diff --git a/actions/locomotion_posture_dynamics/D44/session_006/cameras/slam.npz b/actions/locomotion_posture_dynamics/D44/session_006/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..6fcb1a2e32f6c6f948508c518d19618514c92b88 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D44/session_006/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c2ffdd366248f138cc4cbcc6e61160b0b45e07e3adb726048b563db5e8d35507 +size 341531 diff --git a/actions/locomotion_posture_dynamics/D44/session_006/meta.json b/actions/locomotion_posture_dynamics/D44/session_006/meta.json index a8c86cd5520a1e983063ae967d6f4fac487ff7fe..fa038baeb865d53e3658e717f6fc79f513690d29 100644 --- a/actions/locomotion_posture_dynamics/D44/session_006/meta.json +++ b/actions/locomotion_posture_dynamics/D44/session_006/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": 0.7518015581787693 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 5.42, + "offset_rotvec": [ + 0.0332, + -0.0278, + -0.0841 + ], + "dev_deg": { + "median": 10.7, + "p90": 28.45 + }, + "samples": 1146, + "accepted": 1046, + "wrist_pos_err_mm_median": 96.7, + "per_camera": { + "head": { + "samples": 1146, + "accepted": 1046, + "gate_deg": 30.0, + "offset_deg": 5.42, + "tier": "primary", + "dev_deg_median": 10.7, + "wrist_pos_err_mm_median": 96.7 + } + }, + "frames_by_state": { + "ace_sample": 4262, + "interpolated": 2138, + "mean_hand": 625, + "no_body_fit": 59 + }, + "observed_fraction": 0.9034, + "observed_fraction_of_valid": 0.911, + "palm_axis_vs_markers_deg": { + "gsi": 10.23, + "smplx": 0.93 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.5, + "p90": 18.1 + }, + "registered": { + "median": 11.8, + "p90": 17.7 + } + } + }, + "right": { + "offset_deg": 13.3, + "offset_rotvec": [ + -0.1456, + 0.174, + -0.049 + ], + "dev_deg": { + "median": 12.99, + "p90": 34.37 + }, + "samples": 1388, + "accepted": 1201, + "wrist_pos_err_mm_median": 120.6, + "per_camera": { + "head": { + "samples": 1388, + "accepted": 1201, + "gate_deg": 30.0, + "offset_deg": 13.3, + "tier": "primary", + "dev_deg_median": 12.99, + "wrist_pos_err_mm_median": 120.6 + } + }, + "frames_by_state": { + "ace_sample": 4928, + "interpolated": 2060, + "mean_hand": 37, + "no_body_fit": 59 + }, + "observed_fraction": 0.9864, + "observed_fraction_of_valid": 0.9947, + "palm_axis_vs_markers_deg": { + "gsi": 15.76, + "smplx": 1.03 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.4, + "p90": 15.1 + }, + "registered": { + "median": 13.4, + "p90": 15.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T16:58:59.222293+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/D44/session_006", "family": "locomotion_posture_dynamics", "primitive": "D44", "source_session": "20260912/D44/20260912_115842_session21" + }, + "task": { + "primitive": "D44", + "instruction": "Jog backward at a comfortable pace. The operator confirms the space behind you is clear before each take." } } diff --git a/actions/locomotion_posture_dynamics/D44/session_006/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D44/session_006/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..ce9a6b7727d64c223e0eecadfd190dcd2f9aa182 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D44/session_006/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:88157a9b02f9cc018e4554734c43f6f3451471bda9ceeed2dcc914de9ec53f2c +size 1761913 diff --git a/actions/locomotion_posture_dynamics/D44/session_006/motions/smplx.npz b/actions/locomotion_posture_dynamics/D44/session_006/motions/smplx.npz index 46285e590b20ba0d33eebbdcf2ab360a523050f0..228e21ccf24928dac8b16a65d287163ee505e536 100644 --- a/actions/locomotion_posture_dynamics/D44/session_006/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D44/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3f90e814f60d4ba6e81252d9639eea0f9b8fa24175b01d06c91030cfa0eeb80e -size 2707920 +oid sha256:0d6aef752676447b251b68ae74151758e3dc6f85f8b14987f12da66708633d16 +size 4988112 diff --git a/actions/locomotion_posture_dynamics/D44/session_007/annotations.json b/actions/locomotion_posture_dynamics/D44/session_007/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..29ad8a8161cdddebc0eb7e0929c2af8f918a0e53 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D44/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": "D44", + "instruction": "Jog backward at a comfortable pace. 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The operator confirms the space behind you is clear before each take." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D44/session_007/cameras/slam.npz b/actions/locomotion_posture_dynamics/D44/session_007/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..f3c18027090bf1bb31976f4018f3b56b83fa0e74 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D44/session_007/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73eef2d2149e21e43fb1f1d2f56e7fd20fe15f645fe3e40845c9d1d6d630e678 +size 371255 diff --git a/actions/locomotion_posture_dynamics/D44/session_007/meta.json b/actions/locomotion_posture_dynamics/D44/session_007/meta.json index 72e64efc9146c8f0f30f9f9d46a486c0b5bd5e15..5331da7bf88e171e129ac17cfc16fa413ac94667 100644 --- a/actions/locomotion_posture_dynamics/D44/session_007/meta.json +++ b/actions/locomotion_posture_dynamics/D44/session_007/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": 1.59082409970621 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 19.48, + "offset_rotvec": [ + 0.0673, + 0.2765, + -0.186 + ], + "dev_deg": { + "median": 9.18, + "p90": 32.89 + }, + "samples": 1847, + "accepted": 1605, + "wrist_pos_err_mm_median": 127.2, + "per_camera": { + "head": { + "samples": 1847, + "accepted": 1605, + "gate_deg": 30.0, + "offset_deg": 19.48, + "tier": "primary", + "dev_deg_median": 9.18, + "wrist_pos_err_mm_median": 127.2 + } + }, + "frames_by_state": { + "ace_sample": 6522, + "interpolated": 1150, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9984, + "observed_fraction_of_valid": 0.9984, + "palm_axis_vs_markers_deg": { + "gsi": 18.49, + "smplx": 2.78 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 3.9, + "p90": 7.8 + }, + "registered": { + "median": 5.1, + "p90": 6.5 + } + } + }, + "right": { + "offset_deg": 10.41, + "offset_rotvec": [ + 0.0394, + 0.1682, + 0.0565 + ], + "dev_deg": { + "median": 17.18, + "p90": 25.93 + }, + "samples": 1776, + "accepted": 1646, + "wrist_pos_err_mm_median": 140.6, + "per_camera": { + "head": { + "samples": 1776, + "accepted": 1646, + "gate_deg": 30.0, + "offset_deg": 10.41, + "tier": "primary", + "dev_deg_median": 17.18, + "wrist_pos_err_mm_median": 140.6 + } + }, + "frames_by_state": { + "ace_sample": 6646, + "interpolated": 714, + "mean_hand": 324, + "no_body_fit": 0 + }, + "observed_fraction": 0.9578, + "observed_fraction_of_valid": 0.9578, + "palm_axis_vs_markers_deg": { + "gsi": 10.3, + "smplx": 1.13 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.3, + "p90": 10.4 + }, + "registered": { + "median": 8.9, + "p90": 11.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T23:04:29.053346+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/D44/session_007", "family": "locomotion_posture_dynamics", "primitive": "D44", "source_session": "20260917/D44/20260917_045912_session75" + }, + "task": { + "primitive": "D44", + "instruction": "Jog backward at a comfortable pace. 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100644 index 0000000000000000000000000000000000000000..aa835f92fc1ca2bed4b24e6a0f765a1af1f68bda --- /dev/null +++ b/actions/locomotion_posture_dynamics/D44/session_010/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3c7dc905e85759ff067db59986af219a94f6fe8431999f6cd4a5f831fb65e5a +size 341442 diff --git a/actions/locomotion_posture_dynamics/D44/session_010/meta.json b/actions/locomotion_posture_dynamics/D44/session_010/meta.json index b015aa4fa8250b90991a995941f879f67116155b..52e6d0da03243a2e7ae38a9091fe701278dd4352 100644 --- a/actions/locomotion_posture_dynamics/D44/session_010/meta.json +++ b/actions/locomotion_posture_dynamics/D44/session_010/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)", 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The operator confirms the space behind you is clear before each take." } } diff --git a/actions/locomotion_posture_dynamics/D44/session_010/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D44/session_010/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..f68dbd481efcfdb7640bfa79232c16b809d95e04 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D44/session_010/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f463ee708e7b892e27c0d2075fe8564ab66edfd045c2814081d5e73f1e2fb4d6 +size 2063394 diff --git a/actions/locomotion_posture_dynamics/D44/session_010/motions/smplx.npz b/actions/locomotion_posture_dynamics/D44/session_010/motions/smplx.npz index 72da3650937ed9ca220c1f44941c06f791bef0af..75fcd378082c9107192e77b25f7ec7b258383885 100644 --- a/actions/locomotion_posture_dynamics/D44/session_010/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D44/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b06c84e58856a35e66036266bc40e46ab437a42c324693686e96f27480424fef -size 2724678 +oid sha256:fbbe0644c65291eba406a2d0a65e78a691d09f1a744c743e6040615ccfc106e3 +size 4950671 diff --git a/actions/locomotion_posture_dynamics/D44/session_011/annotations.json b/actions/locomotion_posture_dynamics/D44/session_011/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..7819a17dbd35b35eac80f60dd93ddae0a753be92 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D44/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": "D44", + "instruction": "Jog backward at a comfortable pace. 