/D24/session_005/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..e7036172bef5bdb44f610833b2cd2bb28e2612e9 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D24/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": "D24", + "instruction": "Kick into the air with each leg in turn, front kicks and side kicks, at a comfortable height. 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Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D24/session_005/cameras/slam.npz b/actions/locomotion_posture_dynamics/D24/session_005/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..11ca178755149e11dd8d6b3d901a589b6fdb9d51 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D24/session_005/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c9cb6945c7cd7ef2fd43afd0aa070e39fc0416b02d679b14c6c46da0b5e855e +size 399612 diff --git a/actions/locomotion_posture_dynamics/D24/session_005/meta.json b/actions/locomotion_posture_dynamics/D24/session_005/meta.json index 3a311e07dc01a36d5a3905a46cc0d652a0c75543..1947f5954d80a4c1151b6e8393087d63359f19e1 100644 --- a/actions/locomotion_posture_dynamics/D24/session_005/meta.json +++ b/actions/locomotion_posture_dynamics/D24/session_005/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": "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": { @@ -509,10 +509,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1773098651056402 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 15.26, + "offset_rotvec": [ + 0.0248, + 0.2267, + -0.1375 + ], + "dev_deg": { + "median": 7.45, + "p90": 23.16 + }, + "samples": 1816, + "accepted": 1692, + "wrist_pos_err_mm_median": 79.6, + "per_camera": { + "head": { + "samples": 1816, + "accepted": 1692, + "gate_deg": 30.0, + "offset_deg": 15.26, + "tier": "primary", + "dev_deg_median": 7.45, + "wrist_pos_err_mm_median": 79.6 + } + }, + "frames_by_state": { + "ace_sample": 6800, + "interpolated": 852, + "mean_hand": 632, + "no_body_fit": 0 + }, + "observed_fraction": 0.9237, + "observed_fraction_of_valid": 0.9237, + "palm_axis_vs_markers_deg": { + "gsi": 15.41, + "smplx": 1.2 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.2, + "p90": 12.3 + }, + "registered": { + "median": 11.0, + "p90": 13.3 + } + } + }, + "right": { + "offset_deg": 11.42, + "offset_rotvec": [ + -0.1269, + -0.111, + 0.1062 + ], + "dev_deg": { + "median": 10.06, + "p90": 30.33 + }, + "samples": 1835, + "accepted": 1643, + "wrist_pos_err_mm_median": 86.8, + "per_camera": { + "head": { + "samples": 1835, + "accepted": 1643, + "gate_deg": 30.0, + "offset_deg": 11.42, + "tier": "primary", + "dev_deg_median": 10.06, + "wrist_pos_err_mm_median": 86.8 + } + }, + "frames_by_state": { + "ace_sample": 6630, + "interpolated": 1122, + "mean_hand": 532, + "no_body_fit": 0 + }, + "observed_fraction": 0.9358, + "observed_fraction_of_valid": 0.9358, + "palm_axis_vs_markers_deg": { + "gsi": 13.32, + "smplx": 1.64 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.7, + "p90": 9.6 + }, + "registered": { + "median": 7.4, + "p90": 9.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T18:13:03.820106+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/D24/session_005", "family": "locomotion_posture_dynamics", "primitive": "D24", "source_session": "20260914/D24/20260914_072927_session17" + }, + "task": { + "primitive": "D24", + "instruction": "Kick into the air with each leg in turn, front kicks and side kicks, at a comfortable height. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D24/session_005/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D24/session_005/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..9c386f8f8599afc0f5aac3f6e1aad46556f892c9 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D24/session_005/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe278b50a531d09121fe90e052ebfab6b2cae924b0daa66477437791d1505b0b +size 2490220 diff --git a/actions/locomotion_posture_dynamics/D24/session_005/motions/smplx.npz b/actions/locomotion_posture_dynamics/D24/session_005/motions/smplx.npz index 8a89bf638222e7c2ade1a9a92beaf81fb6a7dfb0..9703bd089632e0a662083c88225c8322bcb46f26 100644 --- a/actions/locomotion_posture_dynamics/D24/session_005/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D24/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9c3519f2b181c6b6dc3711497682e18f5dc0b024edc2971022e256e3d8705ea6 -size 3198756 +oid sha256:47d3397fb8cb4420bba8b398c0f3d7e47db51e49aa9b0579a96867d99bfdd1c3 +size 5814828 diff --git a/actions/locomotion_posture_dynamics/D24/session_006/annotations.json b/actions/locomotion_posture_dynamics/D24/session_006/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..695d169e7ea6f8900d354923eb3371b0986e360e --- /dev/null +++ b/actions/locomotion_posture_dynamics/D24/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": "D24", + "instruction": "Kick into the air with each leg in turn, front kicks and side kicks, at a comfortable height. 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Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D24/session_006/cameras/slam.npz b/actions/locomotion_posture_dynamics/D24/session_006/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..0ff1f894b5cc237ef969981ac3829843a69f5fac --- /dev/null +++ b/actions/locomotion_posture_dynamics/D24/session_006/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2132d4ca9d08181c03e9a4e5d6d439ae6c402f5f695eed79481d635653757b57 +size 396974 diff --git a/actions/locomotion_posture_dynamics/D24/session_006/meta.json b/actions/locomotion_posture_dynamics/D24/session_006/meta.json index 171faf9acbd3ebf0b5e0e970b57634ab3c4d9ad9..e70d19ee80599e7cf01a030afc24a4a4d876992d 100644 --- a/actions/locomotion_posture_dynamics/D24/session_006/meta.json +++ b/actions/locomotion_posture_dynamics/D24/session_006/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": { @@ -517,10 +517,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0006803900695178 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 33.86, + "offset_rotvec": [ + 0.584, + 0.0125, + 0.0894 + ], + "dev_deg": { + "median": 14.54, + "p90": 29.35 + }, + "samples": 1575, + "accepted": 1433, + "wrist_pos_err_mm_median": 125.8, + "per_camera": { + "head": { + "samples": 1575, + "accepted": 1433, + "gate_deg": 30.0, + "offset_deg": 33.86, + "tier": "primary", + "dev_deg_median": 14.54, + "wrist_pos_err_mm_median": 125.8 + } + }, + "frames_by_state": { + "ace_sample": 5921, + "interpolated": 2170, + "mean_hand": 185, + "no_body_fit": 8 + }, + "observed_fraction": 0.9767, + "observed_fraction_of_valid": 0.9776, + "palm_axis_vs_markers_deg": { + "gsi": 29.66, + "smplx": 0.69 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.7, + "p90": 10.9 + }, + "registered": { + "median": 7.8, + "p90": 9.9 + } + } + }, + "right": { + "offset_deg": 26.35, + "offset_rotvec": [ + 0.2371, + 0.3495, + 0.1822 + ], + "dev_deg": { + "median": 26.18, + "p90": 30.65 + }, + "samples": 1712, + "accepted": 1493, + "wrist_pos_err_mm_median": 334.9, + "per_camera": { + "head": { + "samples": 1712, + "accepted": 1493, + "gate_deg": 30.0, + "offset_deg": 26.35, + "tier": "primary", + "dev_deg_median": 26.18, + "wrist_pos_err_mm_median": 334.9 + } + }, + "frames_by_state": { + "ace_sample": 6094, + "interpolated": 1418, + "mean_hand": 764, + "no_body_fit": 8 + }, + "observed_fraction": 0.9068, + "observed_fraction_of_valid": 0.9077, + "palm_axis_vs_markers_deg": { + "gsi": 27.28, + "smplx": 0.5 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.4, + "p90": 10.0 + }, + "registered": { + "median": 8.3, + "p90": 9.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T23:08:35.112134+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/D24/session_006", "family": "locomotion_posture_dynamics", "primitive": "D24", "source_session": "20260916/D24/20260916_061524_session98" + }, + "task": { + "primitive": "D24", + "instruction": "Kick into the air with each leg in turn, front kicks and side kicks, at a comfortable height. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D24/session_006/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D24/session_006/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..d959f0ea74b63a4a7d9cf6e7838ee533021c7e43 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D24/session_006/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c1ef5d65cbf1814e454d849e9cacdd5c92ad565978f6ee4b9d5ee7a1cfee326 +size 2263668 diff --git a/actions/locomotion_posture_dynamics/D24/session_006/motions/smplx.npz b/actions/locomotion_posture_dynamics/D24/session_006/motions/smplx.npz index 88ae66c16735c06818858b165e72edd121e0354c..b838299796981ed1d883ef911f8bc841a1bf2b38 100644 --- a/actions/locomotion_posture_dynamics/D24/session_006/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D24/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e111c2b1c0ed573011809d1b71026f76a804562fbddab0dc53328299aa665259 -size 3159617 +oid sha256:9818c19f726ba1dc23fa1ba29bdedc23133df5db67070e0841efead5e2edfb2f +size 5835448 diff --git a/actions/locomotion_posture_dynamics/D24/session_007/annotations.json b/actions/locomotion_posture_dynamics/D24/session_007/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..889b6f54e1fc9a704e534199cb9daa0cee5fcd46 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D24/session_007/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": "D24", + "instruction": "Kick into the air with each leg in turn, front kicks and side kicks, at a comfortable height. 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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": 0.9709534860062479 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 6.44, + "offset_rotvec": [ + 0.074, + -0.0017, + -0.0846 + ], + "dev_deg": { + "median": 7.66, + "p90": 20.67 + }, + "samples": 2179, + "accepted": 2097, + "wrist_pos_err_mm_median": 64.7, + "per_camera": { + "head": { + "samples": 2179, + "accepted": 2097, + "gate_deg": 30.0, + "offset_deg": 6.44, + "tier": "primary", + "dev_deg_median": 7.66, + "wrist_pos_err_mm_median": 64.7 + } + }, + "frames_by_state": { + "ace_sample": 8494, + "interpolated": 1242, + "mean_hand": 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D24/session_008/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D24/session_008/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..17c9d9f56dcb453062942871d34ec9f4dd86052e --- /dev/null +++ b/actions/locomotion_posture_dynamics/D24/session_008/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f53b444cf0a516d2d1a9f3362e731b3a05eccb3750802a69fcc7ecd297667972 +size 2965873 diff --git a/actions/locomotion_posture_dynamics/D24/session_008/motions/smplx.npz b/actions/locomotion_posture_dynamics/D24/session_008/motions/smplx.npz index 6f1e68ed626ad153053a12df86ecdd28bffdb615..f2b3314b614b0ea324385dfd594a70f550dbd0a6 100644 --- a/actions/locomotion_posture_dynamics/D24/session_008/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D24/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:082a328bafac8591818b8fa13f8fef3dbcd80b86074ab4a770643c381944388c -size 3746210 +oid sha256:040820571e0fb09457e3faa700dbe781dbcbb5c0fca77e6a9c2a5d1a744f25f1 +size 7007684 diff --git a/actions/locomotion_posture_dynamics/D24/session_009/annotations.json b/actions/locomotion_posture_dynamics/D24/session_009/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..f59d68ab9368b34e871824a5d1aff3f603b36070 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D24/session_009/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": "D24", + "instruction": "Kick into the air with each leg in turn, front kicks and side kicks, at a comfortable height. Repeat the movement at your own pace until the operator says stop; do not rush.", + "segments": [ + { + "id": "segment1", + "duration_s": 73.9667, + "video": "left_eye", + "video_t_start": 0.03946654817305739 + } + ], + "episodes": [ + { + "id": "57492490-7dca-4b1a-a86b-3743fdb70c74", + "segment": "segment1", + "action": "D24", + "quality": "valid", + "start_s": 0, + "end_s": 39.463, + "t_start": 0.0395, + "t_end": 39.5025, + "instruction": "Kick into the air with each leg in turn, front kicks and side kicks, at a comfortable height. Repeat the movement at your own pace until the operator says stop; do not rush." + }, + { + "id": "1aaa256c-4686-4442-97ee-89bdaf115022", + "segment": "segment1", + "action": "D24", + "quality": "valid", + "start_s": 41.818, + "end_s": 68.403, + "t_start": 41.8575, + "t_end": 68.4425, + "instruction": "Kick into the air with each leg in turn, front kicks and side kicks, at a comfortable height. Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D24/session_009/cameras/slam.npz b/actions/locomotion_posture_dynamics/D24/session_009/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..53aca87bc7889c918ac6a8b3c6de57c71c3be873 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D24/session_009/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e4f4e1952456f139e37c24e2d7ab296232204ea8557c6c984eac0739ac37f609 +size 428160 diff --git a/actions/locomotion_posture_dynamics/D24/session_009/meta.json b/actions/locomotion_posture_dynamics/D24/session_009/meta.json index 45a278002064d422e5683aad0297d970ec6f33e5..b000697f783f07d9e2f041bce0d437bf26c8d616 100644 --- a/actions/locomotion_posture_dynamics/D24/session_009/meta.json +++ b/actions/locomotion_posture_dynamics/D24/session_009/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": { @@ -516,10 +516,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.3364574646297682 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 25.96, + "offset_rotvec": [ + 0.4492, + -0.0273, + 0.0524 + ], + "dev_deg": { + "median": 16.66, + "p90": 30.09 + }, + "samples": 1523, + "accepted": 1369, + "wrist_pos_err_mm_median": 336.9, + "per_camera": { + "head": { + "samples": 1523, + "accepted": 1369, + "gate_deg": 30.0, + "offset_deg": 25.96, + "tier": "primary", + "dev_deg_median": 16.66, + "wrist_pos_err_mm_median": 336.9 + } + }, + "frames_by_state": { + "ace_sample": 5708, + "interpolated": 3016, + "mean_hand": 160, + "no_body_fit": 0 + }, + "observed_fraction": 0.982, + "observed_fraction_of_valid": 0.982, + "palm_axis_vs_markers_deg": { + "gsi": 26.13, + "smplx": 0.42 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.0, + "p90": 6.6 + }, + "registered": { + "median": 8.1, + "p90": 10.8 + } + } + }, + "right": { + "offset_deg": 28.89, + "offset_rotvec": [ + 0.2443, + 0.4167, + 0.1448 + ], + "dev_deg": { + "median": 18.06, + "p90": 28.38 + }, + "samples": 1286, + "accepted": 1180, + "wrist_pos_err_mm_median": 353.7, + "per_camera": { + "head": { + "samples": 1286, + "accepted": 1180, + "gate_deg": 30.0, + "offset_deg": 28.89, + "tier": "primary", + "dev_deg_median": 18.06, + "wrist_pos_err_mm_median": 353.7 + } + }, + "frames_by_state": { + "ace_sample": 4900, + "interpolated": 3312, + "mean_hand": 672, + "no_body_fit": 0 + }, + "observed_fraction": 0.9244, + "observed_fraction_of_valid": 0.9244, + "palm_axis_vs_markers_deg": { + "gsi": 19.09, + "smplx": 0.74 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.0, + "p90": 11.6 + }, + "registered": { + "median": 13.0, + "p90": 13.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:41:16.238225+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/D24/session_009", "family": "locomotion_posture_dynamics", "primitive": "D24", "source_session": "20260923/D24/20260923_112740_session43" + }, + "task": { + "primitive": "D24", + "instruction": "Kick into the air with each leg in turn, front kicks and side kicks, at a comfortable height. