diff --git a/actions/locomanipulation/LM25/session_011/motions/smplx.npz b/actions/locomanipulation/LM25/session_011/motions/smplx.npz index 0e8f917454a9c30207d0856741ec6c0ecfb7d61b..949c6f391d11a6664ce6f87dd0cad0a4f2964b61 100644 --- a/actions/locomanipulation/LM25/session_011/motions/smplx.npz +++ b/actions/locomanipulation/LM25/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9d944eca945cb590125ba3c49c93e5be306fe293e7a77b6cb72c480fa9054c23 -size 5251615 +oid sha256:c68bd4fd363e156c34eefd0a404916bc7c96a7da9541309733e32c374e0fc0d6 +size 9810581 diff --git a/actions/locomanipulation/LM25/session_029/meta.json b/actions/locomanipulation/LM25/session_029/meta.json index 87d052ebdf2e704b4329889b4c3817545c105e6c..f1c1bec117cfb7439bf155d0589d9b1ff600cd0d 100644 --- a/actions/locomanipulation/LM25/session_029/meta.json +++ b/actions/locomanipulation/LM25/session_029/meta.json @@ -389,8 +389,8 @@ "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": { @@ -449,35 +449,46 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 102.89, "Q_rotvec": [ - 2.98315, - -0.44501, - -0.87886 + 1.75054, + -0.38857, + -0.09811 ], "in_out_sign": 1, - "wrist_bend_deg_median": 169.9, - "opposite_sign_bend_deg": 21.6, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.588, + "inlier_spread_deg": 9.94, + "marker_Q_to_gsi_deg": { + "1": 102.9, + "-1": 81.1 + } + }, + "wrist_bend_deg_median": 99.6, + "opposite_sign_bend_deg": 162.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.96, "hand_vs_marker_frame_deg": { - "before": 177.3, - "after": 5.96 + "before": 5.96, + "after": 101.89 }, "markers_on_wrist": [ "LHandIn", "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -162.51, + "twist_moved_deg": 95.57, "wrist_twist_deg_after": { - "median": -11.74, + "median": 0.12, "iqr": [ - -16.9, - 2.6 + -4.8, + 13.5 ] }, - "wrist_total_deg_median_after": 40.1, + "wrist_total_deg_median_after": 33.1, "markers_on_forearm": [ "LElbow", "LElbowIn", @@ -492,11 +503,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, + -0.0, + -0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.921, + "inlier_spread_deg": 11.57, + "marker_Q_to_gsi_deg": { + "1": 28.5, + "-1": 153.4 + } + }, "wrist_bend_deg_median": 13.5, "opposite_sign_bend_deg": 177.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -510,9 +532,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -1.6, 2.1 @@ -527,10 +549,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:38:19.670605+00:00", + "generated_at_utc": "2026-11-06T14:03:27.173529+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 3.85, + "offset_rotvec": [ + -0.0085, + -0.0261, + -0.0613 + ], + "dev_deg": { + "median": 18.77, + "p90": 76.32 + }, + "samples": 3146, + "accepted": 1844, + "wrist_pos_err_mm_median": 52.4, + "per_camera": { + "head": { + "samples": 3146, + "accepted": 1844, + "gate_deg": 30.0, + "offset_deg": 3.85, + "tier": "primary", + "dev_deg_median": 18.77, + "wrist_pos_err_mm_median": 52.4 + } + }, + "frames_by_state": { + "ace_sample": 7438, + "interpolated": 1994, + "mean_hand": 5572, + "no_body_fit": 0 + }, + "observed_fraction": 0.6286, + "observed_fraction_of_valid": 0.6286, + "palm_axis_vs_markers_deg": { + "gsi": 80.28, + "smplx": 81.39 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 17.2, + "p90": 35.3 + }, + "registered": { + "median": 12.3, + "p90": 32.1 + } + } + }, + "right": { + "offset_deg": 28.8, + "offset_rotvec": [ + 0.4975, + -0.0647, + 0.0319 + ], + "dev_deg": { + "median": 12.49, + "p90": 27.11 + }, + "samples": 3115, + "accepted": 2881, + "wrist_pos_err_mm_median": 70.9, + "per_camera": { + "head": { + "samples": 3115, + "accepted": 2881, + "gate_deg": 30.0, + "offset_deg": 28.8, + "tier": "primary", + "dev_deg_median": 12.49, + "wrist_pos_err_mm_median": 70.9 + } + }, + "frames_by_state": { + "ace_sample": 11760, + "interpolated": 2884, + "mean_hand": 360, + "no_body_fit": 0 + }, + "observed_fraction": 0.976, + "observed_fraction_of_valid": 0.976, + "palm_axis_vs_markers_deg": { + "gsi": 29.37, + "smplx": 0.91 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.8, + "p90": 9.6 + }, + "registered": { + "median": 7.2, + "p90": 9.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:24:43.838161+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/locomanipulation/LM25/session_029", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM25/session_029/motions/smplx.npz b/actions/locomanipulation/LM25/session_029/motions/smplx.npz index 4e66926ffef1f22699d00869f2ffbabe9aa835b8..be1bbbeaf4f388cbfdd329d83905c3c0065e05a1 100644 --- a/actions/locomanipulation/LM25/session_029/motions/smplx.npz +++ b/actions/locomanipulation/LM25/session_029/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:71283c0e7c307608dfce5d6f31881c100d316b987303780e3800bdcfb1da133c -size 5775087 +oid sha256:f52724ebe097784a2869d99ce7ffcff4130be01fb85534f7c1874bfb1fbe874d +size 9950577 diff --git a/actions/locomanipulation/LM25/session_030/meta.json b/actions/locomanipulation/LM25/session_030/meta.json index f7aadd4f0acd84c882b00d72ea8e6463582ea6ff..96b21ff8f439d2420a5c9eb05a90bffcb6dc32fe 100644 --- a/actions/locomanipulation/LM25/session_030/meta.json +++ b/actions/locomanipulation/LM25/session_030/meta.json @@ -383,8 +383,8 @@ "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": { @@ -443,19 +443,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - 2.98315, - -0.44501, - -0.87886 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 178.9, - "opposite_sign_bend_deg": 33.1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2954, + "inlier_frac": 0.9, + "inlier_spread_deg": 11.84, + "marker_Q_to_gsi_deg": { + "1": 40.9, + "-1": 145.9 + } + }, + "wrist_bend_deg_median": 8.1, + "opposite_sign_bend_deg": 175.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.13, "hand_vs_marker_frame_deg": { - "before": 179.3, + "before": 1.13, "after": 1.13 }, "markers_on_wrist": [ @@ -463,15 +474,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 175.85, + "twist_moved_deg": 3.75, "wrist_twist_deg_after": { - "median": 3.75, + "median": -0.0, "iqr": [ - 2.7, - 4.8 + -1.0, + 1.0 ] }, - "wrist_total_deg_median_after": 8.1, + "wrist_total_deg_median_after": 7.0, "markers_on_forearm": [ "LElbow", "LForearm", @@ -483,35 +494,46 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 104.9, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + 1.71466, + 0.46991, + 0.43704 ], "in_out_sign": 1, - "wrist_bend_deg_median": 26.7, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 2983, + "inlier_frac": 0.725, + "inlier_spread_deg": 15.11, + "marker_Q_to_gsi_deg": { + "1": 104.9, + "-1": 76.3 + } + }, + "wrist_bend_deg_median": 112.2, "opposite_sign_bend_deg": 175.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.04, "hand_vs_marker_frame_deg": { "before": 2.04, - "after": 2.04 + "after": 104.93 }, "markers_on_wrist": [ "RHandIn", "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": -108.5, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ -4.1, - 5.3 + 5.4 ] }, - "wrist_total_deg_median_after": 26.7, + "wrist_total_deg_median_after": 35.3, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -520,10 +542,120 @@ }, "frames_used": 1488 }, - "generated_at_utc": "2026-10-28T06:38:19.097092+00:00", + "generated_at_utc": "2026-11-06T14:03:32.740316+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 40.88, + "offset_rotvec": [ + 0.6263, + -0.3019, + 0.1603 + ], + "dev_deg": { + "median": 12.94, + "p90": 29.73 + }, + "samples": 2954, + "accepted": 2669, + "wrist_pos_err_mm_median": 42.3, + "per_camera": { + "head": { + "samples": 2954, + "accepted": 2669, + "gate_deg": 30.0, + "offset_deg": 40.88, + "tier": "primary", + "dev_deg_median": 12.94, + "wrist_pos_err_mm_median": 42.3 + } + }, + "frames_by_state": { + "ace_sample": 10922, + "interpolated": 2962, + "mean_hand": 992, + "no_body_fit": 8 + }, + "observed_fraction": 0.9328, + "observed_fraction_of_valid": 0.9333, + "palm_axis_vs_markers_deg": { + "gsi": 38.63, + "smplx": 1.0 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.6, + "p90": 12.4 + }, + "registered": { + "median": 10.9, + "p90": 12.3 + } + } + }, + "right": { + "offset_deg": 7.93, + "offset_rotvec": [ + -0.1281, + -0.0345, + -0.0394 + ], + "dev_deg": { + "median": 20.88, + "p90": 47.86 + }, + "samples": 2983, + "accepted": 2136, + "wrist_pos_err_mm_median": 69.8, + "per_camera": { + "head": { + "samples": 2983, + "accepted": 2136, + "gate_deg": 30.0, + "offset_deg": 7.93, + "tier": "primary", + "dev_deg_median": 20.88, + "wrist_pos_err_mm_median": 69.8 + } + }, + "frames_by_state": { + "ace_sample": 8839, + "interpolated": 4888, + "mean_hand": 1149, + "no_body_fit": 8 + }, + "observed_fraction": 0.9223, + "observed_fraction_of_valid": 0.9228, + "palm_axis_vs_markers_deg": { + "gsi": 76.8, + "smplx": 75.22 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.1, + "p90": 23.8 + }, + "registered": { + "median": 14.5, + "p90": 23.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:24:56.235704+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/locomanipulation/LM25/session_030", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM25/session_030/motions/smplx.npz b/actions/locomanipulation/LM25/session_030/motions/smplx.npz index 44b9651f35023e0a9aa7685afc63b789c6aa40b2..afaf08dd60723057ef53ddc227d005f138cc636b 100644 --- a/actions/locomanipulation/LM25/session_030/motions/smplx.npz +++ b/actions/locomanipulation/LM25/session_030/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7feee3974c9fab693ef2f41fce45bd8eafd6ef9b56f479303bc3de22f28946c8 -size 5732649 +oid sha256:fc68ba6a37e161052381fa67b91e424061ecb31c8a3614a287a3d24acddf981f +size 10488293 diff --git a/actions/locomanipulation/LM26/session_006/meta.json b/actions/locomanipulation/LM26/session_006/meta.json index 0d9fa3f2b05f002ebc220c2fce782be13287e808..a9bef8b2dad5f035d96d3f86086538988d510fef 100644 --- a/actions/locomanipulation/LM26/session_006/meta.json +++ b/actions/locomanipulation/LM26/session_006/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -397,10 +397,21 @@ 0.26943, 0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 176.8, - "opposite_sign_bend_deg": 12.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.997, + "inlier_spread_deg": 6.3, + "marker_Q_to_gsi_deg": { + "1": 179.1, + "-1": 11.8 + } + }, + "wrist_bend_deg_median": 174.5, + "opposite_sign_bend_deg": 28.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.24, "hand_vs_marker_frame_deg": { "before": 179.26, @@ -411,15 +422,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 174.5, + "twist_moved_deg": -173.9, "wrist_twist_deg_after": { - "median": 2.6, + "median": -0.61, "iqr": [ - -0.2, - 5.4 + -2.8, + 1.7 ] }, - "wrist_total_deg_median_after": 28.1, + "wrist_total_deg_median_after": 12.3, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -432,11 +443,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 1.0, + "inlier_spread_deg": 3.54, + "marker_Q_to_gsi_deg": { + "1": 2.3, + "-1": 179.8 + } + }, "wrist_bend_deg_median": 13.4, "opposite_sign_bend_deg": 176.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -451,7 +473,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -467,7 +489,7 @@ }, "frames_used": 1308 }, - "generated_at_utc": "2026-10-28T06:14:46.912155+00:00", + "generated_at_utc": "2026-11-06T13:36:30.244373+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -511,6 +533,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.272375736816195 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 11.79, + "offset_rotvec": [ + 0.0109, + -0.2021, + 0.0369 + ], + "dev_deg": { + "median": 6.31, + "p90": 12.84 + }, + "samples": 3254, + "accepted": 3244, + "wrist_pos_err_mm_median": 45.8, + "per_camera": { + "head": { + "samples": 3254, + "accepted": 3244, + "gate_deg": 30.0, + "offset_deg": 11.79, + "tier": "primary", + "dev_deg_median": 6.31, + "wrist_pos_err_mm_median": 45.8 + } + }, + "frames_by_state": { + "ace_sample": 12987, + "interpolated": 84, + "mean_hand": 5, + "no_body_fit": 8 + }, + "observed_fraction": 0.999, + "observed_fraction_of_valid": 0.9996, + "palm_axis_vs_markers_deg": { + "gsi": 12.85, + "smplx": 0.98 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.7, + "p90": 11.6 + }, + "registered": { + "median": 11.3, + "p90": 12.1 + } + } + }, + "right": { + "offset_deg": 2.26, + "offset_rotvec": [ + 0.0022, + 0.0218, + -0.0327 + ], + "dev_deg": { + "median": 3.55, + "p90": 7.78 + }, + "samples": 3212, + "accepted": 3212, + "wrist_pos_err_mm_median": 34.0, + "per_camera": { + "head": { + "samples": 3212, + "accepted": 3212, + "gate_deg": 30.0, + "offset_deg": 2.26, + "tier": "primary", + "dev_deg_median": 3.55, + "wrist_pos_err_mm_median": 34.0 + } + }, + "frames_by_state": { + "ace_sample": 12843, + "interpolated": 0, + "mean_hand": 233, + "no_body_fit": 8 + }, + "observed_fraction": 0.9816, + "observed_fraction_of_valid": 0.9822, + "palm_axis_vs_markers_deg": { + "gsi": 2.4, + "smplx": 0.86 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.9, + "p90": 7.7 + }, + "registered": { + "median": 5.4, + "p90": 7.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:27:42.835813+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/locomanipulation/LM26/session_006", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM26/session_006/motions/smplx.npz b/actions/locomanipulation/LM26/session_006/motions/smplx.npz index 2e809887aefd4a49b2c0e3226f833826ad5b1bce..1e6692157cb9f405d9e05679ebe474b5b78f0f73 100644 --- a/actions/locomanipulation/LM26/session_006/motions/smplx.npz +++ b/actions/locomanipulation/LM26/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:75fcf16e3046bc42f28e11a3539d4ada71629ddc781360e5c68274ec076da9c9 -size 5014083 +oid sha256:df2a94fdcbd575652fd8130bff1f17fa9fa16caddf3c90e7d5bbef4d184868ba +size 9359742 diff --git a/actions/locomanipulation/LM26/session_011/meta.json b/actions/locomanipulation/LM26/session_011/meta.json index 797ec31629d043e3afc8ee38bf52fb46388b10e5..c4f30ad77e2af2d700c220c37c01951524e5054c 100644 --- a/actions/locomanipulation/LM26/session_011/meta.json +++ b/actions/locomanipulation/LM26/session_011/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": { @@ -398,10 +398,21 @@ -0.2415, -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 176.8, - "opposite_sign_bend_deg": 22.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.972, + "inlier_spread_deg": 5.92, + "marker_Q_to_gsi_deg": { + "1": 177.3, + "-1": 5.2 + } + }, + "wrist_bend_deg_median": 176.5, + "opposite_sign_bend_deg": 17.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.77, "hand_vs_marker_frame_deg": { "before": 179.46, @@ -413,15 +424,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 176.53, + "twist_moved_deg": -176.08, "wrist_twist_deg_after": { - "median": 0.22, + "median": -0.45, "iqr": [ - -1.4, - 1.5 + -2.0, + 0.7 ] }, - "wrist_total_deg_median_after": 17.9, + "wrist_total_deg_median_after": 22.9, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -435,9 +446,20 @@ "Q_rotvec": [ 0.0, 0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2744, + "inlier_frac": 0.873, + "inlier_spread_deg": 14.28, + "marker_Q_to_gsi_deg": { + "1": 14.1, + "-1": 166.3 + } + }, "wrist_bend_deg_median": 22.3, "opposite_sign_bend_deg": 177.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -469,7 +491,7 @@ }, "frames_used": 1429 }, - "generated_at_utc": "2026-10-28T06:25:20.418248+00:00", + "generated_at_utc": "2026-11-06T13:56:10.857305+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -513,6 +535,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0555095726669084 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 5.6, + "offset_rotvec": [ + -0.0483, + 0.0824, + -0.0207 + ], + "dev_deg": { + "median": 5.99, + "p90": 17.91 + }, + "samples": 3106, + "accepted": 3009, + "wrist_pos_err_mm_median": 89.9, + "per_camera": { + "head": { + "samples": 3106, + "accepted": 3009, + "gate_deg": 30.0, + "offset_deg": 5.6, + "tier": "primary", + "dev_deg_median": 5.99, + "wrist_pos_err_mm_median": 89.9 + } + }, + "frames_by_state": { + "ace_sample": 12162, + "interpolated": 1558, + "mean_hand": 564, + "no_body_fit": 0 + }, + "observed_fraction": 0.9605, + "observed_fraction_of_valid": 0.9605, + "palm_axis_vs_markers_deg": { + "gsi": 9.46, + "smplx": 0.7 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.4, + "p90": 10.8 + }, + "registered": { + "median": 8.3, + "p90": 10.0 + } + } + }, + "right": { + "offset_deg": 9.68, + "offset_rotvec": [ + 0.1664, + -0.009, + 0.0278 + ], + "dev_deg": { + "median": 16.11, + "p90": 33.64 + }, + "samples": 2744, + "accepted": 2355, + "wrist_pos_err_mm_median": 96.4, + "per_camera": { + "head": { + "samples": 2744, + "accepted": 2355, + "gate_deg": 30.0, + "offset_deg": 9.68, + "tier": "primary", + "dev_deg_median": 16.11, + "wrist_pos_err_mm_median": 96.4 + } + }, + "frames_by_state": { + "ace_sample": 9740, + "interpolated": 4404, + "mean_hand": 140, + "no_body_fit": 0 + }, + "observed_fraction": 0.9902, + "observed_fraction_of_valid": 0.9902, + "palm_axis_vs_markers_deg": { + "gsi": 18.72, + "smplx": 1.17 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.1, + "p90": 11.7 + }, + "registered": { + "median": 6.0, + "p90": 11.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:08:56.238385+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/locomanipulation/LM26/session_011", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM26/session_011/motions/smplx.npz b/actions/locomanipulation/LM26/session_011/motions/smplx.npz index 5d98f5711e8883b5ff2c1742247730af87b0dcf5..627b969b096b8ae1b0bdf7cbd8b044f4cae82b8f 100644 --- a/actions/locomanipulation/LM26/session_011/motions/smplx.npz +++ b/actions/locomanipulation/LM26/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:013b11a235b93a207ac103f5672109048f0ef420ff8ebbf503e102bef034ca95 -size 5489428 +oid sha256:9d117003207d200abe82a967a6bb87ace16e547aacc137fd7397cf67b8e86c94 +size 10194671 diff --git a/actions/locomanipulation/LM26/session_012/meta.json b/actions/locomanipulation/LM26/session_012/meta.json index ba47357e42de18f5e0dfac6152b8129c8b219193..df97271b67802d4517d3313ac3dfb6f038baccfc 100644 --- a/actions/locomanipulation/LM26/session_012/meta.json +++ b/actions/locomanipulation/LM26/session_012/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": { @@ -394,14 +394,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 176.6, - "opposite_sign_bend_deg": 24.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.968, + "inlier_spread_deg": 6.22, + "marker_Q_to_gsi_deg": { + "1": 175.7, + "-1": 6.8 + } + }, + "wrist_bend_deg_median": 176.4, + "opposite_sign_bend_deg": 17.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.6, "hand_vs_marker_frame_deg": { "before": 179.55, @@ -413,15 +424,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 176.38, + "twist_moved_deg": -176.1, "wrist_twist_deg_after": { - "median": 0.19, + "median": -0.28, "iqr": [ - -1.3, - 1.4 + -1.7, + 0.9 ] }, - "wrist_total_deg_median_after": 17.4, + "wrist_total_deg_median_after": 24.1, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -434,10 +445,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - 0.0, - 0.0 + -0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2778, + "inlier_frac": 0.892, + "inlier_spread_deg": 12.11, + "marker_Q_to_gsi_deg": { + "1": 12.0, + "-1": 168.9 + } + }, "wrist_bend_deg_median": 22.4, "opposite_sign_bend_deg": 177.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -451,9 +473,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -2.4, 2.4 @@ -469,7 +491,7 @@ }, "frames_used": 1429 }, - "generated_at_utc": "2026-10-28T06:25:20.734367+00:00", + "generated_at_utc": "2026-11-06T13:56:12.971638+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -513,6 +535,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0653678302172351 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 7.16, + "offset_rotvec": [ + -0.0883, + 0.0863, + -0.0189 + ], + "dev_deg": { + "median": 6.35, + "p90": 17.47 + }, + "samples": 3130, + "accepted": 3030, + "wrist_pos_err_mm_median": 84.6, + "per_camera": { + "head": { + "samples": 3130, + "accepted": 3030, + "gate_deg": 30.0, + "offset_deg": 7.16, + "tier": "primary", + "dev_deg_median": 6.35, + "wrist_pos_err_mm_median": 84.6 + } + }, + "frames_by_state": { + "ace_sample": 12268, + "interpolated": 1812, + "mean_hand": 204, + "no_body_fit": 0 + }, + "observed_fraction": 0.9857, + "observed_fraction_of_valid": 0.9857, + "palm_axis_vs_markers_deg": { + "gsi": 10.59, + "smplx": 0.55 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.5, + "p90": 6.7 + }, + "registered": { + "median": 5.3, + "p90": 6.4 + } + } + }, + "right": { + "offset_deg": 9.8, + "offset_rotvec": [ + 0.1681, + -0.0314, + 0.0059 + ], + "dev_deg": { + "median": 13.92, + "p90": 30.87 + }, + "samples": 2778, + "accepted": 2479, + "wrist_pos_err_mm_median": 110.2, + "per_camera": { + "head": { + "samples": 2778, + "accepted": 2479, + "gate_deg": 30.0, + "offset_deg": 9.8, + "tier": "primary", + "dev_deg_median": 13.92, + "wrist_pos_err_mm_median": 110.2 + } + }, + "frames_by_state": { + "ace_sample": 10230, + "interpolated": 3902, + "mean_hand": 152, + "no_body_fit": 0 + }, + "observed_fraction": 0.9894, + "observed_fraction_of_valid": 0.9894, + "palm_axis_vs_markers_deg": { + "gsi": 16.69, + "smplx": 1.02 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.2, + "p90": 11.8 + }, + "registered": { + "median": 7.1, + "p90": 11.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:09:12.841340+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/locomanipulation/LM26/session_012", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM26/session_012/motions/smplx.npz b/actions/locomanipulation/LM26/session_012/motions/smplx.npz index aa5008e33c0dc16cbfc1c65657e74329a7b6f995..72819d536056ea50e893144461b068481ac72c31 100644 --- a/actions/locomanipulation/LM26/session_012/motions/smplx.npz +++ b/actions/locomanipulation/LM26/session_012/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:16ab6fe7f8c49f33ac19fe09494b5a2bbe148424431376b9afeb65a22c26c33e -size 5493073 +oid sha256:7651ac3bd1d28e3ab70ee741c60610c9fdf5eb8a25a7e5d3cb7106afc8c856a9 +size 10240485 diff --git a/actions/locomanipulation/LM27/session_010/meta.json b/actions/locomanipulation/LM27/session_010/meta.json index 69e21001fdb2809f81c932f8fa96207f87f67130..c288d981e7a4398b92e2271115bbaa1217ed8444 100644 --- a/actions/locomanipulation/LM27/session_010/meta.json +++ b/actions/locomanipulation/LM27/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)", + "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": { @@ -389,14 +389,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 176.8, - "opposite_sign_bend_deg": 45.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.99, + "inlier_spread_deg": 2.99, + "marker_Q_to_gsi_deg": { + "1": 163.1, + "-1": 21.9 + } + }, + "wrist_bend_deg_median": 177.0, + "opposite_sign_bend_deg": 13.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.68, "hand_vs_marker_frame_deg": { "before": 179.59, @@ -407,15 +418,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 176.79, + "twist_moved_deg": -176.61, "wrist_twist_deg_after": { - "median": 0.05, + "median": -0.19, "iqr": [ - -1.0, - 1.0 + -1.3, + 0.6 ] }, - "wrist_total_deg_median_after": 13.6, + "wrist_total_deg_median_after": 45.5, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -430,9 +441,20 @@ "Q_rotvec": [ 0.0, 0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.991, + "inlier_spread_deg": 3.28, + "marker_Q_to_gsi_deg": { + "1": 11.4, + "-1": 175.7 + } + }, "wrist_bend_deg_median": 24.5, "opposite_sign_bend_deg": 176.