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The operator confirms the space behind you is clear before each take." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D44/session_011/cameras/slam.npz b/actions/locomotion_posture_dynamics/D44/session_011/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..4f22f5bdcd77ff33a6a768ed1fbafaccdb99c821 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D44/session_011/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d26ff545eaddc8fcbcfff8e76d564418141be93b52fc306901d8115cfc5f3b9 +size 399900 diff --git a/actions/locomotion_posture_dynamics/D44/session_011/meta.json b/actions/locomotion_posture_dynamics/D44/session_011/meta.json index 4be7852e16d5d6c427fb561876f774a1edf66c49..2145a5282f09c307a8b71ac2c2a22d5c62d605e9 100644 --- a/actions/locomotion_posture_dynamics/D44/session_011/meta.json +++ b/actions/locomotion_posture_dynamics/D44/session_011/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": 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": { @@ -536,10 +536,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.2734902513351576 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 27.87, + "offset_rotvec": [ + 0.4759, + 0.0765, + -0.065 + ], + "dev_deg": { + "median": 16.73, + "p90": 40.93 + }, + "samples": 1559, + "accepted": 1214, + "wrist_pos_err_mm_median": 103.4, + "per_camera": { + "head": { + "samples": 1559, + "accepted": 1214, + "gate_deg": 30.0, + "offset_deg": 27.87, + "tier": "primary", + "dev_deg_median": 16.73, + "wrist_pos_err_mm_median": 103.4 + } + }, + "frames_by_state": { + "ace_sample": 4978, + "interpolated": 2058, + "mean_hand": 1248, + "no_body_fit": 0 + }, + "observed_fraction": 0.8493, + "observed_fraction_of_valid": 0.8493, + "palm_axis_vs_markers_deg": { + "gsi": 32.45, + "smplx": 1.18 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.8, + "p90": 12.5 + }, + "registered": { + "median": 7.3, + "p90": 10.2 + } + } + }, + "right": { + "offset_deg": 28.48, + "offset_rotvec": [ + 0.4431, + -0.0961, + 0.2039 + ], + "dev_deg": { + "median": 19.72, + "p90": 34.1 + }, + "samples": 1344, + "accepted": 1125, + "wrist_pos_err_mm_median": 125.4, + "per_camera": { + "head": { + "samples": 1344, + "accepted": 1125, + "gate_deg": 30.0, + "offset_deg": 28.48, + "tier": "primary", + "dev_deg_median": 19.72, + "wrist_pos_err_mm_median": 125.4 + } + }, + "frames_by_state": { + "ace_sample": 4610, + "interpolated": 1922, + "mean_hand": 1752, + "no_body_fit": 0 + }, + "observed_fraction": 0.7885, + "observed_fraction_of_valid": 0.7885, + "palm_axis_vs_markers_deg": { + "gsi": 30.09, + "smplx": 1.22 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.3, + "p90": 9.1 + }, + "registered": { + "median": 5.9, + "p90": 7.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:40:47.369667+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/D44/session_011", "family": "locomotion_posture_dynamics", "primitive": "D44", "source_session": "20260923/D44/20260923_101831_session14" + }, + "task": { + "primitive": "D44", + "instruction": "Jog backward at a comfortable pace. The operator confirms the space behind you is clear before each take." } } diff --git a/actions/locomotion_posture_dynamics/D44/session_011/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D44/session_011/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..5df16f86e51cca27d5807039a6308234424228fe --- /dev/null +++ b/actions/locomotion_posture_dynamics/D44/session_011/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:afeab922a0523329d79632251f061a3f1ad3ca81a85d7ffd103bd83d62c91ade +size 2013175 diff --git a/actions/locomotion_posture_dynamics/D44/session_011/motions/smplx.npz b/actions/locomotion_posture_dynamics/D44/session_011/motions/smplx.npz index 2c19fa9bdb48cb47bb8375acc76ee593518f770b..e7ca23ba0c3ee86ce8d2c6d83ee1b09103737a36 100644 --- a/actions/locomotion_posture_dynamics/D44/session_011/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D44/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2ca0a501de1bc21d567791f0ecca1e8628a5d65e1ed1731ead16237dc86de066 -size 3199815 +oid sha256:1588edc91fd8e2a7bbaa4aa38cd9e1ce921ab4fa700af460e420c21444ae411c +size 5619240 diff --git a/actions/locomotion_posture_dynamics/D44/session_012/annotations.json b/actions/locomotion_posture_dynamics/D44/session_012/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..5084ca4f6f5162c5560652aa7ec499bb7bcdc034 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D44/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": "D44", + "instruction": "Jog backward at a comfortable pace. 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The operator confirms the space behind you is clear before each take." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D44/session_012/cameras/slam.npz b/actions/locomotion_posture_dynamics/D44/session_012/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..cfefdbeca7f8e8b38ccf5d6eb1e1baa8ea0857c0 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D44/session_012/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f47fc15d0ed5d7df4596d459597b6310ec4391e9474d01a992b57d336d5628b7 +size 378236 diff --git a/actions/locomotion_posture_dynamics/D44/session_012/meta.json b/actions/locomotion_posture_dynamics/D44/session_012/meta.json index a2c62f6fbde03f799cbf4943b35514ba101e1e44..f72cda9d2faafcfa0ed887dfcabadaa69ba356ee 100644 --- a/actions/locomotion_posture_dynamics/D44/session_012/meta.json +++ b/actions/locomotion_posture_dynamics/D44/session_012/meta.json @@ -338,8 +338,8 @@ "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 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.6164697942291846 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 35.18, + "offset_rotvec": [ + 0.2951, + 0.1918, + -0.5031 + ], + "dev_deg": { + "median": 11.18, + "p90": 44.16 + }, + "samples": 1784, + "accepted": 1478, + "wrist_pos_err_mm_median": 99.6, + "per_camera": { + "head": { + "samples": 1784, + "accepted": 1478, + "gate_deg": 30.0, + "offset_deg": 35.18, + "tier": "primary", + "dev_deg_median": 11.18, + "wrist_pos_err_mm_median": 99.6 + } + }, + "frames_by_state": { + "ace_sample": 6072, + "interpolated": 962, + "mean_hand": 632, + "no_body_fit": 18 + }, + "observed_fraction": 0.9154, + "observed_fraction_of_valid": 0.9176, + "palm_axis_vs_markers_deg": { + "gsi": 27.04, + "smplx": 3.35 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.7, + "p90": 16.4 + }, + "registered": { + "median": 9.8, + "p90": 15.8 + } + } + }, + "right": { + "offset_deg": 18.64, + "offset_rotvec": [ + 0.2815, + 0.1467, + 0.0713 + ], + "dev_deg": { + "median": 6.67, + "p90": 15.24 + }, + "samples": 1717, + "accepted": 1669, + "wrist_pos_err_mm_median": 96.2, + "per_camera": { + "head": { + "samples": 1717, + "accepted": 1669, + "gate_deg": 30.0, + "offset_deg": 18.64, + "tier": "primary", + "dev_deg_median": 6.67, + "wrist_pos_err_mm_median": 96.2 + } + }, + "frames_by_state": { + "ace_sample": 6775, + "interpolated": 574, + "mean_hand": 317, + "no_body_fit": 18 + }, + "observed_fraction": 0.9564, + "observed_fraction_of_valid": 0.9586, + "palm_axis_vs_markers_deg": { + "gsi": 19.07, + "smplx": 1.64 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.7, + "p90": 17.2 + }, + "registered": { + "median": 8.9, + "p90": 16.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:33:24.967279+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/D44/session_012", "family": "locomotion_posture_dynamics", "primitive": "D44", "source_session": "20260925/D44/20260925_051326_session56" + }, + "task": { + "primitive": "D44", + "instruction": "Jog backward at a comfortable pace. The operator confirms the space behind you is clear before each take." } } diff --git a/actions/locomotion_posture_dynamics/D44/session_012/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D44/session_012/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..0a3c04f19b2c6bd401e0b5d734a8e37be33d70c7 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D44/session_012/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c8d4c142fdbafa5aa00698962117110e72e533ce8010fd30179715246f2fd2af +size 2408002 diff --git a/actions/locomotion_posture_dynamics/D44/session_012/motions/smplx.npz b/actions/locomotion_posture_dynamics/D44/session_012/motions/smplx.npz index 85ebcbc16f2e6bf3a8f67f4a677d3f60f53f7fb4..5bc1364ac22929ccddd94ac3f0838812642988de 100644 --- a/actions/locomotion_posture_dynamics/D44/session_012/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D44/session_012/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:89be36612216dc3a796c448bd31a90ee5e93c4f572c89c7e6f235245be7f33d9 -size 2979846 +oid sha256:e9af3eba5b89ed5bbdc06e7b18577181a33d6ed784535c9fec08be89b459a4c3 +size 5447696 diff --git a/actions/locomotion_posture_dynamics/D44/session_013/annotations.json b/actions/locomotion_posture_dynamics/D44/session_013/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..c6817d50d87ff36d8b1236319b5505ea48679a70 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D44/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": "D44", + "instruction": "Jog backward at a comfortable pace. 