diff --git a/.gitattributes b/.gitattributes index f18d9e8eae9d05da8372deda1907d509e2f5837d..b65d4c7ad508f5a465246eec583bde595af953a4 100644 --- a/.gitattributes +++ b/.gitattributes @@ -41218,3 +41218,12 @@ actions/dynamic_recovery/DR11/session_006/raw/sensors/robowrist_imu_left.db filt actions/dynamic_recovery/DR11/session_006/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text actions/dynamic_recovery/DR11/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text actions/dynamic_recovery/DR11/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text +actions/dynamic_recovery/DR11/session_007/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text +actions/dynamic_recovery/DR11/session_007/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text +actions/dynamic_recovery/DR11/session_007/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text +actions/dynamic_recovery/DR11/session_007/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text +actions/dynamic_recovery/DR11/session_007/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text +actions/dynamic_recovery/DR11/session_007/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text +actions/dynamic_recovery/DR11/session_007/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text +actions/dynamic_recovery/DR11/session_007/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text +actions/dynamic_recovery/DR11/session_007/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text diff --git a/actions/dynamic_recovery/DR11/session_007/raw/mocap/Body0.csv b/actions/dynamic_recovery/DR11/session_007/raw/mocap/Body0.csv new file mode 100644 index 0000000000000000000000000000000000000000..3f25697828116e8859c5524b4ff5be0c9086f8d5 --- /dev/null +++ b/actions/dynamic_recovery/DR11/session_007/raw/mocap/Body0.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:586d92f93333610ba7a2bd9cbd53efddf3146fbfbec4f7933a39c562b3a0ab13 +size 140550831 diff --git a/actions/dynamic_recovery/DR11/session_007/raw/mocap/Body0.trc b/actions/dynamic_recovery/DR11/session_007/raw/mocap/Body0.trc new file mode 100644 index 0000000000000000000000000000000000000000..2988f51a5c81e5b49ec7c8091cdd85d880b8da1d --- /dev/null +++ b/actions/dynamic_recovery/DR11/session_007/raw/mocap/Body0.trc @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:612238d75e4d668028e2f2b1a77ce44a963ff8079bfa6a48b8239ce3adaade3a +size 31188444 diff --git a/actions/dynamic_recovery/DR11/session_007/raw/mocap/Cushion.csv b/actions/dynamic_recovery/DR11/session_007/raw/mocap/Cushion.csv new file mode 100644 index 0000000000000000000000000000000000000000..19b8a250c9d478ca34d98ae83f57105f2b3f3c25 --- /dev/null +++ b/actions/dynamic_recovery/DR11/session_007/raw/mocap/Cushion.csv @@ -0,0 +1,16928 @@ +#Hierarchical Translation and Rotation (.csv) file +[Head] +NumFrames,NumSegments,DataFrameRate,EulerRotationOrder,BoneAxis,TranslationUnits +16916,1,120,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, +1,1793338383726,224.323898, 37.248859, -356.984344, , , , , , , , , 0.001859, 0.998822, 0.006398, -0.048070, 179.274521, -5.511731, 179.821594, , , , , , , 809.438416, +2,1793338383734,224.390091, 37.237019, -357.050201, , , , , , , , , 0.001818, 0.998822, 0.006387, -0.048059, 179.275604, -5.510520, 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"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": "DR12", + "instruction": "Carry the box in both hands and walk back and forth. The box may be tugged without warning. Hold on if you can and carry on. The operator will do it several times at random moments; do not try to guess when.", + "segments": [ + { + "id": "segment1", + "duration_s": 138.966667, + "video": "left_eye", + "video_t_start": 0.03885429462840051 + } + ], + "episodes": [ + { + "id": "962f61fd-e481-4b9b-ac85-98d21c839648", + "segment": "segment1", + "action": "DR12", + "quality": "valid", + "start_s": 