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -448,7 +470,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -1.0, 0.9 @@ -463,7 +485,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:25:25.869108+00:00", + "generated_at_utc": "2026-11-06T13:56:19.359882+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -507,6 +529,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9040475017738412 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 22.0, + "offset_rotvec": [ + -0.2834, + 0.2582, + 0.0205 + ], + "dev_deg": { + "median": 2.95, + "p90": 5.97 + }, + "samples": 3868, + "accepted": 3827, + "wrist_pos_err_mm_median": 24.7, + "per_camera": { + "head": { + "samples": 3868, + "accepted": 3827, + "gate_deg": 30.0, + "offset_deg": 22.0, + "tier": "primary", + "dev_deg_median": 2.95, + "wrist_pos_err_mm_median": 24.7 + } + }, + "frames_by_state": { + "ace_sample": 15308, + "interpolated": 0, + "mean_hand": 174, + "no_body_fit": 2 + }, + "observed_fraction": 0.9886, + "observed_fraction_of_valid": 0.9888, + "palm_axis_vs_markers_deg": { + "gsi": 23.06, + "smplx": 0.6 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.2, + "p90": 14.0 + }, + "registered": { + "median": 8.2, + "p90": 13.8 + } + } + }, + "right": { + "offset_deg": 11.54, + "offset_rotvec": [ + -0.0334, + -0.1683, + -0.1056 + ], + "dev_deg": { + "median": 3.31, + "p90": 9.54 + }, + "samples": 3847, + "accepted": 3811, + "wrist_pos_err_mm_median": 36.8, + "per_camera": { + "head": { + "samples": 3847, + "accepted": 3811, + "gate_deg": 30.0, + "offset_deg": 11.54, + "tier": "primary", + "dev_deg_median": 3.31, + "wrist_pos_err_mm_median": 36.8 + } + }, + "frames_by_state": { + "ace_sample": 15246, + "interpolated": 106, + "mean_hand": 130, + "no_body_fit": 2 + }, + "observed_fraction": 0.9915, + "observed_fraction_of_valid": 0.9916, + "palm_axis_vs_markers_deg": { + "gsi": 11.69, + "smplx": 0.7 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.6, + "p90": 14.4 + }, + "registered": { + "median": 10.5, + "p90": 13.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:09:17.641476+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/locomanipulation/LM27/session_010", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM27/session_010/motions/smplx.npz b/actions/locomanipulation/LM27/session_010/motions/smplx.npz index 3ea1bf58e8534ecf992042ca51f06f3c99df738f..56a6b066f8aa5c93e1fab125f1fdaa7c9ef54fd5 100644 --- a/actions/locomanipulation/LM27/session_010/motions/smplx.npz +++ b/actions/locomanipulation/LM27/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:363ccfb6c710e81f09a4942a614269d64b790e9e24b232fa37d2604d1d4d6419 -size 5948866 +oid sha256:8523bddee18e1aa41b820a05e1c368e4f588c286b162cd371f07e0a052da0e67 +size 11094319 diff --git a/actions/locomanipulation/LM27/session_011/meta.json b/actions/locomanipulation/LM27/session_011/meta.json index 00383f306794d2102d85a73180afb687bca082f9..c07369444454275b565afdec714a10ce9f267325 100644 --- a/actions/locomanipulation/LM27/session_011/meta.json +++ b/actions/locomanipulation/LM27/session_011/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": { @@ -391,10 +391,21 @@ -0.2415, -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 176.6, - "opposite_sign_bend_deg": 40.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 1.0, + "inlier_spread_deg": 3.66, + "marker_Q_to_gsi_deg": { + "1": 170.2, + "-1": 16.9 + } + }, + "wrist_bend_deg_median": 176.1, + "opposite_sign_bend_deg": 10.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.1, "hand_vs_marker_frame_deg": { "before": 179.26, @@ -405,15 +416,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 175.85, + "twist_moved_deg": -175.83, "wrist_twist_deg_after": { - "median": 0.87, + "median": -0.02, "iqr": [ - -0.5, - 2.8 + -1.3, + 1.6 ] }, - "wrist_total_deg_median_after": 10.9, + "wrist_total_deg_median_after": 40.0, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -427,10 +438,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - 0.0, + -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 1.0, + "inlier_spread_deg": 2.75, + "marker_Q_to_gsi_deg": { + "1": 14.6, + "-1": 178.6 + } + }, "wrist_bend_deg_median": 23.7, "opposite_sign_bend_deg": 176.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -444,9 +466,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -1.0, 1.0 @@ -461,7 +483,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:25:26.170258+00:00", + "generated_at_utc": "2026-11-06T13:56:18.654847+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -505,6 +527,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.967737938889305 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 16.88, + "offset_rotvec": [ + -0.1462, + 0.2534, + 0.0348 + ], + "dev_deg": { + "median": 3.63, + "p90": 8.81 + }, + "samples": 4168, + "accepted": 4168, + "wrist_pos_err_mm_median": 24.1, + "per_camera": { + "head": { + "samples": 4168, + "accepted": 4168, + "gate_deg": 30.0, + "offset_deg": 16.88, + "tier": "primary", + "dev_deg_median": 3.63, + "wrist_pos_err_mm_median": 24.1 + } + }, + "frames_by_state": { + "ace_sample": 16672, + "interpolated": 0, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9993, + "observed_fraction_of_valid": 0.9993, + "palm_axis_vs_markers_deg": { + "gsi": 17.95, + "smplx": 0.94 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.9, + "p90": 11.0 + }, + "registered": { + "median": 6.0, + "p90": 10.8 + } + } + }, + "right": { + "offset_deg": 14.61, + "offset_rotvec": [ + 0.0341, + -0.2159, + -0.1313 + ], + "dev_deg": { + "median": 2.72, + "p90": 5.95 + }, + "samples": 4132, + "accepted": 4132, + "wrist_pos_err_mm_median": 36.1, + "per_camera": { + "head": { + "samples": 4132, + "accepted": 4132, + "gate_deg": 30.0, + "offset_deg": 14.61, + "tier": "primary", + "dev_deg_median": 2.72, + "wrist_pos_err_mm_median": 36.1 + } + }, + "frames_by_state": { + "ace_sample": 16524, + "interpolated": 0, + "mean_hand": 160, + "no_body_fit": 0 + }, + "observed_fraction": 0.9904, + "observed_fraction_of_valid": 0.9904, + "palm_axis_vs_markers_deg": { + "gsi": 13.97, + "smplx": 0.89 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.6, + "p90": 13.7 + }, + "registered": { + "median": 9.4, + "p90": 13.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:09:04.944139+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/locomanipulation/LM27/session_011", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM27/session_011/motions/smplx.npz b/actions/locomanipulation/LM27/session_011/motions/smplx.npz index 7ebcccdea02e27f0cef70abdc6f39b46ab48d11e..10e79d67e00e96cad8b46b6ecc41cce1bb50296b 100644 --- a/actions/locomanipulation/LM27/session_011/motions/smplx.npz +++ b/actions/locomanipulation/LM27/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6a0141cf34fe3826ad4e4d3aafd9bd951bec798d9c4d773474d1a29d86c502e8 -size 6417449 +oid sha256:084ef061c441950e402fa6d20dc1942b302fe062f64f9102d64b06a599e5d894 +size 11969532 diff --git a/actions/locomanipulation/LM27/session_012/meta.json b/actions/locomanipulation/LM27/session_012/meta.json index b05a6eb2f0bdc3a99eb7f8b203f0ba2d9b1a7e1c..5d480277a7a6c71fdc657c4afb674791c99ce838 100644 --- a/actions/locomanipulation/LM27/session_012/meta.json +++ b/actions/locomanipulation/LM27/session_012/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": { @@ -390,10 +390,21 @@ 0.2415, 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 176.1, - "opposite_sign_bend_deg": 40.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 1.0, + "inlier_spread_deg": 3.09, + "marker_Q_to_gsi_deg": { + "1": 167.0, + "-1": 18.2 + } + }, + "wrist_bend_deg_median": 175.9, + "opposite_sign_bend_deg": 11.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.01, "hand_vs_marker_frame_deg": { "before": 179.48, @@ -404,15 +415,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 175.62, + "twist_moved_deg": -175.6, "wrist_twist_deg_after": { - "median": 0.61, + "median": -0.02, "iqr": [ - -0.8, - 2.5 + -1.1, + 1.4 ] }, - "wrist_total_deg_median_after": 11.9, + "wrist_total_deg_median_after": 40.7, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -430,6 +441,17 @@ 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 1.0, + "inlier_spread_deg": 3.48, + "marker_Q_to_gsi_deg": { + "1": 9.2, + "-1": 175.8 + } + }, "wrist_bend_deg_median": 25.6, "opposite_sign_bend_deg": 176.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -443,9 +465,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -1.3, 1.2 @@ -460,7 +482,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:25:26.489855+00:00", + "generated_at_utc": "2026-11-06T13:56:19.642477+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -504,6 +526,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9656461221164686 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 18.17, + "offset_rotvec": [ + -0.2147, + 0.2332, + 0.0107 + ], + "dev_deg": { + "median": 3.11, + "p90": 6.15 + }, + "samples": 4018, + "accepted": 4018, + "wrist_pos_err_mm_median": 23.7, + "per_camera": { + "head": { + "samples": 4018, + "accepted": 4018, + "gate_deg": 30.0, + "offset_deg": 18.17, + "tier": "primary", + "dev_deg_median": 3.11, + "wrist_pos_err_mm_median": 23.7 + } + }, + "frames_by_state": { + "ace_sample": 16072, + "interpolated": 0, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9993, + "observed_fraction_of_valid": 0.9993, + "palm_axis_vs_markers_deg": { + "gsi": 19.15, + "smplx": 0.78 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.8, + "p90": 13.5 + }, + "registered": { + "median": 7.9, + "p90": 13.2 + } + } + }, + "right": { + "offset_deg": 9.18, + "offset_rotvec": [ + -0.0383, + -0.1239, + -0.0942 + ], + "dev_deg": { + "median": 3.45, + "p90": 6.76 + }, + "samples": 3988, + "accepted": 3988, + "wrist_pos_err_mm_median": 36.5, + "per_camera": { + "head": { + "samples": 3988, + "accepted": 3988, + "gate_deg": 30.0, + "offset_deg": 9.18, + "tier": "primary", + "dev_deg_median": 3.45, + "wrist_pos_err_mm_median": 36.5 + } + }, + "frames_by_state": { + "ace_sample": 15948, + "interpolated": 0, + "mean_hand": 136, + "no_body_fit": 0 + }, + "observed_fraction": 0.9915, + "observed_fraction_of_valid": 0.9915, + "palm_axis_vs_markers_deg": { + "gsi": 9.44, + "smplx": 0.88 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.7, + "p90": 13.1 + }, + "registered": { + "median": 9.6, + "p90": 12.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:09:19.047128+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/locomanipulation/LM27/session_012", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM27/session_012/motions/smplx.npz b/actions/locomanipulation/LM27/session_012/motions/smplx.npz index 8ef93248d2d5031fc386c8fb2c3a603484a3b3ea..4b8039637d0d90f30566a8af48be9796387b0481 100644 --- a/actions/locomanipulation/LM27/session_012/motions/smplx.npz +++ b/actions/locomanipulation/LM27/session_012/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fc3bfbbc7921d0bcc78ed74620a4e73cca8f58971ef61e866de05e1b2441121b -size 6193210 +oid sha256:4428de839cb1eab3cd827d8a48b14405b708d6b163ad2f7826a1e68085b6e933 +size 11565593 diff --git a/actions/locomanipulation/LM27/session_025/meta.json b/actions/locomanipulation/LM27/session_025/meta.json index 785d55c86e7566982d4831d84f340e5ec998d0ec..104a7132bfdf2b2d7951fd2c316c3d32e3b12b9f 100644 --- a/actions/locomanipulation/LM27/session_025/meta.json +++ b/actions/locomanipulation/LM27/session_025/meta.json @@ -381,8 +381,8 @@ "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": { @@ -441,19 +441,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - 2.98163, - -0.44128, - -0.88585 + -0.0, + -0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 173.7, - "opposite_sign_bend_deg": 28.3, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2985, + "inlier_frac": 0.942, + "inlier_spread_deg": 13.69, + "marker_Q_to_gsi_deg": { + "1": 21.7, + "-1": 159.0 + } + }, + "wrist_bend_deg_median": 26.6, + "opposite_sign_bend_deg": 173.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.8, "hand_vs_marker_frame_deg": { - "before": 179.46, + "before": 0.8, "after": 0.8 }, "markers_on_wrist": [ @@ -461,12 +472,12 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -173.45, + "twist_moved_deg": -0.15, "wrist_twist_deg_after": { - "median": -0.15, + "median": 0.0, "iqr": [ - -1.0, - 0.7 + -0.8, + 0.8 ] }, "wrist_total_deg_median_after": 26.6, @@ -480,35 +491,46 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 115.42, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 1.73267, + 0.91084, + 0.4754 ], "in_out_sign": 1, - "wrist_bend_deg_median": 33.7, - "opposite_sign_bend_deg": 173.8, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 1831, + "inlier_frac": 0.61, + "inlier_spread_deg": 17.57, + "marker_Q_to_gsi_deg": { + "1": 115.4, + "-1": 74.0 + } + }, + "wrist_bend_deg_median": 117.7, + "opposite_sign_bend_deg": 173.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.26, "hand_vs_marker_frame_deg": { "before": 1.26, - "after": 1.26 + "after": 115.37 }, "markers_on_wrist": [ "RHandIn", "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.09, + "twist_moved_deg": -115.47, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ - -1.5, - 1.8 + -1.4, + 2.0 ] }, - "wrist_total_deg_median_after": 33.7, + "wrist_total_deg_median_after": 27.8, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -517,10 +539,120 @@ }, "frames_used": 1263 }, - "generated_at_utc": "2026-10-28T06:42:38.234760+00:00", + "generated_at_utc": "2026-11-06T14:08:33.836790+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 22.91, + "offset_rotvec": [ + 0.3648, + -0.1466, + -0.0725 + ], + "dev_deg": { + "median": 14.91, + "p90": 26.71 + }, + "samples": 2985, + "accepted": 2849, + "wrist_pos_err_mm_median": 20.2, + "per_camera": { + "head": { + "samples": 2985, + "accepted": 2849, + "gate_deg": 30.0, + "offset_deg": 22.91, + "tier": "primary", + "dev_deg_median": 14.91, + "wrist_pos_err_mm_median": 20.2 + } + }, + "frames_by_state": { + "ace_sample": 11516, + "interpolated": 812, + "mean_hand": 296, + "no_body_fit": 40 + }, + "observed_fraction": 0.9735, + "observed_fraction_of_valid": 0.9766, + "palm_axis_vs_markers_deg": { + "gsi": 19.75, + "smplx": 0.7 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.3, + "p90": 12.5 + }, + "registered": { + "median": 9.0, + "p90": 9.6 + } + } + }, + "right": { + "offset_deg": 10.89, + "offset_rotvec": [ + -0.1324, + -0.0693, + -0.1176 + ], + "dev_deg": { + "median": 26.07, + "p90": 53.04 + }, + "samples": 1831, + "accepted": 1050, + "wrist_pos_err_mm_median": 74.0, + "per_camera": { + "head": { + "samples": 1831, + "accepted": 1050, + "gate_deg": 30.0, + "offset_deg": 10.89, + "tier": "primary", + "dev_deg_median": 26.07, + "wrist_pos_err_mm_median": 74.0 + } + }, + "frames_by_state": { + "ace_sample": 4384, + "interpolated": 4568, + "mean_hand": 3672, + "no_body_fit": 40 + }, + "observed_fraction": 0.7069, + "observed_fraction_of_valid": 0.7091, + "palm_axis_vs_markers_deg": { + "gsi": 71.36, + "smplx": 64.72 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 21.9, + "p90": 34.9 + }, + "registered": { + "median": 21.9, + "p90": 34.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:36:11.239969+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/locomanipulation/LM27/session_025", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM27/session_025/motions/smplx.npz b/actions/locomanipulation/LM27/session_025/motions/smplx.npz index 24eba89b31c2b97a85092ef8697536b45ae9073e..43c741e77c7bf75906614d9323f802e19d93340e 100644 --- a/actions/locomanipulation/LM27/session_025/motions/smplx.npz +++ b/actions/locomanipulation/LM27/session_025/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:090b20149bf3964549a0cb52ed14df4abcbcb39e40e0641cee9bcabfc18ff9b9 -size 4854429 +oid sha256:33c4dc8d2351d281adf3391cd3d9db65f180be19cb74b06702e55747184a3b42 +size 8583047 diff --git a/actions/locomanipulation/LM27/session_028/meta.json b/actions/locomanipulation/LM27/session_028/meta.json index 736454b601641b2a58cef340f8e63ea11302805b..e60845ace088a8379b13e2bc40382b2b32bf8089 100644 --- a/actions/locomanipulation/LM27/session_028/meta.json +++ b/actions/locomanipulation/LM27/session_028/meta.json @@ -365,8 +365,8 @@ "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": { @@ -437,13 +437,24 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, - -0.0, + 0.0, + 0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.864, + "inlier_spread_deg": 5.85, + "marker_Q_to_gsi_deg": { + "1": 12.3, + "-1": 173.2 + } + }, "wrist_bend_deg_median": 10.6, - "opposite_sign_bend_deg": 177.8, + "opposite_sign_bend_deg": 177.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.13, "hand_vs_marker_frame_deg": { @@ -456,9 +467,9 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.38, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -2.0, 2.3 @@ -474,19 +485,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + 2.98981, + 0.43689, + 0.86009 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 47.3, - "opposite_sign_bend_deg": 176.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.935, + "inlier_spread_deg": 5.91, + "marker_Q_to_gsi_deg": { + "1": 159.4, + "-1": 20.9 + } + }, + "wrist_bend_deg_median": 176.1, + "opposite_sign_bend_deg": 47.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.48, "hand_vs_marker_frame_deg": { - "before": 2.48, + "before": 177.99, "after": 2.48 }, "markers_on_wrist": [ @@ -495,15 +517,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.09, + "twist_moved_deg": 175.26, "wrist_twist_deg_after": { - "median": -0.0, + "median": 1.44, "iqr": [ - -2.6, - 2.4 + -0.9, + 3.7 ] }, - "wrist_total_deg_median_after": 47.3, + "wrist_total_deg_median_after": 17.3, "markers_on_forearm": [ "RForearm", "RWristOut" @@ -511,7 +533,7 @@ }, "frames_used": 1365 }, - "generated_at_utc": "2026-10-28T06:49:13.983148+00:00", + "generated_at_utc": "2026-11-06T14:17:38.243097+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -574,6 +596,116 @@ }, "applied": 3 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 11.2, + "offset_rotvec": [ + 0.0919, + -0.1235, + 0.1204 + ], + "dev_deg": { + "median": 7.2, + "p90": 80.54 + }, + "samples": 3462, + "accepted": 3006, + "wrist_pos_err_mm_median": 37.3, + "per_camera": { + "head": { + "samples": 3462, + "accepted": 3006, + "gate_deg": 30.0, + "offset_deg": 11.2, + "tier": "primary", + "dev_deg_median": 7.2, + "wrist_pos_err_mm_median": 37.3 + } + }, + "frames_by_state": { + "ace_sample": 12022, + "interpolated": 6, + "mean_hand": 1975, + "no_body_fit": 5 + }, + "observed_fraction": 0.8587, + "observed_fraction_of_valid": 0.859, + "palm_axis_vs_markers_deg": { + "gsi": 11.1, + "smplx": 1.93 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.9, + "p90": 7.9 + }, + "registered": { + "median": 5.3, + "p90": 7.3 + } + } + }, + "right": { + "offset_deg": 21.87, + "offset_rotvec": [ + 0.369, + 0.0836, + 0.0507 + ], + "dev_deg": { + "median": 6.31, + "p90": 18.99 + }, + "samples": 3451, + "accepted": 3237, + "wrist_pos_err_mm_median": 22.2, + "per_camera": { + "head": { + "samples": 3451, + "accepted": 3237, + "gate_deg": 30.0, + "offset_deg": 21.87, + "tier": "primary", + "dev_deg_median": 6.31, + "wrist_pos_err_mm_median": 22.2 + } + }, + "frames_by_state": { + "ace_sample": 12964, + "interpolated": 224, + "mean_hand": 815, + "no_body_fit": 5 + }, + "observed_fraction": 0.9415, + "observed_fraction_of_valid": 0.9418, + "palm_axis_vs_markers_deg": { + "gsi": 21.35, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:53:27.547238+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/locomanipulation/LM27/session_028", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM27/session_028/motions/smplx.npz b/actions/locomanipulation/LM27/session_028/motions/smplx.npz index 4162a1d7b5d74e0baea85a41bbbfeafd387da6ec..a1186ae502b928e3cbeb1666eb6972d61b9404fe 100644 --- a/actions/locomanipulation/LM27/session_028/motions/smplx.npz +++ b/actions/locomanipulation/LM27/session_028/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a9eefef1c891e267ab9cc2d1243b2032bdee8aa1d46cd0c0c8a0fe9b57ac4a7d -size 5386026 +oid sha256:3c340f6a47cc73e6f4bb276df92567f96d815e95cae1c4995c1eed45151f5a68 +size 9648209 diff --git a/actions/locomanipulation/LM28/session_021/meta.json b/actions/locomanipulation/LM28/session_021/meta.json index bc96ce0aecc2e77bac6b0a04bab4fe247ee09e83..4bde06c851dab9f3764e953c9fee1d93eaef2405 100644 --- a/actions/locomanipulation/LM28/session_021/meta.json +++ b/actions/locomanipulation/LM28/session_021/meta.json @@ -379,8 +379,8 @@ "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": { @@ -450,10 +450,21 @@ -0.43848, -0.87784 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 171.2, - "opposite_sign_bend_deg": 26.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2743, + "inlier_frac": 0.945, + "inlier_spread_deg": 7.61, + "marker_Q_to_gsi_deg": { + "1": 146.1, + "-1": 36.2 + } + }, + "wrist_bend_deg_median": 170.1, + "opposite_sign_bend_deg": 48.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.89, "hand_vs_marker_frame_deg": { "before": 179.21, @@ -465,15 +476,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 169.98, + "twist_moved_deg": -169.84, "wrist_twist_deg_after": { - "median": 0.36, + "median": -0.14, "iqr": [ - -1.2, - 1.5 + -1.7, + 1.2 ] }, - "wrist_total_deg_median_after": 48.3, + "wrist_total_deg_median_after": 26.9, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -485,11 +496,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, -0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2742, + "inlier_frac": 0.963, + "inlier_spread_deg": 6.07, + "marker_Q_to_gsi_deg": { + "1": 17.3, + "-1": 166.0 + } + }, "wrist_bend_deg_median": 24.8, "opposite_sign_bend_deg": 172.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -503,7 +525,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -520,10 +542,120 @@ }, "frames_used": 1111 }, - "generated_at_utc": "2026-10-28T06:40:46.954886+00:00", + "generated_at_utc": "2026-11-06T14:05:28.437972+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 35.71, + "offset_rotvec": [ + 0.6207, + 0.0556, + -0.01 + ], + "dev_deg": { + "median": 8.2, + "p90": 20.45 + }, + "samples": 2743, + "accepted": 2604, + "wrist_pos_err_mm_median": 24.2, + "per_camera": { + "head": { + "samples": 2743, + "accepted": 2604, + "gate_deg": 30.0, + "offset_deg": 35.71, + "tier": "primary", + "dev_deg_median": 8.2, + "wrist_pos_err_mm_median": 24.2 + } + }, + "frames_by_state": { + "ace_sample": 10432, + "interpolated": 162, + "mean_hand": 510, + "no_body_fit": 8 + }, + "observed_fraction": 0.9534, + "observed_fraction_of_valid": 0.9541, + "palm_axis_vs_markers_deg": { + "gsi": 35.8, + "smplx": 1.52 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.1, + "p90": 11.2 + }, + "registered": { + "median": 9.8, + "p90": 11.7 + } + } + }, + "right": { + "offset_deg": 17.43, + "offset_rotvec": [ + 0.232, + 0.1967, + -0.0084 + ], + "dev_deg": { + "median": 6.49, + "p90": 21.39 + }, + "samples": 2742, + "accepted": 2642, + "wrist_pos_err_mm_median": 41.5, + "per_camera": { + "head": { + "samples": 2742, + "accepted": 2642, + "gate_deg": 30.0, + "offset_deg": 17.43, + "tier": "primary", + "dev_deg_median": 6.49, + "wrist_pos_err_mm_median": 41.5 + } + }, + "frames_by_state": { + "ace_sample": 10605, + "interpolated": 358, + "mean_hand": 141, + "no_body_fit": 8 + }, + "observed_fraction": 0.9866, + "observed_fraction_of_valid": 0.9873, + "palm_axis_vs_markers_deg": { + "gsi": 20.08, + "smplx": 2.61 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.8, + "p90": 5.6 + }, + "registered": { + "median": 6.1, + "p90": 6.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:28:38.040947+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/locomanipulation/LM28/session_021", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM28/session_021/motions/smplx.npz b/actions/locomanipulation/LM28/session_021/motions/smplx.npz index 82dde0a3fd2813a9f6819591e3d81e393806689c..e02d0ac1e7e853f12d8ae4acee0ae606bf22e6d4 100644 --- a/actions/locomanipulation/LM28/session_021/motions/smplx.npz +++ b/actions/locomanipulation/LM28/session_021/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4928f7b7dfe95da792f9aa0325d47f7e0127ddc26513f2dbf3144288f18f9f86 -size 4257096 +oid sha256:9aa0a5cfcadbb6fecf986007d4a608e07ad5f55cf442e1f67dc185b8b11e03b9 +size 7885475 diff --git a/actions/locomanipulation/LM28/session_022/meta.json b/actions/locomanipulation/LM28/session_022/meta.json index eddaab6526744af9ccdb14a5d9653bceeecb4ecc..c44856ebd80d07e08856fe8ab2bac7043d8dddc6 100644 --- a/actions/locomanipulation/LM28/session_022/meta.json +++ b/actions/locomanipulation/LM28/session_022/meta.json @@ -379,8 +379,8 @@ "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": { @@ -450,10 +450,21 @@ -0.43848, -0.87784 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 174.9, - "opposite_sign_bend_deg": 21.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2565, + "inlier_frac": 0.887, + "inlier_spread_deg": 5.94, + "marker_Q_to_gsi_deg": { + "1": 174.8, + "-1": 7.6 + } + }, + "wrist_bend_deg_median": 174.2, + "opposite_sign_bend_deg": 28.