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The operator confirms the space behind you is clear before each take." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D44/session_013/cameras/slam.npz b/actions/locomotion_posture_dynamics/D44/session_013/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..2119a6e67a1a910bea8cc74a0e0a08680edb82a3 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D44/session_013/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:683fb0d02c5501710efc6ad69e2baf255e22f2264ac69c0641ae6a1e0b9d795e +size 456533 diff --git a/actions/locomotion_posture_dynamics/D44/session_013/meta.json b/actions/locomotion_posture_dynamics/D44/session_013/meta.json index 79a4c1f7b769270e92931002ad3af77aaf73473b..290cfdd7563d679e91d42682892d692b3e21dd18 100644 --- a/actions/locomotion_posture_dynamics/D44/session_013/meta.json +++ b/actions/locomotion_posture_dynamics/D44/session_013/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": { @@ -517,10 +517,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.3193163876996068 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 32.69, + "offset_rotvec": [ + 0.4459, + 0.3528, + -0.047 + ], + "dev_deg": { + "median": 31.3, + "p90": 56.41 + }, + "samples": 1564, + "accepted": 739, + "wrist_pos_err_mm_median": 164.6, + "per_camera": { + "head": { + "samples": 1564, + "accepted": 739, + "gate_deg": 30.0, + "offset_deg": 32.69, + "tier": "primary", + "dev_deg_median": 31.3, + "wrist_pos_err_mm_median": 164.6 + } + }, + "frames_by_state": { + "ace_sample": 2980, + "interpolated": 1508, + "mean_hand": 4988, + "no_body_fit": 8 + }, + "observed_fraction": 0.4732, + "observed_fraction_of_valid": 0.4736, + "palm_axis_vs_markers_deg": { + "gsi": 36.81, + "smplx": 1.14 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.8, + "p90": 11.4 + }, + "registered": { + "median": 8.8, + "p90": 12.8 + } + } + }, + "right": { + "offset_deg": 25.89, + "offset_rotvec": [ + 0.3395, + -0.2782, + -0.1076 + ], + "dev_deg": { + "median": 15.07, + "p90": 29.65 + }, + "samples": 1259, + "accepted": 1139, + "wrist_pos_err_mm_median": 130.9, + "per_camera": { + "head": { + "samples": 1259, + "accepted": 1139, + "gate_deg": 30.0, + "offset_deg": 25.89, + "tier": "primary", + "dev_deg_median": 15.07, + "wrist_pos_err_mm_median": 130.9 + } + }, + "frames_by_state": { + "ace_sample": 4642, + "interpolated": 2306, + "mean_hand": 2528, + "no_body_fit": 8 + }, + "observed_fraction": 0.7326, + "observed_fraction_of_valid": 0.7332, + "palm_axis_vs_markers_deg": { + "gsi": 24.68, + "smplx": 1.68 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.5, + "p90": 12.3 + }, + "registered": { + "median": 8.7, + "p90": 10.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:31:46.062434+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/D44/session_013", "family": "locomotion_posture_dynamics", "primitive": "D44", "source_session": "20260928/D44/20260928_111613_session88" + }, + "task": { + "primitive": "D44", + "instruction": "Jog backward at a comfortable pace. The operator confirms the space behind you is clear before each take." } } diff --git a/actions/locomotion_posture_dynamics/D44/session_013/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D44/session_013/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..51802799d09eb5cf5e0f57755a84bd559373edde --- /dev/null +++ b/actions/locomotion_posture_dynamics/D44/session_013/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:023d291947d97379a7a2963e825a79344a91ab6a9837e7dddb9c014070948f21 +size 1976649 diff --git a/actions/locomotion_posture_dynamics/D44/session_013/motions/smplx.npz b/actions/locomotion_posture_dynamics/D44/session_013/motions/smplx.npz index 4284e28a7957dc9ccb80f212edc5094920468efb..4617bad4999cce8a656a5d0f5b005f7950d6a577 100644 --- a/actions/locomotion_posture_dynamics/D44/session_013/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D44/session_013/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9a3589105d4251d8dbb4fa20581e072a3344f55dc01bc046adec7f993bd82a6d -size 3651783 +oid sha256:9733730692e38d8b02ac4427831009acd309366677fc19e957fa44831e9a5988 +size 5812859 diff --git a/actions/locomotion_posture_dynamics/D44/session_014/annotations.json b/actions/locomotion_posture_dynamics/D44/session_014/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..8a0ef917548192982cd019e955a8517d1fe95db9 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D44/session_014/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": "D44", + "instruction": "Jog backward at a comfortable pace. 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0000000000000000000000000000000000000000..1f662527839970e196b9867cefc557feb48faabd --- /dev/null +++ b/actions/locomotion_posture_dynamics/D44/session_014/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6a21eab48296f3d254d61a6d910ecf94550a8098f7f5bdf451e767d74f70489 +size 398513 diff --git a/actions/locomotion_posture_dynamics/D44/session_014/meta.json b/actions/locomotion_posture_dynamics/D44/session_014/meta.json index 98224580d1a29b5eddaa9eabb6cb74c71d0ae6d0..eed0a27e1aa18b5613730e05e11317e11fdd6cd9 100644 --- a/actions/locomotion_posture_dynamics/D44/session_014/meta.json +++ b/actions/locomotion_posture_dynamics/D44/session_014/meta.json @@ -278,8 +278,8 @@ "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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https://git-lfs.github.com/spec/v1 +oid sha256:38561e559eab11c9fee369d89ca7248d4e6a344c62b489e5b7e796bb34ee518a +size 369160 diff --git a/actions/locomotion_posture_dynamics/D45/session_001/meta.json b/actions/locomotion_posture_dynamics/D45/session_001/meta.json index 64c18d76268afe9a2dc8ddba3ea932819e3c3f68..caa1d244a7c676ad61a24ad1dc9cab1623b9a5a1 100644 --- a/actions/locomotion_posture_dynamics/D45/session_001/meta.json +++ b/actions/locomotion_posture_dynamics/D45/session_001/meta.json @@ -345,8 +345,8 @@ "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) 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sha256:5d94f93085e6ce34cf44b4977bbe69d02b80e215e65ca6e0487abdf325d59796 +size 487237 diff --git a/actions/locomotion_posture_dynamics/D45/session_002/meta.json b/actions/locomotion_posture_dynamics/D45/session_002/meta.json index b1cae930714a05c5d3c067cdf6ac073886154c9d..9525e48706699cd6f300445528f115c974957b15 100644 --- a/actions/locomotion_posture_dynamics/D45/session_002/meta.json +++ b/actions/locomotion_posture_dynamics/D45/session_002/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 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a/actions/locomotion_posture_dynamics/D45/session_009/meta.json b/actions/locomotion_posture_dynamics/D45/session_009/meta.json index 56d00b40598c26f61489b1c73dcef8126be69478..822c054b381f0ae60cdee107e2a13a550f740150 100644 --- a/actions/locomotion_posture_dynamics/D45/session_009/meta.json +++ b/actions/locomotion_posture_dynamics/D45/session_009/meta.json @@ -329,8 +329,8 @@ "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": 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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/D45/session_009", "family": "locomotion_posture_dynamics", "primitive": "D45", "source_session": "20260921/D45/20260921_035605_session63" + }, + "task": { + "primitive": "D45", + "instruction": "Shuffle sideways quickly in the direction the operator calls, without crossing your feet." } } diff --git a/actions/locomotion_posture_dynamics/D45/session_009/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D45/session_009/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..e3ec19075e811f6b07c7671a5fc8902006bd7c2e --- /dev/null +++ b/actions/locomotion_posture_dynamics/D45/session_009/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D45/session_010", "family": "locomotion_posture_dynamics", "primitive": "D45", "source_session": "20260923/D45/20260923_102043_session15" + }, + "task": { + "primitive": "D45", + "instruction": "Shuffle sideways quickly in the direction the operator calls, without crossing your feet." } } diff --git a/actions/locomotion_posture_dynamics/D45/session_010/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D45/session_010/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..d824755d53576c0820107147db45853e9160b311 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D45/session_010/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b988828bf2f839a8dedbdd25c9dbb912e6f40d2a43b09bda93667a9b93998c6d +size 2156294 diff --git 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sha256:b0a6feabc9eb2cefe522e71bc02487d5b45f289f92f8ec53deb0ad79cf8f7a53 +size 702899 diff --git a/actions/locomotion_posture_dynamics/D45/session_014/meta.json b/actions/locomotion_posture_dynamics/D45/session_014/meta.json index 38b83775933ec36b2d23d8ca8b7c8a6ce71b6ad7..21ba523bc78f8f5d6e0c3d479336d2bcc4d7240e 100644 --- a/actions/locomotion_posture_dynamics/D45/session_014/meta.json +++ b/actions/locomotion_posture_dynamics/D45/session_014/meta.json @@ -392,8 +392,8 @@ "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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only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D46/session_001", "family": "locomotion_posture_dynamics", "primitive": "D46", "source_session": "20260904/D46/20260904_033506_session35" + }, + "task": { + "primitive": "D46", + "instruction": "Move sideways in the direction the operator calls, crossing one foot in front and then behind, alternating." } } diff --git a/actions/locomotion_posture_dynamics/D46/session_001/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D46/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..6c20ad214c78180b5b0e41e26869896f0b185b34 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D46/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:efa810919819b5709558f0e1a809033fe1702013c6a0595d47b60415dc1aa441 +size 2396641 diff --git 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b/actions/locomotion_posture_dynamics/D46/session_004/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:95fd08350b46e1d0c4c8443e12261458e18c5ecff7f6a6c05635cba1c67a8955 +size 513754 diff --git a/actions/locomotion_posture_dynamics/D46/session_004/meta.json b/actions/locomotion_posture_dynamics/D46/session_004/meta.json index 03f3d91d44e9bb805b11140f5234b3312fd0c365..99b00b4d367c68e449d94875d35b14b3936fdf91 100644 --- a/actions/locomotion_posture_dynamics/D46/session_004/meta.json +++ b/actions/locomotion_posture_dynamics/D46/session_004/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 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index 0000000000000000000000000000000000000000..22a12e59ce63f7a61793fa68b9ccec3c55816dbb --- /dev/null +++ b/actions/locomotion_posture_dynamics/D46/session_004/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29e07f33b5ce35b95c1e5d4f0c936cc8aabf32ab05ae5fe38b59698a25dbde5a +size 3221741 diff --git a/actions/locomotion_posture_dynamics/D46/session_004/motions/smplx.npz b/actions/locomotion_posture_dynamics/D46/session_004/motions/smplx.npz index 489ff25d6a6b088d5fc0f9baada0ce1aa5dc9298..748a2aedfb0c39efe9cdd5c8fd295c62652b179d 100644 --- a/actions/locomotion_posture_dynamics/D46/session_004/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D46/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e358722d8de4702eb63529dafaec00afd48a9c839238c12f8a57d2af3add45f8 -size 4135240 +oid sha256:5aa55e7666c8f4cb8dfbf297560fb690111ad1ee2435f56cf36647c6de25ef79 +size 7521955 diff --git 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b/actions/locomotion_posture_dynamics/D46/session_005/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:013c21d0553501337209b5c4c589e43e1f2c2b10d0ac03a965ebc208a0769b34 +size 370876 diff --git a/actions/locomotion_posture_dynamics/D46/session_005/meta.json b/actions/locomotion_posture_dynamics/D46/session_005/meta.json index 250f4ff1b995be36431cf155d7ce21bd39aca7a9..c450ef234c776a95a49fee066fe6f2cccefab409 100644 --- a/actions/locomotion_posture_dynamics/D46/session_005/meta.json +++ b/actions/locomotion_posture_dynamics/D46/session_005/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 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b/actions/locomotion_posture_dynamics/D46/session_014/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ad84216f34557df372c324c831c42551f170f75c8729d60aad5aef01893f3d5 +size 702565 diff --git a/actions/locomotion_posture_dynamics/D46/session_014/meta.json b/actions/locomotion_posture_dynamics/D46/session_014/meta.json index 54750cd14a8a2cae20d0564fc51be7b39689a6b8..0b9e0fc77cb01a3e53dbd9ea0495e0453aba0571 100644 --- a/actions/locomotion_posture_dynamics/D46/session_014/meta.json +++ b/actions/locomotion_posture_dynamics/D46/session_014/meta.json @@ -390,8 +390,8 @@ "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 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0000000000000000000000000000000000000000..fc2328a915ca39539cf20278fbd317848008ccaa --- /dev/null +++ b/actions/locomotion_posture_dynamics/D47/session_001/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b514b3077398f70e6ab6fc3d05fcd5e1666b414befe7d87f4eef9c7f117d3ddd +size 284103 diff --git a/actions/locomotion_posture_dynamics/D47/session_001/meta.json b/actions/locomotion_posture_dynamics/D47/session_001/meta.json index 8895402bf9847603ab442f2c37ef03afa9edee92..4da066a17fdf53096856fe24b51392996e3a2402 100644 --- a/actions/locomotion_posture_dynamics/D47/session_001/meta.json +++ b/actions/locomotion_posture_dynamics/D47/session_001/meta.json @@ -344,8 +344,8 @@ "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": 16.16, + "offset_rotvec": [ + -0.1439, + -0.2329, + -0.0681 + ], + "dev_deg": { + "median": 8.46, + "p90": 20.46 + }, + "samples": 1292, + "accepted": 1249, + "wrist_pos_err_mm_median": 45.3, + "per_camera": { + "head": { + "samples": 1292, + "accepted": 1249, + "gate_deg": 30.0, + "offset_deg": 16.16, + "tier": "primary", + "dev_deg_median": 8.46, + "wrist_pos_err_mm_median": 45.3 + } + }, + "frames_by_state": { + "ace_sample": 5141, + "interpolated": 720, + "mean_hand": 5, + 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{ + "flat": { + "median": 5.3, + "p90": 7.6 + }, + "registered": { + "median": 5.2, + "p90": 7.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T13:29:57.430507+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/D47/session_001", "family": "locomotion_posture_dynamics", "primitive": "D47", "source_session": "20260903/D47/20260903_102511_session61" + }, + "task": { + "primitive": "D47", + "instruction": "Push off sideways from one foot, land on the other, and bound back the other way. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D47/session_001/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D47/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..55d76e830b764a6ac5d6c87ee4afe658d6d4df5a --- /dev/null +++ b/actions/locomotion_posture_dynamics/D47/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0cdad8a750f7af446056c359b853bd874598c86d5c367530cda5712e7ec1f3a +size 1782346 diff --git a/actions/locomotion_posture_dynamics/D47/session_001/motions/smplx.npz b/actions/locomotion_posture_dynamics/D47/session_001/motions/smplx.npz index bd35e4381f4e35a6fc5b64cc7b9b24345f228b56..6e446e32506bf075c4affc87f1b73d3ca684fc1d 100644 --- a/actions/locomotion_posture_dynamics/D47/session_001/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D47/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3575eaedff47233b091afa241e0b761f411876b5c03746f0a8d96502e35e79cf -size 2258625 +oid sha256:7dcd21f706f8aed0eebfeaf78727ebfc1b6cf52609089ea1f3ce791283318930 +size 4235591 diff --git a/actions/locomotion_posture_dynamics/D47/session_002/annotations.json b/actions/locomotion_posture_dynamics/D47/session_002/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..59dd01b66f44e6535be7374ce819f48af52c17a2 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D47/session_002/annotations.json @@ -0,0 +1,50 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 1, 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": "D47", + "instruction": "Push off sideways from one foot, land on the other, and bound back the other way. Repeat the movement at your own pace until the operator says stop; do not rush.", + "segments": [ + { + "id": "segment1", + "duration_s": 58.966556, + "video": "left_eye", + "video_t_start": 0.03910487960961184 + } + ], + "episodes": [ + { + "id": "a87d4aa5-6d01-4920-8504-2334cee5f69e", + "segment": "segment1", + "action": "D47", + "quality": "valid", + "start_s": 8.845, + "end_s": 10.138, + "t_start": 8.8841, + "t_end": 10.1771, + "instruction": "Push off sideways from one foot, land on the other, and bound back the other way. Repeat the movement at your own pace until the operator says stop; do not rush." + }, + { + "id": "70a62c85-4b6b-4183-863d-383219c1054e", + "segment": "segment1", + "action": "D47", + "quality": "valid", + "start_s": 11.178, + "end_s": 12.146, + "t_start": 11.2171, + "t_end": 12.1851, + "instruction": "Push off sideways from one foot, land on the other, and bound back the other way. Repeat the movement at your own pace until the operator says stop; do not rush." + }, + { + "id": "8b327949-c92c-4b39-8ef6-6e7d1eefa370", + "segment": "segment1", + "action": "D47", + "quality": "valid", + "start_s": 17.864, + "end_s": 26.77, + "t_start": 17.9031, + "t_end": 26.8091, + "instruction": "Push off sideways from one foot, land on the other, and bound back the other way. Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D47/session_002/cameras/slam.npz b/actions/locomotion_posture_dynamics/D47/session_002/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..d2c97101158bb3dd3a310f62f37a92dacc0d7dd1 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D47/session_002/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a1af030d0a2d0d3cd169d5bbec5308c39053e66410e15152507cff9626d0260 +size 340453 diff --git a/actions/locomotion_posture_dynamics/D47/session_002/meta.json b/actions/locomotion_posture_dynamics/D47/session_002/meta.json index 55b5ab5c0870dd1d333f20d07c613f4778135566..2d191cd25f13b48e69db68107aa8c9dc789a062c 100644 --- a/actions/locomotion_posture_dynamics/D47/session_002/meta.json +++ b/actions/locomotion_posture_dynamics/D47/session_002/meta.json @@ -343,8 +343,8 @@ "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": { @@ -528,10 +528,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0136100072672196 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 31.31, + "offset_rotvec": [ + 0.3468, + -0.4105, + 0.0996 + ], + "dev_deg": { + "median": 16.22, + "p90": 30.23 + }, + "samples": 1122, + "accepted": 1007, + "wrist_pos_err_mm_median": 260.4, + "per_camera": { + "head": { + "samples": 1122, + "accepted": 1007, + "gate_deg": 30.0, + "offset_deg": 31.31, + "tier": "primary", + "dev_deg_median": 16.22, + "wrist_pos_err_mm_median": 260.4 + } + }, + "frames_by_state": { + "ace_sample": 4198, + "interpolated": 2340, + "mean_hand": 538, + "no_body_fit": 8 + }, + "observed_fraction": 0.9229, + "observed_fraction_of_valid": 0.924, + "palm_axis_vs_markers_deg": { + "gsi": 28.59, + "smplx": 0.66 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.1, + "p90": 7.8 + }, + "registered": { + "median": 7.0, + "p90": 7.7 + } + } + }, + "right": { + "offset_deg": 19.52, + "offset_rotvec": [ + 0.1123, + 0.3057, + 0.1 + ], + "dev_deg": { + "median": 17.61, + "p90": 33.38 + }, + "samples": 1362, + "accepted": 1165, + "wrist_pos_err_mm_median": 105.9, + "per_camera": { + "head": { + "samples": 1362, + "accepted": 1165, + "gate_deg": 30.0, + "offset_deg": 19.52, + "tier": "primary", + "dev_deg_median": 17.61, + "wrist_pos_err_mm_median": 105.9 + } + }, + "frames_by_state": { + "ace_sample": 4816, + "interpolated": 1412, + "mean_hand": 848, + "no_body_fit": 8 + }, + "observed_fraction": 0.8792, + "observed_fraction_of_valid": 0.8802, + "palm_axis_vs_markers_deg": { + "gsi": 21.25, + "smplx": 0.89 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.9, + "p90": 10.8 + }, + "registered": { + "median": 7.6, + "p90": 10.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T14:22:04.727850+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/D47/session_002", "family": "locomotion_posture_dynamics", "primitive": "D47", "source_session": "20260907/D47/20260907_035739_session59" + }, + "task": { + "primitive": "D47", + "instruction": "Push off sideways from one foot, land on the other, and bound back the other way. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D47/session_002/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D47/session_002/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..ef62681c02f2e697653bc81ccce06d389641e1c3 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D47/session_002/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:993dc026d68a0124bf224c398a936cfc13113a044cf3f406df168e0c008f972f +size 1727133 diff --git a/actions/locomotion_posture_dynamics/D47/session_002/motions/smplx.npz b/actions/locomotion_posture_dynamics/D47/session_002/motions/smplx.npz index 966e8b41bbe2e97d7e531d27830aaf25f49c7b99..ea2a928bcd3518e527c5f147f6946b5adefddf1f 100644 --- a/actions/locomotion_posture_dynamics/D47/session_002/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D47/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:420e0d4c1b04f1d0e648b63bf3cadd80767c9664764735207b7214e61154ff51 -size 2726575 +oid sha256:042f22687f6d48450385f071c1da32ae18dde995c8713c992902ee57970bf9a3 +size 4911109 diff --git a/actions/locomotion_posture_dynamics/D47/session_003/annotations.json b/actions/locomotion_posture_dynamics/D47/session_003/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..83f4ac6c87410bd7bd84431089519a6a8a5c3759 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D47/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": "D47", + "instruction": "Push off sideways from one foot, land on the other, and bound back the other way. 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b/actions/locomotion_posture_dynamics/D47/session_003/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7086d41413e03a7474947498d3cc5355d0bc8f82fdb5e49cff9a601f927ac4a +size 312950 diff --git a/actions/locomotion_posture_dynamics/D47/session_003/meta.json b/actions/locomotion_posture_dynamics/D47/session_003/meta.json index d6c5853e122d4406f24d81d64373fe65acb5385d..48de41bd0f62a1e66862e51265439a0c9b81d3c7 100644 --- a/actions/locomotion_posture_dynamics/D47/session_003/meta.json +++ b/actions/locomotion_posture_dynamics/D47/session_003/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 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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/D47/session_003/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D47/session_003/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..4b3e287eb6dc815b42ff307105ab0584489ea61f --- /dev/null +++ b/actions/locomotion_posture_dynamics/D47/session_003/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e45a4ca80986e8bd0264790102676f77bcc9c40a6cf175cc2a58d50b0174b502 +size 2047643 diff --git a/actions/locomotion_posture_dynamics/D47/session_003/motions/smplx.npz b/actions/locomotion_posture_dynamics/D47/session_003/motions/smplx.npz index 8fa14881e04a489dc4a821df16ea61794713a287..238d913facc08fc68aecccf8d99c0a46d898326c 100644 --- a/actions/locomotion_posture_dynamics/D47/session_003/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D47/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7af6270b8453ed94eb0f9b23423b033656f19993f07497dc32b0cbc6894a7d0b -size 2492399 +oid sha256:b6be1d9dc0253d2f676ba4cf1e809026d7601883da4c4b6d3199f6e7586c1844 +size 4625737 diff --git a/actions/locomotion_posture_dynamics/D47/session_004/annotations.json b/actions/locomotion_posture_dynamics/D47/session_004/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..c8749058ecb0b5d3ca9a8a6af6374353d93e7df6 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D47/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": "D47", + "instruction": "Push off sideways from one foot, land on the other, and bound back the other way. 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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/D47/session_004/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D47/session_004/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..aa9f11b985f2b5f2b759e60731bf9fbd206739d9 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D47/session_004/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:631c640a83833ee90d9301c480cf6698b360f15121123910c5f8f7b263135d27 +size 1529140 diff --git a/actions/locomotion_posture_dynamics/D47/session_004/motions/smplx.npz b/actions/locomotion_posture_dynamics/D47/session_004/motions/smplx.npz index eb0e475e7cea6f06867e181353ed3b7aeeccbe01..3cf1bf443b4d234fe1f1b80cafca092ef43cea3e 100644 --- a/actions/locomotion_posture_dynamics/D47/session_004/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D47/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2c738dee2e5b00d922e3696652eb614ac731b767f469987f7b6520952f29a751 -size 2281284 +oid sha256:d2d4e430f1e7a147eb24bbec5d65aba43ac881080336ed636987547636dda502 +size 4103481 diff --git a/actions/locomotion_posture_dynamics/D47/session_005/annotations.json b/actions/locomotion_posture_dynamics/D47/session_005/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..e5a1a9b419659ef1a3ff9923de922d8db1c12828 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D47/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": "D47", + "instruction": "Push off sideways from one foot, land on the other, and bound back the other way. Repeat the movement at your own pace until the operator says stop; do not rush.", + "segments": [ + { + "id": "segment1", + "duration_s": 53.966644, + "video": "left_eye", + "video_t_start": 0.03890005687804643 + } + ], + "episodes": [ + { + "id": "b4168820-2868-44c9-9efc-6dcff48262ba", + "segment": "segment1", + "action": "D47", + "quality": "valid", + "start_s": 0.971, + "end_s": 25.509, + "t_start": 1.0099, + "t_end": 25.5479, + "instruction": "Push off sideways from one foot, land on the other, and bound back the other way. Repeat the movement at your own pace until the operator says stop; do not rush." + }, + { + "id": "50568bf6-2f70-4451-90e2-98847bf7c604", + "segment": "segment1", + "action": "D47", + "quality": "valid", + "start_s": 25.509, + "end_s": 46.557, + "t_start": 25.5479, + "t_end": 46.5959, + "instruction": "Push off sideways from one foot, land on the other, and bound back the other way. Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D47/session_005/cameras/slam.npz b/actions/locomotion_posture_dynamics/D47/session_005/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..6c2e362b083f6366d945de8e33d5ce94d917538f --- /dev/null +++ b/actions/locomotion_posture_dynamics/D47/session_005/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:125a2ae7b6ef4ab558f91c4dc63c127946358a6ff6f68016d34c7073bfaf8031 +size 312420 diff --git a/actions/locomotion_posture_dynamics/D47/session_005/meta.json b/actions/locomotion_posture_dynamics/D47/session_005/meta.json index 266d865e52445b30572f5bc008fe1b115b09f50f..fd16cdf97c17054d85a98269073748e2591bf296 100644 --- a/actions/locomotion_posture_dynamics/D47/session_005/meta.json +++ b/actions/locomotion_posture_dynamics/D47/session_005/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": { @@ -514,10 +514,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8688267943222622 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 22.17, + "offset_rotvec": [ + 0.3219, + -0.1495, + 0.1541 + ], + "dev_deg": { + "median": 14.95, + "p90": 27.47 + }, + "samples": 1311, + "accepted": 1223, + "wrist_pos_err_mm_median": 181.4, + "per_camera": { + "head": { + "samples": 1311, + "accepted": 1223, + "gate_deg": 30.0, + "offset_deg": 22.17, + "tier": "primary", + "dev_deg_median": 14.95, + "wrist_pos_err_mm_median": 181.4 + } + }, + "frames_by_state": { + "ace_sample": 5006, + "interpolated": 1194, + "mean_hand": 276, + "no_body_fit": 8 + }, + "observed_fraction": 0.9562, + "observed_fraction_of_valid": 0.9574, + "palm_axis_vs_markers_deg": { + "gsi": 18.73, + "smplx": 0.82 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 18.1, + "p90": 19.8 + }, + "registered": { + "median": 14.5, + "p90": 16.1 + } + } + }, + "right": { + "offset_deg": 16.51, + "offset_rotvec": [ + 0.233, + 0.1535, + 0.072 + ], + "dev_deg": { + "median": 18.26, + "p90": 35.52 + }, + "samples": 809, + "accepted": 667, + "wrist_pos_err_mm_median": 337.9, + "per_camera": { + "head": { + "samples": 809, + "accepted": 667, + "gate_deg": 30.0, + "offset_deg": 16.51, + "tier": "primary", + "dev_deg_median": 18.26, + "wrist_pos_err_mm_median": 337.9 + } + }, + "frames_by_state": { + "ace_sample": 2764, + "interpolated": 1768, + "mean_hand": 1944, + "no_body_fit": 8 + }, + "observed_fraction": 0.699, + "observed_fraction_of_valid": 0.6998, + "palm_axis_vs_markers_deg": { + "gsi": 25.78, + "smplx": 0.51 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.1, + "p90": 16.4 + }, + "registered": { + "median": 10.5, + "p90": 15.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T16:58:58.032887+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/D47/session_005", "family": "locomotion_posture_dynamics", "primitive": "D47", "source_session": "20260912/D47/20260912_045607_session8" + }, + "task": { + "primitive": "D47", + "instruction": "Push off sideways from one foot, land on the other, and bound back the other way. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D47/session_005/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D47/session_005/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..d57559c2c5d59e9dcb797567c5113a45a8516a94 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D47/session_005/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3c0dc58245d83900e21600d628b94f069f71eef255674a8403f140ddf6b9210 +size 1488534 diff --git a/actions/locomotion_posture_dynamics/D47/session_005/motions/smplx.npz b/actions/locomotion_posture_dynamics/D47/session_005/motions/smplx.npz index bc35f80dc51aaabd0daff0a08886d97f97744210..53f91d36e2587a223701fc0569fc9fe418a5f260 100644 --- a/actions/locomotion_posture_dynamics/D47/session_005/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D47/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:de7f1e864ca41db626130c1303f1fe08d8d25b00fedac2407565d286332136c3 -size 2488609 +oid sha256:ac5296fa3f94de82eac1689575e21aa9adb41d707fb2054fbe1ede71ba6fd03f +size 4357932 diff --git a/actions/locomotion_posture_dynamics/D47/session_006/annotations.json b/actions/locomotion_posture_dynamics/D47/session_006/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..53209fae9560bfc0bdb308ae7a0cde72efb40621 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D47/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": "D47", + "instruction": "Push off sideways from one foot, land on the other, and bound back the other way. 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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/D47/session_006/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D47/session_006/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..106da852631d92c4ddc0959e742b8e489d7fb0f0 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D47/session_006/cameras/gsi_online_calibration.json @@ -0,0 +1,244 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 14, + "median_px": 0.383 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.74, + "gate_fail": [], + "held_out_px_after": 0.557, + "held_out_px_before": 3.705, + "inliers": 1770, + "position_fitted": false, + "rotvec_deg": [ + 0.2835, + -0.2613, + -0.6316 + ], + "split_deg": 0.0421, + "usable": true + }, + "left_eye": 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b/actions/locomotion_posture_dynamics/D47/session_006/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08937050c32d7f69d90588f8fc052bf51bb5f95581d7c4244f5ccb477d98e0a4 +size 279160 diff --git a/actions/locomotion_posture_dynamics/D47/session_006/meta.json b/actions/locomotion_posture_dynamics/D47/session_006/meta.json index a5a5169dec6ab75207fae7e0f6000ac8ff88bbf4..6f46dd0f2e74386cb26cc94dbf06ed7d39ebee26 100644 --- a/actions/locomotion_posture_dynamics/D47/session_006/meta.json +++ b/actions/locomotion_posture_dynamics/D47/session_006/meta.json @@ -341,8 +341,8 @@ "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": { @@ -408,14 +408,14 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -2.99023, - 0.44902, - 0.85237 + 2.99022, + -0.44902, + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 162.0, - "opposite_sign_bend_deg": 31.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "wrist_bend_deg_median": 53.7, + "opposite_sign_bend_deg": 135.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 8.9, "hand_vs_marker_frame_deg": { "before": 175.5, @@ -427,15 +427,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -27.34, + "twist_moved_deg": 29.04, "wrist_twist_deg_after": { - "median": -134.27, + "median": 20.17, "iqr": [ - -141.2, - 8.8 + 13.7, + 159.6 ] }, - "wrist_total_deg_median_after": 135.5, + "wrist_total_deg_median_after": 30.3, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -465,7 +465,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -482,7 +482,7 @@ }, "frames_used": 588 }, - "generated_at_utc": "2026-10-28T06:18:04.710594+00:00", + "generated_at_utc": "2026-11-04T03:03:02.935551+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -526,10 +526,113 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.5768883964269638 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 44.75, + "offset_rotvec": [ + -0.6928, + 0.2746, + 0.2337 + ], + "dev_deg": { + "median": 65.87, + "p90": 137.08 + }, + "samples": 1417, + "accepted": 13, + "wrist_pos_err_mm_median": 69.8, + "per_camera": { + "head": { + "samples": 1417, + 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100644 index 0000000000000000000000000000000000000000..9454937a998f1288c64a82a7f8276ca653365e23 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D47/session_008/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41319cc90734b8ef483072c77bafd0a14c4566f2c94dd8a75d5c34eee2624ebe +size 399520 diff --git a/actions/locomotion_posture_dynamics/D47/session_008/meta.json b/actions/locomotion_posture_dynamics/D47/session_008/meta.json index 0239f049f7beb120a483c2f8df4c07ff7c2e65f2..bc4e47069b43fa3d766bb492f450bdb81cb35cc5 100644 --- a/actions/locomotion_posture_dynamics/D47/session_008/meta.json +++ b/actions/locomotion_posture_dynamics/D47/session_008/meta.json @@ -329,8 +329,8 @@ "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": 1.055688098534433 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 7.61, + "offset_rotvec": [ + -0.0064, + -0.051, + -0.1225 + ], + "dev_deg": { + "median": 6.51, + "p90": 19.24 + }, + "samples": 1983, + "accepted": 1896, + "wrist_pos_err_mm_median": 64.0, + "per_camera": { + "head": { + "samples": 1983, + "accepted": 1896, + "gate_deg": 30.0, + "offset_deg": 7.61, + "tier": "primary", + "dev_deg_median": 6.51, + "wrist_pos_err_mm_median": 64.0 + } + }, + "frames_by_state": { + "ace_sample": 7639, + "interpolated": 524, + "mean_hand": 113, + "no_body_fit": 8 + 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"median": 17.7, + "p90": 28.3 + }, + "registered": { + "median": 16.9, + "p90": 26.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:50:04.103186+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/D47/session_008", "family": "locomotion_posture_dynamics", "primitive": "D47", "source_session": "20260921/D47/20260921_035942_session65" + }, + "task": { + "primitive": "D47", + "instruction": "Push off sideways from one foot, land on the other, and bound back the other way. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D47/session_008/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D47/session_008/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..e65743436db547b83f18dd174c496413474d4bd0 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D47/session_008/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c135a09ab3ac7bbf189614126f94ec2701a6b548567be76ba8270c5e37c51d1 +size 2632835 diff --git a/actions/locomotion_posture_dynamics/D47/session_008/motions/smplx.npz b/actions/locomotion_posture_dynamics/D47/session_008/motions/smplx.npz index ce60ea30155284a57c4dd07bf50804ce807dc24e..2ae8e83eec1a201b36e6a703dadd43572d7fda1e 100644 --- a/actions/locomotion_posture_dynamics/D47/session_008/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D47/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a1a2da9a81a27c1f820b9cc2e1f5167781bdb3be38ca68d74e3cee00612b3e91 -size 3183260 +oid sha256:596cb76105dda38c340c4475996675f1b823ba0d6859f67d34b8a74d27460989 +size 5909834 diff --git a/actions/locomotion_posture_dynamics/D47/session_009/annotations.json b/actions/locomotion_posture_dynamics/D47/session_009/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..42f0159d7b8710bd520f4612c22551e8ccfa343c --- /dev/null +++ b/actions/locomotion_posture_dynamics/D47/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": "D47", + "instruction": "Push off sideways from one foot, land on the other, and bound back the other way. 