0.928, + "end_s": 67.962, + "t_start": 0.9669, + "t_end": 68.0009, + "instruction": "Carry the box in both hands and walk back and forth. The box may be tugged without warning. Hold on if you can and carry on. The operator will do it several times at random moments; do not try to guess when." + }, + { + "id": "9b3d74e4-7b8a-4e18-99b6-4c697dc0bea2", + "segment": "segment1", + "action": "DR12", + "quality": "valid", + "start_s": 71.529, + "end_s": 136.069, + "t_start": 71.5679, + "t_end": 136.1079, + "instruction": "Carry the box in both hands and walk back and forth. The box may be tugged without warning. Hold on if you can and carry on. The operator will do it several times at random moments; do not try to guess when." + } + ] +} diff --git a/actions/dynamic_recovery/DR12/session_001/cameras/slam.npz b/actions/dynamic_recovery/DR12/session_001/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..5ee0f813e1e5ce6c7f2e2c47e4fcd916a3a91bdb --- /dev/null +++ b/actions/dynamic_recovery/DR12/session_001/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52c6d3fd2ada2af649b4c5c82b47c6d2ce92b9f712ac785f43343af8b011685b +size 803124 diff --git a/actions/dynamic_recovery/DR12/session_001/meta.json b/actions/dynamic_recovery/DR12/session_001/meta.json index 631ea1589c65d27811f61ad6c7682a49fb69d342..668a53245448edd75530380d2e8bf297a38f5d00 100644 --- a/actions/dynamic_recovery/DR12/session_001/meta.json +++ b/actions/dynamic_recovery/DR12/session_001/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": { @@ -511,10 +511,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8884279792535205 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 16.69, + "offset_rotvec": [ + -0.2017, + 0.1842, + -0.1013 + ], + "dev_deg": { + "median": 8.9, + "p90": 16.63 + }, + "samples": 3869, + "accepted": 3842, + "wrist_pos_err_mm_median": 50.1, + "per_camera": { + "head": { + "samples": 3869, + "accepted": 3842, + "gate_deg": 30.0, + "offset_deg": 16.69, + "tier": "primary", + "dev_deg_median": 8.9, + "wrist_pos_err_mm_median": 50.1 + } + }, + "frames_by_state": { + "ace_sample": 15370, + "interpolated": 38, + "mean_hand": 197, + "no_body_fit": 1079 + }, + "observed_fraction": 0.9235, + "observed_fraction_of_valid": 0.9874, + "palm_axis_vs_markers_deg": { + "gsi": 14.69, + "smplx": 1.82 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.3, + "p90": 11.4 + }, + "registered": { + "median": 9.3, + "p90": 11.0 + } + } + }, + "right": { + "offset_deg": 10.22, + "offset_rotvec": [ + -0.1366, + 0.0806, + 0.0817 + ], + "dev_deg": { + "median": 13.02, + "p90": 22.49 + }, + "samples": 3733, + "accepted": 3657, + "wrist_pos_err_mm_median": 59.9, + "per_camera": { + "head": { + "samples": 3733, + "accepted": 3657, + "gate_deg": 30.0, + "offset_deg": 10.22, + "tier": "primary", + "dev_deg_median": 13.02, + "wrist_pos_err_mm_median": 59.9 + } + }, + "frames_by_state": { + "ace_sample": 14688, + "interpolated": 644, + "mean_hand": 273, + "no_body_fit": 1079 + }, + "observed_fraction": 0.919, + "observed_fraction_of_valid": 0.9825, + "palm_axis_vs_markers_deg": { + "gsi": 12.25, + "smplx": 2.33 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.0, + "p90": 12.6 + }, + "registered": { + "median": 8.7, + "p90": 10.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T20:15:21.121356+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/dynamic_recovery/DR12/session_001", "family": "dynamic_recovery", "primitive": "DR12", "source_session": "20260915/DR12/20260915_111132_session139" + }, + "task": { + "primitive": "DR12", + "instruction": "Carry the box in both hands and walk back and forth. The box may be tugged without warning. Hold on if you can and carry on. The operator will do it several times at random moments; do not try to guess when." } } diff --git a/actions/dynamic_recovery/DR12/session_001/motions/hands_mano.npz