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.48, "hand_vs_marker_frame_deg": { "before": 178.66, @@ -465,15 +476,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 174.51, + "twist_moved_deg": -173.41, "wrist_twist_deg_after": { - "median": 0.78, + "median": -1.1, "iqr": [ - -0.6, - 2.1 + -4.6, + 1.1 ] }, - "wrist_total_deg_median_after": 28.8, + "wrist_total_deg_median_after": 21.7, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -486,10 +497,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - -0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2547, + "inlier_frac": 0.967, + "inlier_spread_deg": 5.76, + "marker_Q_to_gsi_deg": { + "1": 14.1, + "-1": 179.2 + } + }, "wrist_bend_deg_median": 13.5, "opposite_sign_bend_deg": 175.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -521,10 +543,120 @@ }, "frames_used": 1048 }, - "generated_at_utc": "2026-10-28T06:40:47.176621+00:00", + "generated_at_utc": "2026-11-06T14:05:27.135222+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 6.67, + "offset_rotvec": [ + 0.0694, + 0.0766, + -0.0534 + ], + "dev_deg": { + "median": 6.42, + "p90": 39.65 + }, + "samples": 2565, + "accepted": 2277, + "wrist_pos_err_mm_median": 24.5, + "per_camera": { + "head": { + "samples": 2565, + "accepted": 2277, + "gate_deg": 30.0, + "offset_deg": 6.67, + "tier": "primary", + "dev_deg_median": 6.42, + "wrist_pos_err_mm_median": 24.5 + } + }, + "frames_by_state": { + "ace_sample": 9106, + "interpolated": 6, + "mean_hand": 1364, + "no_body_fit": 8 + }, + "observed_fraction": 0.8691, + "observed_fraction_of_valid": 0.8698, + "palm_axis_vs_markers_deg": { + "gsi": 9.79, + "smplx": 1.69 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.9, + "p90": 13.9 + }, + "registered": { + "median": 10.7, + "p90": 13.7 + } + } + }, + "right": { + "offset_deg": 14.09, + "offset_rotvec": [ + -0.0644, + 0.2364, + 0.0197 + ], + "dev_deg": { + "median": 5.61, + "p90": 18.69 + }, + "samples": 2547, + "accepted": 2459, + "wrist_pos_err_mm_median": 42.2, + "per_camera": { + "head": { + "samples": 2547, + "accepted": 2459, + "gate_deg": 30.0, + "offset_deg": 14.09, + "tier": "primary", + "dev_deg_median": 5.61, + "wrist_pos_err_mm_median": 42.2 + } + }, + "frames_by_state": { + "ace_sample": 9870, + "interpolated": 442, + "mean_hand": 164, + "no_body_fit": 8 + }, + "observed_fraction": 0.9836, + "observed_fraction_of_valid": 0.9843, + "palm_axis_vs_markers_deg": { + "gsi": 14.48, + "smplx": 3.0 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.4, + "p90": 5.4 + }, + "registered": { + "median": 5.6, + "p90": 7.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:28:51.643396+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/locomanipulation/LM28/session_022", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM28/session_022/motions/smplx.npz b/actions/locomanipulation/LM28/session_022/motions/smplx.npz index f8c28beeef16519624cfb24588952ac0242a8bf2..6ed6c4476ffcb90e59e7c392c3fadc476b9148d1 100644 --- a/actions/locomanipulation/LM28/session_022/motions/smplx.npz +++ b/actions/locomanipulation/LM28/session_022/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ef510619e3c153d893267c3af2cbf1797bdf7f995b19d1a43602d9b15459630c -size 4016787 +oid sha256:016e8b039bf56652b245d6a241bef9423ec152b0ef08c23025f869454df1184d +size 7309369 diff --git a/actions/locomanipulation/LM28/session_023/meta.json b/actions/locomanipulation/LM28/session_023/meta.json index 876762a8405c75aec936c7de6630902a8949e5d7..5b4bdc0216b3d680a570c09b77581299256c3c12 100644 --- a/actions/locomanipulation/LM28/session_023/meta.json +++ b/actions/locomanipulation/LM28/session_023/meta.json @@ -380,8 +380,8 @@ "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": { @@ -442,14 +442,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 2.98442, - -0.43848, - -0.87784 + -2.98442, + 0.43848, + 0.87784 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 175.6, - "opposite_sign_bend_deg": 14.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2935, + "inlier_frac": 0.956, + "inlier_spread_deg": 7.79, + "marker_Q_to_gsi_deg": { + "1": 168.8, + "-1": 12.6 + } + }, + "wrist_bend_deg_median": 175.3, + "opposite_sign_bend_deg": 35.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.58, "hand_vs_marker_frame_deg": { "before": 179.67, @@ -460,15 +471,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 175.34, + "twist_moved_deg": -175.14, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.2, "iqr": [ - -2.0, - 1.3 + -1.1, + 0.7 ] }, - "wrist_total_deg_median_after": 35.1, + "wrist_total_deg_median_after": 14.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -483,9 +494,20 @@ "Q_rotvec": [ 0.0, -0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.977, + "inlier_spread_deg": 6.4, + "marker_Q_to_gsi_deg": { + "1": 17.1, + "-1": 171.4 + } + }, "wrist_bend_deg_median": 11.0, "opposite_sign_bend_deg": 176.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -499,9 +521,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -2.3, 2.0 @@ -516,10 +538,120 @@ }, "frames_used": 1232 }, - "generated_at_utc": "2026-10-28T06:40:47.640942+00:00", + "generated_at_utc": "2026-11-06T14:05:34.037126+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 12.86, + "offset_rotvec": [ + 0.2221, + 0.0066, + 0.0315 + ], + "dev_deg": { + "median": 8.12, + "p90": 15.84 + }, + "samples": 2935, + "accepted": 2809, + "wrist_pos_err_mm_median": 38.5, + "per_camera": { + "head": { + "samples": 2935, + "accepted": 2809, + "gate_deg": 30.0, + "offset_deg": 12.86, + "tier": "primary", + "dev_deg_median": 8.12, + "wrist_pos_err_mm_median": 38.5 + } + }, + "frames_by_state": { + "ace_sample": 11240, + "interpolated": 184, + "mean_hand": 888, + "no_body_fit": 0 + }, + "observed_fraction": 0.9279, + "observed_fraction_of_valid": 0.9279, + "palm_axis_vs_markers_deg": { + "gsi": 10.93, + "smplx": 0.91 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.5, + "p90": 13.0 + }, + "registered": { + "median": 7.9, + "p90": 12.0 + } + } + }, + "right": { + "offset_deg": 16.73, + "offset_rotvec": [ + 0.1084, + 0.2697, + 0.0287 + ], + "dev_deg": { + "median": 6.52, + "p90": 15.08 + }, + "samples": 3051, + "accepted": 2980, + "wrist_pos_err_mm_median": 48.3, + "per_camera": { + "head": { + "samples": 3051, + "accepted": 2980, + "gate_deg": 30.0, + "offset_deg": 16.73, + "tier": "primary", + "dev_deg_median": 6.52, + "wrist_pos_err_mm_median": 48.3 + } + }, + "frames_by_state": { + "ace_sample": 11934, + "interpolated": 142, + "mean_hand": 236, + "no_body_fit": 0 + }, + "observed_fraction": 0.9808, + "observed_fraction_of_valid": 0.9808, + "palm_axis_vs_markers_deg": { + "gsi": 19.06, + "smplx": 1.8 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.9, + "p90": 5.6 + }, + "registered": { + "median": 6.1, + "p90": 6.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:29:16.941543+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/locomanipulation/LM28/session_023", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM28/session_023/motions/smplx.npz b/actions/locomanipulation/LM28/session_023/motions/smplx.npz index 03e7392970efea39c558268a0b6d0d8c14e5f511..0d9255f770742e7a205a7455ad205de2404db031 100644 --- a/actions/locomanipulation/LM28/session_023/motions/smplx.npz +++ b/actions/locomanipulation/LM28/session_023/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:29f1ab01c091e48768c59e2ab2e3715703de4c383dd617aaf2893bcd1c823df6 -size 4720171 +oid sha256:885e1a603a0753a2aebb1912942d28b0068ecec968fbe1606b76dbe7a1b55469 +size 8702145 diff --git a/actions/locomanipulation/LM28/session_027/meta.json b/actions/locomanipulation/LM28/session_027/meta.json index 5f9411c9c99e2369b515956b50a3eedd9ce4182f..9d6041bee1332914abadac164d7a1d454272c02f 100644 --- a/actions/locomanipulation/LM28/session_027/meta.json +++ b/actions/locomanipulation/LM28/session_027/meta.json @@ -365,8 +365,8 @@ "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": { @@ -437,14 +437,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 178.4, - "opposite_sign_bend_deg": 5.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 1.0, + "inlier_spread_deg": 3.91, + "marker_Q_to_gsi_deg": { + "1": 157.6, + "-1": 24.4 + } + }, + "wrist_bend_deg_median": 177.3, + "opposite_sign_bend_deg": 33.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.04, "hand_vs_marker_frame_deg": { "before": 179.32, @@ -457,15 +468,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 177.55, + "twist_moved_deg": -176.98, "wrist_twist_deg_after": { - "median": 0.99, + "median": -0.56, "iqr": [ - -0.2, - 2.3 + -1.9, + 0.6 ] }, - "wrist_total_deg_median_after": 33.2, + "wrist_total_deg_median_after": 5.2, "markers_on_forearm": [ "LForearm" ] @@ -478,9 +489,20 @@ "Q_rotvec": [ 0.0, 0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.987, + "inlier_spread_deg": 3.15, + "marker_Q_to_gsi_deg": { + "1": 17.0, + "-1": 164.9 + } + }, "wrist_bend_deg_median": 14.8, "opposite_sign_bend_deg": 178.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -511,10 +533,120 @@ }, "frames_used": 1389 }, - "generated_at_utc": "2026-10-28T06:44:58.453491+00:00", + "generated_at_utc": "2026-11-06T14:10:21.868252+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 24.44, + "offset_rotvec": [ + -0.3499, + -0.0687, + 0.2342 + ], + "dev_deg": { + "median": 3.88, + "p90": 7.53 + }, + "samples": 3468, + "accepted": 3467, + "wrist_pos_err_mm_median": 56.9, + "per_camera": { + "head": { + "samples": 3468, + "accepted": 3467, + "gate_deg": 30.0, + "offset_deg": 24.44, + "tier": "primary", + "dev_deg_median": 3.88, + "wrist_pos_err_mm_median": 56.9 + } + }, + "frames_by_state": { + "ace_sample": 13870, + "interpolated": 2, + "mean_hand": 16, + "no_body_fit": 0 + }, + "observed_fraction": 0.9988, + "observed_fraction_of_valid": 0.9988, + "palm_axis_vs_markers_deg": { + "gsi": 23.01, + "smplx": 0.98 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 3.1, + "p90": 5.0 + }, + "registered": { + "median": 3.0, + "p90": 4.8 + } + } + }, + "right": { + "offset_deg": 17.03, + "offset_rotvec": [ + -0.2394, + -0.1647, + -0.0624 + ], + "dev_deg": { + "median": 3.17, + "p90": 6.85 + }, + "samples": 3440, + "accepted": 3395, + "wrist_pos_err_mm_median": 30.9, + "per_camera": { + "head": { + "samples": 3440, + "accepted": 3395, + "gate_deg": 30.0, + "offset_deg": 17.03, + "tier": "primary", + "dev_deg_median": 3.17, + "wrist_pos_err_mm_median": 30.9 + } + }, + "frames_by_state": { + "ace_sample": 13578, + "interpolated": 2, + "mean_hand": 308, + "no_body_fit": 0 + }, + "observed_fraction": 0.9778, + "observed_fraction_of_valid": 0.9778, + "palm_axis_vs_markers_deg": { + "gsi": 17.72, + "smplx": 0.69 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.8, + "p90": 5.9 + }, + "registered": { + "median": 5.5, + "p90": 7.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:38:07.335490+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/locomanipulation/LM28/session_027", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM28/session_027/motions/smplx.npz b/actions/locomanipulation/LM28/session_027/motions/smplx.npz index 0890c5ad4d7fdd625b16751100dc540af17c9071..fdef53b974c8962fe2bec91d04081d6931c1f176 100644 --- a/actions/locomanipulation/LM28/session_027/motions/smplx.npz +++ b/actions/locomanipulation/LM28/session_027/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0e4f807e6472cf057d7bbdce802aa95ba69587c0f134cb6c8ba923f05a934682 -size 5321813 +oid sha256:faaf7204a2c20a5d7e17641d4fce6d140966366680d3bd562d6af9328f728054 +size 9932778 diff --git a/actions/locomanipulation/LM29/session_015/meta.json b/actions/locomanipulation/LM29/session_015/meta.json index 724de87d0f54fef42b0ea28c4345c0c093d4efed..8f37d55f1cf3edfad5e731151b062c3599bb90b3 100644 --- a/actions/locomanipulation/LM29/session_015/meta.json +++ b/actions/locomanipulation/LM29/session_015/meta.json @@ -380,8 +380,8 @@ "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": { @@ -450,19 +450,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + 2.98164, + -0.44128, + -0.88584 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 41.9, - "opposite_sign_bend_deg": 169.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.931, + "inlier_spread_deg": 9.48, + "marker_Q_to_gsi_deg": { + "1": 166.1, + "-1": 20.8 + } + }, + "wrist_bend_deg_median": 169.8, + "opposite_sign_bend_deg": 41.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.05, "hand_vs_marker_frame_deg": { - "before": 2.05, + "before": 179.13, "after": 2.05 }, "markers_on_wrist": [ @@ -471,15 +482,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -1.0, + "twist_moved_deg": -159.35, "wrist_twist_deg_after": { - "median": -0.03, + "median": -14.47, "iqr": [ - -8.8, - 12.4 + -25.1, + -2.1 ] }, - "wrist_total_deg_median_after": 42.1, + "wrist_total_deg_median_after": 25.3, "markers_on_forearm": [ "LElbowIn", "LForearm", @@ -493,10 +504,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.971, + "inlier_spread_deg": 7.5, + "marker_Q_to_gsi_deg": { + "1": 26.2, + "-1": 154.8 + } + }, "wrist_bend_deg_median": 30.1, "opposite_sign_bend_deg": 173.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -513,7 +535,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -6.2, 4.7 @@ -528,7 +550,7 @@ }, "frames_used": 1416 }, - "generated_at_utc": "2026-10-28T06:40:52.416136+00:00", + "generated_at_utc": "2026-11-06T14:05:42.135415+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -591,6 +613,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 21.85, + "offset_rotvec": [ + 0.3338, + 0.0426, + 0.1794 + ], + "dev_deg": { + "median": 10.34, + "p90": 22.93 + }, + "samples": 3489, + "accepted": 3263, + "wrist_pos_err_mm_median": 31.3, + "per_camera": { + "head": { + "samples": 3489, + "accepted": 3263, + "gate_deg": 30.0, + "offset_deg": 21.85, + "tier": "primary", + "dev_deg_median": 10.34, + "wrist_pos_err_mm_median": 31.3 + } + }, + "frames_by_state": { + "ace_sample": 13150, + "interpolated": 396, + "mean_hand": 606, + "no_body_fit": 0 + }, + "observed_fraction": 0.9572, + "observed_fraction_of_valid": 0.9572, + "palm_axis_vs_markers_deg": { + "gsi": 15.65, + "smplx": 1.57 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.5, + "p90": 19.2 + }, + "registered": { + "median": 13.7, + "p90": 17.8 + } + } + }, + "right": { + "offset_deg": 26.89, + "offset_rotvec": [ + 0.4523, + -0.0557, + 0.1119 + ], + "dev_deg": { + "median": 7.81, + "p90": 13.48 + }, + "samples": 3449, + "accepted": 3349, + "wrist_pos_err_mm_median": 39.1, + "per_camera": { + "head": { + "samples": 3449, + "accepted": 3349, + "gate_deg": 30.0, + "offset_deg": 26.89, + "tier": "primary", + "dev_deg_median": 7.81, + "wrist_pos_err_mm_median": 39.1 + } + }, + "frames_by_state": { + "ace_sample": 13498, + "interpolated": 282, + "mean_hand": 372, + "no_body_fit": 0 + }, + "observed_fraction": 0.9737, + "observed_fraction_of_valid": 0.9737, + "palm_axis_vs_markers_deg": { + "gsi": 27.01, + "smplx": 2.43 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.9, + "p90": 25.6 + }, + "registered": { + "median": 12.8, + "p90": 23.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:29:18.740903+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/locomanipulation/LM29/session_015", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM29/session_015/motions/smplx.npz b/actions/locomanipulation/LM29/session_015/motions/smplx.npz index 2a81fdaa07d37d1a31f6ac48db70e9c069edf17a..bca6073da900be0fa4dadebf8559eb8ecd94d235 100644 --- a/actions/locomanipulation/LM29/session_015/motions/smplx.npz +++ b/actions/locomanipulation/LM29/session_015/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:067b272bbf4c7e8c580463b4d34bea8b2c9eeb28bd0b35038e38ca70dc1423ff -size 5446493 +oid sha256:351c3ffd925def9e918d6a788062b7dc7e649df93a421376755409f2bce7f218 +size 10051997 diff --git a/actions/locomanipulation/LM29/session_016/meta.json b/actions/locomanipulation/LM29/session_016/meta.json index 540d01b6509daca9251fbc09b346b4695d864ef2..a99f7d6c655b7631797750fdfe9ea217e30d29b6 100644 --- a/actions/locomanipulation/LM29/session_016/meta.json +++ b/actions/locomanipulation/LM29/session_016/meta.json @@ -379,8 +379,8 @@ "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": { @@ -451,14 +451,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 2.98163, - -0.44128, - -0.88585 + -2.98164, + 0.44128, + 0.88584 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 174.8, - "opposite_sign_bend_deg": 18.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.952, + "inlier_spread_deg": 8.57, + "marker_Q_to_gsi_deg": { + "1": 162.3, + "-1": 23.6 + } + }, + "wrist_bend_deg_median": 170.4, + "opposite_sign_bend_deg": 31.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.43, "hand_vs_marker_frame_deg": { "before": 179.37, @@ -470,15 +481,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 170.26, + "twist_moved_deg": -169.29, "wrist_twist_deg_after": { - "median": 5.85, + "median": -0.97, "iqr": [ - 1.8, - 11.7 + -5.2, + 6.2 ] }, - "wrist_total_deg_median_after": 31.5, + "wrist_total_deg_median_after": 18.0, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -491,10 +502,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.994, + "inlier_spread_deg": 7.37, + "marker_Q_to_gsi_deg": { + "1": 26.7, + "-1": 154.3 + } + }, "wrist_bend_deg_median": 24.3, "opposite_sign_bend_deg": 173.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -526,10 +548,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:40:52.617984+00:00", + "generated_at_utc": "2026-11-06T14:06:02.470037+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 24.25, + "offset_rotvec": [ + 0.3898, + -0.0004, + 0.165 + ], + "dev_deg": { + "median": 8.93, + "p90": 20.13 + }, + "samples": 3702, + "accepted": 3531, + "wrist_pos_err_mm_median": 34.7, + "per_camera": { + "head": { + "samples": 3702, + "accepted": 3531, + "gate_deg": 30.0, + "offset_deg": 24.25, + "tier": "primary", + "dev_deg_median": 8.93, + "wrist_pos_err_mm_median": 34.7 + } + }, + "frames_by_state": { + "ace_sample": 14162, + "interpolated": 378, + "mean_hand": 461, + "no_body_fit": 3 + }, + "observed_fraction": 0.9691, + "observed_fraction_of_valid": 0.9693, + "palm_axis_vs_markers_deg": { + "gsi": 18.68, + "smplx": 1.19 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.1, + "p90": 30.6 + }, + "registered": { + "median": 13.6, + "p90": 29.2 + } + } + }, + "right": { + "offset_deg": 26.56, + "offset_rotvec": [ + 0.4424, + -0.0679, + 0.1205 + ], + "dev_deg": { + "median": 7.35, + "p90": 12.47 + }, + "samples": 3667, + "accepted": 3640, + "wrist_pos_err_mm_median": 39.4, + "per_camera": { + "head": { + "samples": 3667, + "accepted": 3640, + "gate_deg": 30.0, + "offset_deg": 26.56, + "tier": "primary", + "dev_deg_median": 7.35, + "wrist_pos_err_mm_median": 39.4 + } + }, + "frames_by_state": { + "ace_sample": 14584, + "interpolated": 168, + "mean_hand": 249, + "no_body_fit": 3 + }, + "observed_fraction": 0.9832, + "observed_fraction_of_valid": 0.9834, + "palm_axis_vs_markers_deg": { + "gsi": 27.75, + "smplx": 1.79 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.5, + "p90": 19.3 + }, + "registered": { + "median": 12.6, + "p90": 17.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:29:21.146561+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/locomanipulation/LM29/session_016", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM29/session_016/motions/smplx.npz b/actions/locomanipulation/LM29/session_016/motions/smplx.npz index 900adcaa36594af2cf9aa660ac5757453378c0e4..89abdfe81d24e8d11831c3bbb21556125cf4867b 100644 --- a/actions/locomanipulation/LM29/session_016/motions/smplx.npz +++ b/actions/locomanipulation/LM29/session_016/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ffb64e5aa9fffeb1adfec3647d6f9304c59524841964ae6282d1b194e6d671db -size 5769026 +oid sha256:c4dc7c73490c2240e29bf6ea30f1a931a1455170b7d24a8f5b559b14c10b195f +size 10690209 diff --git a/actions/locomanipulation/LM29/session_017/meta.json b/actions/locomanipulation/LM29/session_017/meta.json index 460498c7fa8abf02f265c8304ee0cd7cafbc1090..c86a59b9e909861d2898329a22e9c42a6f2d65ed 100644 --- a/actions/locomanipulation/LM29/session_017/meta.json +++ b/actions/locomanipulation/LM29/session_017/meta.json @@ -378,8 +378,8 @@ "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": { @@ -443,19 +443,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -2.98164, + 0.44128, + 0.88584 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 34.0, - "opposite_sign_bend_deg": 173.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.844, + "inlier_spread_deg": 8.86, + "marker_Q_to_gsi_deg": { + "1": 162.9, + "-1": 23.0 + } + }, + "wrist_bend_deg_median": 173.1, + "opposite_sign_bend_deg": 34.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.85, "hand_vs_marker_frame_deg": { - "before": 1.85, + "before": 179.44, "after": 1.85 }, "markers_on_wrist": [ @@ -463,15 +474,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -166.24, "wrist_twist_deg_after": { - "median": -0.0, + "median": -9.82, "iqr": [ - -6.1, - 5.3 + -16.7, + -1.9 ] }, - "wrist_total_deg_median_after": 34.9, + "wrist_total_deg_median_after": 20.5, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -484,11 +495,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, + -0.0, -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.973, + "inlier_spread_deg": 8.15, + "marker_Q_to_gsi_deg": { + "1": 25.8, + "-1": 155.3 + } + }, "wrist_bend_deg_median": 25.8, "opposite_sign_bend_deg": 175.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -503,9 +525,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -6.4, 5.9 @@ -520,7 +542,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:40:52.745488+00:00", + "generated_at_utc": "2026-11-06T14:06:17.163833+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -624,6 +646,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 24.75, + "offset_rotvec": [ + 0.3837, + 0.0165, + 0.1976 + ], + "dev_deg": { + "median": 10.81, + "p90": 57.17 + }, + "samples": 4009, + "accepted": 3383, + "wrist_pos_err_mm_median": 30.5, + "per_camera": { + "head": { + "samples": 4009, + "accepted": 3383, + "gate_deg": 30.0, + "offset_deg": 24.75, + "tier": "primary", + "dev_deg_median": 10.81, + "wrist_pos_err_mm_median": 30.5 + } + }, + "frames_by_state": { + "ace_sample": 13542, + "interpolated": 338, + "mean_hand": 2200, + "no_body_fit": 4 + }, + "observed_fraction": 0.863, + "observed_fraction_of_valid": 0.8632, + "palm_axis_vs_markers_deg": { + "gsi": 18.26, + "smplx": 1.19 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.0, + "p90": 14.3 + }, + "registered": { + "median": 10.7, + "p90": 13.4 + } + } + }, + "right": { + "offset_deg": 26.17, + "offset_rotvec": [ + 0.4364, + -0.0689, + 0.116 + ], + "dev_deg": { + "median": 8.3, + "p90": 14.27 + }, + "samples": 3954, + "accepted": 3843, + "wrist_pos_err_mm_median": 37.4, + "per_camera": { + "head": { + "samples": 3954, + "accepted": 3843, + "gate_deg": 30.0, + "offset_deg": 26.17, + "tier": "primary", + "dev_deg_median": 8.3, + "wrist_pos_err_mm_median": 37.4 + } + }, + "frames_by_state": { + "ace_sample": 15390, + "interpolated": 330, + "mean_hand": 360, + "no_body_fit": 4 + }, + "observed_fraction": 0.9774, + "observed_fraction_of_valid": 0.9776, + "palm_axis_vs_markers_deg": { + "gsi": 27.11, + "smplx": 1.94 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.2, + "p90": 21.7 + }, + "registered": { + "median": 11.6, + "p90": 18.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:29:31.635472+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/locomanipulation/LM29/session_017", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM29/session_017/motions/smplx.npz b/actions/locomanipulation/LM29/session_017/motions/smplx.npz index 3debc5191045c1332840dbf18e9e50946402190a..7f9ac1046dc7c7e2426c98940e00e1e6449f80e5 100644 --- a/actions/locomanipulation/LM29/session_017/motions/smplx.npz +++ b/actions/locomanipulation/LM29/session_017/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6106aee83c80ef8588e9761bf6d2a4c990268e55dbf2a416923cfa1e7ddecde8 -size 6184395 +oid sha256:4b947b56dc9235f436c59072b61b56834328dabc5f90a340d5dc286a5d3f34c8 +size 11210700 diff --git a/actions/locomanipulation/LM31/session_001/meta.json b/actions/locomanipulation/LM31/session_001/meta.json index 7e731c83dd4716e46e8ecaee29c7f992e3d6272c..22913318f8069305204a195da013ee3c44e8cdd8 100644 --- a/actions/locomanipulation/LM31/session_001/meta.json +++ b/actions/locomanipulation/LM31/session_001/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -392,10 +392,21 @@ 0.26943, 0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 172.1, - "opposite_sign_bend_deg": 33.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2173, + "inlier_frac": 0.616, + "inlier_spread_deg": 17.05, + "marker_Q_to_gsi_deg": { + "1": 161.5, + "-1": 30.9 + } + }, + "wrist_bend_deg_median": 170.9, + "opposite_sign_bend_deg": 32.