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D24/session_009/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D24/session_009/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..33ee56e6ccfbf0262faaaacd5d9daf8af2d90f96 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D24/session_009/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2c6cec8d46a494b929f28bd4f22c0c1995b360f24f5c93a44864dae10562b5c +size 1967870 diff --git a/actions/locomotion_posture_dynamics/D24/session_009/motions/smplx.npz b/actions/locomotion_posture_dynamics/D24/session_009/motions/smplx.npz index 457f8006e687cf4b8f5aaae97fca2542b0e1e2d8..766f769b542a892cab86b47b5e83a352c3c75271 100644 --- a/actions/locomotion_posture_dynamics/D24/session_009/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D24/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:26e4f9ed6366b5faf8cd0fd04582f9536a238c9f0ed0e3e480d0d9307aedb367 -size 3414184 +oid sha256:2dad0fe02fe3320a3a196c845502dc0245b54dea86b93ec42e561ca9fcb62202 +size 6315555 diff --git a/actions/locomotion_posture_dynamics/D24/session_010/annotations.json b/actions/locomotion_posture_dynamics/D24/session_010/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..ab78cad187ee077c53cfa7081fb0e665da0df453 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D24/session_010/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": "D24", + "instruction": "Kick into the air with each leg in turn, front kicks and side kicks, at a comfortable height. 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Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D24/session_010/cameras/slam.npz b/actions/locomotion_posture_dynamics/D24/session_010/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..a6774f8f6aa486d05fdb7fc200d794b1b9952f6f --- /dev/null +++ b/actions/locomotion_posture_dynamics/D24/session_010/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:98d7b36c8d10b818b7f8b1a2b5c62d4968375297fce871f32df046a4e4b785f3 +size 398304 diff --git a/actions/locomotion_posture_dynamics/D24/session_010/meta.json b/actions/locomotion_posture_dynamics/D24/session_010/meta.json index 67e1556dfef66855c80f8ea036d0931a2baa30a6..2fe6ff7784f0df4ff8e00623876e2cbf18cde0a4 100644 --- a/actions/locomotion_posture_dynamics/D24/session_010/meta.json +++ b/actions/locomotion_posture_dynamics/D24/session_010/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": { @@ -518,10 +518,113 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.246231237049182 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 79.86, + "offset_rotvec": [ + -1.3702, + 0.2119, + 0.1435 + ], + "dev_deg": { + "median": 87.13, + "p90": 122.8 + }, + "samples": 1322, + "accepted": 1, + "wrist_pos_err_mm_median": 229.1, + "per_camera": { + "head": { + "samples": 1322, + "accepted": 1, + "gate_deg": 30.0, + "offset_deg": 79.86, + "tier": "primary", + "dev_deg_median": 87.13, + "wrist_pos_err_mm_median": 229.1 + } + }, + "frames_by_state": { + "ace_sample": 0, + "interpolated": 0, + "mean_hand": 8284, + "no_body_fit": 0 + }, + "observed_fraction": 0.0, + "observed_fraction_of_valid": 0.0, + "palm_axis_vs_markers_deg": { + "gsi": 44.36 + } + }, + "right": { + "offset_deg": 20.05, + "offset_rotvec": [ + 0.3129, + 0.0119, + 0.1563 + ], + "dev_deg": { + "median": 14.53, + "p90": 33.38 + }, + "samples": 1504, + "accepted": 1306, + "wrist_pos_err_mm_median": 294.0, + "per_camera": { + "head": { + "samples": 1504, + "accepted": 1306, + "gate_deg": 30.0, + "offset_deg": 20.05, + "tier": "primary", + "dev_deg_median": 14.53, + "wrist_pos_err_mm_median": 294.0 + } + }, + "frames_by_state": { + "ace_sample": 5350, + "interpolated": 2318, + "mean_hand": 616, + "no_body_fit": 0 + }, + "observed_fraction": 0.9256, + "observed_fraction_of_valid": 0.9256, + "palm_axis_vs_markers_deg": { + "gsi": 27.16, + "smplx": 0.73 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.3, + "p90": 14.8 + }, + "registered": { + "median": 9.7, + "p90": 12.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:27:45.879756+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/D24/session_010", "family": "locomotion_posture_dynamics", "primitive": "D24", "source_session": "20260929/D24/20260929_013736_session19" + }, + "task": { + "primitive": "D24", + "instruction": "Kick into the air with each leg in turn, front kicks and side kicks, at a comfortable height. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D24/session_010/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D24/session_010/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..8ff871fffcfc6feb59707923930519347bccdc22 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D24/session_010/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fed64d3916a74b2bf55374f3ab8c51d064c2aae33ab7988c88a99981a7843060 +size 1967348 diff --git a/actions/locomotion_posture_dynamics/D24/session_010/motions/smplx.npz b/actions/locomotion_posture_dynamics/D24/session_010/motions/smplx.npz index 090c32dbccbc06470a6f30c66ff3ad5c58632ca1..b051ff60659870a6a9de4202f08af2f4d4a48bd8 100644 --- a/actions/locomotion_posture_dynamics/D24/session_010/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D24/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:144f24645f970d0a724b9bf0c8e373bcc6dbee356849cbcbed868507c0e84f08 -size 3179179 +oid sha256:5506eadef53fad61389e865cd96a2efcf553cb105e6506b8855408321a0dbf6f +size 4514416 diff --git a/actions/locomotion_posture_dynamics/D24/session_011/annotations.json b/actions/locomotion_posture_dynamics/D24/session_011/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..8365b48ac39dc1e69ebe19ce089aa1678af7d8cf --- /dev/null +++ b/actions/locomotion_posture_dynamics/D24/session_011/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": "D24", + "instruction": "Kick into the air with each leg in turn, front kicks and side kicks, at a comfortable height. 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b/actions/locomotion_posture_dynamics/D24/session_011/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..4fe8fd5ff58f90439684d28a4e3a7644b2c97352 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D24/session_011/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4353ae953260d5dcd14e4a52d7ff518b40839572ef1961213ddda2a6cd2ba43 +size 456345 diff --git a/actions/locomotion_posture_dynamics/D24/session_011/meta.json b/actions/locomotion_posture_dynamics/D24/session_011/meta.json index 6847facc507aca89bba8873378a89d23c855353f..8bad75fb0484fd3d5bd567526e31c41964d7cf24 100644 --- a/actions/locomotion_posture_dynamics/D24/session_011/meta.json +++ b/actions/locomotion_posture_dynamics/D24/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)", 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D24/session_014/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D24/session_014/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..063bb5295296c6659b7b1a0abd4e092190dd3225 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D24/session_014/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a02bc53413265fd83d5fb3d1fa24cc00d91e9eecfb8e7d262c66a7f83871a35d +size 2672592 diff --git a/actions/locomotion_posture_dynamics/D24/session_014/motions/smplx.npz b/actions/locomotion_posture_dynamics/D24/session_014/motions/smplx.npz index 6e05792da3530df76df82be359c7b51db6705973..82d7e9288c831f700d62c3f44a428ac640b3cdef 100644 --- a/actions/locomotion_posture_dynamics/D24/session_014/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D24/session_014/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d196f8249c388c048cba605ea067e679219c286b52cdc04ad14058c215a91f9c -size 4183649 +oid sha256:d4565cd476c48a07d9902982cf1047df794d7be2d3a1344354121c589cc94392 +size 7493767 diff --git a/actions/locomotion_posture_dynamics/D25/session_001/annotations.json b/actions/locomotion_posture_dynamics/D25/session_001/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..b8a21729deb2edca00767799a9055414f11decc0 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D25/session_001/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 3)", + "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": "D25", + "instruction": "Move as if avoiding punches: slip your head side to side, duck, and raise your guard. 