b/actions/dynamic_recovery/DR12/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..9a1bd53e757e5abcce91318361385f3816cd2d2d --- /dev/null +++ b/actions/dynamic_recovery/DR12/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76d2d43a9e52c2a2e451e5f828ed69b8907dc54029795851c7213895d9eb9d53 +size 5439140 diff --git a/actions/dynamic_recovery/DR12/session_001/motions/smplx.npz b/actions/dynamic_recovery/DR12/session_001/motions/smplx.npz index 6bbd87fd5eb25debd40d5d789af66bc58dbb801c..c9a354f84f0671cea6a32f18dbcc3644ec7c47ba 100644 --- a/actions/dynamic_recovery/DR12/session_001/motions/smplx.npz +++ b/actions/dynamic_recovery/DR12/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5f04c0c243d7cf816958326c12100709b3b060188bf519f9e85c09240b9204af -size 6034266 +oid sha256:d6f928c412118ede5fa51aa550787b48a8b5e18ca0c3ba615afffaa4a002f948 +size 11219073 diff --git a/actions/dynamic_recovery/DR12/session_002/annotations.json b/actions/dynamic_recovery/DR12/session_002/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..0ffb59da3275e61b88b146ea895f0543744cf684 --- /dev/null +++ b/actions/dynamic_recovery/DR12/session_002/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 2)", + "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": "DR12", + "instruction": "Carry the box in both hands and walk back and forth. The box may be tugged without warning. Hold on if you can and carry on. The operator will do it several times at random moments; do not try to guess when.", + "segments": [ + { + "id": "segment1", + "duration_s": 138.966689, + "video": "left_eye", + "video_t_start": 0.03897290456746472 + } + ], + "episodes": [ + { + "id": "02095490-3d16-4303-be13-1664bb8f12e7", + "segment": "segment1", + "action": "DR12", + "quality": "valid", + "start_s": 0, + "end_s": 67.729, + "t_start": 0.039, + "t_end": 67.768, + "instruction": "Carry the box in both hands and walk back and forth. The box may be tugged without warning. Hold on if you can and carry on. The operator will do it several times at random moments; do not try to guess when." + }, + { + "id": "655a3821-483b-45c5-8801-deb01ef3477f", + "segment": "segment1", + "action": "DR12", + "quality": "valid", + "start_s": 70.101, + "end_s": 132.542, + "t_start": 70.14, + "t_end": 132.581, + "instruction": "Carry the box in both hands and walk back and forth. The box may be tugged without warning. Hold on if you can and carry on. The operator will do it several times at random moments; do not try to guess when." + } + ] +} diff --git a/actions/dynamic_recovery/DR12/session_002/cameras/slam.npz b/actions/dynamic_recovery/DR12/session_002/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..8b5e1f4bc61863b607eda18a631d0401af9a40b3 --- /dev/null +++ b/actions/dynamic_recovery/DR12/session_002/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb6ab16fe26890f7c4354a0798e32fb586f4f8dc4a4c38fed6d781c15c3b8090 +size 800070 diff --git a/actions/dynamic_recovery/DR12/session_002/meta.json b/actions/dynamic_recovery/DR12/session_002/meta.json index 21afb28c7fccfce25eb3b614795db62ff947c0a3..4a45274884dd735ff984eed7283fe6c10cedb686 100644 --- a/actions/dynamic_recovery/DR12/session_002/meta.json +++ b/actions/dynamic_recovery/DR12/session_002/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": { @@ -512,10 +512,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.434506031967439 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 12.83, + "offset_rotvec": [ + -0.1148, + 0.192, + 0.0106 + ], + "dev_deg": { + "median": 5.31, + "p90": 11.73 + }, + "samples": 4162, + "accepted": 4031, + "wrist_pos_err_mm_median": 88.2, + "per_camera": { + "head": { + "samples": 4162, + "accepted": 4031, + "gate_deg": 30.0, + "offset_deg": 12.83, + "tier": "primary", + "dev_deg_median": 5.31, + "wrist_pos_err_mm_median": 88.2 + } + }, + "frames_by_state": { + "ace_sample": 