diff --git a/.gitattributes b/.gitattributes index 84f7b3b4a3a74c08285796ac49dc5994bf527efe..1524418129d5d6da6ea84367ad3d16a06feb0289 100644 --- a/.gitattributes +++ b/.gitattributes @@ -40147,3 +40147,12 @@ actions/environment_coupled_wholebody/EC07/session_011/raw/sensors/robowrist_imu actions/environment_coupled_wholebody/EC07/session_011/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text actions/environment_coupled_wholebody/EC07/session_011/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text actions/environment_coupled_wholebody/EC07/session_011/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text +actions/environment_coupled_wholebody/EC08/session_020/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text +actions/environment_coupled_wholebody/EC08/session_020/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text +actions/environment_coupled_wholebody/EC08/session_020/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text +actions/environment_coupled_wholebody/EC08/session_020/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text +actions/environment_coupled_wholebody/EC08/session_020/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text +actions/environment_coupled_wholebody/EC08/session_020/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text +actions/environment_coupled_wholebody/EC08/session_020/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text +actions/environment_coupled_wholebody/EC08/session_020/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text +actions/environment_coupled_wholebody/EC08/session_020/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text diff --git a/actions/environment_coupled_wholebody/EC08/session_019/meta.json b/actions/environment_coupled_wholebody/EC08/session_019/meta.json index 7bec23dae2a728356aa150dcd51fc9e2d193a773..874ac1d3a0f74acbdfba47710b3b5177b1c15c46 100644 --- a/actions/environment_coupled_wholebody/EC08/session_019/meta.json +++ b/actions/environment_coupled_wholebody/EC08/session_019/meta.json @@ -432,19 +432,19 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 165.66, + "Q_deg": 180.0, "Q_rotvec": [ - -2.85603, - -0.23431, - 0.3851 + -2.99023, + 0.44902, + 0.85237 ], - "in_out_sign": -1, - "wrist_bend_deg_median": 147.3, - "opposite_sign_bend_deg": 48.3, - "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": 1, + "wrist_bend_deg_median": 173.9, + "opposite_sign_bend_deg": 20.2, + "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.54, "hand_vs_marker_frame_deg": { - "before": 165.79, + "before": 178.85, "after": 3.54 }, "markers_on_wrist": [ @@ -452,15 +452,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -146.74, + "twist_moved_deg": -166.23, "wrist_twist_deg_after": { - "median": -0.0, + "median": -10.77, "iqr": [ - -4.9, - 6.0 + -16.6, + -4.0 ] }, - "wrist_total_deg_median_after": 20.3, + "wrist_total_deg_median_after": 35.7, "markers_on_forearm": [ "LElbow", "LElbowIn", @@ -473,19 +473,19 @@ }, "right": { "status": "corrected", - "Q_deg": 58.1, + "Q_deg": 0.0, "Q_rotvec": [ - 0.42754, - 0.53258, - -0.74951 + -0.0, + -1e-05, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 44.6, - "opposite_sign_bend_deg": 154.6, + "wrist_bend_deg_median": 36.7, + "opposite_sign_bend_deg": 173.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.15, "hand_vs_marker_frame_deg": { - "before": 59.17, + "before": 6.15, "after": 6.15 }, "markers_on_wrist": [ @@ -493,7 +493,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -29.56, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -510,7 +510,7 @@ }, "frames_used": 1099 }, - "generated_at_utc": "2026-10-26T13:56:09.330412+00:00", + "generated_at_utc": "2026-10-28T06:46:18.763384+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -519,5 +519,19 @@ "family": "environment_coupled_wholebody", "primitive": "EC08", "source_session": "20261022/EC08/20261022_114833_session47" - } + }, + "objects": [ + { + "name": "BigBox", + "object_type": "BigBox", + "source": "mocap", + "pose_frame": "mesh" + }, + { + "name": "LowStep", + "object_type": "LowStep", + "source": "mocap", + "pose_frame": "rigid_body" + } + ] } diff --git a/actions/environment_coupled_wholebody/EC08/session_019/motions/object_markers.npz b/actions/environment_coupled_wholebody/EC08/session_019/motions/object_markers.npz new file mode 100644 index 0000000000000000000000000000000000000000..aeb504b3438bb27e86aace5da7823862e45201d5 --- /dev/null +++ b/actions/environment_coupled_wholebody/EC08/session_019/motions/object_markers.