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b/actions/locomotion_posture_dynamics/D25/session_001/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..829a8aaf3597eff51f89c3892655b803ed71d86d --- /dev/null +++ b/actions/locomotion_posture_dynamics/D25/session_001/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83dec42ef118a500552836dc993a91a9dc1b5f9a2e42142c74009819a9fbef60 +size 398306 diff --git a/actions/locomotion_posture_dynamics/D25/session_001/meta.json b/actions/locomotion_posture_dynamics/D25/session_001/meta.json index efe7b7e0130b5908f55ab96a482ad84c41d4fbf2..d7495862f4854ecc3ecff3b4e7a5b0257dad9358 100644 --- a/actions/locomotion_posture_dynamics/D25/session_001/meta.json +++ b/actions/locomotion_posture_dynamics/D25/session_001/meta.json @@ -348,8 +348,8 @@ "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": { @@ -539,10 +539,124 @@ "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": 2.35, + "offset_rotvec": [ + -0.0097, + -0.0398, + -0.0035 + ], + "dev_deg": { + "median": 9.35, + "p90": 159.84 + }, + "samples": 1216, + "accepted": 1008, + "wrist_pos_err_mm_median": 42.3, + "per_camera": { + "head": { + "samples": 1216, + "accepted": 1008, + "gate_deg": 30.0, + "offset_deg": 2.35, + "tier": "primary", + "dev_deg_median": 9.35, + "wrist_pos_err_mm_median": 42.3 + } + 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D25/session_001/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D25/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..48ebb9d657600eabbc0d09ea760c96ce04c7aa3e --- /dev/null +++ b/actions/locomotion_posture_dynamics/D25/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6cd9033497220f1277ad1ac028410bef23ff4c14884b4b1c2dbc0d22d3c9b291 +size 1664958 diff --git a/actions/locomotion_posture_dynamics/D25/session_001/motions/smplx.npz b/actions/locomotion_posture_dynamics/D25/session_001/motions/smplx.npz index 328796bbd8d9b2a43d315f7379cc3b42944e7eb8..3564b9974a094b733e5ea586ba74fc669eb313c9 100644 --- a/actions/locomotion_posture_dynamics/D25/session_001/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D25/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ff7c175b49b986c97cf786c8f311e9c0e1e1e3b630ad62ed49bcddf4c6569499 -size 3188203 +oid sha256:5448795e55d5c761fb502a0382dceb9f9e2fae708a14904d2250b85e1df5f00e +size 5106287 diff --git a/actions/locomotion_posture_dynamics/D25/session_002/annotations.json b/actions/locomotion_posture_dynamics/D25/session_002/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..c1ebf26451d1ac637fbceefa205926506d560c98 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D25/session_002/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": "D25", + "instruction": "Move as if avoiding punches: slip your head side to side, duck, and raise your guard. 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D25/session_003/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D25/session_003/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..b45f548d93da59ea6178e2ad7389d9575e1ced6d --- /dev/null +++ b/actions/locomotion_posture_dynamics/D25/session_003/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86e9b81faa62c89014ea823add81df4723d730a0da98f3a559bba32d976ae909 +size 1546720 diff --git a/actions/locomotion_posture_dynamics/D25/session_003/motions/smplx.npz b/actions/locomotion_posture_dynamics/D25/session_003/motions/smplx.npz index 6ecccb2b9840954b9cf2be85f9ec58b447eba1d1..afd7208bd8384c321389616b67ed15c6397c9930 100644 --- a/actions/locomotion_posture_dynamics/D25/session_003/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D25/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6e4f49ec17ef0b396ebcc9d501c8c2b01f61b955ef40cc080a4ae305b0ce5e88 -size 3202663 +oid sha256:185e26cefc9cddfed350ea79cae4817b8abc21fed7628fd8518dc19e87efef0f +size 5380332 diff --git a/actions/locomotion_posture_dynamics/D25/session_004/annotations.json b/actions/locomotion_posture_dynamics/D25/session_004/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..e7b0a1399aa241b88b39127db8b56d32c0e64d23 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D25/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": "D25", + "instruction": "Move as if avoiding punches: slip your head side to side, duck, and raise your guard. 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Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D25/session_004/cameras/slam.npz b/actions/locomotion_posture_dynamics/D25/session_004/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..105aecbe8f5e83f82685e5f0136fe40ac22e8a04 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D25/session_004/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8af882e543c170668c821d95556c11873d1d587daa2a7dede42bc130751fb23 +size 399430 diff --git a/actions/locomotion_posture_dynamics/D25/session_004/meta.json b/actions/locomotion_posture_dynamics/D25/session_004/meta.json index ec0a845d76d8d24144a6f89a2bff40b1db2239b7..abb2043412f38bd253a7ef7204b9a2f19fe2d60b 100644 --- a/actions/locomotion_posture_dynamics/D25/session_004/meta.json +++ b/actions/locomotion_posture_dynamics/D25/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": 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": 0.8757060916065824 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 25.83, + "offset_rotvec": [ + 0.2962, + 0.1517, + -0.3041 + ], + "dev_deg": { + "median": 27.42, + "p90": 74.33 + }, + "samples": 936, + "accepted": 509, + "wrist_pos_err_mm_median": 123.9, + "per_camera": { + "head": { + "samples": 936, + "accepted": 509, + "gate_deg": 30.0, + "offset_deg": 25.83, + "tier": "primary", + "dev_deg_median": 27.42, + "wrist_pos_err_mm_median": 123.9 + } + }, + "frames_by_state": { + "ace_sample": 2010, + "interpolated": 1050, + "mean_hand": 5216, + "no_body_fit": 8 + }, + "observed_fraction": 0.3694, + "observed_fraction_of_valid": 0.3697, + "palm_axis_vs_markers_deg": { + "gsi": 33.09, + "smplx": 0.91 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.1, + "p90": 10.2 + }, + "registered": { + "median": 9.9, + "p90": 13.3 + } + } + }, + "right": { + "offset_deg": 27.01, + "offset_rotvec": [ + 0.4413, + -0.1276, + 0.1062 + ], + "dev_deg": { + "median": 33.6, + "p90": 90.7 + }, + "samples": 1074, + "accepted": 474, + "wrist_pos_err_mm_median": 80.0, + "per_camera": { + "head": { + "samples": 1074, + "accepted": 474, + "gate_deg": 30.0, + "offset_deg": 27.01, + "tier": "primary", + "dev_deg_median": 33.6, + "wrist_pos_err_mm_median": 80.0 + } + }, + "frames_by_state": { + "ace_sample": 1912, + "interpolated": 1868, + "mean_hand": 4496, + "no_body_fit": 8 + }, + "observed_fraction": 0.4563, + "observed_fraction_of_valid": 0.4567, + "palm_axis_vs_markers_deg": { + "gsi": 35.59, + "smplx": 1.31 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.8, + "p90": 13.7 + }, + "registered": { + "median": 8.9, + "p90": 11.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T15:22:04.947179+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/D25/session_004", "family": "locomotion_posture_dynamics", "primitive": "D25", "source_session": "20260909/D25/20260909_030446_session46" + }, + "task": { + "primitive": "D25", + "instruction": "Move as if avoiding punches: slip your head side to side, duck, and raise your guard. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D25/session_004/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D25/session_004/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..6378e8c9e317b0fdd6126bf767e3926fd80c8f9c --- /dev/null +++ b/actions/locomotion_posture_dynamics/D25/session_004/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24ea95b471fc4e301c0efed399394d151ad1bab8059f93bb0e18324ff3a8fac1 +size 1431298 diff --git a/actions/locomotion_posture_dynamics/D25/session_004/motions/smplx.npz b/actions/locomotion_posture_dynamics/D25/session_004/motions/smplx.npz index a3c5908a9aee722b7b9e42691d6bd8edfb01e3fc..d5c9c65c6db3471f799456eb63b9ff3e669d6c32 100644 --- a/actions/locomotion_posture_dynamics/D25/session_004/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D25/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a2b93dfdeddb173c2c02442234d1b775d1a1250c2b60b6e1c7a3113352a96b9b -size 3188672 +oid sha256:fb946bac5e96bd285c3646033937b3f17434eff35964c69bf477cbcd8efc9745 +size 4646544 diff --git a/actions/locomotion_posture_dynamics/D25/session_005/annotations.json b/actions/locomotion_posture_dynamics/D25/session_005/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..dc43406ec3e287b74fdb80aae8e86e2dc65ef683 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D25/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": "D25", + "instruction": "Move as if avoiding punches: slip your head side to side, duck, and raise your guard. Repeat the movement at your own pace until the operator says stop; do not rush.", + "segments": [ + { + "id": "segment1", + "duration_s": 63.966667, + "video": "left_eye", + "video_t_start": 0.03913975463805941 + } + ], + "episodes": [ + { + "id": "dbe19182-f323-446a-b753-accea7716d14", + "segment": "segment1", + "action": "D25", + "quality": "valid", + "start_s": 0, + "end_s": 30.175, + "t_start": 0.0391, + "t_end": 30.2141, + "instruction": "Move as if avoiding punches: slip your head side to side, duck, and raise your guard. Repeat the movement at your own pace until the operator says stop; do not rush." + }, + { + "id": "1f171e06-a978-4b6b-b472-08d5e71122df", + "segment": "segment1", + "action": "D25", + "quality": "valid", + "start_s": 31.265, + "end_s": 60.547, + "t_start": 31.3041, + "t_end": 60.5861, + "instruction": "Move as if avoiding punches: slip your head side to side, duck, and raise your guard. Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D25/session_005/cameras/slam.npz b/actions/locomotion_posture_dynamics/D25/session_005/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..c6b3265d59af0e7b640b9302dad3e00b3d053d64 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D25/session_005/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e009c00a4a1690c6ab2bfc3dc958b4ac75fd0212ce07df57e6273ef41aea8d7 +size 369861 diff --git a/actions/locomotion_posture_dynamics/D25/session_005/meta.json b/actions/locomotion_posture_dynamics/D25/session_005/meta.json index b846bda8d41d64ac2dc68071904db88c20ee801a..6ffdfbe9f430542b27a6eb461f4dd24f479f21bc 100644 --- a/actions/locomotion_posture_dynamics/D25/session_005/meta.json +++ b/actions/locomotion_posture_dynamics/D25/session_005/meta.json @@ -339,8 +339,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -519,10 +519,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.2600948340940938 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.62, + "offset_rotvec": [ + 0.2816, + 0.0204, + -0.1219 + ], + "dev_deg": { + "median": 17.8, + "p90": 42.34 + }, + "samples": 983, + "accepted": 809, + "wrist_pos_err_mm_median": 102.8, + "per_camera": { + "head": { + "samples": 983, + "accepted": 809, + "gate_deg": 30.0, + "offset_deg": 17.62, + "tier": "primary", + "dev_deg_median": 17.8, + "wrist_pos_err_mm_median": 102.8 + } + }, + "frames_by_state": { + "ace_sample": 3322, + "interpolated": 2498, + "mean_hand": 1856, + "no_body_fit": 8 + }, + "observed_fraction": 0.7574, + "observed_fraction_of_valid": 0.7582, + "palm_axis_vs_markers_deg": { + "gsi": 20.24, + "smplx": 1.49 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.8, + "p90": 14.8 + }, + "registered": { + "median": 11.1, + "p90": 12.6 + } + } + }, + "right": { + "offset_deg": 15.02, + "offset_rotvec": [ + 0.2388, + -0.0121, + 0.1076 + ], + "dev_deg": { + "median": 20.74, + "p90": 89.09 + }, + "samples": 1279, + "accepted": 897, + "wrist_pos_err_mm_median": 104.4, + "per_camera": { + "head": { + "samples": 1279, + "accepted": 897, + "gate_deg": 30.0, + "offset_deg": 15.02, + "tier": "primary", + "dev_deg_median": 20.74, + "wrist_pos_err_mm_median": 104.4 + } + }, + "frames_by_state": { + "ace_sample": 3626, + "interpolated": 1278, + "mean_hand": 2772, + "no_body_fit": 8 + }, + "observed_fraction": 0.6382, + "observed_fraction_of_valid": 0.6389, + "palm_axis_vs_markers_deg": { + "gsi": 18.52, + "smplx": 1.35 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.8, + "p90": 6.0 + }, + "registered": { + "median": 5.9, + "p90": 7.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T17:48:19.729377+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/D25/session_005", "family": "locomotion_posture_dynamics", "primitive": "D25", "source_session": "20260914/D25/20260914_073106_session18" + }, + "task": { + "primitive": "D25", + "instruction": "Move as if avoiding punches: slip your head side to side, duck, and raise your guard. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D25/session_005/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D25/session_005/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..553ee2155228476058041dd1b3aa07778f59a313 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D25/session_005/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9a02664aac39ba1a1c41bfc8a217f7b3f77a6ca63a4453eea1eff5568c41894 +size 1599651 diff --git a/actions/locomotion_posture_dynamics/D25/session_005/motions/smplx.npz b/actions/locomotion_posture_dynamics/D25/session_005/motions/smplx.npz index 12c959f85fe1bdf6f21e266a9634dacd10f2f446..66d4196a5313e32a01aa1a21d50207a93c929e60 100644 --- a/actions/locomotion_posture_dynamics/D25/session_005/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D25/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:25604617fb2418dd538e5aa730334790ab77a3f8df19568722dc9d2c0883029b -size 2945914 +oid sha256:523f18f2b792cd71c15b4bf817e90f6d28e63bce77ca24e08045c67cdde89849 +size 4934792 diff --git a/actions/locomotion_posture_dynamics/D25/session_006/annotations.json b/actions/locomotion_posture_dynamics/D25/session_006/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..526f0fc7b5cf90a9037f18f5d9cffcc908d151ec --- /dev/null +++ b/actions/locomotion_posture_dynamics/D25/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": "D25", + "instruction": "Move as if avoiding punches: slip your head side to side, duck, and raise your guard. 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D25/session_007/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D25/session_007/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..06e65b5e0c9457cfb2842e2c79b8fd3981810f73 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D25/session_007/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ca85e427ac52e2e740359fda8d3424d22345e59886baf0253689cfeb9907dee +size 2705189 diff --git a/actions/locomotion_posture_dynamics/D25/session_007/motions/smplx.npz b/actions/locomotion_posture_dynamics/D25/session_007/motions/smplx.npz index 6c676cf990975f7cdbec400513f152503bc09dc0..013c7352bdb82a63a6ae153505cd56c426b5b1f8 100644 --- a/actions/locomotion_posture_dynamics/D25/session_007/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D25/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5b058fc5e841ad313004466180cec5be0b26a970420e467e98c1ec34ed63ec72 -size 3194417 +oid sha256:ea387eb9caab3a86771091d713f932f9ed3980be89a14189e3ef653abe5bbf32 +size 5936484 diff --git a/actions/locomotion_posture_dynamics/D25/session_008/annotations.json b/actions/locomotion_posture_dynamics/D25/session_008/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..7c7294aeda37647b96155db4d2f0ef45251d1151 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D25/session_008/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": "D25", + "instruction": "Move as if avoiding punches: slip your head side to side, duck, and raise your guard. 