16148, + "interpolated": 268, + "mean_hand": 260, + "no_body_fit": 8 + }, + "observed_fraction": 0.9839, + "observed_fraction_of_valid": 0.9844, + "palm_axis_vs_markers_deg": { + "gsi": 13.1, + "smplx": 0.81 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.1, + "p90": 8.1 + }, + "registered": { + "median": 7.6, + "p90": 8.5 + } + } + }, + "right": { + "offset_deg": 7.02, + "offset_rotvec": [ + -0.0597, + 0.081, + -0.0697 + ], + "dev_deg": { + "median": 4.18, + "p90": 8.81 + }, + "samples": 4100, + "accepted": 4032, + "wrist_pos_err_mm_median": 81.1, + "per_camera": { + "head": { + "samples": 4100, + "accepted": 4032, + "gate_deg": 30.0, + "offset_deg": 7.02, + "tier": "primary", + "dev_deg_median": 4.18, + "wrist_pos_err_mm_median": 81.1 + } + }, + "frames_by_state": { + "ace_sample": 16167, + "interpolated": 504, + "mean_hand": 5, + "no_body_fit": 8 + }, + "observed_fraction": 0.9992, + "observed_fraction_of_valid": 0.9997, + "palm_axis_vs_markers_deg": { + "gsi": 7.15, + "smplx": 0.45 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.1, + "p90": 11.3 + }, + "registered": { + "median": 6.5, + "p90": 10.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T23:08:01.234768+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/dynamic_recovery/DR12/session_002", "family": "dynamic_recovery", "primitive": "DR12", "source_session": "20260916/DR12/20260916_094513_session153" + }, + "task": { + "primitive": "DR12", + "instruction": "Carry the box in both hands and walk back and forth. The box may be tugged without warning. Hold on if you can and carry on. The operator will do it several times at random moments; do not try to guess when." } } diff --git a/actions/dynamic_recovery/DR12/session_002/motions/hands_mano.npz b/actions/dynamic_recovery/DR12/session_002/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..c3d2a56e36ea14a7d8f5ff623ea653b87d764d7e --- /dev/null +++ b/actions/dynamic_recovery/DR12/session_002/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d6f45469a398b4063bace7f4ddb32e4f005b015cb5834403eeaed5dfadd3811 +size 5554338 diff --git a/actions/dynamic_recovery/DR12/session_002/motions/smplx.npz b/actions/dynamic_recovery/DR12/session_002/motions/smplx.npz index dbbf7fc485c6051ba8cd529b256202d30e4facf0..05d8b34f1f27f91b40ea0ff7e639662e455305e2 100644 --- a/actions/dynamic_recovery/DR12/session_002/motions/smplx.npz +++ b/actions/dynamic_recovery/DR12/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:80bd29aaad3c6ea2687fb1ef54aaec2b65f2487861a35c6f47527937cda282fd -size 6430092 +oid sha256:ec274cb1cb1174c5e3eb603f57c60dfda9afec711b2a12ad95072d7362c540ba +size 11987659 diff --git a/actions/dynamic_recovery/DR12/session_003/annotations.json b/actions/dynamic_recovery/DR12/session_003/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..472268f20d84448d4fdb1db8c6b0cf4e973f9f58 --- /dev/null +++ b/actions/dynamic_recovery/DR12/session_003/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": "DR12", + "instruction": "Carry the box in both hands and walk back and forth. The box may be tugged without warning. Hold on if you can and carry on. The operator will do it several times at random moments; do not try to guess when.", + "segments": [ + { + "id": "segment1", + "duration_s": 138.966611, + "video": "left_eye", + "video_t_start": 0.03909602261637035 + } + ], + "episodes": [ + { + "id": "5930191b-00fa-453a-b644-e2ccf10f1228", + "segment": "segment1", + "action": "DR12", + "quality": "valid", + "start_s": 0, + "end_s": 71.692, + "t_start": 0.0391, + "t_end": 71.7311, + "instruction": "Carry the box in both hands and walk back and forth. The box may be tugged without warning. Hold on if you can and carry on. The operator will do it several times at random moments; do not try to guess when." + }, + { + "id": "1b4c597c-fbac-442e-8605-cfa4494f95c8", + "segment": "segment1", + "action": "DR12", + "quality": "valid", + "start_s": 