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": 0.03838323032047275 + } + ], + "episodes": [ + { + "id": "4d214ec3-abd7-42d0-9237-2e56947a35ae", + "segment": "segment1", + "action": "D47", + "quality": "valid", + "start_s": 0, + "end_s": 34.076, + "t_start": 0.0384, + "t_end": 34.1144, + "instruction": "Push off sideways from one foot, land on the other, and bound back the other way. Repeat the movement at your own pace until the operator says stop; do not rush." + }, + { + "id": "4b468cb1-9b56-4ee4-a0fe-fcd3fbec6fa0", + "segment": "segment1", + "action": "D47", + "quality": "valid", + "start_s": 38.022, + "end_s": 60.942, + "t_start": 38.0604, + "t_end": 60.9804, + "instruction": "Push off sideways from one foot, land on the other, and bound back the other way. Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D47/session_009/cameras/slam.npz b/actions/locomotion_posture_dynamics/D47/session_009/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..f06f58b84ae0fab87021026b5bc6f503a18ee4df --- /dev/null +++ b/actions/locomotion_posture_dynamics/D47/session_009/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d20bb1ae513b29be7f7845fd844de133cb5452623b209c98a540ca9a9ad6bb38 +size 370213 diff --git a/actions/locomotion_posture_dynamics/D47/session_009/meta.json b/actions/locomotion_posture_dynamics/D47/session_009/meta.json index 2fdc3d07605e1819e9a86d2fc6894350a24a706f..79bd2a5fb9727a58da40db62c682f93fb605e310 100644 --- a/actions/locomotion_posture_dynamics/D47/session_009/meta.json +++ b/actions/locomotion_posture_dynamics/D47/session_009/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": { @@ -511,10 +511,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.3258892008786372 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 28.03, + "offset_rotvec": [ + 0.3973, + -0.2839, + -0.0299 + ], + "dev_deg": { + "median": 15.26, + "p90": 32.08 + }, + "samples": 1285, + "accepted": 1128, + "wrist_pos_err_mm_median": 335.6, + "per_camera": { + "head": { + "samples": 1285, + "accepted": 1128, + "gate_deg": 30.0, + "offset_deg": 28.03, + "tier": "primary", + "dev_deg_median": 15.26, + "wrist_pos_err_mm_median": 335.6 + } + }, + "frames_by_state": { + "ace_sample": 4700, + "interpolated": 2574, + "mean_hand": 402, + "no_body_fit": 8 + }, + "observed_fraction": 0.9466, + "observed_fraction_of_valid": 0.9476, + "palm_axis_vs_markers_deg": { + "gsi": 38.62, + "smplx": 0.54 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.9, + "p90": 10.6 + }, + "registered": { + "median": 7.0, + "p90": 10.8 + } + } + }, + "right": { + "offset_deg": 29.91, + "offset_rotvec": [ + 0.3955, + 0.3392, + -0.0319 + ], + "dev_deg": { + "median": 21.5, + "p90": 28.03 + }, + "samples": 977, + "accepted": 897, + "wrist_pos_err_mm_median": 365.4, + "per_camera": { + "head": { + "samples": 977, + "accepted": 897, + "gate_deg": 30.0, + "offset_deg": 29.91, + "tier": "primary", + "dev_deg_median": 21.5, + "wrist_pos_err_mm_median": 365.4 + } + }, + "frames_by_state": { + "ace_sample": 3672, + "interpolated": 2588, + "mean_hand": 1416, + "no_body_fit": 8 + }, + "observed_fraction": 0.8147, + "observed_fraction_of_valid": 0.8155, + "palm_axis_vs_markers_deg": { + "gsi": 24.67, + "smplx": 0.6 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.9, + "p90": 12.8 + }, + "registered": { + "median": 12.1, + "p90": 13.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:40:44.849908+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/D47/session_009", "family": "locomotion_posture_dynamics", "primitive": "D47", "source_session": "20260923/D47/20260923_102424_session17" + }, + "task": { + "primitive": "D47", + "instruction": "Push off sideways from one foot, land on the other, and bound back the other way. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D47/session_009/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D47/session_009/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..0c9b8316c5c03caa5e31d31036c778052b283bfb --- /dev/null +++ b/actions/locomotion_posture_dynamics/D47/session_009/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:253f5ea7ff48dff25b57b1e07aee421899bc280af15f85c739a5b182bc755f50 +size 1589909 diff --git a/actions/locomotion_posture_dynamics/D47/session_009/motions/smplx.npz b/actions/locomotion_posture_dynamics/D47/session_009/motions/smplx.npz index 917ed243304d1a0e8012976479faf760e180e06b..2816d5a66403b95b3b71d2d501ce9f0e4aadff47 100644 --- a/actions/locomotion_posture_dynamics/D47/session_009/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D47/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d328be2d8b1f462702c9f2f9c5609ccb8577fcb977c8c005ea42086d9d3bef07 -size 2946101 +oid sha256:ff153c74d5f41f78deda5df8e4b117c18ba17edd3386c3b11b277cce582b7fef +size 5297347 diff --git a/actions/locomotion_posture_dynamics/D47/session_010/annotations.json b/actions/locomotion_posture_dynamics/D47/session_010/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..fb2825864c99216a5e5c6d8c5a36f9c865db3278 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D47/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": "D47", + "instruction": "Push off sideways from one foot, land on the other, and bound back the other way. 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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/D47/session_010/cameras/slam.npz b/actions/locomotion_posture_dynamics/D47/session_010/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..1be27fa2e650722c1eabc06780636fa0e8f254e7 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D47/session_010/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f101500f399121527778bc3c132ceb915891f87dec32fcf566c744f4680927d8 +size 400045 diff --git a/actions/locomotion_posture_dynamics/D47/session_010/meta.json b/actions/locomotion_posture_dynamics/D47/session_010/meta.json index 65decdbda90905fb4c447d17e609db93019b70c2..bcbfe5a0aaef54b2a0a49cf4ef5d98fe50d7c3c6 100644 --- a/actions/locomotion_posture_dynamics/D47/session_010/meta.json +++ b/actions/locomotion_posture_dynamics/D47/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": { @@ -508,10 +508,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.3242049983696031 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 58.16, + "offset_rotvec": [ + 0.5803, + 0.7006, + -0.4504 + ], + "dev_deg": { + "median": 60.71, + "p90": 80.27 + }, + "samples": 657, + "accepted": 23, + "wrist_pos_err_mm_median": 337.5, + "per_camera": { + "head": { + "samples": 657, + "accepted": 23, + "gate_deg": 30.0, + "offset_deg": 58.16, + "tier": "primary", + "dev_deg_median": 60.71, + "wrist_pos_err_mm_median": 337.5 + } + }, + "frames_by_state": { + "ace_sample": 104, + "interpolated": 208, + "mean_hand": 7964, + "no_body_fit": 8 + }, + "observed_fraction": 0.0377, + "observed_fraction_of_valid": 0.0377, + "palm_axis_vs_markers_deg": { + "gsi": 35.47, + "smplx": 5.8 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.3, + "p90": 5.7 + }, + "registered": { + "median": 6.5, + "p90": 7.7 + } + } + }, + "right": { + "offset_deg": 24.24, + "offset_rotvec": [ + 0.4208, + -0.0421, + -0.0135 + ], + "dev_deg": { + "median": 17.35, + "p90": 27.48 + }, + "samples": 242, + "accepted": 229, + "wrist_pos_err_mm_median": 424.0, + "per_camera": { + "head": { + "samples": 242, + "accepted": 229, + "gate_deg": 30.0, + "offset_deg": 24.24, + "tier": "primary", + "dev_deg_median": 17.35, + "wrist_pos_err_mm_median": 424.0 + } + }, + "frames_by_state": { + "ace_sample": 874, + "interpolated": 1086, + "mean_hand": 6316, + "no_body_fit": 8 + }, + "observed_fraction": 0.2366, + "observed_fraction_of_valid": 0.2368, + "palm_axis_vs_markers_deg": { + "gsi": 27.51, + "smplx": 0.66 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.6, + "p90": 14.3 + }, + "registered": { + "median": 10.0, + "p90": 14.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:31:41.346147+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/D47/session_010", "family": "locomotion_posture_dynamics", "primitive": "D47", "source_session": "20260928/D47/20260928_112512_session92" + }, + "task": { + "primitive": "D47", + "instruction": "Push off sideways from one foot, land on the other, and bound back the other way. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D47/session_010/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D47/session_010/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..3e7eb0ab3ff44a0a7b6f8b7db8f1fcd6da317c43 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D47/session_010/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9dbcc22779d7d4c753fc44560ad7297324b969658632d02190a666e63101baa +size 716612 diff --git a/actions/locomotion_posture_dynamics/D47/session_010/motions/smplx.npz b/actions/locomotion_posture_dynamics/D47/session_010/motions/smplx.npz index 9337e80593fbe984b70e5f108e50e727af939fea..283409f38e972342ec2f743364b317662a332b7c 100644 --- a/actions/locomotion_posture_dynamics/D47/session_010/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D47/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1536d551fdc56826c3b049a177f8197c90a5bc25e854c6c3827a7354f2433702 -size 3190139 +oid sha256:1a7e437f5a83c94e9183ab5bc54e6c41b19965580f0e8acce2b9f90de0af9cd9 +size 3759288 diff --git a/actions/locomotion_posture_dynamics/D47/session_011/annotations.json b/actions/locomotion_posture_dynamics/D47/session_011/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..ff91a66bb5d12d7f9e00e25160fd1956ea02f4fa --- /dev/null +++ b/actions/locomotion_posture_dynamics/D47/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": "D47", + "instruction": "Push off sideways from one foot, land on the other, and bound back the other way. 