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.35, "hand_vs_marker_frame_deg": { "before": 179.55, @@ -406,15 +417,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 170.56, + "twist_moved_deg": -169.88, "wrist_twist_deg_after": { - "median": 1.22, + "median": -0.68, "iqr": [ - -2.8, - 5.2 + -4.7, + 3.9 ] }, - "wrist_total_deg_median_after": 32.7, + "wrist_total_deg_median_after": 33.4, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -427,11 +438,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ + 0.0, -0.0, - -0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.924, + "inlier_spread_deg": 7.44, + "marker_Q_to_gsi_deg": { + "1": 6.6, + "-1": 176.7 + } + }, "wrist_bend_deg_median": 10.0, "opposite_sign_bend_deg": 177.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -445,7 +467,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -462,7 +484,7 @@ }, "frames_used": 1428 }, - "generated_at_utc": "2026-10-28T06:14:47.231904+00:00", + "generated_at_utc": "2026-11-06T13:36:37.046551+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -506,6 +528,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.3360566339094606 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 38.63, + "offset_rotvec": [ + 0.3022, + -0.5775, + -0.1721 + ], + "dev_deg": { + "median": 25.18, + "p90": 50.5 + }, + "samples": 2173, + "accepted": 1363, + "wrist_pos_err_mm_median": 97.2, + "per_camera": { + "head": { + "samples": 2173, + "accepted": 1363, + "gate_deg": 30.0, + "offset_deg": 38.63, + "tier": "primary", + "dev_deg_median": 25.18, + "wrist_pos_err_mm_median": 97.2 + } + }, + "frames_by_state": { + "ace_sample": 5698, + "interpolated": 5110, + "mean_hand": 3468, + "no_body_fit": 8 + }, + "observed_fraction": 0.7567, + "observed_fraction_of_valid": 0.7571, + "palm_axis_vs_markers_deg": { + "gsi": 41.77, + "smplx": 1.38 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.6, + "p90": 17.0 + }, + "registered": { + "median": 8.8, + "p90": 16.2 + } + } + }, + "right": { + "offset_deg": 6.62, + "offset_rotvec": [ + -0.077, + 0.0205, + 0.0835 + ], + "dev_deg": { + "median": 8.16, + "p90": 24.97 + }, + "samples": 3312, + "accepted": 3072, + "wrist_pos_err_mm_median": 64.8, + "per_camera": { + "head": { + "samples": 3312, + "accepted": 3072, + "gate_deg": 30.0, + "offset_deg": 6.62, + "tier": "primary", + "dev_deg_median": 8.16, + "wrist_pos_err_mm_median": 64.8 + } + }, + "frames_by_state": { + "ace_sample": 12391, + "interpolated": 1356, + "mean_hand": 529, + "no_body_fit": 8 + }, + "observed_fraction": 0.9624, + "observed_fraction_of_valid": 0.9629, + "palm_axis_vs_markers_deg": { + "gsi": 8.51, + "smplx": 0.94 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.4, + "p90": 11.5 + }, + "registered": { + "median": 8.5, + "p90": 10.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:27:41.836460+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/locomanipulation/LM31/session_001", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM31/session_001/motions/smplx.npz b/actions/locomanipulation/LM31/session_001/motions/smplx.npz index 3b069ecda00375c5f9b872842236cf30502ad0cd..c7ecf00d9e4ea1ae81e761e4a4ae8576a2c76b0b 100644 --- a/actions/locomanipulation/LM31/session_001/motions/smplx.npz +++ b/actions/locomanipulation/LM31/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7febab6b7e2b289ca1098bbad021b5c3c1de0f81de1c5684c2d6b1d18b9d26b5 -size 5490138 +oid sha256:e245506c81e86b2ba8bdb3f7f413a37454e1d93501b38c2b25da0b2b6e42e909 +size 9808573 diff --git a/actions/locomanipulation/LM31/session_002/meta.json b/actions/locomanipulation/LM31/session_002/meta.json index 3d4893042000dbc4e48feedf517acfb255a54920..e475f888f7134d694985ec3d435f8c0a3ee0babc 100644 --- a/actions/locomanipulation/LM31/session_002/meta.json +++ b/actions/locomanipulation/LM31/session_002/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": { @@ -388,14 +388,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02575, - 0.26943, - 0.80116 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 175.3, - "opposite_sign_bend_deg": 16.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2711, + "inlier_frac": 0.956, + "inlier_spread_deg": 7.69, + "marker_Q_to_gsi_deg": { + "1": 173.3, + "-1": 9.2 + } + }, + "wrist_bend_deg_median": 173.8, + "opposite_sign_bend_deg": 33.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.64, "hand_vs_marker_frame_deg": { "before": 179.23, @@ -406,15 +417,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 174.27, + "twist_moved_deg": -173.32, "wrist_twist_deg_after": { - "median": 1.03, + "median": -0.95, "iqr": [ - -2.0, - 3.3 + -3.7, + 1.2 ] }, - "wrist_total_deg_median_after": 33.8, + "wrist_total_deg_median_after": 16.6, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -432,6 +443,17 @@ 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2453, + "inlier_frac": 0.59, + "inlier_spread_deg": 17.13, + "marker_Q_to_gsi_deg": { + "1": 34.8, + "-1": 154.0 + } + }, "wrist_bend_deg_median": 27.1, "opposite_sign_bend_deg": 173.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -462,7 +484,7 @@ }, "frames_used": 1309 }, - "generated_at_utc": "2026-10-28T06:14:47.227002+00:00", + "generated_at_utc": "2026-11-06T13:36:44.235882+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -506,6 +528,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1346522973292574 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 8.61, + "offset_rotvec": [ + -0.1154, + -0.0907, + 0.0317 + ], + "dev_deg": { + "median": 8.02, + "p90": 20.77 + }, + "samples": 2711, + "accepted": 2590, + "wrist_pos_err_mm_median": 70.3, + "per_camera": { + "head": { + "samples": 2711, + "accepted": 2590, + "gate_deg": 30.0, + "offset_deg": 8.61, + "tier": "primary", + "dev_deg_median": 8.02, + "wrist_pos_err_mm_median": 70.3 + } + }, + "frames_by_state": { + "ace_sample": 10518, + "interpolated": 2330, + "mean_hand": 236, + "no_body_fit": 0 + }, + "observed_fraction": 0.982, + "observed_fraction_of_valid": 0.982, + "palm_axis_vs_markers_deg": { + "gsi": 10.55, + "smplx": 1.23 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.2, + "p90": 12.9 + }, + "registered": { + "median": 10.9, + "p90": 12.1 + } + } + }, + "right": { + "offset_deg": 41.81, + "offset_rotvec": [ + 0.4573, + 0.5121, + 0.2469 + ], + "dev_deg": { + "median": 26.31, + "p90": 57.43 + }, + "samples": 2453, + "accepted": 1444, + "wrist_pos_err_mm_median": 63.9, + "per_camera": { + "head": { + "samples": 2453, + "accepted": 1444, + "gate_deg": 30.0, + "offset_deg": 41.81, + "tier": "primary", + "dev_deg_median": 26.31, + "wrist_pos_err_mm_median": 63.9 + } + }, + "frames_by_state": { + "ace_sample": 5972, + "interpolated": 4280, + "mean_hand": 2832, + "no_body_fit": 0 + }, + "observed_fraction": 0.7836, + "observed_fraction_of_valid": 0.7836, + "palm_axis_vs_markers_deg": { + "gsi": 48.76, + "smplx": 1.71 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.0, + "p90": 13.3 + }, + "registered": { + "median": 8.6, + "p90": 12.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:27:55.343777+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/locomanipulation/LM31/session_002", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM31/session_002/motions/smplx.npz b/actions/locomanipulation/LM31/session_002/motions/smplx.npz index c2acab3b600e0266be22e7c9e0a16742bba64407..2f1b0bf29c9e11c8ed79dba7ed7475b795d78d3e 100644 --- a/actions/locomanipulation/LM31/session_002/motions/smplx.npz +++ b/actions/locomanipulation/LM31/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:553d0c165fa17015a95856412f214be5860fa7f41409e1d7268a863cee45bcea -size 5032100 +oid sha256:ff43566d7ac7a483c42bebe9e140cf059f3c357d0ec4f0b15746aa9a7e42be5f +size 9050655 diff --git a/actions/locomanipulation/LM31/session_003/meta.json b/actions/locomanipulation/LM31/session_003/meta.json index ce5628dddc5a7e6b12c6d5ec6591abdbfe269278..da39dbdde7871fc867c1e1c715b15d2c32f95e40 100644 --- a/actions/locomanipulation/LM31/session_003/meta.json +++ b/actions/locomanipulation/LM31/session_003/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": { @@ -411,10 +411,21 @@ 0.26943, 0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 172.0, - "opposite_sign_bend_deg": 27.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 1.0, + "inlier_spread_deg": 7.0, + "marker_Q_to_gsi_deg": { + "1": 174.4, + "-1": 9.7 + } + }, + "wrist_bend_deg_median": 169.5, + "opposite_sign_bend_deg": 34.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.06, "hand_vs_marker_frame_deg": { "before": 177.26, @@ -426,15 +437,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 169.53, + "twist_moved_deg": -166.84, "wrist_twist_deg_after": { - "median": 2.11, + "median": -2.69, "iqr": [ - -2.4, - 7.6 + -9.0, + 2.7 ] }, - "wrist_total_deg_median_after": 34.9, + "wrist_total_deg_median_after": 28.1, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -446,11 +457,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, - -0.0, + 0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.999, + "inlier_spread_deg": 4.99, + "marker_Q_to_gsi_deg": { + "1": 6.2, + "-1": 174.1 + } + }, "wrist_bend_deg_median": 31.9, "opposite_sign_bend_deg": 174.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -464,7 +486,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -481,7 +503,7 @@ }, "frames_used": 1429 }, - "generated_at_utc": "2026-10-28T06:14:47.847522+00:00", + "generated_at_utc": "2026-11-06T13:36:46.140520+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -525,6 +547,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.012978159488356 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.69, + "offset_rotvec": [ + -0.0862, + -0.1065, + 0.0991 + ], + "dev_deg": { + "median": 7.02, + "p90": 12.99 + }, + "samples": 3539, + "accepted": 3539, + "wrist_pos_err_mm_median": 46.9, + "per_camera": { + "head": { + "samples": 3539, + "accepted": 3539, + "gate_deg": 30.0, + "offset_deg": 9.69, + "tier": "primary", + "dev_deg_median": 7.02, + "wrist_pos_err_mm_median": 46.9 + } + }, + "frames_by_state": { + "ace_sample": 14156, + "interpolated": 0, + "mean_hand": 128, + "no_body_fit": 0 + }, + "observed_fraction": 0.991, + "observed_fraction_of_valid": 0.991, + "palm_axis_vs_markers_deg": { + "gsi": 8.77, + "smplx": 3.2 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 15.2, + "p90": 17.7 + }, + "registered": { + "median": 15.0, + "p90": 16.3 + } + } + }, + "right": { + "offset_deg": 6.23, + "offset_rotvec": [ + 0.0922, + 0.0373, + 0.0438 + ], + "dev_deg": { + "median": 4.94, + "p90": 9.71 + }, + "samples": 3494, + "accepted": 3490, + "wrist_pos_err_mm_median": 21.6, + "per_camera": { + "head": { + "samples": 3494, + "accepted": 3490, + "gate_deg": 30.0, + "offset_deg": 6.23, + "tier": "primary", + "dev_deg_median": 4.94, + "wrist_pos_err_mm_median": 21.6 + } + }, + "frames_by_state": { + "ace_sample": 13956, + "interpolated": 0, + "mean_hand": 328, + "no_body_fit": 0 + }, + "observed_fraction": 0.977, + "observed_fraction_of_valid": 0.977, + "palm_axis_vs_markers_deg": { + "gsi": 7.93, + "smplx": 0.77 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.2, + "p90": 7.7 + }, + "registered": { + "median": 5.0, + "p90": 6.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:27:54.235043+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/locomanipulation/LM31/session_003", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM31/session_003/motions/smplx.npz b/actions/locomanipulation/LM31/session_003/motions/smplx.npz index 9c7d82bc4602d273c957e03b295015d7dc8aedf6..61d1b56386ad6da4ac0275adf3267bd5d44c79a7 100644 --- a/actions/locomanipulation/LM31/session_003/motions/smplx.npz +++ b/actions/locomanipulation/LM31/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:df65426d0c5139b5aab9bed612dd49dc11954340db4a715cfc396c708cdee990 -size 5497589 +oid sha256:f2e1adf5f8b92e61f371314deb88e14927effe3dc266f8979c38bb918d4ef9e7 +size 10228801 diff --git a/actions/locomanipulation/LM31/session_015/meta.json b/actions/locomanipulation/LM31/session_015/meta.json index 56be50335e48bdb943708c11b3557af804cdf470..0b43cf5b04531d5c8c571009c894d2dc99d6197d 100644 --- a/actions/locomanipulation/LM31/session_015/meta.json +++ b/actions/locomanipulation/LM31/session_015/meta.json @@ -379,8 +379,8 @@ "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": { @@ -445,10 +445,21 @@ 0.43848, 0.87784 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 172.0, - "opposite_sign_bend_deg": 27.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.938, + "inlier_spread_deg": 6.33, + "marker_Q_to_gsi_deg": { + "1": 148.6, + "-1": 34.7 + } + }, + "wrist_bend_deg_median": 171.5, + "opposite_sign_bend_deg": 35.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.09, "hand_vs_marker_frame_deg": { "before": 179.63, @@ -459,15 +470,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 171.32, + "twist_moved_deg": -171.23, "wrist_twist_deg_after": { - "median": 0.28, + "median": -0.09, "iqr": [ - -0.9, - 1.6 + -1.3, + 1.0 ] }, - "wrist_total_deg_median_after": 35.3, + "wrist_total_deg_median_after": 27.4, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -481,10 +492,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.985, + "inlier_spread_deg": 7.26, + "marker_Q_to_gsi_deg": { + "1": 19.9, + "-1": 165.5 + } + }, "wrist_bend_deg_median": 19.6, "opposite_sign_bend_deg": 175.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -515,10 +537,120 @@ }, "frames_used": 1273 }, - "generated_at_utc": "2026-10-28T06:40:53.047939+00:00", + "generated_at_utc": "2026-11-06T14:06:18.850636+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 35.31, + "offset_rotvec": [ + 0.6067, + 0.1082, + 0.0018 + ], + "dev_deg": { + "median": 6.7, + "p90": 17.17 + }, + "samples": 3027, + "accepted": 2835, + "wrist_pos_err_mm_median": 32.3, + "per_camera": { + "head": { + "samples": 3027, + "accepted": 2835, + "gate_deg": 30.0, + "offset_deg": 35.31, + "tier": "primary", + "dev_deg_median": 6.7, + "wrist_pos_err_mm_median": 32.3 + } + }, + "frames_by_state": { + "ace_sample": 11364, + "interpolated": 392, + "mean_hand": 968, + "no_body_fit": 0 + }, + "observed_fraction": 0.9239, + "observed_fraction_of_valid": 0.9239, + "palm_axis_vs_markers_deg": { + "gsi": 33.72, + "smplx": 0.59 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.6, + "p90": 13.3 + }, + "registered": { + "median": 10.5, + "p90": 13.6 + } + } + }, + "right": { + "offset_deg": 20.82, + "offset_rotvec": [ + 0.3037, + 0.137, + -0.1451 + ], + "dev_deg": { + "median": 7.29, + "p90": 20.95 + }, + "samples": 3029, + "accepted": 2984, + "wrist_pos_err_mm_median": 47.4, + "per_camera": { + "head": { + "samples": 3029, + "accepted": 2984, + "gate_deg": 30.0, + "offset_deg": 20.82, + "tier": "primary", + "dev_deg_median": 7.29, + "wrist_pos_err_mm_median": 47.4 + } + }, + "frames_by_state": { + "ace_sample": 12000, + "interpolated": 692, + "mean_hand": 32, + "no_body_fit": 0 + }, + "observed_fraction": 0.9975, + "observed_fraction_of_valid": 0.9975, + "palm_axis_vs_markers_deg": { + "gsi": 17.97, + "smplx": 1.59 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.8, + "p90": 11.3 + }, + "registered": { + "median": 8.0, + "p90": 11.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:29:26.343957+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/locomanipulation/LM31/session_015", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM31/session_015/motions/smplx.npz b/actions/locomanipulation/LM31/session_015/motions/smplx.npz index 26ffaf9662aef0512d933243983b567d2d3e8d80..95c3d020a76e49ffb85b3acf1f90677191903dfe 100644 --- a/actions/locomanipulation/LM31/session_015/motions/smplx.npz +++ b/actions/locomanipulation/LM31/session_015/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d95aa476537255f54b28ff54c4ff3873e6d2abeb9701c8a60fa1210dd1dc7b43 -size 4889190 +oid sha256:4d2450bfc331407eeba3b093a48cac6f12d864d987e108f7a4650cdf7e159273 +size 9023087 diff --git a/actions/locomanipulation/LM31/session_016/meta.json b/actions/locomanipulation/LM31/session_016/meta.json index b7e60218ab4f56ac575a1c0f814c10960d8e1829..0b35ad80ac2e03fbdef62ad4259256e148fe9594 100644 --- a/actions/locomanipulation/LM31/session_016/meta.json +++ b/actions/locomanipulation/LM31/session_016/meta.json @@ -379,8 +379,8 @@ "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": { @@ -451,14 +451,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -2.98442, - 0.43848, - 0.87784 + 2.98442, + -0.43848, + -0.87784 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 177.6, - "opposite_sign_bend_deg": 21.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.919, + "inlier_spread_deg": 4.9, + "marker_Q_to_gsi_deg": { + "1": 177.5, + "-1": 5.7 + } + }, + "wrist_bend_deg_median": 177.2, + "opposite_sign_bend_deg": 20.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.86, "hand_vs_marker_frame_deg": { "before": 179.63, @@ -470,15 +481,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 177.22, + "twist_moved_deg": -177.14, "wrist_twist_deg_after": { - "median": 0.8, + "median": -0.08, "iqr": [ - -0.1, - 2.3 + -0.9, + 1.3 ] }, - "wrist_total_deg_median_after": 20.4, + "wrist_total_deg_median_after": 21.4, "markers_on_forearm": [ "LElbow", "LForearm", @@ -492,10 +503,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - -0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.966, + "inlier_spread_deg": 5.57, + "marker_Q_to_gsi_deg": { + "1": 16.5, + "-1": 177.1 + } + }, "wrist_bend_deg_median": 6.3, "opposite_sign_bend_deg": 178.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -512,7 +534,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -2.0, 1.2 @@ -526,10 +548,120 @@ }, "frames_used": 1275 }, - "generated_at_utc": "2026-10-28T06:40:53.149247+00:00", + "generated_at_utc": "2026-11-06T14:06:16.646899+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 4.58, + "offset_rotvec": [ + -0.025, + 0.0607, + -0.0457 + ], + "dev_deg": { + "median": 5.86, + "p90": 20.21 + }, + "samples": 3013, + "accepted": 2770, + "wrist_pos_err_mm_median": 41.3, + "per_camera": { + "head": { + "samples": 3013, + "accepted": 2770, + "gate_deg": 30.0, + "offset_deg": 4.58, + "tier": "primary", + "dev_deg_median": 5.86, + "wrist_pos_err_mm_median": 41.3 + } + }, + "frames_by_state": { + "ace_sample": 11086, + "interpolated": 146, + "mean_hand": 1512, + "no_body_fit": 0 + }, + "observed_fraction": 0.8814, + "observed_fraction_of_valid": 0.8814, + "palm_axis_vs_markers_deg": { + "gsi": 5.88, + "smplx": 0.67 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.0, + "p90": 5.8 + }, + "registered": { + "median": 4.4, + "p90": 5.4 + } + } + }, + "right": { + "offset_deg": 16.22, + "offset_rotvec": [ + -0.1232, + 0.2157, + 0.1358 + ], + "dev_deg": { + "median": 5.8, + "p90": 17.87 + }, + "samples": 3122, + "accepted": 3015, + "wrist_pos_err_mm_median": 52.0, + "per_camera": { + "head": { + "samples": 3122, + "accepted": 3015, + "gate_deg": 30.0, + "offset_deg": 16.22, + "tier": "primary", + "dev_deg_median": 5.8, + "wrist_pos_err_mm_median": 52.0 + } + }, + "frames_by_state": { + "ace_sample": 12100, + "interpolated": 440, + "mean_hand": 204, + "no_body_fit": 0 + }, + "observed_fraction": 0.984, + "observed_fraction_of_valid": 0.984, + "palm_axis_vs_markers_deg": { + "gsi": 12.74, + "smplx": 1.32 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.3, + "p90": 8.5 + }, + "registered": { + "median": 5.4, + "p90": 7.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:29:42.246186+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/locomanipulation/LM31/session_016", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM31/session_016/motions/smplx.npz b/actions/locomanipulation/LM31/session_016/motions/smplx.npz index 0f5a90fdaf6ace8b1b516bf515aaef728eea5b5f..cb2520354ba9473f157c36dbc5903c61879f8e8a 100644 --- a/actions/locomanipulation/LM31/session_016/motions/smplx.npz +++ b/actions/locomanipulation/LM31/session_016/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:434aa4c5978ba03f9ec47817c30f4bbeb43680a4ca2287a35cf2ea6d4f845562 -size 4888229 +oid sha256:7b3532e7ea7ab19ac3b7434888119475c43b9b98eb3e7983a3be55287f3d5cd4 +size 8901275 diff --git a/actions/locomanipulation/LM31/session_017/meta.json b/actions/locomanipulation/LM31/session_017/meta.json index 69563d019422fb155110f32ad38a049d1fa7ca8b..82d2ca1cb0c5e642ade6823b94f99085bdb72c93 100644 --- a/actions/locomanipulation/LM31/session_017/meta.json +++ b/actions/locomanipulation/LM31/session_017/meta.json @@ -378,8 +378,8 @@ "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": { @@ -438,19 +438,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -2.98442, + 0.43848, + 0.87784 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 35.9, - "opposite_sign_bend_deg": 172.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.869, + "inlier_spread_deg": 10.54, + "marker_Q_to_gsi_deg": { + "1": 166.3, + "-1": 19.6 + } + }, + "wrist_bend_deg_median": 172.7, + "opposite_sign_bend_deg": 35.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.95, "hand_vs_marker_frame_deg": { - "before": 3.95, + "before": 179.17, "after": 3.95 }, "markers_on_wrist": [ @@ -458,15 +469,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": -168.25, "wrist_twist_deg_after": { - "median": -0.0, + "median": -5.74, "iqr": [ - -4.0, - 2.9 + -10.4, + 1.0 ] }, - "wrist_total_deg_median_after": 35.9, + "wrist_total_deg_median_after": 29.9, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -480,10 +491,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - -0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.978, + "inlier_spread_deg": 9.66, + "marker_Q_to_gsi_deg": { + "1": 6.8, + "-1": 174.2 + } + }, "wrist_bend_deg_median": 20.3, "opposite_sign_bend_deg": 168.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -497,7 +519,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -514,7 +536,7 @@ }, "frames_used": 1294 }, - "generated_at_utc": "2026-10-28T06:40:53.960097+00:00", + "generated_at_utc": "2026-11-06T14:06:19.564784+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -554,6 +576,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 20.14, + "offset_rotvec": [ + 0.264, + 0.2136, + -0.0911 + ], + "dev_deg": { + "median": 11.33, + "p90": 79.89 + }, + "samples": 3180, + "accepted": 2767, + "wrist_pos_err_mm_median": 18.3, + "per_camera": { + "head": { + "samples": 3180, + "accepted": 2767, + "gate_deg": 30.0, + "offset_deg": 20.14, + "tier": "primary", + "dev_deg_median": 11.33, + "wrist_pos_err_mm_median": 18.3 + } + }, + "frames_by_state": { + "ace_sample": 11080, + "interpolated": 96, + "mean_hand": 1760, + "no_body_fit": 0 + }, + "observed_fraction": 0.8639, + "observed_fraction_of_valid": 0.8639, + "palm_axis_vs_markers_deg": { + "gsi": 24.37, + "smplx": 1.74 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.1, + "p90": 10.7 + }, + "registered": { + "median": 8.3, + "p90": 9.8 + } + } + }, + "right": { + "offset_deg": 7.01, + "offset_rotvec": [ + 0.0849, + 0.0606, + 0.0639 + ], + "dev_deg": { + "median": 9.83, + "p90": 20.47 + }, + "samples": 3209, + "accepted": 3138, + "wrist_pos_err_mm_median": 47.0, + "per_camera": { + "head": { + "samples": 3209, + "accepted": 3138, + "gate_deg": 30.0, + "offset_deg": 7.01, + "tier": "primary", + "dev_deg_median": 9.83, + "wrist_pos_err_mm_median": 47.0 + } + }, + "frames_by_state": { + "ace_sample": 12566, + "interpolated": 192, + "mean_hand": 178, + "no_body_fit": 0 + }, + "observed_fraction": 0.9862, + "observed_fraction_of_valid": 0.9862, + "palm_axis_vs_markers_deg": { + "gsi": 13.44, + "smplx": 3.91 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 2.8, + "p90": 4.7 + }, + "registered": { + "median": 4.1, + "p90": 6.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:29:46.547736+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/locomanipulation/LM31/session_017", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM31/session_017/motions/smplx.npz b/actions/locomanipulation/LM31/session_017/motions/smplx.npz index 100c4834c9654b58866fb55e5b08b519c3d0bf67..9d1be1f6c4d5d023ea7818236ba678412c6aea54 100644 --- a/actions/locomanipulation/LM31/session_017/motions/smplx.npz +++ b/actions/locomanipulation/LM31/session_017/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f64cc851ac694d33db1e2b616ddfa4e6c32b945f7fe22358fea361374d96b02d -size 4966648 +oid sha256:a5d66938173f121b656e81f1e77be293faa48b4c3cfd3f2b45d878d07acf63fe +size 9002069 diff --git a/actions/locomanipulation/LM31/session_018/meta.json b/actions/locomanipulation/LM31/session_018/meta.json index 1305f091f5c7822a4579c119887ccaeb07413ab3..19a2c7a14f79a30b836c881ffd847fdf952a3b91 100644 --- a/actions/locomanipulation/LM31/session_018/meta.json +++ b/actions/locomanipulation/LM31/session_018/meta.json @@ -378,8 +378,8 @@ "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": { @@ -450,14 +450,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 2.98163, + 2.98164, -0.44128, - -0.88585 + -0.88584 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 174.2, - "opposite_sign_bend_deg": 16.