72.464, + "end_s": 132.382, + "t_start": 72.5031, + "t_end": 132.4211, + "instruction": "Carry the box in both hands and walk back and forth. The box may be tugged without warning. Hold on if you can and carry on. The operator will do it several times at random moments; do not try to guess when." + } + ] +} diff --git a/actions/dynamic_recovery/DR12/session_003/cameras/gsi_online_calibration.json b/actions/dynamic_recovery/DR12/session_003/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..1c73775d92126730816d2891e3058450076ea9a1 --- /dev/null +++ b/actions/dynamic_recovery/DR12/session_003/cameras/gsi_online_calibration.json @@ -0,0 +1,257 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 14, + "median_px": 0.387 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.9295, + "gate_fail": [], + "held_out_px_after": 0.516, + "held_out_px_before": 4.293, + "inliers": 2265, + "position_fitted": false, + "rotvec_deg": [ + 0.036, + -0.6824, + -0.6301 + ], + "split_deg": 0.2107, + "usable": true + }, + "left_eye": { + "accepted": true, + 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new file mode 100644 index 0000000000000000000000000000000000000000..2e9c59c7167c2a323124cd609182d732054fca80 --- /dev/null +++ b/actions/dynamic_recovery/DR12/session_003/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:67199fe3257050cbecf8a0be0c42c1ce44d8106a04302a686ca2d68f3da4f464 +size 801797 diff --git a/actions/dynamic_recovery/DR12/session_003/meta.json b/actions/dynamic_recovery/DR12/session_003/meta.json index 5eef7de3f52c6d9c4fb7b11a607d91ab66d95b2e..6fb21c1400f289ed391c51d2db68e6eb1037dad5 100644 --- a/actions/dynamic_recovery/DR12/session_003/meta.json +++ b/actions/dynamic_recovery/DR12/session_003/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": { @@ -509,10 +509,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9869696170432755 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 24.8, + "offset_rotvec": [ + 0.4266, + 0.0285, + -0.0674 + ], + "dev_deg": { + "median": 13.23, + "p90": 33.14 + }, + "samples": 2059, + "accepted": 1786, + "wrist_pos_err_mm_median": 40.7, + "per_camera": { + "head": { + "samples": 2059, + "accepted": 1786, + "gate_deg": 30.0, + "offset_deg": 24.8, + "tier": "primary", + "dev_deg_median": 13.23, + "wrist_pos_err_mm_median": 40.7 + } + }, + "frames_by_state": { + "ace_sample": 7142, + "interpolated": 1714, + "mean_hand": 7826, + "no_body_fit": 2 + }, + "observed_fraction": 0.5308, + "observed_fraction_of_valid": 0.5309, + "palm_axis_vs_markers_deg": { + "gsi": 26.17, + "smplx": 0.71 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.8, + "p90": 16.4 + }, + "registered": { + "median": 10.5, + "p90": 15.1 + } + } + }, + "right": { + "offset_deg": 29.46, + "offset_rotvec": [ + 0.36, + -0.3445, + 0.1266 + ], + "dev_deg": { + "median": 10.29, + "p90": 28.1 + }, + "samples": 2845, + "accepted": 2595, + "wrist_pos_err_mm_median": 35.2, + "per_camera": { + "head": { + "samples": 2845, + "accepted": 2595, + "gate_deg": 30.0, + "offset_deg": 29.46, + "tier": "primary", + "dev_deg_median": 10.29, + "wrist_pos_err_mm_median": 35.2 + } + }, + "frames_by_state": { + "ace_sample": 10394, + "interpolated": 850, + "mean_hand": 5438, + "no_body_fit": 2 + }, + "observed_fraction": 0.6739, + "observed_fraction_of_valid": 0.674, + "palm_axis_vs_markers_deg": { + "gsi": 32.27, + "smplx": 0.58 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 16.7, + "p90": 26.2 + }, + "registered": { + "median": 16.3, + "p90": 25.