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0000000000000000000000000000000000000000..a97a174445128aaef9474162416cc2bcfc5683fd --- /dev/null +++ b/actions/locomotion_posture_dynamics/D25/session_008/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:273920d3d304988e4edebb201d9379f03a3cad3062b7217c3c679954eb55f9b7 +size 341590 diff --git a/actions/locomotion_posture_dynamics/D25/session_008/meta.json b/actions/locomotion_posture_dynamics/D25/session_008/meta.json index f9fc174fdf9f5a34a98d9e3882f125dc8c28ba67..dfa43a95bb5029e552a369d2b248885aa7a7d0c6 100644 --- a/actions/locomotion_posture_dynamics/D25/session_008/meta.json +++ b/actions/locomotion_posture_dynamics/D25/session_008/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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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D25/session_008/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D25/session_008/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..7aaf4965bc320c0695d7385ac465dec16923b6c0 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D25/session_008/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c50096d9fda15c1b8aac2917f14b047a3f82e4497f7450cd97bc5cba2f3ed1f8 +size 2110181 diff --git a/actions/locomotion_posture_dynamics/D25/session_008/motions/smplx.npz b/actions/locomotion_posture_dynamics/D25/session_008/motions/smplx.npz index 8446c98f99503ea32df73a1f6d8dee354175137b..5230da4dcf4a944e419a8f32a0caedac9d3c45b0 100644 --- a/actions/locomotion_posture_dynamics/D25/session_008/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D25/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ef7a554d44e0d2e5367bb945affd408a02471fa27f21968ed5bee212d84d6449 -size 2725514 +oid sha256:23b95bf553d11726084408070528b04834dcee7e16365001c9df406b63dbcc3c +size 5011511 diff --git a/actions/locomotion_posture_dynamics/D25/session_009/annotations.json b/actions/locomotion_posture_dynamics/D25/session_009/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..957cbc290df4f67c802683572713cb5ce51ce6f8 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D25/session_009/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": "D25", + "instruction": "Move as if avoiding punches: slip your head side to side, duck, and raise your guard. 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Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D25/session_009/cameras/slam.npz b/actions/locomotion_posture_dynamics/D25/session_009/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..a71931fb077fe0f2fb93bba648437822e48db7d6 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D25/session_009/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c87247b9ab53d91d1e78b5e98af7816e6f5127cee39ffc69d3eaaf4913096897 +size 428517 diff --git a/actions/locomotion_posture_dynamics/D25/session_009/meta.json b/actions/locomotion_posture_dynamics/D25/session_009/meta.json index 1a1d12ba7134d38120395ee1ce1ba3c965807d3b..ec73de171fbc047a22c8307f6ead3eac5c52c80e 100644 --- a/actions/locomotion_posture_dynamics/D25/session_009/meta.json +++ b/actions/locomotion_posture_dynamics/D25/session_009/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": { @@ -516,10 +516,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1058737154121507 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 50.07, + "offset_rotvec": [ + 0.8508, + -0.1824, + 0.0804 + ], + "dev_deg": { + "median": 35.64, + "p90": 82.61 + }, + "samples": 918, + "accepted": 378, + "wrist_pos_err_mm_median": 160.2, + "per_camera": { + "head": { + "samples": 918, + "accepted": 378, + "gate_deg": 30.0, + "offset_deg": 50.07, + "tier": "primary", + "dev_deg_median": 35.64, + "wrist_pos_err_mm_median": 160.2 + } + }, + "frames_by_state": { + "ace_sample": 1502, + "interpolated": 1682, + "mean_hand": 5700, + "no_body_fit": 0 + }, + "observed_fraction": 0.3584, + "observed_fraction_of_valid": 0.3584, + "palm_axis_vs_markers_deg": { + "gsi": 48.73, + "smplx": 0.66 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.4, + "p90": 8.0 + }, + "registered": { + "median": 7.2, + "p90": 10.4 + } + } + }, + "right": { + "offset_deg": 13.66, + "offset_rotvec": [ + 0.1289, + 0.1945, + 0.0494 + ], + "dev_deg": { + "median": 21.07, + "p90": 39.33 + }, + "samples": 1325, + "accepted": 992, + "wrist_pos_err_mm_median": 53.2, + "per_camera": { + "head": { + "samples": 1325, + "accepted": 992, + "gate_deg": 30.0, + "offset_deg": 13.66, + "tier": "primary", + "dev_deg_median": 21.07, + "wrist_pos_err_mm_median": 53.2 + } + }, + "frames_by_state": { + "ace_sample": 4126, + "interpolated": 3466, + "mean_hand": 1292, + "no_body_fit": 0 + }, + "observed_fraction": 0.8546, + "observed_fraction_of_valid": 0.8546, + "palm_axis_vs_markers_deg": { + "gsi": 20.7, + "smplx": 1.97 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.7, + "p90": 11.2 + }, + "registered": { + "median": 7.4, + "p90": 9.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:41:15.457904+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/D25/session_009", "family": "locomotion_posture_dynamics", "primitive": "D25", "source_session": "20260923/D25/20260923_113016_session45" + }, + "task": { + "primitive": "D25", + "instruction": "Move as if avoiding punches: slip your head side to side, duck, and raise your guard. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D25/session_009/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D25/session_009/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..0611cafc701b04a90d50623077276d7f1c7499fa --- /dev/null +++ b/actions/locomotion_posture_dynamics/D25/session_009/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59dc4325d92a90c65e3cc1033c28f7cf7a07eb86524fe5caba6f1f213554c9dd +size 1611106 diff --git a/actions/locomotion_posture_dynamics/D25/session_009/motions/smplx.npz b/actions/locomotion_posture_dynamics/D25/session_009/motions/smplx.npz index cd1b283ea406c28e534b8bf7a8940136af0590ec..bab5454c77b3f133c1378f0fb3b69db0a2b1b7b0 100644 --- a/actions/locomotion_posture_dynamics/D25/session_009/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D25/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b942411e726f5bc649c2cea6dbb93abc87f1416ec3aa6b158b3d29a9872e4060 -size 3410684 +oid sha256:55e88ced153e94ebfba89e9911a443343c808ec87c1e6ece331998caebad24b8 +size 5495753 diff --git a/actions/locomotion_posture_dynamics/D25/session_010/annotations.json b/actions/locomotion_posture_dynamics/D25/session_010/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..f8ce3789a700d761a359ef75ecd8a96f89d980c1 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D25/session_010/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": "D25", + "instruction": "Move as if avoiding punches: slip your head side to side, duck, and raise your guard. 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Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D25/session_010/cameras/slam.npz b/actions/locomotion_posture_dynamics/D25/session_010/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..68ec5807df4092f164f31e21a7205537c6966cce --- /dev/null +++ b/actions/locomotion_posture_dynamics/D25/session_010/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5de61e1490dfbd2bb5e471b5ea4b34c639adab848cb91368b4a9bb5fb855e335 +size 426646 diff --git a/actions/locomotion_posture_dynamics/D25/session_010/meta.json b/actions/locomotion_posture_dynamics/D25/session_010/meta.json index d16f64ee7a64a5676c8e9aa2c10b1ba9a8c12d44..72484d029f020dfd294e305d349cf4c302920fba 100644 --- a/actions/locomotion_posture_dynamics/D25/session_010/meta.json +++ b/actions/locomotion_posture_dynamics/D25/session_010/meta.json @@ -520,5 +520,9 @@ "family": "locomotion_posture_dynamics", "primitive": "D25", "source_session": "20260929/D25/20260929_013921_session20" + }, + "task": { + "primitive": "D25", + "instruction": "Move as if avoiding punches: slip your head side to side, duck, and raise your guard. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D25/session_010/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D25/session_010/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..6af89f7343890bc207eb105b57036accba7abb4a --- /dev/null +++ b/actions/locomotion_posture_dynamics/D25/session_010/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d89de23e3b65cc0a4040f837a37a09f07da04052a6b91e5a33b0669a4301035e +size 1906802 diff --git a/actions/locomotion_posture_dynamics/D25/session_011/annotations.json b/actions/locomotion_posture_dynamics/D25/session_011/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..97027ea1b55124bf966865a9ae159a8db5cc46f1 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D25/session_011/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": "D25", + "instruction": "Move as if avoiding punches: slip your head side to side, duck, and raise your guard. 