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.975, + "inlier_spread_deg": 9.13, + "marker_Q_to_gsi_deg": { + "1": 148.3, + "-1": 38.7 + } + }, + "wrist_bend_deg_median": 173.9, + "opposite_sign_bend_deg": 38.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.97, "hand_vs_marker_frame_deg": { "before": 179.54, @@ -469,15 +480,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 173.77, + "twist_moved_deg": -173.52, "wrist_twist_deg_after": { - "median": 0.27, + "median": -0.26, "iqr": [ - -1.1, - 1.9 + -2.7, + 1.5 ] }, - "wrist_total_deg_median_after": 38.5, + "wrist_total_deg_median_after": 16.9, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -489,11 +500,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, -0.0, - 0.0 + -0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.992, + "inlier_spread_deg": 5.75, + "marker_Q_to_gsi_deg": { + "1": 35.0, + "-1": 146.1 + } + }, "wrist_bend_deg_median": 23.0, "opposite_sign_bend_deg": 175.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -510,7 +532,7 @@ "forearm_twist": { "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -1.6, 2.3 @@ -525,10 +547,120 @@ }, "frames_used": 1376 }, - "generated_at_utc": "2026-10-28T06:40:54.481979+00:00", + "generated_at_utc": "2026-11-06T14:06:23.044302+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 38.69, + "offset_rotvec": [ + 0.6377, + -0.0825, + 0.2061 + ], + "dev_deg": { + "median": 9.33, + "p90": 18.24 + }, + "samples": 3397, + "accepted": 3316, + "wrist_pos_err_mm_median": 32.3, + "per_camera": { + "head": { + "samples": 3397, + "accepted": 3316, + "gate_deg": 30.0, + "offset_deg": 38.69, + "tier": "primary", + "dev_deg_median": 9.33, + "wrist_pos_err_mm_median": 32.3 + } + }, + "frames_by_state": { + "ace_sample": 13270, + "interpolated": 66, + "mean_hand": 415, + "no_body_fit": 29 + }, + "observed_fraction": 0.9678, + "observed_fraction_of_valid": 0.9698, + "palm_axis_vs_markers_deg": { + "gsi": 31.21, + "smplx": 1.25 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.7, + "p90": 39.5 + }, + "registered": { + "median": 14.6, + "p90": 38.9 + } + } + }, + "right": { + "offset_deg": 35.03, + "offset_rotvec": [ + 0.6027, + -0.0435, + 0.0929 + ], + "dev_deg": { + "median": 5.78, + "p90": 12.94 + }, + "samples": 3410, + "accepted": 3384, + "wrist_pos_err_mm_median": 47.9, + "per_camera": { + "head": { + "samples": 3410, + "accepted": 3384, + "gate_deg": 30.0, + "offset_deg": 35.03, + "tier": "primary", + "dev_deg_median": 5.78, + "wrist_pos_err_mm_median": 47.9 + } + }, + "frames_by_state": { + "ace_sample": 13542, + "interpolated": 62, + "mean_hand": 147, + "no_body_fit": 29 + }, + "observed_fraction": 0.9872, + "observed_fraction_of_valid": 0.9893, + "palm_axis_vs_markers_deg": { + "gsi": 34.25, + "smplx": 0.95 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.3, + "p90": 17.2 + }, + "registered": { + "median": 12.0, + "p90": 15.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:29:56.543798+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/locomanipulation/LM31/session_018", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM31/session_018/motions/smplx.npz b/actions/locomanipulation/LM31/session_018/motions/smplx.npz index 8126a9dfa1683b86042495a8e6d8afe0f66a6030..afa30a198124fc654a0440b7791a776ba86f3205 100644 --- a/actions/locomanipulation/LM31/session_018/motions/smplx.npz +++ b/actions/locomanipulation/LM31/session_018/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3884344632b7d9bca0739389ec859cf47abdb7ec3bc4799561c56e7bc0e45760 -size 5293312 +oid sha256:a5c4ffdb7f3cb548ec217e417e467e6cdfef23368f5c078fdafd3ff4ec4b8a8c +size 9830736 diff --git a/actions/locomanipulation/LM31/session_019/meta.json b/actions/locomanipulation/LM31/session_019/meta.json index de2f01ea5f0deda85b3ce9aa91345a2b82136693..df9a11149fbc20a0cb75c70375d75a08c74f32e6 100644 --- a/actions/locomanipulation/LM31/session_019/meta.json +++ b/actions/locomanipulation/LM31/session_019/meta.json @@ -378,8 +378,8 @@ "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": { @@ -450,14 +450,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 2.98163, + 2.98164, -0.44128, - -0.88585 + -0.88584 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 174.1, - "opposite_sign_bend_deg": 19.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.937, + "inlier_spread_deg": 10.96, + "marker_Q_to_gsi_deg": { + "1": 153.7, + "-1": 34.4 + } + }, + "wrist_bend_deg_median": 172.9, + "opposite_sign_bend_deg": 42.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.5, "hand_vs_marker_frame_deg": { "before": 179.59, @@ -469,15 +480,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 173.1, + "twist_moved_deg": -172.33, "wrist_twist_deg_after": { - "median": 0.89, + "median": -0.77, "iqr": [ - -1.8, - 3.0 + -3.5, + 2.5 ] }, - "wrist_total_deg_median_after": 42.1, + "wrist_total_deg_median_after": 19.4, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -494,6 +505,17 @@ 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.985, + "inlier_spread_deg": 7.04, + "marker_Q_to_gsi_deg": { + "1": 35.4, + "-1": 145.0 + } + }, "wrist_bend_deg_median": 25.4, "opposite_sign_bend_deg": 174.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -525,10 +547,120 @@ }, "frames_used": 1390 }, - "generated_at_utc": "2026-10-28T06:40:57.478267+00:00", + "generated_at_utc": "2026-11-06T14:06:24.051736+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 34.61, + "offset_rotvec": [ + 0.5544, + -0.0501, + 0.2345 + ], + "dev_deg": { + "median": 11.56, + "p90": 22.39 + }, + "samples": 3355, + "accepted": 3145, + "wrist_pos_err_mm_median": 38.4, + "per_camera": { + "head": { + "samples": 3355, + "accepted": 3145, + "gate_deg": 30.0, + "offset_deg": 34.61, + "tier": "primary", + "dev_deg_median": 11.56, + "wrist_pos_err_mm_median": 38.4 + } + }, + "frames_by_state": { + "ace_sample": 12606, + "interpolated": 414, + "mean_hand": 880, + "no_body_fit": 0 + }, + "observed_fraction": 0.9367, + "observed_fraction_of_valid": 0.9367, + "palm_axis_vs_markers_deg": { + "gsi": 27.46, + "smplx": 1.25 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 21.3, + "p90": 30.8 + }, + "registered": { + "median": 20.0, + "p90": 29.9 + } + } + }, + "right": { + "offset_deg": 35.65, + "offset_rotvec": [ + 0.6052, + 0.0066, + 0.1441 + ], + "dev_deg": { + "median": 7.14, + "p90": 13.45 + }, + "samples": 3426, + "accepted": 3377, + "wrist_pos_err_mm_median": 43.5, + "per_camera": { + "head": { + "samples": 3426, + "accepted": 3377, + "gate_deg": 30.0, + "offset_deg": 35.65, + "tier": "primary", + "dev_deg_median": 7.14, + "wrist_pos_err_mm_median": 43.5 + } + }, + "frames_by_state": { + "ace_sample": 13520, + "interpolated": 204, + "mean_hand": 176, + "no_body_fit": 0 + }, + "observed_fraction": 0.9873, + "observed_fraction_of_valid": 0.9873, + "palm_axis_vs_markers_deg": { + "gsi": 35.53, + "smplx": 1.21 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.8, + "p90": 14.9 + }, + "registered": { + "median": 11.6, + "p90": 13.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:30:18.434798+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/locomanipulation/LM31/session_019", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM31/session_019/motions/smplx.npz b/actions/locomanipulation/LM31/session_019/motions/smplx.npz index 8dd712010288a117c7d8102c10bd6a6ffb48cc25..18f6c0f90ce3911d271ddaa8220196922fd00ed8 100644 --- a/actions/locomanipulation/LM31/session_019/motions/smplx.npz +++ b/actions/locomanipulation/LM31/session_019/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:cf555fe6100e213c5a910ca69c90ae20209e04003a9534e8aa964304cf11529a -size 5357729 +oid sha256:f87c138e31ffb8ce942f1ff4fb988e58388ea80ec95f0a04da9902c82b8d531f +size 9878243 diff --git a/actions/locomanipulation/LM31/session_020/meta.json b/actions/locomanipulation/LM31/session_020/meta.json index b074685d4b4dd028135162acf2199dc2cb763f68..812266fe4db0275039c2e4de698cd7d82ea03b03 100644 --- a/actions/locomanipulation/LM31/session_020/meta.json +++ b/actions/locomanipulation/LM31/session_020/meta.json @@ -377,8 +377,8 @@ "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": { @@ -447,19 +447,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -2.98164, + 0.44128, + 0.88584 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 35.8, - "opposite_sign_bend_deg": 173.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.984, + "inlier_spread_deg": 7.88, + "marker_Q_to_gsi_deg": { + "1": 156.8, + "-1": 29.4 + } + }, + "wrist_bend_deg_median": 173.9, + "opposite_sign_bend_deg": 35.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.11, "hand_vs_marker_frame_deg": { - "before": 1.11, + "before": 179.7, "after": 1.11 }, "markers_on_wrist": [ @@ -468,15 +479,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -173.12, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.72, "iqr": [ - -2.8, - 3.3 + -3.1, + 1.6 ] }, - "wrist_total_deg_median_after": 35.9, + "wrist_total_deg_median_after": 19.8, "markers_on_forearm": [ "LElbowIn", "LForearm", @@ -489,11 +500,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.993, + "inlier_spread_deg": 6.39, + "marker_Q_to_gsi_deg": { + "1": 28.7, + "-1": 151.8 + } + }, "wrist_bend_deg_median": 31.7, "opposite_sign_bend_deg": 174.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -508,9 +530,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -2.6, 2.4 @@ -525,7 +547,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:40:58.090643+00:00", + "generated_at_utc": "2026-11-06T14:06:32.871735+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -565,6 +587,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 29.77, + "offset_rotvec": [ + 0.4851, + -0.0244, + 0.1845 + ], + "dev_deg": { + "median": 8.03, + "p90": 16.51 + }, + "samples": 3744, + "accepted": 3676, + "wrist_pos_err_mm_median": 30.1, + "per_camera": { + "head": { + "samples": 3744, + "accepted": 3676, + "gate_deg": 30.0, + "offset_deg": 29.77, + "tier": "primary", + "dev_deg_median": 8.03, + "wrist_pos_err_mm_median": 30.1 + } + }, + "frames_by_state": { + "ace_sample": 14722, + "interpolated": 202, + "mean_hand": 286, + "no_body_fit": 34 + }, + "observed_fraction": 0.979, + "observed_fraction_of_valid": 0.9812, + "palm_axis_vs_markers_deg": { + "gsi": 23.39, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 28.89, + "offset_rotvec": [ + 0.4833, + -0.0213, + 0.1418 + ], + "dev_deg": { + "median": 6.49, + "p90": 11.58 + }, + "samples": 3755, + "accepted": 3729, + "wrist_pos_err_mm_median": 35.2, + "per_camera": { + "head": { + "samples": 3755, + "accepted": 3729, + "gate_deg": 30.0, + "offset_deg": 28.89, + "tier": "primary", + "dev_deg_median": 6.49, + "wrist_pos_err_mm_median": 35.2 + } + }, + "frames_by_state": { + "ace_sample": 14936, + "interpolated": 268, + "mean_hand": 6, + "no_body_fit": 34 + }, + "observed_fraction": 0.9974, + "observed_fraction_of_valid": 0.9996, + "palm_axis_vs_markers_deg": { + "gsi": 27.86, + "smplx": 1.37 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.5, + "p90": 19.4 + }, + "registered": { + "median": 12.2, + "p90": 17.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:30:29.636073+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/locomanipulation/LM31/session_020", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM31/session_020/motions/smplx.npz b/actions/locomanipulation/LM31/session_020/motions/smplx.npz index 51e3b7759cd9bee2e5d360e62597232910965eca..5bd393da45ea92fa59d69050c440863f284e5264 100644 --- a/actions/locomanipulation/LM31/session_020/motions/smplx.npz +++ b/actions/locomanipulation/LM31/session_020/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6c0963edf19c2e607ae90a34e55e4853cf1083821e57fe012c92e3d8df2c9d79 -size 5861685 +oid sha256:a8a4b134eb805df383851761afa06ac5b68f38e6b5ca40a3ce463ee8ad08893e +size 10918192 diff --git a/actions/locomanipulation/LM32/session_008/meta.json b/actions/locomanipulation/LM32/session_008/meta.json index a2ff7e53b76a628f6004b0a649d73930958a477a..ba93d303da7d53b7ac1a55dc2339d47a50aec55f 100644 --- a/actions/locomanipulation/LM32/session_008/meta.json +++ b/actions/locomanipulation/LM32/session_008/meta.json @@ -342,8 +342,8 @@ "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": { @@ -408,10 +408,21 @@ -0.2415, -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 167.7, - "opposite_sign_bend_deg": 46.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.521, + "inlier_spread_deg": 11.85, + "marker_Q_to_gsi_deg": { + "1": 168.2, + "-1": 16.4 + } + }, + "wrist_bend_deg_median": 145.2, + "opposite_sign_bend_deg": 44.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 10.22, "hand_vs_marker_frame_deg": { "before": 170.27, @@ -422,15 +433,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -147.74, + "twist_moved_deg": 138.23, "wrist_twist_deg_after": { - "median": -23.64, + "median": 9.26, "iqr": [ - -29.3, - 14.7 + 2.8, + 60.7 ] }, - "wrist_total_deg_median_after": 45.6, + "wrist_total_deg_median_after": 47.9, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -443,11 +454,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, - 0.0 + -0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.993, + "inlier_spread_deg": 6.54, + "marker_Q_to_gsi_deg": { + "1": 9.7, + "-1": 172.7 + } + }, "wrist_bend_deg_median": 39.8, "opposite_sign_bend_deg": 175.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -478,7 +500,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:25:27.854799+00:00", + "generated_at_utc": "2026-11-06T13:56:21.936040+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -522,6 +544,105 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.014492763432136 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 61.44, + "offset_rotvec": [ + -1.0256, + 0.2633, + 0.1695 + ], + "dev_deg": { + "median": 70.15, + "p90": 119.39 + }, + "samples": 3989, + "accepted": 9, + "wrist_pos_err_mm_median": 30.2, + "per_camera": { + "head": { + "samples": 3989, + "accepted": 9, + "gate_deg": 30.0, + "offset_deg": 61.44, + "tier": "primary", + "dev_deg_median": 70.15, + "wrist_pos_err_mm_median": 30.2 + } + }, + "frames_by_state": { + "ace_sample": 8, + "interpolated": 0, + "mean_hand": 16076, + "no_body_fit": 0 + }, + "observed_fraction": 0.0005, + "observed_fraction_of_valid": 0.0005, + "palm_axis_vs_markers_deg": { + "gsi": 27.56 + } + }, + "right": { + "offset_deg": 9.65, + "offset_rotvec": [ + -0.1005, + -0.1056, + -0.0844 + ], + "dev_deg": { + "median": 6.57, + "p90": 14.42 + }, + "samples": 3954, + "accepted": 3921, + "wrist_pos_err_mm_median": 30.1, + "per_camera": { + "head": { + "samples": 3954, + "accepted": 3921, + "gate_deg": 30.0, + "offset_deg": 9.65, + "tier": "primary", + "dev_deg_median": 6.57, + "wrist_pos_err_mm_median": 30.1 + } + }, + "frames_by_state": { + "ace_sample": 15704, + "interpolated": 104, + "mean_hand": 276, + "no_body_fit": 0 + }, + "observed_fraction": 0.9828, + "observed_fraction_of_valid": 0.9828, + "palm_axis_vs_markers_deg": { + "gsi": 10.6, + "smplx": 0.99 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.2, + "p90": 16.6 + }, + "registered": { + "median": 12.8, + "p90": 16.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:08:34.341522+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/locomanipulation/LM32/session_008", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM32/session_008/motions/smplx.npz b/actions/locomanipulation/LM32/session_008/motions/smplx.npz index 897d42a168ebfebcd612d85a62223461fee87245..752a7f18489ce5f63f7e0be82cb5c59ac18cc238 100644 --- a/actions/locomanipulation/LM32/session_008/motions/smplx.npz +++ b/actions/locomanipulation/LM32/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4f10b560cf08443bf324ae7a310b4f7059a0369f87b14b8b57d356ad69d1ab89 -size 6192542 +oid sha256:c97330362bdf3964945974237f05b64eeaf38f1149e7fbc9b5ae3ff8697ac7f8 +size 8880329 diff --git a/actions/locomanipulation/LM32/session_009/meta.json b/actions/locomanipulation/LM32/session_009/meta.json index 16985292d6ca38297de388deb00d23f0a5b75773..80aa3185049383c227455f34d229c9c7fce8d3d6 100644 --- a/actions/locomanipulation/LM32/session_009/meta.json +++ b/actions/locomanipulation/LM32/session_009/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -388,19 +388,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 33.5, - "opposite_sign_bend_deg": 160.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.688, + "inlier_spread_deg": 12.47, + "marker_Q_to_gsi_deg": { + "1": 173.7, + "-1": 17.3 + } + }, + "wrist_bend_deg_median": 159.2, + "opposite_sign_bend_deg": 33.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.96, "hand_vs_marker_frame_deg": { - "before": 3.96, + "before": 178.34, "after": 3.96 }, "markers_on_wrist": [ @@ -408,15 +419,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -1.78, + "twist_moved_deg": -159.79, "wrist_twist_deg_after": { - "median": -0.0, + "median": -14.93, "iqr": [ - -7.9, - 10.2 + -22.5, + -1.6 ] }, - "wrist_total_deg_median_after": 29.1, + "wrist_total_deg_median_after": 57.8, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -429,13 +440,24 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.824, + "inlier_spread_deg": 5.62, + "marker_Q_to_gsi_deg": { + "1": 9.4, + "-1": 171.8 + } + }, "wrist_bend_deg_median": 37.1, - "opposite_sign_bend_deg": 174.2, + "opposite_sign_bend_deg": 174.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.52, "hand_vs_marker_frame_deg": { @@ -464,7 +486,7 @@ }, "frames_used": 1462 }, - "generated_at_utc": "2026-10-28T06:25:29.332143+00:00", + "generated_at_utc": "2026-11-06T13:56:23.769844+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -820,6 +842,116 @@ }, "applied": 25 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 30.44, + "offset_rotvec": [ + -0.2106, + 0.4615, + 0.1578 + ], + "dev_deg": { + "median": 22.26, + "p90": 75.08 + }, + "samples": 4168, + "accepted": 2656, + "wrist_pos_err_mm_median": 39.2, + "per_camera": { + "head": { + "samples": 4168, + "accepted": 2656, + "gate_deg": 30.0, + "offset_deg": 30.44, + "tier": "primary", + "dev_deg_median": 22.26, + "wrist_pos_err_mm_median": 39.2 + } + }, + "frames_by_state": { + "ace_sample": 10756, + "interpolated": 4548, + "mean_hand": 1380, + "no_body_fit": 0 + }, + "observed_fraction": 0.9173, + "observed_fraction_of_valid": 0.9173, + "palm_axis_vs_markers_deg": { + "gsi": 16.29, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 15.26, + "offset_rotvec": [ + -0.1989, + -0.1692, + -0.0528 + ], + "dev_deg": { + "median": 8.87, + "p90": 61.28 + }, + "samples": 4147, + "accepted": 3415, + "wrist_pos_err_mm_median": 28.9, + "per_camera": { + "head": { + "samples": 4147, + "accepted": 3415, + "gate_deg": 30.0, + "offset_deg": 15.26, + "tier": "primary", + "dev_deg_median": 8.87, + "wrist_pos_err_mm_median": 28.9 + } + }, + "frames_by_state": { + "ace_sample": 13658, + "interpolated": 302, + "mean_hand": 2724, + "no_body_fit": 0 + }, + "observed_fraction": 0.8367, + "observed_fraction_of_valid": 0.8367, + "palm_axis_vs_markers_deg": { + "gsi": 12.69, + "smplx": 1.54 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.9, + "p90": 15.2 + }, + "registered": { + "median": 11.7, + "p90": 14.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:09:02.247205+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/locomanipulation/LM32/session_009", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM32/session_009/motions/smplx.npz b/actions/locomanipulation/LM32/session_009/motions/smplx.npz index 6384041cacc9ffa95dd3253fc1656ba4ab2509df..974e1ed4da73528a672093c1bf9f98bacaaedd7d 100644 --- a/actions/locomanipulation/LM32/session_009/motions/smplx.npz +++ b/actions/locomanipulation/LM32/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:24d88d3e8927efcf02e3ed0d26248220139908ccdca1cfe380f62393e03878b8 -size 6435870 +oid sha256:38460ba0a5ae6c7b6c4f30b5382c3637d46e9c6cceb07a34964c8501cb67a221 +size 11472118 diff --git a/actions/locomanipulation/LM32/session_010/meta.json b/actions/locomanipulation/LM32/session_010/meta.json index ba4303756bbfdc79f88748f10384a591f7584014..6d8af5068d0be8f4e0abd28c1eb402c86627e1d2 100644 --- a/actions/locomanipulation/LM32/session_010/meta.json +++ b/actions/locomanipulation/LM32/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)", + "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": { @@ -387,19 +387,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 35.4, - "opposite_sign_bend_deg": 159.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.55, + "inlier_spread_deg": 11.16, + "marker_Q_to_gsi_deg": { + "1": 170.8, + "-1": 17.2 + } + }, + "wrist_bend_deg_median": 158.1, + "opposite_sign_bend_deg": 35.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.8, "hand_vs_marker_frame_deg": { - "before": 3.8, + "before": 178.37, "after": 3.8 }, "markers_on_wrist": [ @@ -407,15 +418,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -2.25, + "twist_moved_deg": -149.61, "wrist_twist_deg_after": { - "median": -0.0, + "median": -28.03, "iqr": [ - -5.6, - 12.9 + -34.7, + -8.2 ] }, - "wrist_total_deg_median_after": 34.7, + "wrist_total_deg_median_after": 70.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -429,10 +440,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - 0.0, + -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.885, + "inlier_spread_deg": 5.68, + "marker_Q_to_gsi_deg": { + "1": 7.6, + "-1": 173.7 + } + }, "wrist_bend_deg_median": 34.5, "opposite_sign_bend_deg": 173.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -446,7 +468,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -463,7 +485,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:25:28.703931+00:00", + "generated_at_utc": "2026-11-06T13:56:27.660544+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -807,6 +829,116 @@ }, "applied": 23 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 35.6, + "offset_rotvec": [ + -0.2133, + 0.561, + 0.1608 + ], + "dev_deg": { + "median": 27.48, + "p90": 86.87 + }, + "samples": 4153, + "accepted": 2301, + "wrist_pos_err_mm_median": 36.7, + "per_camera": { + "head": { + "samples": 4153, + "accepted": 2301, + "gate_deg": 30.0, + "offset_deg": 35.6, + "tier": "primary", + "dev_deg_median": 27.48, + "wrist_pos_err_mm_median": 36.7 + } + }, + "frames_by_state": { + "ace_sample": 9262, + "interpolated": 3574, + "mean_hand": 3848, + "no_body_fit": 0 + }, + "observed_fraction": 0.7694, + "observed_fraction_of_valid": 0.7694, + "palm_axis_vs_markers_deg": { + "gsi": 17.2, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 6.8, + "offset_rotvec": [ + -0.0785, + -0.0751, + -0.0479 + ], + "dev_deg": { + "median": 6.2, + "p90": 111.55 + }, + "samples": 4131, + "accepted": 3645, + "wrist_pos_err_mm_median": 33.9, + "per_camera": { + "head": { + "samples": 4131, + "accepted": 3645, + "gate_deg": 30.0, + "offset_deg": 6.8, + "tier": "primary", + "dev_deg_median": 6.2, + "wrist_pos_err_mm_median": 33.9 + } + }, + "frames_by_state": { + "ace_sample": 14582, + "interpolated": 106, + "mean_hand": 1996, + "no_body_fit": 0 + }, + "observed_fraction": 0.8804, + "observed_fraction_of_valid": 0.8804, + "palm_axis_vs_markers_deg": { + "gsi": 10.8, + "smplx": 1.94 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.0, + "p90": 16.2 + }, + "registered": { + "median": 9.9, + "p90": 15.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:09:18.642017+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/locomanipulation/LM32/session_010", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM32/session_010/motions/smplx.npz b/actions/locomanipulation/LM32/session_010/motions/smplx.npz index 0d620f730051582647085a748472db61b3e6defa..e5a79fa245a48872736760ce128780a9dcaa8b4d 100644 --- a/actions/locomanipulation/LM32/session_010/motions/smplx.npz +++ b/actions/locomanipulation/LM32/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ee4342ac33ced9d10c128d88b682abed5d57dc6422bed40009325485c46ab21e -size 6429574 +oid sha256:d8dcb6989e91e1da5558eda71b0a7bdeb5ccad867f6d056da1d9bdf8a4ead8e4 +size 11297154 diff --git a/actions/locomanipulation/LM32/session_031/meta.json b/actions/locomanipulation/LM32/session_031/meta.json index 5de81cb5c3e8582bd69f303a97a12ae67f6e8f6f..8ae765ac86620b80a52c87be383981fc9a5448e9 100644 --- a/actions/locomanipulation/LM32/session_031/meta.json +++ b/actions/locomanipulation/LM32/session_031/meta.json @@ -365,8 +365,8 @@ "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": { @@ -425,19 +425,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -2.98839, + 0.43124, + 0.86787 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 47.7, - "opposite_sign_bend_deg": 171.