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:54:02.515542+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/dynamic_recovery/DR12/session_003", "family": "dynamic_recovery", "primitive": "DR12", "source_session": "20260920/DR12/20260920_045919_session32" + }, + "task": { + "primitive": "DR12", + "instruction": "Carry the box in both hands and walk back and forth. The box may be tugged without warning. Hold on if you can and carry on. The operator will do it several times at random moments; do not try to guess when." } } diff --git a/actions/dynamic_recovery/DR12/session_003/motions/hands_mano.npz b/actions/dynamic_recovery/DR12/session_003/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..a6808a8cc95169cb923faf6bff672bdd70627e4d --- /dev/null +++ b/actions/dynamic_recovery/DR12/session_003/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8737f1f64039cbdc2c39d80aa300243771566b43aa4fbf07f2d23fecbfdcf02 +size 3417251 diff --git a/actions/dynamic_recovery/DR12/session_003/motions/smplx.npz b/actions/dynamic_recovery/DR12/session_003/motions/smplx.npz index 34bd4d12af299b6fcd13d3482cb8005857557091..bbf2f8688a6933ffdacfdfaa9023f94e89677f73 100644 --- a/actions/dynamic_recovery/DR12/session_003/motions/smplx.npz +++ b/actions/dynamic_recovery/DR12/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:39a84698f18fe6ff6ca96716761c8d22a6ef056434714d2d11ba98f6dffd8c4b -size 6447901 +oid sha256:0b5bb3d9d9818dbc02fcc727cadc5c98e89cd5e0ce7e3258ab730465be416750 +size 10177675 diff --git a/actions/dynamic_recovery/DR13/session_001/annotations.json b/actions/dynamic_recovery/DR13/session_001/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..1f3a6573b8bdd14debc34925e4b94a5048c33293 --- /dev/null +++ b/actions/dynamic_recovery/DR13/session_001/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": "DR13", + "instruction": "Carry the box in both hands and walk back and forth across the room. The contents may move around. Carry on as best you can.", + "segments": [ + { + "id": "segment1", + "duration_s": 143.9667, + "video": "left_eye", + "video_t_start": 0.03907827507185724 + } + ], + "episodes": [ + { + "id": "ca6e9ab6-3221-475d-890c-4482611d86af", + "segment": "segment1", + "action": "DR13", + "quality": "valid", + "start_s": 1.232, + "end_s": 79.483, + "t_start": 1.2711, + "t_end": 79.5221, + "instruction": "Carry the box in both hands and walk back and forth across the room. The contents may move around. Carry on as best you can." + }, + { + "id": "a8691ba1-b04f-4ae3-8ae5-3e66465f2b06", + "segment": "segment1", + "action": "DR13", + "quality": "valid", + "start_s": 79.483, + "end_s": 138.222, + "t_start": 79.5221, + "t_end": 138.2611, + "instruction": "Carry the box in both hands and walk back and forth across the room. The contents may move around. Carry on as best you can." + } + ] +} diff --git a/actions/dynamic_recovery/DR13/session_001/cameras/slam.npz b/actions/dynamic_recovery/DR13/session_001/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..2fb5da6ca6f4af87d37d40c682895f829294c8ae --- /dev/null +++ b/actions/dynamic_recovery/DR13/session_001/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1d27ce581c475a14ae6a684775caca700ef5b51aa8ee79155a5c3122456210e +size 830111 diff --git a/actions/dynamic_recovery/DR13/session_001/meta.json b/actions/dynamic_recovery/DR13/session_001/meta.json index 567629ebf6ebf349b4039dc9a859e5cc06f4fa51..e3d4b0fbc79fbf1f8609a38b37e21d9b4eb92626 100644 --- a/actions/dynamic_recovery/DR13/session_001/meta.json +++ b/actions/dynamic_recovery/DR13/session_001/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": { @@ -515,10 +515,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.197681890847506 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 22.1, + "offset_rotvec": [ + -0.3008, + 0.109, + 0.2154 + ], + "dev_deg": { + "median": 12.32, + "p90": 24.92 + }, + "samples": 4272, + "accepted": 4122, + "wrist_pos_err_mm_median": 89.5, + "per_camera": { + "head": { + "samples": 4272, + "accepted": 4122, + "gate_deg": 30.0, + "offset_deg": 22.1, + "tier": "primary", + "dev_deg_median": 12.32, + "wrist_pos_err_mm_median": 89.5 + } + }, + "frames_by_state": { + "ace_sample": 