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:498431f233c0392ea2ce8de22a2d80660f8c1308a77bfdc04627723a2c019a1d +size 870891 diff --git a/actions/environment_coupled_wholebody/EC08/session_019/motions/objects.json b/actions/environment_coupled_wholebody/EC08/session_019/motions/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..d81fde3b90bc4615751c1d5e6f9030e9d6d0db73 --- /dev/null +++ b/actions/environment_coupled_wholebody/EC08/session_019/motions/objects.json @@ -0,0 +1,60 @@ +{ + "session": "20261022/EC08/20261022_114833_session47", + "generated_at_utc": "2026-10-28T02:50:42.163875+00:00", + "generated_by": "scripts/export_objects.py", + "frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)", + "grid": "body grid (smplx.npz t / frame_index)", + "held_by": "from mocap hands", + "instances": [ + { + "name": "BigBox", + "object_type": "BigBox", + "source": "mocap", + "pose_frame": "mesh", + "mesh": "objects/BigBox/bigbox.ply", + "calibration": { + "instance": "BigBox", + "rms_mm": 0.93 + }, + "valid_pct": 99.98, + "verified_pct": 99.98, + "moving_pct": 81.33, + "vision_source": null + }, + { + "name": "LowStep", + "object_type": "LowStep", + "source": "mocap", + "pose_frame": "rigid_body", + "mesh": null, + "calibration": null, + "valid_pct": 99.99, + "verified_pct": 99.99, + "moving_pct": 3.59, + "vision_source": null + } + ], + "object_list": { + "status": "corrected", + "notes": [], + "declared": [ + "BigBox0", + "LowStep0" + ], + "listed": [ + { + "name": "BigBox", + "object": "BigBox", + "source": "mocap", + "needs_video_check": false + }, + { + "name": "LowStep", + "object": "LowStep", + "source": "mocap", + "needs_video_check": false + } + ] + }, + "notes": [] +} diff --git a/actions/environment_coupled_wholebody/EC08/session_019/motions/objects.npz 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+oid sha256:831981a83949177d4efe19ace847b0e99d5e0346971658348c0d74c88d715c90 +size 4211356 diff --git a/actions/environment_coupled_wholebody/EC08/session_019/raw/manifest.json b/actions/environment_coupled_wholebody/EC08/session_019/raw/manifest.json index 4de153cf6ae5ea3459182d782df9e58d575d3764..2401f06638473c89a9fecf14f1c0df858e815750 100644 --- a/actions/environment_coupled_wholebody/EC08/session_019/raw/manifest.json +++ b/actions/environment_coupled_wholebody/EC08/session_019/raw/manifest.json @@ -1,6 +1,6 @@ { "schema_version": 1, - "created_at_utc": "2026-10-26T12:37:00.129591+00:00", + "created_at_utc": "2026-10-27T10:34:20.337999+00:00", "primitive_id": "EC08", "session_id": "20261022_114833_session47", "upload_batch_id": "20261022", @@ -296,7 +296,7 @@ "participant": "wangjingjing", "repetition_count": 1 }, - "upload_batch_created_at": "2026-10-26T20:44:17.889163+08:00", + "upload_batch_created_at": "2026-10-27T18:35:49.835645+08:00", "participant_gender": "female", 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"EgoMotionActions/20261026/EC08/20261026_014539_session12", + "session_id": "20261026_014539_session12", + "primitive": "EC08", + "batch": "20261026", + "participant": "liujiaxin", + "participant_source": "manifest", + "device_ids": { + "main": "c9205ac6e17d2d5c", + "left": "cc5681142208e29a", + "right": "a85418f7d807dff9" + }, + "generated_at_utc": "2026-10-27T04:54:23.162882+00:00", + "generated_by": "scripts/sync_dataset.py", + "time_base": { + "definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled", + "mocap_rate_hz": 120.0, + "mocap_rate_fix": null, + "first_solved_frame": 0, + "duration_s": 136.95833333333334, + "mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)" + }, + "alignment": { + "reference_imu": "imu_head_right", + "model": "offset (median of windows)", + "mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample", + 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b/actions/environment_coupled_wholebody/EC08/session_020/raw/mocap/Tracker0.csv @@ -0,0 +1,16448 @@ +#Hierarchical Translation and Rotation (.csv) file +[Head] +NumFrames,NumSegments,DataFrameRate,EulerRotationOrder,BoneAxis,TranslationUnits +16436,1,120,ZYX,Y,mm + +[SegmentNames&Hierarchy] +Segment,Parent +Segment1,Global + +[SegmentData] + Frame# ,,Segment1,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, +,Timestamp,XToGlobal1,YToGlobal1,ZToGlobal1,VxToGlobal1,VyToGlobal1,VzToGlobal1,VrToGlobal1,AxToGlobal1,AyToGlobal1,AzToGlobal1,ArToGlobal1,QxToGlobal1,QyToGlobal1,QzToGlobal1,QwToGlobal1,ExToGlobal1,EyToGlobal1,EzToGlobal1,EVxToGlobal1,EVyToGlobal1,EVzToGlobal1,EAxToGlobal1,EAyToGlobal1,EAzToGlobal1,Segmentlength1, +1,1792978553023,237.279572, 1600.353149, 1419.650635, , , , , , , , , 0.032397, 0.994562, 0.070033, -0.069948, 172.172806, -8.260383, 176.834732, , , , , , , 198.108017, +2,1792978553031,248.562943, 1560.813232, 1345.501099, , , , , , , , , 0.004732, 0.993281, -0.109814, 0.036225, 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285.746582 1490.042236 1005.033142 172.623337 1479.445557 1019.840576 +814 6.775 1792978559795 143.620819 1519.371826 1082.208252 341.560089 1531.012085 1065.997070 285.346924 1489.688232 1004.806824 172.662048 1479.213501 1019.249268 144.025650 1519.357788 1081.997681 341.152954 1530.930664 1066.070312 285.565735 1489.784058 1004.672119 172.445572 1479.213135 1019.521301 +815 6.783 1792978559804 143.399612 1519.257568 1081.787720 341.351318 1530.887207 1065.702515 285.262299 1489.460327 1004.288025 172.597137 1479.032349 1018.983215 143.866852 1519.220947 1081.580444 340.997284 1530.806641 1065.701416 285.434692 1489.591187 1004.327087 172.311539 1479.018555 1019.152405 +816 6.791 1792978559812 143.159866 1519.017700 1081.191162 341.340576 1530.876953 1065.315552 285.227875 1489.369141 1003.869934 172.489471 1478.783081 1018.484375 143.714767 1518.993286 1081.007812 340.847382 1530.791260 1065.312622 285.390564 1489.476685 1003.909241 172.265060 1478.785645 1018.631409 +817 6.800 1792978559820 143.182159 1518.816406 1080.743286 341.151794 1530.702881 1064.777100 285.095215 1489.182373 1003.435364 172.345276 1478.587402 1017.875305 143.608749 1518.784912 1080.518799 340.738098 1530.602173 1064.797607 285.275055 1489.302979 1003.389404 172.152542 1478.599121 1018.125305 +818 6.808 1792978559829 142.893036 1518.569092 1080.116455 340.929535 1530.536987 1064.304688 284.895386 1489.132568 1002.901611 172.361572 1478.226685 1017.452698 143.398453 1518.488770 1079.951782 340.521851 1530.529175 1064.325684 285.138306 1489.138428 1002.907471 172.020905 1478.308838 1017.590515 +819 6.816 1792978559837 142.810135 1518.238647 1079.835815 340.892303 1530.390991 1063.691772 284.751648 1488.939697 1002.450439 172.182709 1478.003906 1016.977295 143.330734 1518.180420 1079.629883 340.425903 1530.351807 1063.751099 284.985718 1488.975098 1002.374695 171.894455 1478.066040 1017.199585 +820 6.825 1792978559845 142.522446 1517.845459 1079.261108 340.804047 1530.259644 1063.369385 284.723145 1488.662842 1002.080017 172.004227 1477.802246 1016.539368 143.130081 1517.868652 1079.096069 340.234497 1530.180420 1063.442017 284.894775 1488.755005 1002.007690 171.794495 1477.766235 1016.704224 +821 6.833 1792978559854 142.607422 1517.492432 1078.877930 340.623657 1529.843872 1062.799683 284.560852 1488.296997 1001.698486 171.957199 1477.369629 1016.224915 143.089539 1517.508789 1078.756470 340.178619 1529.815674 1062.906250 284.783447 1488.329590 1001.562744 171.697540 1477.348999 1016.375610 +822 6.841 1792978559862 142.733490 1517.045410 1078.513184 340.492004 1529.497070 1062.388916 284.477081 1487.810913 1001.237915 171.943985 1476.775391 1015.821533 143.068512 1517.013794 1078.367188 340.142212 1529.449585 1062.426758 284.753906 1487.856934 1001.149414 171.681946 1476.808472 1016.018188 +823 6.850 1792978559870 142.415268 1516.697266 1078.182739 340.432709 1529.306030 1062.099976 284.502533 1487.284912 1001.029907 171.945755 1476.205566 1015.538879 142.928116 1516.642944 1077.950684 340.002441 1529.245483 1062.149780 284.719482 1487.364136 1000.973999 171.646210 1476.241089 1015.777100 +824 6.858 1792978559879 142.370819 1516.265015 1077.770508 340.340302 1528.940796 1061.776367 284.229279 1486.805176 1000.723633 171.818069 1475.804321 1015.277344 142.796463 1516.260010 1077.617920 339.869598 1528.848022 1061.790527 284.582275 1486.908325 1000.658691 171.510117 1475.799072 1015.480652 +825 6.866 1792978559887 142.377762 1516.016724 1077.413452 340.191803 1528.448364 1061.401611 284.198822 1486.065430 1000.666016 171.815735 1475.273804 1014.953735 142.732254 1516.009521 