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sha256:5ee52d54272f9972ae2f3777efdb88ea638b94ace1834f74fa12e08838cf1256 +size 802712 diff --git a/actions/locomotion_primitives/P36/session_024/meta.json b/actions/locomotion_primitives/P36/session_024/meta.json index 4275ddfc581ba8eb68805f71c77850c8fb2c5438..106414558bb5668a0de09453f21e477427fb9ce9 100644 --- a/actions/locomotion_primitives/P36/session_024/meta.json +++ b/actions/locomotion_primitives/P36/session_024/meta.json @@ -316,8 +316,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", 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--- a/actions/locomotion_primitives/P36/session_026/meta.json +++ b/actions/locomotion_primitives/P36/session_026/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": 1.128651715421557 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 6.28, + "offset_rotvec": [ + 0.0275, + 0.0564, + -0.09 + ], + "dev_deg": { + 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+ }, + "task": { + "primitive": "P36", + "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop." } } diff --git a/actions/locomotion_primitives/P36/session_032/motions/hands_mano.npz b/actions/locomotion_primitives/P36/session_032/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..1b8695f3f5772670e8040ee30f84432adb4e5c87 --- /dev/null +++ b/actions/locomotion_primitives/P36/session_032/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7afd1b885a7e827448751db5cdde491e88647458b7206d517c7de42eaeb51b7 +size 3305966 diff --git a/actions/locomotion_primitives/P36/session_032/motions/smplx.npz b/actions/locomotion_primitives/P36/session_032/motions/smplx.npz index c70298e7844d753ec0920f1574fdc15d6c792ad9..3f24de89184ea13bd6903f12d045f03fb2add161 100644 --- 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at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "P36", + "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 128.966711, + "video": "left_eye", + "video_t_start": 0.039030598911647285 + } + ], + "episodes": [ + { + "id": "f904f122-e4f9-45b8-9c7d-ed2f16364b8e", + "segment": "segment1", + "action": "P36", + "quality": "valid", + "start_s": 1.209, + "end_s": 125.469, + "t_start": 1.248, + "t_end": 125.508, + "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop." + } + ] +} diff --git a/actions/locomotion_primitives/P36/session_033/cameras/slam.npz b/actions/locomotion_primitives/P36/session_033/cameras/slam.npz new file mode 100644 index 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sha256:7a39c636a63d1df332959de843860ddb410754410107b58994ceb198e00e5d17 +size 745987 diff --git a/actions/locomotion_primitives/P36/session_035/meta.json b/actions/locomotion_primitives/P36/session_035/meta.json index 848897942c4975859632320b08ba5f78e3cd02a8..454108903621be9f2e3bd2a48231db24ef7e81a9 100644 --- a/actions/locomotion_primitives/P36/session_035/meta.json +++ b/actions/locomotion_primitives/P36/session_035/meta.json @@ -318,8 +318,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", 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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_primitives/P36/session_046", "family": "locomotion_primitives", "primitive": "P36", "source_session": "20260921/P36/20260921_075530_session139" + }, + "task": { + "primitive": "P36", + "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop." } } diff --git a/actions/locomotion_primitives/P36/session_046/motions/hands_mano.npz b/actions/locomotion_primitives/P36/session_046/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..14152d13cc00ae699bdfea63edda3627374bfc31 --- /dev/null +++ b/actions/locomotion_primitives/P36/session_046/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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a/actions/locomotion_primitives/P36/session_052/cameras/slam.npz b/actions/locomotion_primitives/P36/session_052/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..7606d590bf46e40cad6786fea6240648ed01bcfc --- /dev/null +++ b/actions/locomotion_primitives/P36/session_052/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25e148cd993111d00fe6ab59bd91968611f51d71f7f69bb619f954cf9591ca33 +size 745129 diff --git a/actions/locomotion_primitives/P36/session_052/meta.json b/actions/locomotion_primitives/P36/session_052/meta.json index 2bebe60deb6b7f1df77dc9b549b8b493035ddb4f..5d9e9f3b633bb9ffae9ea91b30f3ae9962fd47ce 100644 --- a/actions/locomotion_primitives/P36/session_052/meta.json +++ b/actions/locomotion_primitives/P36/session_052/meta.json @@ -316,8 +316,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] 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0000000000000000000000000000000000000000..50428af03582eae49c3e6f088f4426ac193a751b --- /dev/null +++ b/actions/locomotion_primitives/P36/session_054/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b5c0cde5f8130a200454db9f85c76d22291a59c136a18ebaa30081ddba5c0442 +size 744471 diff --git a/actions/locomotion_primitives/P36/session_054/meta.json