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Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D25/session_011/cameras/slam.npz b/actions/locomotion_posture_dynamics/D25/session_011/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..5235e559a20ba1329bf6b3a48708fc982065213b --- /dev/null +++ b/actions/locomotion_posture_dynamics/D25/session_011/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e21851f5ecedd2b3b7d14dccd6aa1f1c0c64f44f0a21a7bb1b35192c664104f +size 513745 diff --git a/actions/locomotion_posture_dynamics/D25/session_011/meta.json b/actions/locomotion_posture_dynamics/D25/session_011/meta.json index c1fbfe098fb45f9a7cd251eecec57697dc57ddd4..49b84f71de83cae337f532242946d353c636ed48 100644 --- a/actions/locomotion_posture_dynamics/D25/session_011/meta.json +++ b/actions/locomotion_posture_dynamics/D25/session_011/meta.json @@ -539,5 +539,9 @@ "family": "locomotion_posture_dynamics", "primitive": "D25", "source_session": "20260929/D25/20260929_092326_session170" + }, + "task": { + "primitive": "D25", + "instruction": "Move as if avoiding punches: slip your head side to side, duck, and raise your guard. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D25/session_011/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D25/session_011/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..622b0df84e6b9faa38ec8f45db472c9cc93d6d3e --- /dev/null +++ b/actions/locomotion_posture_dynamics/D25/session_011/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c08f7d1a46bb937dc49b5409d734775c909ca5d3a94d2c912c661b4d2f1f95a +size 3265898 diff --git a/actions/locomotion_posture_dynamics/D25/session_012/annotations.json b/actions/locomotion_posture_dynamics/D25/session_012/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..ac5adc9581ab3f725e6a98cf99646579a26845a6 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D25/session_012/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": "D25", + "instruction": "Move as if avoiding punches: slip your head side to side, duck, and raise your guard. 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0000000000000000000000000000000000000000..52faf0533c9a3c808c5a131da638ef5ae7ca11b4 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D25/session_013/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2271c6207e5afdf9ebe0d5dd8a999d7fa24605fedce1f844c3911a06970167ad +size 399535 diff --git a/actions/locomotion_posture_dynamics/D25/session_013/meta.json b/actions/locomotion_posture_dynamics/D25/session_013/meta.json index 7caf1375cc7820ccd60f4036ec12d8ba83afddca..8fa09c80b0d606457a1ebf6a658903c11425eaaa 100644 --- a/actions/locomotion_posture_dynamics/D25/session_013/meta.json +++ b/actions/locomotion_posture_dynamics/D25/session_013/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": 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0000000000000000000000000000000000000000..b39436959c3f57b0a82641d7f25753958ecb9f2b --- /dev/null +++ b/actions/locomotion_posture_dynamics/D26/session_001/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56c0828ba8aefdada077df9cb1a141e78ae36c7742d540964bb4982c3b4a02c1 +size 398772 diff --git a/actions/locomotion_posture_dynamics/D26/session_001/meta.json b/actions/locomotion_posture_dynamics/D26/session_001/meta.json index a9f69c4635a2b5dc7798d4f64c5d85be2988e569..49cf24b7072e2e65f02c5cdd9ef916a8c22a0209 100644 --- a/actions/locomotion_posture_dynamics/D26/session_001/meta.json +++ b/actions/locomotion_posture_dynamics/D26/session_001/meta.json @@ -349,8 +349,8 @@ "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": { @@ -530,10 +530,124 @@ "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": 8.3, + "offset_rotvec": [ + -0.0342, + -0.1405, + 0.0077 + ], + "dev_deg": { + "median": 14.67, + "p90": 46.08 + }, + "samples": 1710, + "accepted": 1411, + "wrist_pos_err_mm_median": 38.2, + "per_camera": { + "head": { + "samples": 1710, + "accepted": 1411, + "gate_deg": 30.0, + "offset_deg": 8.3, + "tier": "primary", + "dev_deg_median": 14.67, + "wrist_pos_err_mm_median": 38.2 + } + }, + "frames_by_state": { + "ace_sample": 5892, + "interpolated": 1930, + "mean_hand": 442, + 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b/actions/locomotion_posture_dynamics/D26/session_002/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..32ea7c40ec1dbca5c49498c27da778a3442b051d --- /dev/null +++ b/actions/locomotion_posture_dynamics/D26/session_002/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f88790d17548e858033bab3d2aaa2ba2d8ec7b7b89d19447a228d7846b0db190 +size 398962 diff --git a/actions/locomotion_posture_dynamics/D26/session_002/meta.json b/actions/locomotion_posture_dynamics/D26/session_002/meta.json index 229009634b046ac2b44d5b576dc9c98c41278f5a..2b11c35841676bb54c65a4eab3b13bf45b305854 100644 --- a/actions/locomotion_posture_dynamics/D26/session_002/meta.json +++ b/actions/locomotion_posture_dynamics/D26/session_002/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)", 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index 0000000000000000000000000000000000000000..4ea95b093dfe2df16f33c052057b3c591ff4be33 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D26/session_003/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c14852a65f3f983ff4a0dcf5dea0127bde938f30d20d6882bd098054e6b7725 +size 2082526 diff --git a/actions/locomotion_posture_dynamics/D26/session_003/motions/smplx.npz b/actions/locomotion_posture_dynamics/D26/session_003/motions/smplx.npz index a0edc4073e628f4caea45bf5c66d1405fea026f5..c70c7baa77c62f0960198d41dd848647b709b7fd 100644 --- a/actions/locomotion_posture_dynamics/D26/session_003/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D26/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a2ff7b297a34ed5d50930d445a676d4de608a8c012824fba2628d677dd5dc2c2 -size 3210035 +oid sha256:28103776acb83ab043d8fca5625b8e91ef0a83dde1ce63928352e69a499df3a0 +size 5846266 diff --git 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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": { @@ -514,10 +514,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0485393293736078 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.99, + "offset_rotvec": [ + 0.0346, + 0.1107, + -0.1301 + ], + "dev_deg": { + "median": 9.98, + "p90": 21.96 + }, + "samples": 1614, + "accepted": 1547, + "wrist_pos_err_mm_median": 50.6, + "per_camera": { + "head": { + "samples": 1614, + "accepted": 1547, + "gate_deg": 30.0, + "offset_deg": 9.99, + "tier": "primary", + "dev_deg_median": 9.98, + "wrist_pos_err_mm_median": 50.6 + } + }, + "frames_by_state": { + 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b/actions/locomotion_posture_dynamics/D26/session_009/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..829c9e3182b2b8852ad62c8ef17bd3ecc73f21c4 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D26/session_009/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ac18979ca4e52bc7ffa75cc9a1d0f93f844c693230f2d8fb6fdcec633a63720 +size 428767 diff --git a/actions/locomotion_posture_dynamics/D26/session_009/meta.json b/actions/locomotion_posture_dynamics/D26/session_009/meta.json index 26d6a9515109489a7f617ff8ba64c7633e8036ed..e9d8cabb752fe51cadb3d10e601165fbef0b4db3 100644 --- a/actions/locomotion_posture_dynamics/D26/session_009/meta.json +++ b/actions/locomotion_posture_dynamics/D26/session_009/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)", 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--git a/actions/locomotion_posture_dynamics/D26/session_009/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D26/session_009/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..cc0b2691fff29abd5a6f89501a86e13761e3f8bf --- /dev/null +++ b/actions/locomotion_posture_dynamics/D26/session_009/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f2fbfeecf54a00b8bda61711b662fe6af9c329856117981d72b6a7625a04581 +size 1750630 diff --git a/actions/locomotion_posture_dynamics/D26/session_009/motions/smplx.npz b/actions/locomotion_posture_dynamics/D26/session_009/motions/smplx.npz index a5b0b929c67796fa39732cbd99016ee040e95e08..ae9f03e3a83261333dd4f9a6d262eede496b9354 100644 --- a/actions/locomotion_posture_dynamics/D26/session_009/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D26/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid 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b/actions/locomotion_posture_dynamics/D26/session_010/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..f0c65af1c95e2fce6491f8f910cb19e6eabbb073 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D26/session_010/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fae6d9382205eaf022ad8e7c031a151f6177bc6f031937fb13c49801b8528634 +size 455061 diff --git a/actions/locomotion_posture_dynamics/D26/session_010/meta.json b/actions/locomotion_posture_dynamics/D26/session_010/meta.json index 1bfd626ac65445a8976b4095c3ad7072638e0eb0..4fa3db40d2e0e3aac1f8be78d81e6611f340bdf4 100644 --- a/actions/locomotion_posture_dynamics/D26/session_010/meta.json +++ b/actions/locomotion_posture_dynamics/D26/session_010/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": { @@ -546,10 +546,124 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 32.54, + "offset_rotvec": [ + 0.1297, + 0.242, + -0.4973 + ], + "dev_deg": { + "median": 29.98, + "p90": 62.06 + }, + "samples": 1369, + "accepted": 686, + "wrist_pos_err_mm_median": 66.6, + "per_camera": { + "head": { + "samples": 1369, + "accepted": 686, + "gate_deg": 30.0, + "offset_deg": 32.54, + "tier": "primary", + "dev_deg_median": 29.98, + "wrist_pos_err_mm_median": 66.6 + } + }, + "frames_by_state": { + "ace_sample": 2782, + "interpolated": 1882, + "mean_hand": 4820, + "no_body_fit": 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0000000000000000000000000000000000000000..cf58f4663b6d9f288affb9a24bb0959be26bd07b --- /dev/null +++ b/actions/locomotion_posture_dynamics/D26/session_011/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ba3cf32ddc7ba97aa88976a6075ee493c82242f0955995085117f08f24009e1 +size 456469 diff --git a/actions/locomotion_posture_dynamics/D26/session_011/meta.json b/actions/locomotion_posture_dynamics/D26/session_011/meta.json index ec739e930cc0f762eb788cc4df1f209bfe47010d..54f222a21990c6c10b6132f50f24d849d3bd4dec 100644 --- a/actions/locomotion_posture_dynamics/D26/session_011/meta.json +++ b/actions/locomotion_posture_dynamics/D26/session_011/meta.json @@ -323,8 +323,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": 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sha256:d7c9b8279ffebabb539fa00542167ad7ae231f591771085e6c1910e3e3a52cb7 +size 542943 diff --git a/actions/locomotion_posture_dynamics/D27/session_004/meta.json b/actions/locomotion_posture_dynamics/D27/session_004/meta.json index e2c70d77341b75263618a7e16721eb7d31d474cf..69b31905cf031dafb267e0e7861ff7adb5e5ac10 100644 --- a/actions/locomotion_posture_dynamics/D27/session_004/meta.json +++ b/actions/locomotion_posture_dynamics/D27/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": 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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0000000000000000000000000000000000000000..76edbad550ea3db50243d979289919de71721edf --- /dev/null +++ b/actions/locomotion_posture_dynamics/D27/session_007/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58a17254e8e3a8242eed1484886f94198aface7df9d226b714b41784af2037c5 +size 515234 diff --git a/actions/locomotion_posture_dynamics/D27/session_007/meta.json b/actions/locomotion_posture_dynamics/D27/session_007/meta.json index c8eb4824b18697eac1c8e4316a32e81e44e6c4d2..f3094728216d7afe8bcf6db9acd750c618f05765 100644 --- a/actions/locomotion_posture_dynamics/D27/session_007/meta.json +++ b/actions/locomotion_posture_dynamics/D27/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": 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a/actions/locomotion_posture_dynamics/D27/session_009/meta.json +++ b/actions/locomotion_posture_dynamics/D27/session_009/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": 1.5884320429616339 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 21.2, + "offset_rotvec": [ + 0.3118, + -0.107, + -0.1679 + ], + 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to upbeat music; keep moving continuously." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D27/session_010/cameras/slam.npz b/actions/locomotion_posture_dynamics/D27/session_010/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..0fa1f691ca0068f5900f5a901fe5da0b3449473a --- /dev/null +++ b/actions/locomotion_posture_dynamics/D27/session_010/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6f938f6b399d4eb78d4aedadf6b90fdede9880002de9c8f28629d74f6f5b872 +size 397247 diff --git a/actions/locomotion_posture_dynamics/D27/session_010/meta.json b/actions/locomotion_posture_dynamics/D27/session_010/meta.json index ceae63d1f8895da261fc9a177404d34dbe673910..78bdf803187ca32e2cc3663f5e98a2b65946d409 100644 --- a/actions/locomotion_posture_dynamics/D27/session_010/meta.json +++ b/actions/locomotion_posture_dynamics/D27/session_010/meta.json @@ -324,8 +324,8 @@ "frame": "canonical (meta.canonical): Z-up metres; 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0000000000000000000000000000000000000000..03454a96fb3c6ad58ba6c159d6d877ca91c31605 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D28/session_002/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43888b6a3db28400b5a3682af5c7c4c5b3c227df66556522c6ff6802df6eb1b7 +size 512281 diff --git a/actions/locomotion_posture_dynamics/D28/session_002/meta.json b/actions/locomotion_posture_dynamics/D28/session_002/meta.json index 72f412fa669705b028f38196fc5fe29b713b941d..839eafba05f83fccb97dd8a03b231dc5a2dd3851 100644 --- a/actions/locomotion_posture_dynamics/D28/session_002/meta.json +++ b/actions/locomotion_posture_dynamics/D28/session_002/meta.json @@ -340,8 +340,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": 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"observed_fraction": 0.5841, + "observed_fraction_of_valid": 0.5844, + "palm_axis_vs_markers_deg": { + "gsi": 17.99, + "smplx": 2.02 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.5, + "p90": 8.3 + }, + "registered": { + "median": 7.3, + "p90": 9.1 + } + } + }, + "right": { + "offset_deg": 3.33, + "offset_rotvec": [ + 0.0056, + 0.0108, + 0.0568 + ], + "dev_deg": { + "median": 14.17, + "p90": 37.36 + }, + "samples": 1336, + "accepted": 1139, + "wrist_pos_err_mm_median": 133.7, + "per_camera": { + "head": { + "samples": 1336, + "accepted": 1139, + "gate_deg": 30.0, + "offset_deg": 3.33, + "tier": "primary", + "dev_deg_median": 14.17, + "wrist_pos_err_mm_median": 133.7 + } + }, + "frames_by_state": { + "ace_sample": 4610, + "interpolated": 2250, + "mean_hand": 3817, + "no_body_fit": 7 + }, + "observed_fraction": 0.6421, + "observed_fraction_of_valid": 0.6425, + "palm_axis_vs_markers_deg": { + "gsi": 11.35, + "smplx": 1.31 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.9, + "p90": 8.9 + }, + "registered": { + "median": 7.0, + "p90": 8.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T14:15:14.124168+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/D28/session_002", "family": "locomotion_posture_dynamics", "primitive": "D28", "source_session": "20260907/D28/20260907_043553_session81" + }, + "task": { + "primitive": "D28", + "instruction": "Dance freely at a slow tempo as if to slow music; keep moving continuously." } } diff --git a/actions/locomotion_posture_dynamics/D28/session_002/motions/hands_mano.npz 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