1077.196411 339.829590 1528.357422 1061.481567 284.558258 1486.191528 1000.491028 171.463974 1475.245972 1015.265808 +826 6.875 1792978559895 142.376678 1515.615479 1077.195923 340.227905 1527.849243 1061.045654 284.132172 1485.610596 1000.278564 171.791641 1474.776367 1014.646729 142.755920 1515.557617 1076.955200 339.850647 1527.779297 1061.109253 284.506592 1485.696045 1000.127563 171.415222 1474.818726 1014.974792 +827 6.883 1792978559904 142.120361 1515.110596 1076.782959 340.116058 1527.630005 1060.740723 284.068848 1485.150635 1000.010437 171.640701 1474.312378 1014.427856 142.574112 1515.109741 1076.581421 339.661743 1527.537109 1060.807373 284.397797 1485.270508 999.879944 171.312317 1474.286133 1014.693298 +828 6.891 1792978559912 142.067245 1514.927368 1076.450684 339.544769 1527.767700 1060.425293 284.055878 1484.611938 999.796509 171.446198 1473.857422 1014.332886 142.320068 1514.928589 1076.202393 339.391022 1527.629272 1060.437988 284.237152 1484.854736 999.765808 171.165848 1473.751831 1014.598999 +829 6.900 1792978559920 142.088150 1514.626099 1076.168457 339.564484 1527.370239 1060.213989 283.995300 1484.225952 999.644226 171.417633 1473.538086 1014.034180 142.300323 1514.639404 1075.924561 339.385376 1527.220947 1060.240845 284.231964 1484.466797 999.553894 171.147888 1473.433350 1014.341492 +830 6.908 1792978559929 141.996338 1514.322021 1076.074097 339.490845 1526.977661 1059.867188 283.887115 1483.654541 999.506226 171.388199 1473.110840 1013.779114 142.246048 1514.322266 1075.726440 339.328888 1526.803467 1059.935303 284.134644 1483.952026 999.354126 171.052933 1472.987305 1014.210754 +831 6.916 1792978559937 141.924728 1514.079468 1075.765381 339.462463 1526.591187 1059.704346 283.656952 1483.072754 999.492981 171.288345 1472.539795 1013.775879 142.124786 1514.082031 1075.491699 339.219757 1526.423096 1059.742065 284.040405 1483.318237 999.327393 170.947510 1472.459961 1014.177368 +832 6.925 1792978559945 141.797623 1513.888428 1075.632812 339.343140 1526.104248 1059.595337 283.765076 1482.702637 999.281677 171.150986 1472.168579 1013.794678 142.066818 1513.840210 1075.364990 339.173279 1525.996826 1059.615479 283.959869 1482.886963 999.235413 170.856842 1472.139771 1014.088562 +833 6.933 1792978559954 141.712708 1513.575928 1075.716919 339.206055 1525.806396 1059.607788 283.383270 1482.176270 999.471741 170.927048 1471.751831 1013.993286 141.882401 1513.568848 1075.494019 338.982117 1525.655029 1059.606445 283.730560 1482.388794 999.373352 170.633972 1471.697754 1014.315979 +834 6.941 1792978559962 141.497375 1513.443115 1075.868042 339.050995 1525.466553 1059.575317 283.468140 1481.593262 999.547852 170.702927 1471.499878 1014.055908 141.770248 1513.436890 1075.516846 338.883148 1525.272827 1059.604492 283.587158 1481.912842 999.479675 170.478851 1471.380249 1014.445984 +835 6.950 1792978559970 141.254898 1513.369873 1075.829468 338.868317 1525.008667 1059.635010 283.088348 1481.085205 999.632507 170.465027 1471.278076 1014.227966 141.530640 1513.385010 1075.529785 338.669281 1524.808472 1059.634888 283.304108 1481.415283 999.597717 170.172577 1471.132935 1014.562683 +836 6.958 1792978559979 140.838318 1513.251221 1076.016846 338.675995 1524.595459 1059.766357 282.924866 1480.665283 999.744324 170.106415 1470.973511 1014.495911 141.269028 1513.236816 1075.686768 338.419220 1524.410278 1059.757202 282.999634 1480.984009 999.794373 169.857727 1470.854370 1014.785095 +837 6.966 1792978559987 140.707306 1513.245483 1076.012573 338.429443 1524.400635 1059.864258 282.647217 1480.456787 999.845947 169.855850 1470.913330 1014.498352 141.041794 1513.236084 1075.685547 338.210785 1524.195068 1059.840210 282.773254 1480.794189 999.875427 169.613998 1470.790894 1014.819885 +838 6.975 1792978559995 140.534943 1513.406372 1075.992920 338.058716 1524.202637 1059.919067 282.272461 1480.449707 999.924133 169.606430 1470.869385 1014.627747 140.764603 1513.351440 1075.723633 337.947632 1524.070679 1059.888916 282.466248 1480.683350 999.954956 169.294083 1470.822510 1014.896484 +839 6.983 1792978560004 140.185272 1513.458618 1076.013428 337.607239 1524.109619 1060.013428 281.848450 1480.501099 1000.083313 169.301544 1470.990112 1014.651855 140.374161 1513.419678 1075.764038 337.572510 1524.013794 1060.036255 282.091156 1480.709595 1000.042175 168.904694 