b/actions/locomotion_primitives/P36/session_054/meta.json index 0fde6a4c232c81e601cb82fea4d491c5408a383f..6a3fe0c20c3819b661012ad4f309d6d8f8b4bb00 100644 --- a/actions/locomotion_primitives/P36/session_054/meta.json +++ b/actions/locomotion_primitives/P36/session_054/meta.json @@ -317,8 +317,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI 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0000000000000000000000000000000000000000..1ea89784d5a9364844bd065f0a1772babca3f133 --- /dev/null +++ b/actions/locomotion_primitives/P36/session_056/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:352716800314f5810d39b8ee10403fc881aaf3f286ec85ba636552a0b54b2d3d +size 744245 diff --git a/actions/locomotion_primitives/P36/session_056/meta.json b/actions/locomotion_primitives/P36/session_056/meta.json index 7239c5bf8d0f65f3b16c0eed3128086e1ab6afa9..48447004eda685851216b64105bb79b7f422b55a 100644 --- a/actions/locomotion_primitives/P36/session_056/meta.json +++ b/actions/locomotion_primitives/P36/session_056/meta.json @@ -317,8 +317,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI 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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_primitives/P36/session_057", "family": "locomotion_primitives", "primitive": "P36", "source_session": "20260930/P36/20260930_043740_session29" + }, + "task": { + "primitive": "P36", + "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop." } } diff --git a/actions/locomotion_primitives/P36/session_057/motions/hands_mano.npz b/actions/locomotion_primitives/P36/session_057/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..edfd7d47e9d156f9b1a2089f4bfabb0b09647359 --- /dev/null +++ b/actions/locomotion_primitives/P36/session_057/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop." + } + ] +} diff --git a/actions/locomotion_primitives/P36/session_058/cameras/slam.npz b/actions/locomotion_primitives/P36/session_058/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..32e9cca81676864839ca2c89d353dfed6f6f542d --- /dev/null +++ b/actions/locomotion_primitives/P36/session_058/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8bd8f10eeff9d103279e5f8e90fb2c74e37977f597d6553e1dc45b0c50be5dab +size 772672 diff --git a/actions/locomotion_primitives/P36/session_058/meta.json b/actions/locomotion_primitives/P36/session_058/meta.json index 0916b77c5f7dbf8e977f5cb3398de731f0e4e0ac..2d6600c506654bd803912be52379cd0726b15df4 100644 --- a/actions/locomotion_primitives/P36/session_058/meta.json +++ b/actions/locomotion_primitives/P36/session_058/meta.json @@ -324,8 +324,8 @@ "frame": "canonical 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0000000000000000000000000000000000000000..6257a142ef064ca4d8569ce3152305edafc8b4c2 --- /dev/null +++ b/actions/locomotion_primitives/P36/session_072/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c28bf9cf18a03f9baa1ed49bebeef1c465c6382372f945ba2a0bc289237dcd7d +size 772524 diff --git a/actions/locomotion_primitives/P36/session_072/meta.json b/actions/locomotion_primitives/P36/session_072/meta.json index 03930064735264964654ad1e016dd63d1f05fe5c..8cbfa76e2dd88b52540c0a19c01b5dcbd344ed72 100644 --- a/actions/locomotion_primitives/P36/session_072/meta.json +++ b/actions/locomotion_primitives/P36/session_072/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 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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": { @@ -522,10 +522,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.39068482730122 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 38.05, + "offset_rotvec": [ + 0.3838, + -0.4987, + -0.2121 + ], + "dev_deg": { + "median": 13.05, + "p90": 30.36 + }, + "samples": 2330, + "accepted": 2083, + "wrist_pos_err_mm_median": 46.3, + "per_camera": { + "head": { + "samples": 2330, + "accepted": 2083, + "gate_deg": 30.0, + "offset_deg": 38.05, + "tier": "primary", + "dev_deg_median": 13.05, + 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floor; keep walking until the operator says stop." } } diff --git a/actions/locomotion_primitives/P36/session_075/motions/hands_mano.npz b/actions/locomotion_primitives/P36/session_075/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..cf6744393729d05c4dc46aded582ecb42bef6e40 --- /dev/null +++ b/actions/locomotion_primitives/P36/session_075/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94049447320f7ef4015f6d0fefa1995c168872acfe9e447c79d468a36bf2ac24 +size 3427447 diff --git a/actions/locomotion_primitives/P36/session_075/motions/smplx.npz b/actions/locomotion_primitives/P36/session_075/motions/smplx.npz index 6c447bf5fd647825ee993f3a22cb50616a092bc9..eada4c94212c8396685453152a62e063444470f5 100644 --- a/actions/locomotion_primitives/P36/session_075/motions/smplx.npz +++ b/actions/locomotion_primitives/P36/session_075/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid 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