16534, + "interpolated": 490, + "mean_hand": 260, + "no_body_fit": 0 + }, + "observed_fraction": 0.985, + "observed_fraction_of_valid": 0.985, + "palm_axis_vs_markers_deg": { + "gsi": 15.73, + "smplx": 2.1 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.1, + "p90": 14.2 + }, + "registered": { + "median": 13.4, + "p90": 15.2 + } + } + }, + "right": { + "offset_deg": 11.01, + "offset_rotvec": [ + -0.0437, + 0.1606, + -0.0962 + ], + "dev_deg": { + "median": 10.8, + "p90": 25.79 + }, + "samples": 4212, + "accepted": 3998, + "wrist_pos_err_mm_median": 89.5, + "per_camera": { + "head": { + "samples": 4212, + "accepted": 3998, + "gate_deg": 30.0, + "offset_deg": 11.01, + "tier": "primary", + "dev_deg_median": 10.8, + "wrist_pos_err_mm_median": 89.5 + } + }, + "frames_by_state": { + "ace_sample": 16064, + "interpolated": 592, + "mean_hand": 628, + "no_body_fit": 0 + }, + "observed_fraction": 0.9637, + "observed_fraction_of_valid": 0.9637, + "palm_axis_vs_markers_deg": { + "gsi": 11.41, + "smplx": 0.7 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.3, + "p90": 12.4 + }, + "registered": { + "median": 8.4, + "p90": 11.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T15:29:25.436237+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/dynamic_recovery/DR13/session_001", "family": "dynamic_recovery", "primitive": "DR13", "source_session": "20260909/DR13/20260909_103022_session167" + }, + "task": { + "primitive": "DR13", + "instruction": "Carry the box in both hands and walk back and forth across the room. The contents may move around. Carry on as best you can." } } diff --git a/actions/dynamic_recovery/DR13/session_001/motions/hands_mano.npz b/actions/dynamic_recovery/DR13/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..eccb232235f052f0374b8cf6998cce00e47cc556 --- /dev/null +++ b/actions/dynamic_recovery/DR13/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36f615687d646c9cd7c2eb76ebe57940beef4b01f3acbd98c871fb07da8645d0 +size 5703729 diff --git a/actions/dynamic_recovery/DR13/session_001/motions/smplx.npz b/actions/dynamic_recovery/DR13/session_001/motions/smplx.npz index af182e36fc8b27b3ea07fcc2b4f7c12917f5d805..aa2d00aa22922b51fa5190d6479ae26e9221bd60 100644 --- a/actions/dynamic_recovery/DR13/session_001/motions/smplx.npz +++ b/actions/dynamic_recovery/DR13/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:929c52a34725935f6541096bc594ce977c112cb0926c567ae96deed92641d0d1 -size 6634847 +oid sha256:ff7935e7c909cabccea0e2ecaf5b22019b11a054c502c797366121b948964b40 +size 12318931 diff --git a/actions/dynamic_recovery/DR13/session_002/annotations.json b/actions/dynamic_recovery/DR13/session_002/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..7650055bf864df89cf59d49e5f432fa04ce939b0 --- /dev/null +++ b/actions/dynamic_recovery/DR13/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": "DR13", + "instruction": "Carry the box in both hands and walk back and forth across the room. The contents may move around. Carry on as best you can.", + "segments": [ + { + "id": "segment1", + "duration_s": 138.966656, + "video": "left_eye", + "video_t_start": 0.03899862982837865 + } + ], + "episodes": [ + { + "id": "af96792e-6ff3-40d9-bcbc-fbbaaf0aab5b", + "segment": "segment1", + "action": "DR13", + "quality": "valid", + "start_s": 0, + "end_s": 67.143, + "t_start": 0.039, + "t_end": 67.182, + "instruction": "Carry the box in both hands and walk back and forth across the room. The contents may move around. Carry on as best you can." + }, + { + "id": "d8bccad7-b0bf-4cef-a074-2ff7587c4439", + "segment": "segment1", + "action": "DR13", + "quality": "valid", + "start_s": 67.436, + "end_s": 134.511, + "t_start": 67.475, + "t_end": 134.55, + "instruction": "Carry the box in both hands and walk back and forth across the room. The contents may move around. Carry on as best you