1470.916260 1014.919556 +840 6.991 1792978560012 139.686203 1513.367920 1076.215210 337.218719 1524.012695 1060.246216 281.314392 1480.555786 1000.215271 168.677963 1471.011841 1014.775513 139.876358 1513.339966 1075.991089 337.075562 1523.896118 1060.248535 281.566284 1480.748413 1000.167542 168.379089 1470.963623 1015.044983 +841 7.000 1792978560020 139.093903 1513.296021 1076.370850 336.800262 1524.138306 1060.204590 280.925995 1480.530518 1000.369202 168.093536 1471.165283 1014.899109 139.394409 1513.363281 1076.131958 336.582031 1523.982056 1060.286865 281.056793 1480.802002 1000.243958 167.880463 1470.982544 1015.181030 +842 7.008 1792978560029 138.446548 1513.317627 1076.639526 336.080475 1524.143188 1060.396118 280.317200 1480.605469 1000.291138 167.644592 1471.046631 1015.101868 138.799698 1513.269897 1076.343262 335.971619 1524.025879 1060.395386 280.439606 1480.859985 1000.348511 167.277939 1470.957031 1015.341553 +843 7.016 1792978560037 138.167786 1513.216431 1076.869141 335.480103 1524.258179 1060.526001 279.679077 1480.756104 1000.381958 167.295273 1471.019531 1015.256897 138.349045 1513.148315 1076.597778 335.494537 1524.147949 1060.490479 279.957886 1481.002441 1000.433228 166.820755 1470.951538 1015.512634 +844 7.025 1792978560045 137.588730 1512.982300 1077.286621 334.908081 1524.367432 1060.668945 279.093292 1480.934814 1000.628906 166.359650 1470.861938 1015.636169 137.720398 1512.929321 1077.067749 334.820984 1524.261108 1060.644165 279.252014 1481.102417 1000.626282 166.156357 1470.853760 1015.882507 +845 7.033 1792978560054 136.791901 1512.650513 1077.756348 334.242798 1524.425415 1060.771973 278.369415 1480.762695 1000.872681 165.820480 1470.692261 1015.918762 137.060089 1512.625000 1077.453125 334.121674 1524.281738 1060.790649 278.551453 1481.029541 1000.841309 165.491409 1470.594604 1016.234741 +846 7.041 1792978560062 136.236984 1512.567261 1078.014404 333.548126 1524.423218 1060.859863 277.716278 1480.794312 1001.092468 165.252457 1470.466431 1016.308716 136.462967 1512.508301 1077.759644 333.496002 1524.352539 1060.892944 277.914490 1480.962646 1001.053772 164.880402 1470.427734 1016.569214 +847 7.050 1792978560070 135.424408 1512.299194 1078.506470 332.739838 1524.423706 1061.244141 276.932861 1480.442261 1001.421631 164.512405 1470.216309 1016.785645 135.679794 1512.255615 1078.201172 332.692047 1524.279053 1061.219116 277.126526 1480.737671 1001.475037 164.111115 1470.109131 1017.062561 +848 7.058 1792978560079 134.782242 1512.201294 1078.858154 332.209595 1524.368774 1061.519531 276.266571 1480.367676 1001.906982 163.707184 1470.082520 1017.140564 135.026566 1512.189697 1078.576660 332.034027 1524.214233 1061.539551 276.458038 1480.620483 1001.843506 163.447006 1469.995972 1017.465576 +849 7.066 1792978560087 133.969406 1512.072388 1079.305054 331.477112 1524.269165 1061.808594 275.651367 1480.309570 1002.251953 163.133240 1470.024048 1017.550354 134.350403 1512.057861 1078.985107 331.348053 1524.156616 1061.887207 275.767426 1480.564941 1002.193970 162.765259 1469.895752 1017.849609 +850 7.075 1792978560095 133.433853 1512.132568 1079.594482 330.660950 1524.404053 1062.076416 274.801575 1480.299805 1002.546814 162.394531 1469.791748 1018.041809 133.627411 1512.069092 1079.340332 330.601440 1524.307983 1062.071045 275.021515 1480.491821 1002.541748 162.040527 1469.759155 1018.306335 +851 7.083 1792978560104 132.563217 1512.044434 1079.983643 330.010620 1524.510498 1062.426636 274.124725 1480.300781 1002.804810 161.561066 1469.898071 1018.312073 132.869263 1512.023071 1079.687256 329.837524 1524.344849 1062.410889 274.264343 1480.586792 1002.832520 161.288498 1469.799194 1018.596497 +852 7.091 1792978560112 132.025833 1512.207397 1080.275757 329.239777 1524.522949 1062.630005 273.294769 1480.372925 1003.021973 160.869873 1469.986572 1018.524292 132.192963 1512.153809 1079.973267 329.159088 1524.359009 1062.590210 273.525909 1480.649658 1003.032104 160.552261 1469.927490 1018.856323 +853 7.100 1792978560120 131.231155 1512.320312 1080.434204 328.349518 1524.811157 1062.888428 272.579742 1480.628540 1003.117859 160.085556 1470.100830 1018.822327 131.378723 1512.251221 1080.170776 328.332642 1524.664551 1062.796753 272.748779 1480.893188 1003.238037 159.785797 1470.051880 1019.057312 +854 7.108 1792978560129 130.388870 1512.369873 