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.794, + "inlier_spread_deg": 7.36, + "marker_Q_to_gsi_deg": { + "1": 175.4, + "-1": 17.2 + } + }, + "wrist_bend_deg_median": 171.3, + "opposite_sign_bend_deg": 47.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.21, "hand_vs_marker_frame_deg": { - "before": 1.21, + "before": 179.62, "after": 1.21 }, "markers_on_wrist": [ @@ -445,15 +456,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.11, + "twist_moved_deg": -170.74, "wrist_twist_deg_after": { - "median": -0.0, + "median": -0.3, "iqr": [ - -3.0, - 3.0 + -3.1, + 2.6 ] }, - "wrist_total_deg_median_after": 47.7, + "wrist_total_deg_median_after": 25.3, "markers_on_forearm": [ "LElbow", "LElbowIn", @@ -469,10 +480,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - -0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.852, + "inlier_spread_deg": 11.76, + "marker_Q_to_gsi_deg": { + "1": 17.4, + "-1": 166.7 + } + }, "wrist_bend_deg_median": 21.4, "opposite_sign_bend_deg": 174.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -486,9 +508,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -4.3, 3.9 @@ -503,7 +525,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:45:08.941495+00:00", + "generated_at_utc": "2026-11-06T14:10:28.868348+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -543,6 +565,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 19.38, + "offset_rotvec": [ + 0.0576, + -0.1532, + 0.2961 + ], + "dev_deg": { + "median": 12.1, + "p90": 49.72 + }, + "samples": 3208, + "accepted": 2576, + "wrist_pos_err_mm_median": 42.3, + "per_camera": { + "head": { + "samples": 3208, + "accepted": 2576, + "gate_deg": 30.0, + "offset_deg": 19.38, + "tier": "primary", + "dev_deg_median": 12.1, + "wrist_pos_err_mm_median": 42.3 + } + }, + "frames_by_state": { + "ace_sample": 10444, + "interpolated": 3124, + "mean_hand": 1676, + "no_body_fit": 0 + }, + "observed_fraction": 0.8901, + "observed_fraction_of_valid": 0.8901, + "palm_axis_vs_markers_deg": { + "gsi": 14.64, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 21.06, + "offset_rotvec": [ + 0.3204, + -0.1288, + 0.1256 + ], + "dev_deg": { + "median": 14.35, + "p90": 37.64 + }, + "samples": 3676, + "accepted": 3180, + "wrist_pos_err_mm_median": 49.0, + "per_camera": { + "head": { + "samples": 3676, + "accepted": 3180, + "gate_deg": 30.0, + "offset_deg": 21.06, + "tier": "primary", + "dev_deg_median": 14.35, + "wrist_pos_err_mm_median": 49.0 + } + }, + "frames_by_state": { + "ace_sample": 12872, + "interpolated": 1692, + "mean_hand": 680, + "no_body_fit": 0 + }, + "observed_fraction": 0.9554, + "observed_fraction_of_valid": 0.9554, + "palm_axis_vs_markers_deg": { + "gsi": 20.2, + "smplx": 1.8 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.2, + "p90": 6.3 + }, + "registered": { + "median": 5.0, + "p90": 6.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:38:15.836091+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/locomanipulation/LM32/session_031", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM32/session_031/motions/smplx.npz b/actions/locomanipulation/LM32/session_031/motions/smplx.npz index 20df1ba7e5f5e56b15e12a290ffca97c181b8fa5..c79304b14d0d7c7c90b505fc3cc1775e7fc65631 100644 --- a/actions/locomanipulation/LM32/session_031/motions/smplx.npz +++ b/actions/locomanipulation/LM32/session_031/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1b4dab5076099bf3a0bb4f94e462cd6e90561366c9bdde2b97b14f8498a673a3 -size 5876384 +oid sha256:5f090898d4fe5282566099851ce1b91d4e42816ee637c78d70479f3e3bd5efe4 +size 10675588 diff --git a/actions/locomanipulation/LM33/session_008/meta.json b/actions/locomanipulation/LM33/session_008/meta.json index 14527275bdfe9cb405a98609f87e55260aec75d9..c956fbfdb6472d65afe0e4f17f8642af84d11fea 100644 --- a/actions/locomanipulation/LM33/session_008/meta.json +++ b/actions/locomanipulation/LM33/session_008/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": { @@ -388,14 +388,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 176.7, - "opposite_sign_bend_deg": 31.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.946, + "inlier_spread_deg": 6.56, + "marker_Q_to_gsi_deg": { + "1": 172.7, + "-1": 12.0 + } + }, + "wrist_bend_deg_median": 174.3, + "opposite_sign_bend_deg": 12.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.59, "hand_vs_marker_frame_deg": { "before": 179.18, @@ -406,15 +417,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -175.2, + "twist_moved_deg": 173.83, "wrist_twist_deg_after": { - "median": -2.03, + "median": 1.37, "iqr": [ - -4.4, - 0.7 + -1.2, + 3.7 ] }, - "wrist_total_deg_median_after": 12.1, + "wrist_total_deg_median_after": 31.4, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -429,9 +440,20 @@ "Q_rotvec": [ -0.0, 0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.939, + "inlier_spread_deg": 10.3, + "marker_Q_to_gsi_deg": { + "1": 10.0, + "-1": 176.3 + } + }, "wrist_bend_deg_median": 22.6, "opposite_sign_bend_deg": 166.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -445,7 +467,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.13, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -462,7 +484,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:25:33.897676+00:00", + "generated_at_utc": "2026-11-06T13:56:28.836362+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -506,6 +528,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9684472236773981 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 13.39, + "offset_rotvec": [ + -0.1517, + 0.1687, + -0.0562 + ], + "dev_deg": { + "median": 7.12, + "p90": 16.32 + }, + "samples": 3862, + "accepted": 3652, + "wrist_pos_err_mm_median": 35.9, + "per_camera": { + "head": { + "samples": 3862, + "accepted": 3652, + "gate_deg": 30.0, + "offset_deg": 13.39, + "tier": "primary", + "dev_deg_median": 7.12, + "wrist_pos_err_mm_median": 35.9 + } + }, + "frames_by_state": { + "ace_sample": 14648, + "interpolated": 652, + "mean_hand": 184, + "no_body_fit": 0 + }, + "observed_fraction": 0.9881, + "observed_fraction_of_valid": 0.9881, + "palm_axis_vs_markers_deg": { + "gsi": 13.89, + "smplx": 2.55 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.3, + "p90": 11.1 + }, + "registered": { + "median": 6.9, + "p90": 10.4 + } + } + }, + "right": { + "offset_deg": 10.67, + "offset_rotvec": [ + -0.0712, + -0.1717, + 0.0127 + ], + "dev_deg": { + "median": 10.74, + "p90": 20.51 + }, + "samples": 3763, + "accepted": 3535, + "wrist_pos_err_mm_median": 34.3, + "per_camera": { + "head": { + "samples": 3763, + "accepted": 3535, + "gate_deg": 30.0, + "offset_deg": 10.67, + "tier": "primary", + "dev_deg_median": 10.74, + "wrist_pos_err_mm_median": 34.3 + } + }, + "frames_by_state": { + "ace_sample": 14200, + "interpolated": 1120, + "mean_hand": 164, + "no_body_fit": 0 + }, + "observed_fraction": 0.9894, + "observed_fraction_of_valid": 0.9894, + "palm_axis_vs_markers_deg": { + "gsi": 14.25, + "smplx": 2.16 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.0, + "p90": 10.5 + }, + "registered": { + "median": 7.1, + "p90": 10.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:11:22.843494+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/locomanipulation/LM33/session_008", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM33/session_008/motions/smplx.npz b/actions/locomanipulation/LM33/session_008/motions/smplx.npz index af8f0dc4295c345fe65324f539c5a9c30b3a830b..e08a490da7e4483a685ef45e8fdb32a8dd626560 100644 --- a/actions/locomanipulation/LM33/session_008/motions/smplx.npz +++ b/actions/locomanipulation/LM33/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:377fac90c5733575af07dc7e331ef3226cf1fae6caeff853eca1d986ecf7b9c3 -size 5958415 +oid sha256:765b772e461a811a0c820897ebcdb0295cfe84b0834f587295f083e4a6e4eeac +size 11111036 diff --git a/actions/locomanipulation/LM33/session_009/meta.json b/actions/locomanipulation/LM33/session_009/meta.json index e3c54403934a1999b189fcb36451f4ef0e44256a..3d00b0b14ec7dc1158179b16f5d9121ff0e2500f 100644 --- a/actions/locomanipulation/LM33/session_009/meta.json +++ b/actions/locomanipulation/LM33/session_009/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -391,19 +391,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 7.9, - "opposite_sign_bend_deg": 177.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.917, + "inlier_spread_deg": 5.88, + "marker_Q_to_gsi_deg": { + "1": 166.8, + "-1": 19.5 + } + }, + "wrist_bend_deg_median": 177.1, + "opposite_sign_bend_deg": 7.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.68, "hand_vs_marker_frame_deg": { - "before": 3.68, + "before": 179.24, "after": 3.68 }, "markers_on_wrist": [ @@ -411,15 +422,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.64, + "twist_moved_deg": -168.13, "wrist_twist_deg_after": { - "median": -0.0, + "median": -11.02, "iqr": [ - -3.1, - 2.9 + -14.3, + -8.1 ] }, - "wrist_total_deg_median_after": 7.9, + "wrist_total_deg_median_after": 42.3, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -432,11 +443,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, + 0.0, 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.863, + "inlier_spread_deg": 8.84, + "marker_Q_to_gsi_deg": { + "1": 10.5, + "-1": 178.5 + } + }, "wrist_bend_deg_median": 32.4, "opposite_sign_bend_deg": 162.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -451,9 +473,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.01, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -26.8, 4.0 @@ -467,7 +489,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:25:33.212377+00:00", + "generated_at_utc": "2026-11-06T13:56:31.938391+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -542,6 +564,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 20.17, + "offset_rotvec": [ + -0.1632, + 0.2877, + 0.1206 + ], + "dev_deg": { + "median": 6.79, + "p90": 21.3 + }, + "samples": 4018, + "accepted": 3693, + "wrist_pos_err_mm_median": 44.1, + "per_camera": { + "head": { + "samples": 4018, + "accepted": 3693, + "gate_deg": 30.0, + "offset_deg": 20.17, + "tier": "primary", + "dev_deg_median": 6.79, + "wrist_pos_err_mm_median": 44.1 + } + }, + "frames_by_state": { + "ace_sample": 14804, + "interpolated": 452, + "mean_hand": 828, + "no_body_fit": 0 + }, + "observed_fraction": 0.9485, + "observed_fraction_of_valid": 0.9485, + "palm_axis_vs_markers_deg": { + "gsi": 21.57, + "smplx": 3.35 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.0, + "p90": 17.2 + }, + "registered": { + "median": 11.7, + "p90": 16.0 + } + } + }, + "right": { + "offset_deg": 10.63, + "offset_rotvec": [ + -0.0196, + -0.1841, + -0.0126 + ], + "dev_deg": { + "median": 9.87, + "p90": 167.63 + }, + "samples": 3689, + "accepted": 3185, + "wrist_pos_err_mm_median": 61.9, + "per_camera": { + "head": { + "samples": 3689, + "accepted": 3185, + "gate_deg": 30.0, + "offset_deg": 10.63, + "tier": "primary", + "dev_deg_median": 9.87, + "wrist_pos_err_mm_median": 61.9 + } + }, + "frames_by_state": { + "ace_sample": 12776, + "interpolated": 1188, + "mean_hand": 2120, + "no_body_fit": 0 + }, + "observed_fraction": 0.8682, + "observed_fraction_of_valid": 0.8682, + "palm_axis_vs_markers_deg": { + "gsi": 15.31, + "smplx": 3.8 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.8, + "p90": 19.9 + }, + "registered": { + "median": 12.5, + "p90": 19.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:11:06.137048+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/locomanipulation/LM33/session_009", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM33/session_009/motions/smplx.npz b/actions/locomanipulation/LM33/session_009/motions/smplx.npz index 40c933c61ad8669f53001013c9b56df86ca83cd6..e14164c6108e9fce9e0fc5ce2ef0a212de3be2a3 100644 --- a/actions/locomanipulation/LM33/session_009/motions/smplx.npz +++ b/actions/locomanipulation/LM33/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d54a8c1f302dfa67d8c39954bf250e4f294af9df0b4174342e03ccb140f8db84 -size 6192593 +oid sha256:a046eae7b7f3b929feacad703d7cc3cf6cd3c41d2ff1afd2351a2967fbace64d +size 11232816 diff --git a/actions/locomanipulation/LM34/session_007/meta.json b/actions/locomanipulation/LM34/session_007/meta.json index c04b9a7b2c2eaadd18c199bc2b4771ce864a4aeb..32b33c868d51697a9a6dd4d0182469c2fe1ceda0 100644 --- a/actions/locomanipulation/LM34/session_007/meta.json +++ b/actions/locomanipulation/LM34/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": { @@ -393,10 +393,21 @@ -0.2415, -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 175.7, - "opposite_sign_bend_deg": 33.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.972, + "inlier_spread_deg": 8.96, + "marker_Q_to_gsi_deg": { + "1": 168.2, + "-1": 16.0 + } + }, + "wrist_bend_deg_median": 150.5, + "opposite_sign_bend_deg": 31.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.93, "hand_vs_marker_frame_deg": { "before": 179.13, @@ -407,15 +418,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 149.51, + "twist_moved_deg": -149.09, "wrist_twist_deg_after": { - "median": 30.08, + "median": -0.41, "iqr": [ - 25.0, - 33.8 + -5.8, + 4.2 ] }, - "wrist_total_deg_median_after": 31.4, + "wrist_total_deg_median_after": 33.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -429,10 +440,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - 0.0, - 0.0 + -0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.963, + "inlier_spread_deg": 8.82, + "marker_Q_to_gsi_deg": { + "1": 12.9, + "-1": 174.9 + } + }, "wrist_bend_deg_median": 25.0, "opposite_sign_bend_deg": 173.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -446,9 +468,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -6.1, 6.7 @@ -463,7 +485,7 @@ }, "frames_used": 1489 }, - "generated_at_utc": "2026-10-28T06:25:33.271260+00:00", + "generated_at_utc": "2026-11-06T13:56:38.542420+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -507,6 +529,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0160148349218452 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 15.94, + "offset_rotvec": [ + -0.193, + 0.1982, + 0.0298 + ], + "dev_deg": { + "median": 9.16, + "p90": 19.29 + }, + "samples": 3685, + "accepted": 3577, + "wrist_pos_err_mm_median": 35.1, + "per_camera": { + "head": { + "samples": 3685, + "accepted": 3577, + "gate_deg": 30.0, + "offset_deg": 15.94, + "tier": "primary", + "dev_deg_median": 9.16, + "wrist_pos_err_mm_median": 35.1 + } + }, + "frames_by_state": { + "ace_sample": 14340, + "interpolated": 272, + "mean_hand": 272, + "no_body_fit": 0 + }, + "observed_fraction": 0.9817, + "observed_fraction_of_valid": 0.9817, + "palm_axis_vs_markers_deg": { + "gsi": 19.06, + "smplx": 1.31 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.2, + "p90": 13.8 + }, + "registered": { + "median": 8.3, + "p90": 13.5 + } + } + }, + "right": { + "offset_deg": 11.83, + "offset_rotvec": [ + -0.0445, + -0.188, + -0.0729 + ], + "dev_deg": { + "median": 9.39, + "p90": 18.26 + }, + "samples": 3682, + "accepted": 3575, + "wrist_pos_err_mm_median": 39.9, + "per_camera": { + "head": { + "samples": 3682, + "accepted": 3575, + "gate_deg": 30.0, + "offset_deg": 11.83, + "tier": "primary", + "dev_deg_median": 9.39, + "wrist_pos_err_mm_median": 39.9 + } + }, + "frames_by_state": { + "ace_sample": 14328, + "interpolated": 388, + "mean_hand": 168, + "no_body_fit": 0 + }, + "observed_fraction": 0.9887, + "observed_fraction_of_valid": 0.9887, + "palm_axis_vs_markers_deg": { + "gsi": 15.7, + "smplx": 1.31 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.9, + "p90": 14.5 + }, + "registered": { + "median": 9.8, + "p90": 14.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:11:19.935342+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/locomanipulation/LM34/session_007", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM34/session_007/motions/smplx.npz b/actions/locomanipulation/LM34/session_007/motions/smplx.npz index 8a25f26a7bff04dae55a2e01b6626a9e28fba6c2..f3e364a996e33cdeb65fc7a764ca19bf2bb04748 100644 --- a/actions/locomanipulation/LM34/session_007/motions/smplx.npz +++ b/actions/locomanipulation/LM34/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7e63c708fb6acf342adb8079925bc5bb2ea6d94f0779b8e4b9dad17da1c88d5e -size 5753172 +oid sha256:7af4c29d5549a46c6e09047935d2b7da72757db5b331f26ea1355c37a6ba0666 +size 10689948 diff --git a/actions/locomanipulation/LM34/session_008/meta.json b/actions/locomanipulation/LM34/session_008/meta.json index b13ba5ba5c01305c683d0338e09e73967850bea3..69e6560e7d6df9302f9b1d565ec59449a46e01bc 100644 --- a/actions/locomanipulation/LM34/session_008/meta.json +++ b/actions/locomanipulation/LM34/session_008/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": 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": { @@ -390,14 +390,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 175.6, - "opposite_sign_bend_deg": 30.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.978, + "inlier_spread_deg": 9.13, + "marker_Q_to_gsi_deg": { + "1": 169.6, + "-1": 14.7 + } + }, + "wrist_bend_deg_median": 133.0, + "opposite_sign_bend_deg": 49.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.56, "hand_vs_marker_frame_deg": { "before": 179.27, @@ -408,15 +419,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 131.36, + "twist_moved_deg": -131.18, "wrist_twist_deg_after": { - "median": 48.58, + "median": -0.18, "iqr": [ - 43.7, - 52.5 + -5.2, + 4.2 ] }, - "wrist_total_deg_median_after": 49.4, + "wrist_total_deg_median_after": 30.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -429,11 +440,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, + -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.986, + "inlier_spread_deg": 9.05, + "marker_Q_to_gsi_deg": { + "1": 13.3, + "-1": 174.4 + } + }, "wrist_bend_deg_median": 24.4, "opposite_sign_bend_deg": 174.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -449,7 +471,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -5.0, 5.7 @@ -464,7 +486,7 @@ }, "frames_used": 1489 }, - "generated_at_utc": "2026-10-28T06:25:33.929730+00:00", + "generated_at_utc": "2026-11-06T13:56:59.563752+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -508,6 +530,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.034485976529763 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 14.5, + "offset_rotvec": [ + -0.1634, + 0.1903, + 0.0338 + ], + "dev_deg": { + "median": 9.33, + "p90": 19.26 + }, + "samples": 3690, + "accepted": 3606, + "wrist_pos_err_mm_median": 34.4, + "per_camera": { + "head": { + "samples": 3690, + "accepted": 3606, + "gate_deg": 30.0, + "offset_deg": 14.5, + "tier": "primary", + "dev_deg_median": 9.33, + "wrist_pos_err_mm_median": 34.4 + } + }, + "frames_by_state": { + "ace_sample": 14460, + "interpolated": 236, + "mean_hand": 188, + "no_body_fit": 0 + }, + "observed_fraction": 0.9874, + "observed_fraction_of_valid": 0.9874, + "palm_axis_vs_markers_deg": { + "gsi": 18.36, + "smplx": 1.17 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.6, + "p90": 12.1 + }, + "registered": { + "median": 9.2, + "p90": 11.8 + } + } + }, + "right": { + "offset_deg": 12.96, + "offset_rotvec": [ + -0.0538, + -0.2058, + -0.0768 + ], + "dev_deg": { + "median": 9.35, + "p90": 18.64 + }, + "samples": 3686, + "accepted": 3638, + "wrist_pos_err_mm_median": 32.5, + "per_camera": { + "head": { + "samples": 3686, + "accepted": 3638, + "gate_deg": 30.0, + "offset_deg": 12.96, + "tier": "primary", + "dev_deg_median": 9.35, + "wrist_pos_err_mm_median": 32.5 + } + }, + "frames_by_state": { + "ace_sample": 14574, + "interpolated": 298, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9992, + "observed_fraction_of_valid": 0.9992, + "palm_axis_vs_markers_deg": { + "gsi": 16.72, + "smplx": 1.0 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.1, + "p90": 14.6 + }, + "registered": { + "median": 11.0, + "p90": 14.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:11:21.937120+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/locomanipulation/LM34/session_008", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM34/session_008/motions/smplx.npz b/actions/locomanipulation/LM34/session_008/motions/smplx.npz index f45202b01b6ff0a9b6b45e83f24c3f44ff62b81e..4e596838091506972f497a831b74c6498b71d648 100644 --- a/actions/locomanipulation/LM34/session_008/motions/smplx.npz +++ b/actions/locomanipulation/LM34/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:eccb2f6464afb483b9eb9290b81c7eb8faab34c9d3ea088d9df211bfdf7e97ad -size 5754278 +oid sha256:6723338161af24935593800a996be39d4a9f53474ca884d7d2b179410939144b +size 10720262 diff --git a/actions/locomanipulation/LM34/session_009/meta.json b/actions/locomanipulation/LM34/session_009/meta.json index 398aba8afccc15b33c15f15a39ef46d32459807c..4d1549974742f1d9ea09225b0504cc2c0c990f80 100644 --- a/actions/locomanipulation/LM34/session_009/meta.json +++ b/actions/locomanipulation/LM34/session_009/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -397,10 +397,21 @@ 0.2415, 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 175.9, - "opposite_sign_bend_deg": 30.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.972, + "inlier_spread_deg": 8.38, + "marker_Q_to_gsi_deg": { + "1": 167.0, + "-1": 17.5 + } + }, + "wrist_bend_deg_median": 163.2, + "opposite_sign_bend_deg": 19.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.68, "hand_vs_marker_frame_deg": { "before": 179.42, @@ -411,15 +422,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 162.38, + "twist_moved_deg": -161.66, "wrist_twist_deg_after": { - "median": 16.56, + "median": -0.72, "iqr": [ - 11.6, - 21.0 + -6.1, + 3.7 ] }, - "wrist_total_deg_median_after": 19.6, + "wrist_total_deg_median_after": 30.6, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -433,10 +444,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - 0.0, + -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.971, + "inlier_spread_deg": 9.46, + "marker_Q_to_gsi_deg": { + "1": 12.6, + "-1": 174.2 + } + }, "wrist_bend_deg_median": 26.7, "opposite_sign_bend_deg": 173.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -451,7 +473,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -467,7 +489,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:25:34.180402+00:00", + "generated_at_utc": "2026-11-06T13:57:11.348420+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -511,6 +533,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0949719133301399 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.37, + "offset_rotvec": [ + -0.2106, + 0.2165, + 0.0271 + ], + "dev_deg": { + "median": 8.61, + "p90": 18.42 + }, + "samples": 3924, + "accepted": 3818, + "wrist_pos_err_mm_median": 34.8, + "per_camera": { + "head": { + "samples": 3924, + "accepted": 3818, + "gate_deg": 30.0, + "offset_deg": 17.37, + "tier": "primary", + "dev_deg_median": 8.61, + "wrist_pos_err_mm_median": 34.8 + } + }, + "frames_by_state": { + "ace_sample": 15304, + "interpolated": 476, + "mean_hand": 304, + "no_body_fit": 0 + }, + "observed_fraction": 0.9811, + "observed_fraction_of_valid": 0.9811, + "palm_axis_vs_markers_deg": { + "gsi": 20.6, + "smplx": 1.08 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.4, + "p90": 13.3 + }, + "registered": { + "median": 11.2, + "p90": 13.2 + } + } + }, + "right": { + "offset_deg": 12.18, + "offset_rotvec": [ + -0.0619, + -0.1881, + -0.0774 + ], + "dev_deg": { + "median": 9.84, + "p90": 19.46 + }, + "samples": 3944, + "accepted": 3835, + "wrist_pos_err_mm_median": 29.5, + "per_camera": { + "head": { + "samples": 3944, + "accepted": 3835, + "gate_deg": 30.0, + "offset_deg": 12.18, + "tier": "primary", + "dev_deg_median": 9.84, + "wrist_pos_err_mm_median": 29.5 + } + }, + "frames_by_state": { + "ace_sample": 15394, + "interpolated": 678, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9993, + "observed_fraction_of_valid": 0.9993, + "palm_axis_vs_markers_deg": { + "gsi": 15.27, + "smplx": 1.25 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.8, + "p90": 15.7 + }, + "registered": { + "median": 10.9, + "p90": 15.