can." + } + ] +} diff --git a/actions/dynamic_recovery/DR13/session_002/cameras/slam.npz b/actions/dynamic_recovery/DR13/session_002/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..ca8f42db21217fd099edfc63e8d01ece3e0bf790 --- /dev/null +++ b/actions/dynamic_recovery/DR13/session_002/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb90723b02b6885380f7e08a5dde97d1102043c07588d2c86a4b60bac6d52bad +size 801656 diff --git a/actions/dynamic_recovery/DR13/session_002/meta.json b/actions/dynamic_recovery/DR13/session_002/meta.json index fa58a4c2c3503e9d0b031200820954aeafeb203d..99df1f4a2560b669dd2b59ce302ef253f71f17c2 100644 --- a/actions/dynamic_recovery/DR13/session_002/meta.json +++ b/actions/dynamic_recovery/DR13/session_002/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": { @@ -539,10 +539,124 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 37.53, + "offset_rotvec": [ + 0.5991, + -0.2582, + 0.0599 + ], + "dev_deg": { + "median": 21.65, + "p90": 41.63 + }, + "samples": 3610, + "accepted": 2583, + "wrist_pos_err_mm_median": 96.5, + "per_camera": { + "head": { + "samples": 3610, + "accepted": 2583, + "gate_deg": 30.0, + "offset_deg": 37.53, + "tier": "primary", + "dev_deg_median": 21.65, + "wrist_pos_err_mm_median": 96.5 + } + }, + "frames_by_state": { + "ace_sample": 10553, + "interpolated": 3254, + "mean_hand": 2869, + "no_body_fit": 8 + }, + "observed_fraction": 0.8276, + "observed_fraction_of_valid": 0.828, + "palm_axis_vs_markers_deg": { + "gsi": 36.81, + "smplx": 0.9 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.0, + "p90": 13.7 + }, + "registered": { + "median": 9.6, + "p90": 12.4 + } + } + }, + "right": { + "offset_deg": 41.53, + "offset_rotvec": [ + 0.5223, + 0.0461, + 0.5005 + ], + "dev_deg": { + "median": 32.6, + "p90": 63.42 + }, + "samples": 2783, + "accepted": 1288, + "wrist_pos_err_mm_median": 188.7, + "per_camera": { + "head": { + "samples": 2783, + "accepted": 1288, + "gate_deg": 30.0, + "offset_deg": 41.53, + "tier": "primary", + "dev_deg_median": 32.6, + "wrist_pos_err_mm_median": 188.7 + } + }, + "frames_by_state": { + "ace_sample": 5262, + "interpolated": 2014, + "mean_hand": 9400, + "no_body_fit": 8 + }, + "observed_fraction": 0.4361, + "observed_fraction_of_valid": 0.4363, + "palm_axis_vs_markers_deg": { + "gsi": 44.38, + "smplx": 1.06 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 15.0, + "p90": 27.7 + }, + "registered": { + "median": 14.4, + "p90": 26.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:54:02.465955+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/dynamic_recovery/DR13/session_002", "family": "dynamic_recovery", "primitive": "DR13", "source_session": "20260920/DR13/20260920_020547_session29" + }, + "task": { + "primitive": "DR13", + "instruction": "Carry the box in both hands and walk back and forth across the room. The contents may move around. Carry on as best you can." } } diff --git a/actions/dynamic_recovery/DR13/session_002/motions/hands_mano.npz b/actions/dynamic_recovery/DR13/session_002/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..703ab5f2f325e63ee8805961f35724e32acbb2f2 --- /dev/null +++ b/actions/dynamic_recovery/DR13/session_002/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5286b5204f8b48cc56ef6c021bdaf9f1ac9ca992f7057b0effe606f591790a81 +size 4336429 diff --git a/actions/dynamic_recovery/DR13/session_002/motions/smplx.npz b/actions/dynamic_recovery/DR13/session_002/motions/smplx.npz index 28093504dbe1e580ca5a2e049d7572df7e8b66c2..9e86c1cc3b588f28e43bd20c70238a428088de70 100644 --- a/actions/dynamic_recovery/DR13/session_002/motions/smplx.npz +++ b/actions/dynamic_recovery/DR13/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d8c92bf0622a846d3c40035be9130ec5ef0c6f44e59806622d744087e7ce2327 -size 6423361 +oid sha256:b42d4e50fba7699893c2fdd5d4b64f1731f351c12293be78b1b7637b4b55b680 +size 10115430