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0000000000000000000000000000000000000000..63c61d696ab95fa79fc42c313cfb91f576863007 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D47/session_011/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e62f355c381250a2f9b8e8bc327ba7a81beecafe0c8fd4b036c0841b41f1173a +size 371384 diff --git a/actions/locomotion_posture_dynamics/D47/session_011/meta.json b/actions/locomotion_posture_dynamics/D47/session_011/meta.json index 5e0e9f94c0999fef294f1951138aae2c24d889ae..6707d7069a7cc120e58e86f915f4906eb794faa9 100644 --- a/actions/locomotion_posture_dynamics/D47/session_011/meta.json +++ b/actions/locomotion_posture_dynamics/D47/session_011/meta.json @@ -337,8 +337,8 @@ "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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100644 index 0000000000000000000000000000000000000000..01bf33fda66982c791f6520b875f505c201d7536 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D47/session_012/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e4aeaf0efabd960cb3c68d03eead7b5f099c763d93e7faffa561c25abb4c9f1 +size 342321 diff --git a/actions/locomotion_posture_dynamics/D47/session_012/meta.json b/actions/locomotion_posture_dynamics/D47/session_012/meta.json index bc1fca68cdde3b21ed5673521c762c3b78decbab..c4dea26879f8169e8854eedde31b74433b3ba6ff 100644 --- a/actions/locomotion_posture_dynamics/D47/session_012/meta.json +++ b/actions/locomotion_posture_dynamics/D47/session_012/meta.json @@ -360,8 +360,8 @@ "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)", 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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/D47/session_012/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D47/session_012/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..8f4881a97af909b33d8764791043a04c5de09a6e --- /dev/null +++ b/actions/locomotion_posture_dynamics/D47/session_012/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18c2ea3e2fa2effcbc510c353a7c9becff77889cd102eb1d0809c4217c49f255 +size 2167264 diff --git a/actions/locomotion_posture_dynamics/D47/session_012/motions/smplx.npz b/actions/locomotion_posture_dynamics/D47/session_012/motions/smplx.npz index 61de9df538989fe892a6bb931b1c42ee0ee76268..2df89f6d18e63bc43c1de930d2057ce5fbdb326b 100644 --- a/actions/locomotion_posture_dynamics/D47/session_012/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D47/session_012/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:733d26dc2ed128989c504e3cd93db2a2bf5f518633fcfc817cd21353c9ad6486 -size 2735772 +oid sha256:c85e47ef49934ab50211917cebdaf35a64ae319f5ddcbceb62f2ef5962af068f +size 5055462 diff --git a/actions/locomotion_posture_dynamics/D47/session_013/annotations.json b/actions/locomotion_posture_dynamics/D47/session_013/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..aeb47e77782af5e2776ed162486657c2e237342f --- /dev/null +++ b/actions/locomotion_posture_dynamics/D47/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": "D47", + "instruction": "Push off sideways from one foot, land on the other, and bound back the other way. 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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/D47/session_013/cameras/slam.npz b/actions/locomotion_posture_dynamics/D47/session_013/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..836fb19997a8958d953a2080e074b612c65702df --- /dev/null +++ b/actions/locomotion_posture_dynamics/D47/session_013/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c641bced04c61f2c52be5b0817a99367b0c21541362ca5686ad8ce76da497c4a +size 256047 diff --git a/actions/locomotion_posture_dynamics/D47/session_013/meta.json b/actions/locomotion_posture_dynamics/D47/session_013/meta.json index 99dc117e82799ce4a3913c4aa71b75654bca7273..fa81637d40d814ed5b863d134e00ecaf02bd17c8 100644 --- a/actions/locomotion_posture_dynamics/D47/session_013/meta.json +++ b/actions/locomotion_posture_dynamics/D47/session_013/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": 0.6784116797398868 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 13.85, + "offset_rotvec": [ + 0.1695, + -0.1675, + 0.0404 + ], + "dev_deg": { + "median": 18.32, + "p90": 30.9 + }, + "samples": 1017, + "accepted": 904, + "wrist_pos_err_mm_median": 156.6, + "per_camera": { + "head": { + "samples": 1017, + "accepted": 904, + "gate_deg": 30.0, + "offset_deg": 13.85, + "tier": "primary", + "dev_deg_median": 18.32, + "wrist_pos_err_mm_median": 156.6 + } + }, + "frames_by_state": { + "ace_sample": 3709, + "interpolated": 1402, + "mean_hand": 165, + "no_body_fit": 8 + }, + "observed_fraction": 0.9673, + "observed_fraction_of_valid": 0.9687, + "palm_axis_vs_markers_deg": { + "gsi": 16.31, + "smplx": 0.98 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 15.1, + "p90": 16.7 + }, + "registered": { + "median": 14.4, + "p90": 15.6 + } + } + }, + "right": { + "offset_deg": 17.41, + "offset_rotvec": [ + -0.1849, + 0.2272, + 0.0807 + ], + "dev_deg": { + "median": 14.08, + "p90": 30.04 + }, + "samples": 981, + "accepted": 882, + "wrist_pos_err_mm_median": 155.1, + "per_camera": { + "head": { + "samples": 981, + "accepted": 882, + "gate_deg": 30.0, + "offset_deg": 17.41, + "tier": "primary", + "dev_deg_median": 14.08, + "wrist_pos_err_mm_median": 155.1 + } + }, + "frames_by_state": { + "ace_sample": 3631, + "interpolated": 1596, + "mean_hand": 49, + "no_body_fit": 8 + }, + "observed_fraction": 0.9892, + "observed_fraction_of_valid": 0.9907, + "palm_axis_vs_markers_deg": { + "gsi": 16.95, + "smplx": 0.59 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 15.3, + "p90": 19.1 + }, + "registered": { + "median": 16.2, + "p90": 18.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T16:58:57.927952+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/D47/session_013", "family": "locomotion_posture_dynamics", "primitive": "D47", "source_session": "20260912/D47/20261209_120335_session24" + }, + "task": { + "primitive": "D47", + "instruction": "Push off sideways from one foot, land on the other, and bound back the other way. 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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/D48/session_004", "family": "locomotion_posture_dynamics", "primitive": "D48", "source_session": "20260908/D48/20260908_105337_session128" + }, + "task": { + "primitive": "D48", + "instruction": "Gallop forward leading with the leg the operator calls, keeping the same leg in front throughout." } } diff --git a/actions/locomotion_posture_dynamics/D48/session_004/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D48/session_004/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..1c7c3cd4cb3a61319996edbbb730d27eef6be6d5 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D48/session_004/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9cf94655b75c663ddb4c909f2a488e3c6be92a0e545e2c618870bef6435c6865 +size 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} + ] +} diff --git a/actions/locomotion_posture_dynamics/D48/session_005/cameras/slam.npz b/actions/locomotion_posture_dynamics/D48/session_005/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..4e3e3f05738208a7cd1e6f59506391858bfeda5e --- /dev/null +++ b/actions/locomotion_posture_dynamics/D48/session_005/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd0a955b1710645b80792c2e97316310cf0f9786276cb54ebd5d438c75c2d7d8 +size 631492 diff --git a/actions/locomotion_posture_dynamics/D48/session_005/meta.json b/actions/locomotion_posture_dynamics/D48/session_005/meta.json index 5fec04e7454cf98ccecfa8a7996021b544daf49c..95dd3a6e76361a542931e398571fcd01523e87ff 100644 --- a/actions/locomotion_posture_dynamics/D48/session_005/meta.json +++ b/actions/locomotion_posture_dynamics/D48/session_005/meta.json @@ -329,8 +329,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl 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file mode 100644 index 0000000000000000000000000000000000000000..4aba08deeb03e6598f6b6957c7f62112c7bf3712 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D48/session_009/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:947ffd23fd88ebbefcaf17e0dd9901d28b424139bf13e8bc26a6f847eff710c4 +size 630102 diff --git a/actions/locomotion_posture_dynamics/D48/session_009/meta.json b/actions/locomotion_posture_dynamics/D48/session_009/meta.json index c4e785cbd994a2b08174b2fbcd50aac9e4f72486..be9c895f4c4efd58df9464f759ec5b12f818183f 100644 --- a/actions/locomotion_posture_dynamics/D48/session_009/meta.json +++ b/actions/locomotion_posture_dynamics/D48/session_009/meta.json @@ -329,8 +329,8 @@ "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, 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