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:11:02.344141+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/locomanipulation/LM34/session_009", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM34/session_009/motions/smplx.npz b/actions/locomanipulation/LM34/session_009/motions/smplx.npz index 131fab728e791d132d171636384418e1f27d9916..ed299e4ed9d04b7682cad9238c2ae43c9589283a 100644 --- a/actions/locomanipulation/LM34/session_009/motions/smplx.npz +++ b/actions/locomanipulation/LM34/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0c0bfb5d22e286d27c923f54d263ac8ec1816658ce2041af7981b493aa66e5c1 -size 6219585 +oid sha256:5376a78fe8676f1d808cea8654ab074e4410088f900f0d28dc0db9f18ae00023 +size 11580596 diff --git a/actions/locomanipulation/LM34/session_023/meta.json b/actions/locomanipulation/LM34/session_023/meta.json index 32903ba51ac5ebd5f4b57ad72b40c1f212682ca8..cddbb219ff629ac91a06b0934ec1f7e468886b2c 100644 --- a/actions/locomanipulation/LM34/session_023/meta.json +++ b/actions/locomanipulation/LM34/session_023/meta.json @@ -379,8 +379,8 @@ "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": { @@ -449,19 +449,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + 2.98164, + -0.44128, + -0.88584 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 33.8, - "opposite_sign_bend_deg": 163.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.469, + "inlier_spread_deg": 10.17, + "marker_Q_to_gsi_deg": { + "1": 168.1, + "-1": 17.6 + } + }, + "wrist_bend_deg_median": 166.5, + "opposite_sign_bend_deg": 31.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.1, "hand_vs_marker_frame_deg": { - "before": 6.1, + "before": 177.51, "after": 6.1 }, "markers_on_wrist": [ @@ -471,15 +482,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -9.47, + "twist_moved_deg": -139.29, "wrist_twist_deg_after": { - "median": -0.01, + "median": -36.06, "iqr": [ - -13.7, - 15.5 + -53.5, + -17.6 ] }, - "wrist_total_deg_median_after": 33.9, + "wrist_total_deg_median_after": 54.1, "markers_on_forearm": [ "LElbow", "LForearm" @@ -491,11 +502,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, + 0.0, -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.907, + "inlier_spread_deg": 11.98, + "marker_Q_to_gsi_deg": { + "1": 15.4, + "-1": 165.0 + } + }, "wrist_bend_deg_median": 23.4, "opposite_sign_bend_deg": 172.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -509,7 +531,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -526,7 +548,7 @@ }, "frames_used": 1332 }, - "generated_at_utc": "2026-10-28T06:42:42.110310+00:00", + "generated_at_utc": "2026-11-06T14:08:42.140411+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -666,6 +688,116 @@ }, "applied": 9 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 20.61, + "offset_rotvec": [ + 0.2646, + 0.142, + -0.1979 + ], + "dev_deg": { + "median": 33.16, + "p90": 81.08 + }, + "samples": 3274, + "accepted": 1570, + "wrist_pos_err_mm_median": 47.3, + "per_camera": { + "head": { + "samples": 3274, + "accepted": 1570, + "gate_deg": 30.0, + "offset_deg": 20.61, + "tier": "primary", + "dev_deg_median": 33.16, + "wrist_pos_err_mm_median": 47.3 + } + }, + "frames_by_state": { + "ace_sample": 6220, + "interpolated": 516, + "mean_hand": 6582, + "no_body_fit": 6 + }, + "observed_fraction": 0.5056, + "observed_fraction_of_valid": 0.5058, + "palm_axis_vs_markers_deg": { + "gsi": 19.75, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 16.33, + "offset_rotvec": [ + 0.2599, + 0.0344, + 0.112 + ], + "dev_deg": { + "median": 13.02, + "p90": 28.96 + }, + "samples": 3287, + "accepted": 2978, + "wrist_pos_err_mm_median": 35.1, + "per_camera": { + "head": { + "samples": 3287, + "accepted": 2978, + "gate_deg": 30.0, + "offset_deg": 16.33, + "tier": "primary", + "dev_deg_median": 13.02, + "wrist_pos_err_mm_median": 35.1 + } + }, + "frames_by_state": { + "ace_sample": 11938, + "interpolated": 474, + "mean_hand": 906, + "no_body_fit": 6 + }, + "observed_fraction": 0.9316, + "observed_fraction_of_valid": 0.932, + "palm_axis_vs_markers_deg": { + "gsi": 17.67, + "smplx": 1.11 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.8, + "p90": 16.4 + }, + "registered": { + "median": 10.9, + "p90": 15.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:35:47.738940+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/locomanipulation/LM34/session_023", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM34/session_023/motions/smplx.npz b/actions/locomanipulation/LM34/session_023/motions/smplx.npz index b203d76aa34c7d2612f60413a21cc86171ab667f..967b7ff9064300f2d2ae571bd5f610629fca1387 100644 --- a/actions/locomanipulation/LM34/session_023/motions/smplx.npz +++ b/actions/locomanipulation/LM34/session_023/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:77c8f55d4982b5985c3c4d9c3969e49ffa83ae68c3de097a427572fcbaa755b5 -size 5108145 +oid sha256:30f8d529e5025eab9ab17ecb69c35584a7769ad2f66fef1e3725ac36770a8b64 +size 8596625 diff --git a/actions/locomanipulation/LM35/session_009/meta.json b/actions/locomanipulation/LM35/session_009/meta.json index f7574bfd9efc46548c5d1295ddf5ce76d7222416..33839a22ec49f13bacc74ec26223464e17f8f3db 100644 --- a/actions/locomanipulation/LM35/session_009/meta.json +++ b/actions/locomanipulation/LM35/session_009/meta.json @@ -325,8 +325,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -395,19 +395,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 13.7, - "opposite_sign_bend_deg": 174.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.909, + "inlier_spread_deg": 9.65, + "marker_Q_to_gsi_deg": { + "1": 159.7, + "-1": 23.4 + } + }, + "wrist_bend_deg_median": 174.4, + "opposite_sign_bend_deg": 13.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.51, "hand_vs_marker_frame_deg": { - "before": 5.51, + "before": 176.1, "after": 5.51 }, "markers_on_wrist": [ @@ -416,15 +427,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.46, + "twist_moved_deg": -155.23, "wrist_twist_deg_after": { - "median": 0.0, + "median": -23.69, "iqr": [ - -4.7, - 12.6 + -28.1, + -5.2 ] }, - "wrist_total_deg_median_after": 13.4, + "wrist_total_deg_median_after": 45.6, "markers_on_forearm": [ "LForearm", "LWristIn" @@ -434,19 +445,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - 0.0, - 0.0 + 3.02066, + 0.33716, + 0.79468 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 33.8, - "opposite_sign_bend_deg": 158.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.63, + "inlier_spread_deg": 11.45, + "marker_Q_to_gsi_deg": { + "1": 173.3, + "-1": 11.5 + } + }, + "wrist_bend_deg_median": 156.0, + "opposite_sign_bend_deg": 33.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 8.07, "hand_vs_marker_frame_deg": { - "before": 8.07, + "before": 175.29, "after": 8.07 }, "markers_on_wrist": [ @@ -455,15 +477,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 6.37, + "twist_moved_deg": -70.83, "wrist_twist_deg_after": { - "median": 0.0, + "median": -105.52, "iqr": [ - -18.6, - 41.2 + -129.6, + -62.1 ] }, - "wrist_total_deg_median_after": 35.5, + "wrist_total_deg_median_after": 106.8, "markers_on_forearm": [ "RForearm", "RWristOut" @@ -471,7 +493,7 @@ }, "frames_used": 1418 }, - "generated_at_utc": "2026-10-28T06:25:35.337768+00:00", + "generated_at_utc": "2026-11-06T13:57:14.563285+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -573,6 +595,116 @@ }, "applied": 3 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 24.14, + "offset_rotvec": [ + -0.3457, + 0.2389, + 0.031 + ], + "dev_deg": { + "median": 10.42, + "p90": 28.25 + }, + "samples": 3894, + "accepted": 3539, + "wrist_pos_err_mm_median": 35.3, + "per_camera": { + "head": { + "samples": 3894, + "accepted": 3539, + "gate_deg": 30.0, + "offset_deg": 24.14, + "tier": "primary", + "dev_deg_median": 10.42, + "wrist_pos_err_mm_median": 35.3 + } + }, + "frames_by_state": { + "ace_sample": 14174, + "interpolated": 518, + "mean_hand": 1392, + "no_body_fit": 0 + }, + "observed_fraction": 0.9135, + "observed_fraction_of_valid": 0.9135, + "palm_axis_vs_markers_deg": { + "gsi": 23.78, + "smplx": 4.88 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.6, + "p90": 14.1 + }, + "registered": { + "median": 12.0, + "p90": 14.0 + } + } + }, + "right": { + "offset_deg": 9.96, + "offset_rotvec": [ + -0.0633, + -0.1545, + 0.0488 + ], + "dev_deg": { + "median": 16.97, + "p90": 127.62 + }, + "samples": 3269, + "accepted": 2087, + "wrist_pos_err_mm_median": 48.6, + "per_camera": { + "head": { + "samples": 3269, + "accepted": 2087, + "gate_deg": 30.0, + "offset_deg": 9.96, + "tier": "primary", + "dev_deg_median": 16.97, + "wrist_pos_err_mm_median": 48.6 + } + }, + "frames_by_state": { + "ace_sample": 8366, + "interpolated": 306, + "mean_hand": 7412, + "no_body_fit": 0 + }, + "observed_fraction": 0.5392, + "observed_fraction_of_valid": 0.5392, + "palm_axis_vs_markers_deg": { + "gsi": 16.47, + "smplx": 4.85 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.0, + "p90": 15.5 + }, + "registered": { + "median": 10.9, + "p90": 15.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:11:21.738687+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/locomanipulation/LM35/session_009", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM35/session_009/motions/smplx.npz b/actions/locomanipulation/LM35/session_009/motions/smplx.npz index 6bf3fcdf54ea499aba14b7b04997b8c88af03805..8ba499f2a00cfc89096391d482c9f2304a8b38a4 100644 --- a/actions/locomanipulation/LM35/session_009/motions/smplx.npz +++ b/actions/locomanipulation/LM35/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8f304995373e61eac9a6dc73ad288889bff199c85df5220144e0d2fb366b092f -size 6181989 +oid sha256:d45103cbe3e68e34225122b63795d98d6aa645f729372fd0080e4f87a089bf32 +size 10238474 diff --git a/actions/locomanipulation/LM35/session_010/meta.json b/actions/locomanipulation/LM35/session_010/meta.json index 178a97cffff493c398997230067b1442acab6940..dc99249bede7195ef92d43b449f208cb424aca1a 100644 --- a/actions/locomanipulation/LM35/session_010/meta.json +++ b/actions/locomanipulation/LM35/session_010/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": { @@ -395,10 +395,21 @@ 0.2415, 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 172.3, - "opposite_sign_bend_deg": 30.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.881, + "inlier_spread_deg": 9.16, + "marker_Q_to_gsi_deg": { + "1": 167.5, + "-1": 14.2 + } + }, + "wrist_bend_deg_median": 168.5, + "opposite_sign_bend_deg": 20.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.96, "hand_vs_marker_frame_deg": { "before": 179.27, @@ -409,15 +420,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 168.35, + "twist_moved_deg": -166.81, "wrist_twist_deg_after": { - "median": 10.22, + "median": -1.53, "iqr": [ - 4.8, - 31.1 + -7.8, + 26.0 ] }, - "wrist_total_deg_median_after": 21.2, + "wrist_total_deg_median_after": 29.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -430,11 +441,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.647, + "inlier_spread_deg": 10.83, + "marker_Q_to_gsi_deg": { + "1": 5.2, + "-1": 179.7 + } + }, "wrist_bend_deg_median": 25.0, "opposite_sign_bend_deg": 168.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -451,7 +473,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -12.3, 11.2 @@ -465,7 +487,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:25:35.595304+00:00", + "generated_at_utc": "2026-11-06T13:57:21.664791+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -509,6 +531,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9715259374101015 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 16.57, + "offset_rotvec": [ + -0.2324, + 0.1698, + 0.0273 + ], + "dev_deg": { + "median": 10.94, + "p90": 32.8 + }, + "samples": 3855, + "accepted": 3425, + "wrist_pos_err_mm_median": 66.5, + "per_camera": { + "head": { + "samples": 3855, + "accepted": 3425, + "gate_deg": 30.0, + "offset_deg": 16.57, + "tier": "primary", + "dev_deg_median": 10.94, + "wrist_pos_err_mm_median": 66.5 + } + }, + "frames_by_state": { + "ace_sample": 13734, + "interpolated": 454, + "mean_hand": 1896, + "no_body_fit": 0 + }, + "observed_fraction": 0.8821, + "observed_fraction_of_valid": 0.8821, + "palm_axis_vs_markers_deg": { + "gsi": 16.88, + "smplx": 1.41 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.8, + "p90": 13.0 + }, + "registered": { + "median": 10.4, + "p90": 13.3 + } + } + }, + "right": { + "offset_deg": 5.87, + "offset_rotvec": [ + 0.0796, + -0.0299, + -0.0571 + ], + "dev_deg": { + "median": 16.67, + "p90": 121.09 + }, + "samples": 3247, + "accepted": 2134, + "wrist_pos_err_mm_median": 92.0, + "per_camera": { + "head": { + "samples": 3247, + "accepted": 2134, + "gate_deg": 30.0, + "offset_deg": 5.87, + "tier": "primary", + "dev_deg_median": 16.67, + "wrist_pos_err_mm_median": 92.0 + } + }, + "frames_by_state": { + "ace_sample": 8532, + "interpolated": 640, + "mean_hand": 6912, + "no_body_fit": 0 + }, + "observed_fraction": 0.5703, + "observed_fraction_of_valid": 0.5703, + "palm_axis_vs_markers_deg": { + "gsi": 14.38, + "smplx": 4.05 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.2, + "p90": 17.6 + }, + "registered": { + "median": 10.9, + "p90": 16.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:11:19.937606+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/locomanipulation/LM35/session_010", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM35/session_010/motions/smplx.npz b/actions/locomanipulation/LM35/session_010/motions/smplx.npz index a5afae0dabebb3be37f7a259e33b7a1195d44836..fad5e8dde9d480b0edc3b3b594a91134911a962c 100644 --- a/actions/locomanipulation/LM35/session_010/motions/smplx.npz +++ b/actions/locomanipulation/LM35/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:71e452d1e9b2884f81fcfaf672693d608aced6b02cd38dd3fded9f5d9b7b6d7e -size 6181799 +oid sha256:db92cf6df1b77d965a62f6b1bc806ab430727861f362889b15bb5b81f373aa9a +size 10273871 diff --git a/actions/locomanipulation/LM35/session_011/meta.json b/actions/locomanipulation/LM35/session_011/meta.json index 556d6ca8abdfe1257d4b2b920143647ef5e30216..d9ec9cb6f9e64bf57c908681554ea74a127075b5 100644 --- a/actions/locomanipulation/LM35/session_011/meta.json +++ b/actions/locomanipulation/LM35/session_011/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": { @@ -396,10 +396,21 @@ -0.2415, -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 174.4, - "opposite_sign_bend_deg": 32.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.882, + "inlier_spread_deg": 8.53, + "marker_Q_to_gsi_deg": { + "1": 164.3, + "-1": 17.3 + } + }, + "wrist_bend_deg_median": 173.2, + "opposite_sign_bend_deg": 12.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.91, "hand_vs_marker_frame_deg": { "before": 179.29, @@ -410,15 +421,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 172.69, + "twist_moved_deg": -171.57, "wrist_twist_deg_after": { - "median": 5.56, + "median": -1.12, "iqr": [ - 2.6, - 28.2 + -4.5, + 22.5 ] }, - "wrist_total_deg_median_after": 12.7, + "wrist_total_deg_median_after": 31.6, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -431,11 +442,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, - 0.0 + -0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.827, + "inlier_spread_deg": 12.98, + "marker_Q_to_gsi_deg": { + "1": 4.5, + "-1": 176.9 + } + }, "wrist_bend_deg_median": 31.2, "opposite_sign_bend_deg": 162.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -466,7 +488,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:25:38.959088+00:00", + "generated_at_utc": "2026-11-06T13:57:24.762641+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -510,6 +532,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9084527002720051 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 21.05, + "offset_rotvec": [ + -0.304, + 0.2041, + 0.0301 + ], + "dev_deg": { + "median": 10.72, + "p90": 31.78 + }, + "samples": 3783, + "accepted": 3365, + "wrist_pos_err_mm_median": 62.1, + "per_camera": { + "head": { + "samples": 3783, + "accepted": 3365, + "gate_deg": 30.0, + "offset_deg": 21.05, + "tier": "primary", + "dev_deg_median": 10.72, + "wrist_pos_err_mm_median": 62.1 + } + }, + "frames_by_state": { + "ace_sample": 13504, + "interpolated": 512, + "mean_hand": 1468, + "no_body_fit": 0 + }, + "observed_fraction": 0.9052, + "observed_fraction_of_valid": 0.9052, + "palm_axis_vs_markers_deg": { + "gsi": 20.1, + "smplx": 1.14 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.0, + "p90": 11.2 + }, + "registered": { + "median": 8.4, + "p90": 11.8 + } + } + }, + "right": { + "offset_deg": 4.0, + "offset_rotvec": [ + 0.0623, + -0.0065, + -0.031 + ], + "dev_deg": { + "median": 14.7, + "p90": 151.83 + }, + "samples": 3102, + "accepted": 2530, + "wrist_pos_err_mm_median": 72.7, + "per_camera": { + "head": { + "samples": 3102, + "accepted": 2530, + "gate_deg": 30.0, + "offset_deg": 4.0, + "tier": "primary", + "dev_deg_median": 14.7, + "wrist_pos_err_mm_median": 72.7 + } + }, + "frames_by_state": { + "ace_sample": 10160, + "interpolated": 800, + "mean_hand": 4524, + "no_body_fit": 0 + }, + "observed_fraction": 0.7078, + "observed_fraction_of_valid": 0.7078, + "palm_axis_vs_markers_deg": { + "gsi": 12.3, + "smplx": 3.94 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.0, + "p90": 14.6 + }, + "registered": { + "median": 12.4, + "p90": 14.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:11:33.844025+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/locomanipulation/LM35/session_011", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM35/session_011/motions/smplx.npz b/actions/locomanipulation/LM35/session_011/motions/smplx.npz index 773724f1b1fc7a8dfaa3057bdfe22e2b7445569f..84f669881a752c74e5498a69a8981a71ce756a83 100644 --- a/actions/locomanipulation/LM35/session_011/motions/smplx.npz +++ b/actions/locomanipulation/LM35/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9875ac02e2bcc8dd59737829f785d3b28655de766a219a3b9b44f0624033561f -size 5945388 +oid sha256:9e866a5c75372656905b79deebf0f2b92b1510b094304e6767203f3f41bd15ec +size 10224891 diff --git a/actions/locomanipulation/LM35/session_028/meta.json b/actions/locomanipulation/LM35/session_028/meta.json index 562fcdc9fdb7164fce34dc24a1c5934889f42308..b38d060cb5f947879ab20ca68f232416f7efacfe 100644 --- a/actions/locomanipulation/LM35/session_028/meta.json +++ b/actions/locomanipulation/LM35/session_028/meta.json @@ -383,8 +383,8 @@ "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": { @@ -449,10 +449,21 @@ -0.44501, -0.87886 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 173.4, - "opposite_sign_bend_deg": 22.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1973, + "inlier_frac": 0.498, + "inlier_spread_deg": 14.65, + "marker_Q_to_gsi_deg": { + "1": 168.2, + "-1": 23.8 + } + }, + "wrist_bend_deg_median": 124.4, + "opposite_sign_bend_deg": 70.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.35, "hand_vs_marker_frame_deg": { "before": 178.85, @@ -463,15 +474,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -123.69, + "twist_moved_deg": 122.45, "wrist_twist_deg_after": { - "median": -54.63, + "median": 1.23, "iqr": [ - -61.0, - -46.6 + -4.1, + 15.1 ] }, - "wrist_total_deg_median_after": 70.6, + "wrist_total_deg_median_after": 22.5, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -485,10 +496,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - 0.0, + -0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2125, + "inlier_frac": 0.91, + "inlier_spread_deg": 12.32, + "marker_Q_to_gsi_deg": { + "1": 29.1, + "-1": 153.9 + } + }, "wrist_bend_deg_median": 18.1, "opposite_sign_bend_deg": 178.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -504,7 +526,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -1.4, 1.3 @@ -519,10 +541,120 @@ }, "frames_used": 1390 }, - "generated_at_utc": "2026-10-28T06:38:24.972765+00:00", + "generated_at_utc": "2026-11-06T14:03:34.668230+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 19.91, + "offset_rotvec": [ + 0.2478, + -0.2122, + 0.1193 + ], + "dev_deg": { + "median": 31.97, + "p90": 113.09 + }, + "samples": 1973, + "accepted": 962, + "wrist_pos_err_mm_median": 79.2, + "per_camera": { + "head": { + "samples": 1973, + "accepted": 962, + "gate_deg": 30.0, + "offset_deg": 19.91, + "tier": "primary", + "dev_deg_median": 31.97, + "wrist_pos_err_mm_median": 79.2 + } + }, + "frames_by_state": { + "ace_sample": 3818, + "interpolated": 1282, + "mean_hand": 8800, + "no_body_fit": 0 + }, + "observed_fraction": 0.3669, + "observed_fraction_of_valid": 0.3669, + "palm_axis_vs_markers_deg": { + "gsi": 33.73, + "smplx": 3.87 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.3, + "p90": 12.2 + }, + "registered": { + "median": 9.4, + "p90": 12.0 + } + } + }, + "right": { + "offset_deg": 29.46, + "offset_rotvec": [ + 0.5112, + -0.0346, + -0.043 + ], + "dev_deg": { + "median": 14.02, + "p90": 27.44 + }, + "samples": 2125, + "accepted": 1956, + "wrist_pos_err_mm_median": 75.8, + "per_camera": { + "head": { + "samples": 2125, + "accepted": 1956, + "gate_deg": 30.0, + "offset_deg": 29.46, + "tier": "primary", + "dev_deg_median": 14.02, + "wrist_pos_err_mm_median": 75.8 + } + }, + "frames_by_state": { + "ace_sample": 8174, + "interpolated": 5398, + "mean_hand": 328, + "no_body_fit": 0 + }, + "observed_fraction": 0.9764, + "observed_fraction_of_valid": 0.9764, + "palm_axis_vs_markers_deg": { + "gsi": 29.04, + "smplx": 1.38 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.5, + "p90": 15.3 + }, + "registered": { + "median": 13.7, + "p90": 14.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:25:01.639876+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/locomanipulation/LM35/session_028", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM35/session_028/motions/smplx.npz b/actions/locomanipulation/LM35/session_028/motions/smplx.npz index 1a323c54c08b20a551d5c3c499923282fe9cedb0..abfebb9c74eaa0bfb8cb2d71674f9f5b10c26c67 100644 --- a/actions/locomanipulation/LM35/session_028/motions/smplx.npz +++ b/actions/locomanipulation/LM35/session_028/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4ba669d16c430590fec4f87738a14bbfaa1c40fe6cdb5c7766ae896f3b5ebe5f -size 5351552 +oid sha256:70a27a52852ac0638f43b3987b3e300487e01cb223785d881c02bc829d850f3d +size 8816345 diff --git a/actions/locomanipulation/LM36/session_008/meta.json b/actions/locomanipulation/LM36/session_008/meta.json index b0c911dbcfb8e29a13359e7ce8d44591edfbde30..3a546cd81fe97c6e114709ab5b0c90e33b03eff3 100644 --- a/actions/locomanipulation/LM36/session_008/meta.json +++ b/actions/locomanipulation/LM36/session_008/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": { @@ -397,10 +397,21 @@ -0.2415, -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 176.7, - "opposite_sign_bend_deg": 44.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.994, + "inlier_spread_deg": 4.16, + "marker_Q_to_gsi_deg": { + "1": 178.7, + "-1": 16.9 + } + }, + "wrist_bend_deg_median": 177.2, + "opposite_sign_bend_deg": 11.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.55, "hand_vs_marker_frame_deg": { "before": 179.35, @@ -411,15 +422,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 176.24, + "twist_moved_deg": -175.8, "wrist_twist_deg_after": { - "median": 1.46, + "median": -0.44, "iqr": [ - -0.3, - 3.3 + -2.3, + 1.4 ] }, - "wrist_total_deg_median_after": 12.1, + "wrist_total_deg_median_after": 44.7, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -434,9 +445,20 @@ "Q_rotvec": [ 0.0, 0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.993, + "inlier_spread_deg": 3.73, + "marker_Q_to_gsi_deg": { + "1": 17.1, + "-1": 173.3 + } + }, "wrist_bend_deg_median": 35.7, "opposite_sign_bend_deg": 174.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -467,7 +489,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:25:39.972699+00:00", + "generated_at_utc": "2026-11-06T13:57:26.577792+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -511,6 +533,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9003062256436418 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 16.8, + "offset_rotvec": [ + 0.049, + 0.289, + 0.0033 + ], + "dev_deg": { + "median": 4.21, + "p90": 9.11 + }, + "samples": 4167, + "accepted": 4142, + "wrist_pos_err_mm_median": 31.2, + "per_camera": { + "head": { + "samples": 4167, + "accepted": 4142, + "gate_deg": 30.0, + "offset_deg": 16.8, + "tier": "primary", + "dev_deg_median": 4.21, + "wrist_pos_err_mm_median": 31.2 + } + }, + "frames_by_state": { + "ace_sample": 16578, + "interpolated": 86, + "mean_hand": 20, + "no_body_fit": 0 + }, + "observed_fraction": 0.9988, + "observed_fraction_of_valid": 0.9988, + "palm_axis_vs_markers_deg": { + "gsi": 19.4, + "smplx": 1.74 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.4, + "p90": 12.4 + }, + "registered": { + "median": 9.0, + "p90": 12.1 + } + } + }, + "right": { + "offset_deg": 17.31, + "offset_rotvec": [ + 0.1701, + -0.2347, + -0.0849 + ], + "dev_deg": { + "median": 3.72, + "p90": 8.16 + }, + "samples": 4092, + "accepted": 4062, + "wrist_pos_err_mm_median": 33.8, + "per_camera": { + "head": { + "samples": 4092, + "accepted": 4062, + "gate_deg": 30.0, + "offset_deg": 17.31, + "tier": "primary", + "dev_deg_median": 3.72, + "wrist_pos_err_mm_median": 33.8 + } + }, + "frames_by_state": { + "ace_sample": 16254, + "interpolated": 162, + "mean_hand": 268, + "no_body_fit": 0 + }, + "observed_fraction": 0.9839, + "observed_fraction_of_valid": 0.9839, + "palm_axis_vs_markers_deg": { + "gsi": 17.19, + "smplx": 0.94 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.0, + "p90": 16.2 + }, + "registered": { + "median": 10.8, + "p90": 15.