1080.677124 327.717255 1524.953979 1062.943237 271.835632 1481.019531 1003.256348 159.404007 1470.328125 1018.950195 130.675827 1512.310303 1080.420044 327.611023 1524.858887 1062.931641 272.002563 1481.218140 1003.300110 159.056366 1470.284058 1019.175171 +855 7.116 1792978560137 129.713333 1512.556396 1080.754517 326.896576 1525.395874 1062.864868 271.083588 1481.435913 1003.193909 158.576416 1470.613770 1018.804260 129.915283 1512.486938 1080.447754 326.826172 1525.269897 1062.855835 271.226562 1481.661377 1003.192566 158.301895 1470.583862 1019.121399 +856 7.125 1792978560145 128.908218 1512.688965 1080.835327 326.151611 1525.730225 1062.757812 270.224243 1481.806152 1003.174316 157.798721 1470.939331 1018.833313 129.146545 1512.662842 1080.553101 326.031494 1525.603027 1062.786377 270.403168 1482.037109 1003.118652 157.501617 1470.861572 1019.142639 +857 7.133 1792978560153 128.130112 1512.797974 1080.885986 325.336792 1526.062744 1062.807495 269.684784 1482.278320 1002.921570 156.917725 1471.383667 1018.759399 128.399704 1512.788818 1080.592163 325.270660 1525.912842 1062.805054 269.644135 1482.562988 1002.978577 156.754913 1471.258057 1018.998596 +858 7.141 1792978560162 127.360382 1512.843994 1080.922241 324.522766 1526.471802 1062.649536 268.443237 1482.875610 1002.807068 156.326584 1471.608154 1018.685242 127.579498 1512.822632 1080.698853 324.398468 1526.360840 1062.648926 268.759277 1483.088013 1002.778503 155.915756 1471.528076 1018.937927 +859 7.150 1792978560170 126.655472 1513.027466 1081.007935 323.850708 1526.634033 1062.645386 267.827484 1483.123535 1002.637939 155.299637 1471.912720 1018.552551 126.857635 1513.003784 1080.736206 323.674683 1526.459717 1062.604126 267.971222 1483.381104 1002.653503 155.129761 1471.853027 1018.850037 +860 7.158 1792978560178 126.060486 1512.977173 1080.992798 323.039398 1526.797485 1062.607788 267.128845 1483.467163 1002.529663 154.813126 1472.104736 1018.399902 126.202942 1512.945557 1080.721191 323.002533 1526.661133 1062.594238 267.331390 1483.717773 1002.516663 154.504990 1472.022217 1018.698059 +861 7.166 1792978560187 125.193687 1513.062866 1080.832520 322.455322 1526.941162 1062.313843 266.522461 1483.756470 1002.368713 154.156784 1472.227051 1018.283508 125.530533 1513.038208 1080.576172 322.316010 1526.871826 1062.385620 266.647919 1483.921387 1002.310242 153.833786 1472.156006 1018.526489 +862 7.175 1792978560195 124.688316 1513.130737 1080.930420 321.721497 1527.123535 1062.206665 265.794617 1483.926270 1002.273132 153.379395 1472.248047 1018.320312 124.887215 1513.078491 1080.682495 321.639496 1527.046509 1062.237305 265.921021 1484.073730 1002.224670 153.136063 1472.229858 1018.585999 +863 7.183 1792978560203 124.201950 1513.018066 1080.935425 321.227356 1527.119385 1062.137329 265.189941 1483.977539 1002.202148 152.858734 1472.256348 1018.266724 124.379807 1512.981934 1080.708008 321.117249 1527.033081 1062.168091 265.376434 1484.127930 1002.127747 152.604446 1472.228271 1018.537964 +864 7.191 1792978560212 123.538132 1512.851074 1080.935547 320.641876 1527.150024 1062.000610 264.708160 1483.943481 1002.129211 152.343094 1472.289062 1018.289124 123.825912 1512.870239 1080.705933 320.545166 1527.066406 1062.083618 264.808228 1484.140747 1002.054382 152.051926 1472.156250 1018.510620 +865 7.200 1792978560220 123.086266 1512.723511 1081.049438 320.098724 1526.988647 1062.141479 264.004150 1483.715942 1002.238281 151.793915 1472.126709 1018.418640 123.277084 1512.745361 1080.843994 319.996735 1526.871460 1062.172729 264.232849 1483.940063 1002.172668 151.476379 1471.997925 1018.658447 +866 7.208 1792978560228 122.677345 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746.369934 +13750 114.575 1792978667552 196.053894 1523.192505 811.583740 394.274536 1531.645630 802.066650 338.581543 1500.456299 734.526001 225.673660 1491.160889 744.663147 196.199005 1523.233398 811.519897 393.906616 1531.556396 802.074707 339.090088 1500.551392 734.350525 225.387909 1491.114136 744.894409 +13751 114.583 1792978667561 196.992798 1522.779175 810.053650 395.397614 1531.011230 800.560120 339.730408 1499.998657 733.092896 226.836685 1490.751953 743.125671 197.280884 1522.810303 809.973267 395.001160 1530.964722 800.646790 340.195984 1500.054810 732.869995 226.479477 1490.711182 743.342346 +13752 114.591 1792978667569 198.208862 1522.306274 808.558655 396.390808 1530.637451 799.181763 340.896484 1499.416138 731.635925 228.031921 1490.194580 741.579590 198.389511 1522.324219 808.418640 396.112732 1530.560303 799.227234 341.372803 1499.526489 731.454346 227.653030 1490.143188 741.855713 +13753 114.600 1792978667577 199.247787 1521.816040 807.066345 397.431061 1530.101685 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sha256:43e4b6aadb442b5494c054f268c19191d37627677e8a060fc310f55cdb4c7486 +size 53500713 diff --git a/actions/environment_coupled_wholebody/EC08/session_020/videos/wrist_right.mp4 b/actions/environment_coupled_wholebody/EC08/session_020/videos/wrist_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cb53b830a077dd8405de6b0f5398c174b7c2f4eb --- /dev/null +++ b/actions/environment_coupled_wholebody/EC08/session_020/videos/wrist_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41435f8f0dd0552a5049e01cbc0e12e7ea4c9f1616285a76ce6a897bd62c10e8 +size 54108034 diff --git a/actions/environment_coupled_wholebody/EC09/session_001/meta.json b/actions/environment_coupled_wholebody/EC09/session_001/meta.json index b40391a3bd85ad1b383bafed43d10469ce40dd46..6a2bf74400b5f5e2701576d033812d71994e7b1e 100644 --- a/actions/environment_coupled_wholebody/EC09/session_001/meta.json +++ b/actions/environment_coupled_wholebody/EC09/session_001/meta.json @@ -384,19 +384,19 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 25.82, + "Q_deg": 180.0, "Q_rotvec": [ - -0.09571, - 0.03029, - 0.4394 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": -1, - "wrist_bend_deg_median": 37.1, - "opposite_sign_bend_deg": 162.4, - "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": 1, + "wrist_bend_deg_median": 170.2, + "opposite_sign_bend_deg": 30.7, + "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.56, "hand_vs_marker_frame_deg": { - "before": 27.49, + "before": 178.81, "after": 5.56 }, "markers_on_wrist": [ @@ -404,15 +404,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 14.3, + "twist_moved_deg": 105.91, "wrist_twist_deg_after": { - "median": -0.0, + "median": 69.38, "iqr": [ - -17.4, - 13.8 + 50.1, + 79.3 ] }, - "wrist_total_deg_median_after": 30.4, + "wrist_total_deg_median_after": 75.7, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -423,19 +423,19 @@ }, "right": { "status": "corrected", - "Q_deg": 112.9, + "Q_deg": 0.0, "Q_rotvec": [ - 1.92662, - 0.40953, - 0.05559 + -0.0, + -0.0, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 119.4, - "opposite_sign_bend_deg": 73.3, + "wrist_bend_deg_median": 26.2, + "opposite_sign_bend_deg": 172.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.47, "hand_vs_marker_frame_deg": { - "before": 112.81, + "before": 3.47, "after": 3.47 }, "markers_on_wrist": [ @@ -443,7 +443,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -117.76, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -460,7 +460,7 @@ }, "frames_used": 1188 }, - "generated_at_utc": "2026-10-15T10:37:01.835786+00:00", + "generated_at_utc": "2026-10-28T06:14:39.987463+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/environment_coupled_wholebody/EC09/session_001/motions/smplx.npz b/actions/environment_coupled_wholebody/EC09/session_001/motions/smplx.npz index ab01d7c418d8579ecc4a3846dcaa27d84cdf63e3..3b0630ec709639c3a41672f6d59b7104415e4568 100644 --- a/actions/environment_coupled_wholebody/EC09/session_001/motions/smplx.npz +++ b/actions/environment_coupled_wholebody/EC09/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5e0a6512cfe0417ce4baee7124fd691cc8bf0b170089cb1a24b8014f4d698452 -size 4560219 +oid sha256:bc0738b656de8beb7a77f39816cc5d3bcc368fed1180fde951466a7c73dc9332 +size 4562381 diff --git a/actions/environment_coupled_wholebody/EC09/session_002/meta.json b/actions/environment_coupled_wholebody/EC09/session_002/meta.json index 866ed7c418a1240b136b9234ad99c9c2e15db2ae..7fea6af8e95043491889c874057ae0dc6ecffe65 100644 --- a/actions/environment_coupled_wholebody/EC09/session_002/meta.json +++ b/actions/environment_coupled_wholebody/EC09/session_002/meta.json @@ -316,7 +316,7 @@ ] }, "smplx": { - "generated_at_utc": "2026-10-15T10:37:47.396727+00:00", + "generated_at_utc": "2026-10-27T15:08:43.602763+00:00", "generated_by": "scripts/fit_smplx_dataset.py", "file": "smplx.npz", "gender": "male", @@ -331,46 +331,46 @@ "hand_marker_offsets_m": { "left": { "LHandIn": [ - 0.04557168483734131, - 0.013028872199356556, - -0.030073419213294983 + 0.04688329994678497, + 0.01691451482474804, + -0.026567678898572922 ], "LHandOut": [ - 0.05632486939430237, - 0.018588175997138023, - 0.014934881590306759 + 0.05569321662187576, + 0.019367942586541176, + 0.01910450868308544 ] }, "right": { "RHandIn": [ - -0.06800724565982819, - -0.030687255784869194, - 0.006227652542293072 + -0.06803353875875473, + -0.030920827761292458, + 0.0062934476882219315 ], "RHandOut": [ - -0.06122802570462227, - 0.010066935792565346, - 0.03678758442401886 + -0.061437997967004776, + 0.010229583829641342, + 0.036355823278427124 ] } } }, "marker_rmse_mm": { - "median_frame": 5.42, - "p95_frame": 8.93 + "median_frame": 5.34, + "p95_frame": 8.54 }, "worst_markers": [ "RKneeIn 14mm", - "LForearm 11mm", "LKneeIn 10mm", - "LWristIn 10mm", - "WaistRFront 9mm" + "LHeadBack 9mm", + "WaistRFront 9mm", + "RKnee 9mm" ], "valid_fraction": 0.9995, "qc": { "lowest_vertex_mm": { "median": 5.8, - "p5": -3.3 + "p5": -3.2 }, "frames_checked": 396, "stature_mm": 1770.9 @@ -379,74 +379,74 @@ "weight": 1.0, "marker_height_mm": 11.0, "markers_on_surface": 52, - "surface_rmse_mm_median": 11.38 + "surface_rmse_mm_median": 10.63 }, "shape_source": "participant median", "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 17.42, + "Q_deg": 0.0, "Q_rotvec": [ - 0.04469, - -0.00402, - 0.30077 + -0.0, + -0.0, + -0.0 ], - "in_out_sign": -1, - "wrist_bend_deg_median": 82.7, - "opposite_sign_bend_deg": 111.5, - "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", - "marker_frame_spread_deg": 3.88, + "in_out_sign": 1, + "wrist_bend_deg_median": 37.0, + "opposite_sign_bend_deg": 169.1, + "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "marker_frame_spread_deg": 3.94, "hand_vs_marker_frame_deg": { - "before": 18.08, - "after": 3.88 + "before": 3.94, + "after": 3.94 }, "markers_on_wrist": [ "LHandIn", "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 79.0, + "twist_moved_deg": -1.58, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ - -12.6, - 6.7 + -11.3, + 8.1 ] }, - "wrist_total_deg_median_after": 26.9, + "wrist_total_deg_median_after": 37.3, "markers_on_forearm": [ "LForearm", "LWristIn", "LWristOut" ] }, - "frames_used": 1188 + "frames_used": 1153 }, "right": { "status": "corrected", - "Q_deg": 135.32, + "Q_deg": 0.0, "Q_rotvec": [ - 2.3407, - 0.3149, - 0.015 + -0.0, + -0.0, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 129.1, - "opposite_sign_bend_deg": 63.4, + "wrist_bend_deg_median": 22.3, + "opposite_sign_bend_deg": 174.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", - "marker_frame_spread_deg": 2.92, + "marker_frame_spread_deg": 2.91, "hand_vs_marker_frame_deg": { - "before": 135.17, - "after": 2.92 + "before": 2.91, + "after": 2.91 }, "markers_on_wrist": [ "RHandIn", "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -128.01, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -4.8, 11.8 @@ -461,7 +461,7 @@ }, "frames_used": 1188 }, - "generated_at_utc": "2026-10-15T10:37:50.002785+00:00", + "generated_at_utc": "2026-10-28T06:14:40.184532+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -505,6 +505,37 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1201306741341706 }, + "marker_relabel": { + "generated_at_utc": "2026-10-27T14:50:12.326482+00:00", + "generated_by": "scripts/relabel_marker_swaps.py", + "margin_s": 0.75, + "sides": { + "left": { + "evidence": [ + "imu" + ], + "frames_ok": 2683, + "frames_flipped": 9, + "stretches": [ + { + "t0": 3.55, + "t1": 4.95, + "dur_s": 1.4, + "marker_turn_deg": 29.0, + "confirm": "imu", + "err_as_labelled_deg": 108.1, + "err_swapped_deg": 8.0, + "calib_err_deg": 8.5, + "applied": true + } + ] + }, + "right": { + "status": "no IMU / GSI evidence" + } + }, + "applied": 1 + }, "release": { "release_path": "actions/environment_coupled_wholebody/EC09/session_002", "family": "environment_coupled_wholebody", diff --git a/actions/environment_coupled_wholebody/EC09/session_002/motions/markers.npz b/actions/environment_coupled_wholebody/EC09/session_002/motions/markers.npz index aa0248b0760fb31fa9b53e288a738bfacdb5f48e..a0675be81fa52032c4ce7912aac8ada36e257c63 100644 --- a/actions/environment_coupled_wholebody/EC09/session_002/motions/markers.npz +++ 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