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:11:33.846840+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/locomanipulation/LM36/session_008", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM36/session_008/motions/smplx.npz b/actions/locomanipulation/LM36/session_008/motions/smplx.npz index 4f4edb8c0180b17aa1c8429d23e448c7c6fe7128..4e4f2e2acba3ef1ef7480a78f3d69ec79892221e 100644 --- a/actions/locomanipulation/LM36/session_008/motions/smplx.npz +++ b/actions/locomanipulation/LM36/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:cea376926af9ce19305285bc9df38a7e35e0782bb8f371343c17ae770c05225e -size 6416470 +oid sha256:41f2e2880c0888c23cf0b212da19655c55da7d35a3a45692468d438d23b6f035 +size 11948600 diff --git a/actions/locomanipulation/LM36/session_009/meta.json b/actions/locomanipulation/LM36/session_009/meta.json index 9f06fc1fc6a202221f360babb3ee51abf145375e..5a55566e83e05bcb09ff2fff82b4497328766fcd 100644 --- a/actions/locomanipulation/LM36/session_009/meta.json +++ b/actions/locomanipulation/LM36/session_009/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -393,14 +393,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 176.1, - "opposite_sign_bend_deg": 40.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 1.0, + "inlier_spread_deg": 3.89, + "marker_Q_to_gsi_deg": { + "1": 177.6, + "-1": 14.9 + } + }, + "wrist_bend_deg_median": 176.0, + "opposite_sign_bend_deg": 11.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.86, "hand_vs_marker_frame_deg": { "before": 179.44, @@ -411,15 +422,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 175.51, + "twist_moved_deg": -175.12, "wrist_twist_deg_after": { - "median": 1.04, + "median": -0.39, "iqr": [ - -0.9, - 2.9 + -2.5, + 1.3 ] }, - "wrist_total_deg_median_after": 11.7, + "wrist_total_deg_median_after": 39.9, "markers_on_forearm": [ "LElbowIn", "LForearm", @@ -433,11 +444,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ + -0.0, 0.0, - 0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.991, + "inlier_spread_deg": 3.96, + "marker_Q_to_gsi_deg": { + "1": 14.3, + "-1": 177.0 + } + }, "wrist_bend_deg_median": 27.4, "opposite_sign_bend_deg": 176.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -452,7 +474,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -468,7 +490,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:25:40.642151+00:00", + "generated_at_utc": "2026-11-06T13:57:27.136286+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -512,6 +534,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9014275126068619 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 14.91, + "offset_rotvec": [ + -0.0154, + 0.259, + 0.021 + ], + "dev_deg": { + "median": 3.82, + "p90": 8.68 + }, + "samples": 4161, + "accepted": 4161, + "wrist_pos_err_mm_median": 33.8, + "per_camera": { + "head": { + "samples": 4161, + "accepted": 4161, + "gate_deg": 30.0, + "offset_deg": 14.91, + "tier": "primary", + "dev_deg_median": 3.82, + "wrist_pos_err_mm_median": 33.8 + } + }, + "frames_by_state": { + "ace_sample": 16645, + "interpolated": 26, + "mean_hand": 5, + "no_body_fit": 8 + }, + "observed_fraction": 0.9992, + "observed_fraction_of_valid": 0.9997, + "palm_axis_vs_markers_deg": { + "gsi": 17.21, + "smplx": 0.68 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.8, + "p90": 11.4 + }, + "registered": { + "median": 9.9, + "p90": 10.8 + } + } + }, + "right": { + "offset_deg": 14.57, + "offset_rotvec": [ + 0.1026, + -0.2146, + -0.0901 + ], + "dev_deg": { + "median": 3.98, + "p90": 8.66 + }, + "samples": 4130, + "accepted": 4095, + "wrist_pos_err_mm_median": 29.3, + "per_camera": { + "head": { + "samples": 4130, + "accepted": 4095, + "gate_deg": 30.0, + "offset_deg": 14.57, + "tier": "primary", + "dev_deg_median": 3.98, + "wrist_pos_err_mm_median": 29.3 + } + }, + "frames_by_state": { + "ace_sample": 16387, + "interpolated": 132, + "mean_hand": 157, + "no_body_fit": 8 + }, + "observed_fraction": 0.9901, + "observed_fraction_of_valid": 0.9906, + "palm_axis_vs_markers_deg": { + "gsi": 14.43, + "smplx": 0.89 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.6, + "p90": 14.5 + }, + "registered": { + "median": 12.0, + "p90": 14.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:11:34.046249+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/locomanipulation/LM36/session_009", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM36/session_009/motions/smplx.npz b/actions/locomanipulation/LM36/session_009/motions/smplx.npz index 2e8aff7e5883e0b9980d40bdbb7f61aa98b16572..311cae3d18f92dd5e007dfc614c34c51a174b178 100644 --- a/actions/locomanipulation/LM36/session_009/motions/smplx.npz +++ b/actions/locomanipulation/LM36/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1b0b06f3ed498194c13bc37886ee401097693dfed5c37db5b11bb4b8ed22e808 -size 6400476 +oid sha256:67fff1e6845829f6f180845c8019695ab4be20aaed659922b3e8cb8efc41eb27 +size 11944195 diff --git a/actions/locomanipulation/LM36/session_010/meta.json b/actions/locomanipulation/LM36/session_010/meta.json index 62013336cd156eb40e7d4ef20a30e47c7d972f8a..172cb57453d3dc7260edfde7000aca954093d669 100644 --- a/actions/locomanipulation/LM36/session_010/meta.json +++ b/actions/locomanipulation/LM36/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)", + "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": { @@ -398,10 +398,21 @@ -0.2415, -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 174.2, - "opposite_sign_bend_deg": 43.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.979, + "inlier_spread_deg": 5.01, + "marker_Q_to_gsi_deg": { + "1": 175.7, + "-1": 14.0 + } + }, + "wrist_bend_deg_median": 174.6, + "opposite_sign_bend_deg": 18.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.95, "hand_vs_marker_frame_deg": { "before": 179.6, @@ -412,15 +423,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 174.0, + "twist_moved_deg": -173.44, "wrist_twist_deg_after": { - "median": 0.46, + "median": -0.56, "iqr": [ - -1.5, - 2.2 + -3.0, + 1.7 ] }, - "wrist_total_deg_median_after": 18.6, + "wrist_total_deg_median_after": 43.5, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -433,17 +444,28 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, + 0.0, 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 1.0, + "inlier_spread_deg": 5.06, + "marker_Q_to_gsi_deg": { + "1": 17.4, + "-1": 174.5 + } + }, "wrist_bend_deg_median": 34.9, "opposite_sign_bend_deg": 174.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.96, "hand_vs_marker_frame_deg": { - "before": 1.96, + "before": 1.95, "after": 1.96 }, "markers_on_wrist": [ @@ -468,7 +490,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:25:40.882504+00:00", + "generated_at_utc": "2026-11-06T13:57:28.535965+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -512,6 +534,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9892601026899649 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 14.02, + "offset_rotvec": [ + -0.0477, + 0.2378, + 0.0322 + ], + "dev_deg": { + "median": 5.06, + "p90": 13.24 + }, + "samples": 4318, + "accepted": 4226, + "wrist_pos_err_mm_median": 21.4, + "per_camera": { + "head": { + "samples": 4318, + "accepted": 4226, + "gate_deg": 30.0, + "offset_deg": 14.02, + "tier": "primary", + "dev_deg_median": 5.06, + "wrist_pos_err_mm_median": 21.4 + } + }, + "frames_by_state": { + "ace_sample": 16912, + "interpolated": 20, + "mean_hand": 344, + "no_body_fit": 8 + }, + "observed_fraction": 0.9796, + "observed_fraction_of_valid": 0.9801, + "palm_axis_vs_markers_deg": { + "gsi": 16.72, + "smplx": 0.57 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.2, + "p90": 11.5 + }, + "registered": { + "median": 8.5, + "p90": 12.2 + } + } + }, + "right": { + "offset_deg": 17.5, + "offset_rotvec": [ + 0.1437, + -0.2633, + -0.0574 + ], + "dev_deg": { + "median": 5.06, + "p90": 9.46 + }, + "samples": 4278, + "accepted": 4276, + "wrist_pos_err_mm_median": 26.4, + "per_camera": { + "head": { + "samples": 4278, + "accepted": 4276, + "gate_deg": 30.0, + "offset_deg": 17.5, + "tier": "primary", + "dev_deg_median": 5.06, + "wrist_pos_err_mm_median": 26.4 + } + }, + "frames_by_state": { + "ace_sample": 17109, + "interpolated": 122, + "mean_hand": 45, + "no_body_fit": 8 + }, + "observed_fraction": 0.9969, + "observed_fraction_of_valid": 0.9974, + "palm_axis_vs_markers_deg": { + "gsi": 19.19, + "smplx": 1.31 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 15.6, + "p90": 18.6 + }, + "registered": { + "median": 15.3, + "p90": 18.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:11:35.644300+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/locomanipulation/LM36/session_010", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM36/session_010/motions/smplx.npz b/actions/locomanipulation/LM36/session_010/motions/smplx.npz index 0f5e45abb5571c2b204e014e91074f5dc3a18ce4..2b67359caee623419e5e9cbee6c679c597c76a23 100644 --- a/actions/locomanipulation/LM36/session_010/motions/smplx.npz +++ b/actions/locomanipulation/LM36/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4391ee36c67bc4e1af27a6f0509ab33356c5cd31a566db32ea696c1aa3568339 -size 6653139 +oid sha256:0bb2593cdace758765cf921543110f16889898af0331f1521e66386b6dd79807 +size 12364880 diff --git a/actions/locomanipulation/LM36/session_020/meta.json b/actions/locomanipulation/LM36/session_020/meta.json index b13acf48f472f202abc7555d83feaeb4d6a9e33a..e90a35054c0d0f8b6f4dcc480b00c07689187b17 100644 --- a/actions/locomanipulation/LM36/session_020/meta.json +++ b/actions/locomanipulation/LM36/session_020/meta.json @@ -363,8 +363,8 @@ "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": { @@ -427,12 +427,23 @@ "Q_rotvec": [ 2.99022, -0.44902, - -0.85238 + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 175.4, - "opposite_sign_bend_deg": 26.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.877, + "inlier_spread_deg": 10.57, + "marker_Q_to_gsi_deg": { + "1": 162.3, + "-1": 18.1 + } + }, + "wrist_bend_deg_median": 173.8, + "opposite_sign_bend_deg": 20.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.4, "hand_vs_marker_frame_deg": { "before": 178.61, @@ -443,15 +454,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 174.43, + "twist_moved_deg": -173.03, "wrist_twist_deg_after": { - "median": 1.38, + "median": -1.41, "iqr": [ - -1.6, - 3.9 + -4.4, + 1.0 ] }, - "wrist_total_deg_median_after": 20.8, + "wrist_total_deg_median_after": 26.6, "markers_on_forearm": [ "LWristIn", "LWristOut" @@ -463,11 +474,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ + 0.0, -0.0, - -0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.905, + "inlier_spread_deg": 18.79, + "marker_Q_to_gsi_deg": { + "1": 35.1, + "-1": 149.2 + } + }, "wrist_bend_deg_median": 26.2, "opposite_sign_bend_deg": 167.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -498,10 +520,120 @@ }, "frames_used": 1488 }, - "generated_at_utc": "2026-10-28T06:36:31.515098+00:00", + "generated_at_utc": "2026-11-06T14:02:35.377376+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 16.91, + "offset_rotvec": [ + 0.2477, + -0.1155, + -0.1116 + ], + "dev_deg": { + "median": 11.85, + "p90": 34.78 + }, + "samples": 3343, + "accepted": 2936, + "wrist_pos_err_mm_median": 59.5, + "per_camera": { + "head": { + "samples": 3343, + "accepted": 2936, + "gate_deg": 30.0, + "offset_deg": 16.91, + "tier": "primary", + "dev_deg_median": 11.85, + "wrist_pos_err_mm_median": 59.5 + } + }, + "frames_by_state": { + "ace_sample": 11854, + "interpolated": 1654, + "mean_hand": 1368, + "no_body_fit": 8 + }, + "observed_fraction": 0.9076, + "observed_fraction_of_valid": 0.908, + "palm_axis_vs_markers_deg": { + "gsi": 20.79, + "smplx": 3.29 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.1, + "p90": 11.7 + }, + "registered": { + "median": 9.6, + "p90": 12.2 + } + } + }, + "right": { + "offset_deg": 35.14, + "offset_rotvec": [ + 0.5979, + -0.1319, + -0.0347 + ], + "dev_deg": { + "median": 19.33, + "p90": 29.35 + }, + "samples": 3433, + "accepted": 3119, + "wrist_pos_err_mm_median": 43.5, + "per_camera": { + "head": { + "samples": 3433, + "accepted": 3119, + "gate_deg": 30.0, + "offset_deg": 35.14, + "tier": "primary", + "dev_deg_median": 19.33, + "wrist_pos_err_mm_median": 43.5 + } + }, + "frames_by_state": { + "ace_sample": 12603, + "interpolated": 1432, + "mean_hand": 841, + "no_body_fit": 8 + }, + "observed_fraction": 0.943, + "observed_fraction_of_valid": 0.9435, + "palm_axis_vs_markers_deg": { + "gsi": 32.0, + "smplx": 5.21 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.7, + "p90": 14.9 + }, + "registered": { + "median": 9.9, + "p90": 14.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:22:45.246883+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/locomanipulation/LM36/session_020", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM36/session_020/motions/smplx.npz b/actions/locomanipulation/LM36/session_020/motions/smplx.npz index c9e1c23f959b2e6f41be7b480f270c61b16834b6..edd14d528be1e5122ce3abd90fdffa5aafa97a17 100644 --- a/actions/locomanipulation/LM36/session_020/motions/smplx.npz +++ b/actions/locomanipulation/LM36/session_020/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:088532aadbf6f6b51c0669f275581023b6c82c446fa3c1f14d117ca68a30e2ee -size 5719595 +oid sha256:bc4afe0300cdb53fc09c19a817ae0de73ce9582148c5a5e317fedacc6362a2da +size 10391705 diff --git a/actions/locomanipulation/LM37/session_001/meta.json b/actions/locomanipulation/LM37/session_001/meta.json index c653a3141d877f1a09e06fa0c41c86c3a399eb4f..dbde4cbc2d005ceecca6753257e8dcf9c2fa1eb5 100644 --- a/actions/locomanipulation/LM37/session_001/meta.json +++ b/actions/locomanipulation/LM37/session_001/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": { @@ -404,14 +404,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 171.8, - "opposite_sign_bend_deg": 18.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.997, + "inlier_spread_deg": 7.34, + "marker_Q_to_gsi_deg": { + "1": 176.4, + "-1": 6.5 + } + }, + "wrist_bend_deg_median": 163.1, + "opposite_sign_bend_deg": 37.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.91, "hand_vs_marker_frame_deg": { "before": 179.01, @@ -424,15 +435,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 164.07, + "twist_moved_deg": -162.02, "wrist_twist_deg_after": { - "median": 11.68, + "median": -2.04, "iqr": [ - 6.7, - 22.0 + -6.8, + 14.1 ] }, - "wrist_total_deg_median_after": 37.6, + "wrist_total_deg_median_after": 18.7, "markers_on_forearm": [ "LForearm" ] @@ -443,11 +454,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, - 0.0 + -0.0, + -0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.986, + "inlier_spread_deg": 9.96, + "marker_Q_to_gsi_deg": { + "1": 7.0, + "-1": 179.4 + } + }, "wrist_bend_deg_median": 31.4, "opposite_sign_bend_deg": 171.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -462,9 +484,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -11.3, 8.3 @@ -478,7 +500,7 @@ }, "frames_used": 1488 }, - "generated_at_utc": "2026-10-28T06:15:51.724394+00:00", + "generated_at_utc": "2026-11-06T13:40:56.551158+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -522,6 +544,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.293633951880076 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 6.56, + "offset_rotvec": [ + -0.0483, + -0.0657, + 0.0804 + ], + "dev_deg": { + "median": 7.3, + "p90": 16.57 + }, + "samples": 3691, + "accepted": 3679, + "wrist_pos_err_mm_median": 38.0, + "per_camera": { + "head": { + "samples": 3691, + "accepted": 3679, + "gate_deg": 30.0, + "offset_deg": 6.56, + "tier": "primary", + "dev_deg_median": 7.3, + "wrist_pos_err_mm_median": 38.0 + } + }, + "frames_by_state": { + "ace_sample": 14734, + "interpolated": 134, + "mean_hand": 8, + "no_body_fit": 8 + }, + "observed_fraction": 0.9989, + "observed_fraction_of_valid": 0.9995, + "palm_axis_vs_markers_deg": { + "gsi": 7.06, + "smplx": 1.63 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.1, + "p90": 9.4 + }, + "registered": { + "median": 6.6, + "p90": 9.7 + } + } + }, + "right": { + "offset_deg": 7.24, + "offset_rotvec": [ + -0.0224, + -0.1062, + 0.0648 + ], + "dev_deg": { + "median": 10.05, + "p90": 18.4 + }, + "samples": 3601, + "accepted": 3545, + "wrist_pos_err_mm_median": 24.3, + "per_camera": { + "head": { + "samples": 3601, + "accepted": 3545, + "gate_deg": 30.0, + "offset_deg": 7.24, + "tier": "primary", + "dev_deg_median": 10.05, + "wrist_pos_err_mm_median": 24.3 + } + }, + "frames_by_state": { + "ace_sample": 14231, + "interpolated": 624, + "mean_hand": 21, + "no_body_fit": 8 + }, + "observed_fraction": 0.9981, + "observed_fraction_of_valid": 0.9986, + "palm_axis_vs_markers_deg": { + "gsi": 11.47, + "smplx": 3.57 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.8, + "p90": 9.6 + }, + "registered": { + "median": 5.7, + "p90": 8.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:36:39.346810+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/locomanipulation/LM37/session_001", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM37/session_001/motions/smplx.npz b/actions/locomanipulation/LM37/session_001/motions/smplx.npz index 10430d20011b040f3263457d77251b49a00d0d49..e5b461120e23b5589a1ca2126e95495f346390e2 100644 --- a/actions/locomanipulation/LM37/session_001/motions/smplx.npz +++ b/actions/locomanipulation/LM37/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:cd11acfc19f78b8966b34813ac648697c877f140d9b963fb46d5938f13fede8c -size 5704312 +oid sha256:4741d05260ddc01c1e1d60d0f7458cd32dabeb4234907eb0cc9e3670dfc8f3ef +size 10686484 diff --git a/actions/locomanipulation/LM37/session_002/meta.json b/actions/locomanipulation/LM37/session_002/meta.json index cf1c752ca4f84583aadf03a6bcc09a80f2f1b6d4..dcbee629108481c450916f3106bc154f262d77e3 100644 --- a/actions/locomanipulation/LM37/session_002/meta.json +++ b/actions/locomanipulation/LM37/session_002/meta.json @@ -342,8 +342,8 @@ "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": { @@ -414,14 +414,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 171.5, - "opposite_sign_bend_deg": 18.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.989, + "inlier_spread_deg": 8.15, + "marker_Q_to_gsi_deg": { + "1": 179.6, + "-1": 8.2 + } + }, + "wrist_bend_deg_median": 168.4, + "opposite_sign_bend_deg": 34.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.61, "hand_vs_marker_frame_deg": { "before": 178.97, @@ -434,15 +445,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 168.48, + "twist_moved_deg": -166.18, "wrist_twist_deg_after": { - "median": 7.93, + "median": -2.3, "iqr": [ - 3.0, + -6.5, 22.4 ] }, - "wrist_total_deg_median_after": 34.7, + "wrist_total_deg_median_after": 18.7, "markers_on_forearm": [ "LForearm" ] @@ -453,11 +464,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.959, + "inlier_spread_deg": 9.66, + "marker_Q_to_gsi_deg": { + "1": 8.5, + "-1": 177.1 + } + }, "wrist_bend_deg_median": 25.0, "opposite_sign_bend_deg": 168.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -473,7 +495,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -14.5, 10.4 @@ -488,7 +510,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:15:51.835471+00:00", + "generated_at_utc": "2026-11-06T13:41:06.045493+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -532,6 +554,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.291376930208503 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 8.12, + "offset_rotvec": [ + 0.0109, + -0.0985, + 0.1013 + ], + "dev_deg": { + "median": 8.15, + "p90": 18.31 + }, + "samples": 3724, + "accepted": 3681, + "wrist_pos_err_mm_median": 37.8, + "per_camera": { + "head": { + "samples": 3724, + "accepted": 3681, + "gate_deg": 30.0, + "offset_deg": 8.12, + "tier": "primary", + "dev_deg_median": 8.15, + "wrist_pos_err_mm_median": 37.8 + } + }, + "frames_by_state": { + "ace_sample": 14766, + "interpolated": 514, + "mean_hand": 204, + "no_body_fit": 0 + }, + "observed_fraction": 0.9868, + "observed_fraction_of_valid": 0.9868, + "palm_axis_vs_markers_deg": { + "gsi": 7.35, + "smplx": 1.54 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.5, + "p90": 13.4 + }, + "registered": { + "median": 10.9, + "p90": 12.8 + } + } + }, + "right": { + "offset_deg": 8.89, + "offset_rotvec": [ + -0.0619, + -0.133, + 0.0505 + ], + "dev_deg": { + "median": 10.09, + "p90": 20.87 + }, + "samples": 3758, + "accepted": 3602, + "wrist_pos_err_mm_median": 30.3, + "per_camera": { + "head": { + "samples": 3758, + "accepted": 3602, + "gate_deg": 30.0, + "offset_deg": 8.89, + "tier": "primary", + "dev_deg_median": 10.09, + "wrist_pos_err_mm_median": 30.3 + } + }, + "frames_by_state": { + "ace_sample": 14504, + "interpolated": 968, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9992, + "observed_fraction_of_valid": 0.9992, + "palm_axis_vs_markers_deg": { + "gsi": 11.51, + "smplx": 2.04 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.2, + "p90": 9.2 + }, + "registered": { + "median": 6.4, + "p90": 8.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:36:43.842459+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/locomanipulation/LM37/session_002", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM37/session_002/motions/smplx.npz b/actions/locomanipulation/LM37/session_002/motions/smplx.npz index f3ab5d537f6572e04185ac2d40b0322d5c951d45..2acb735106368395b4d989385261c238407ec6ff 100644 --- a/actions/locomanipulation/LM37/session_002/motions/smplx.npz +++ b/actions/locomanipulation/LM37/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d15bc2fbf5d320eabb532aeac5919b345a5eb5ab7322706ecfe628cae385921d -size 5935649 +oid sha256:53f756061edd9c3e2b026f93a7948eee8404eb43b688671bcc5248e7054c8985 +size 11098548 diff --git a/actions/locomanipulation/LM37/session_003/meta.json b/actions/locomanipulation/LM37/session_003/meta.json index cfac6cdf5e1f8a210dd755b692867a3c9e97eafa..844a6864ed9abcdb76d3608b5c9ce162cfaa6f41 100644 --- a/actions/locomanipulation/LM37/session_003/meta.json +++ b/actions/locomanipulation/LM37/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 (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": { @@ -404,10 +404,21 @@ 0.2415, 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 173.8, - "opposite_sign_bend_deg": 18.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.971, + "inlier_spread_deg": 7.74, + "marker_Q_to_gsi_deg": { + "1": 178.0, + "-1": 5.8 + } + }, + "wrist_bend_deg_median": 168.7, + "opposite_sign_bend_deg": 34.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.57, "hand_vs_marker_frame_deg": { "before": 179.18, @@ -420,15 +431,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 168.47, + "twist_moved_deg": -166.46, "wrist_twist_deg_after": { - "median": 7.52, + "median": -2.01, "iqr": [ - 3.2, - 16.0 + -5.8, + 11.5 ] }, - "wrist_total_deg_median_after": 34.7, + "wrist_total_deg_median_after": 18.6, "markers_on_forearm": [ "LForearm" ] @@ -439,11 +450,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, + 0.0, 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.928, + "inlier_spread_deg": 11.8, + "marker_Q_to_gsi_deg": { + "1": 8.1, + "-1": 178.8 + } + }, "wrist_bend_deg_median": 30.6, "opposite_sign_bend_deg": 171.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -474,7 +496,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:15:53.066862+00:00", + "generated_at_utc": "2026-11-06T13:41:12.847651+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -518,6 +540,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.3596400649564697 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 5.37, + "offset_rotvec": [ + -0.0203, + -0.064, + 0.0655 + ], + "dev_deg": { + "median": 8.12, + "p90": 22.13 + }, + "samples": 4273, + "accepted": 4146, + "wrist_pos_err_mm_median": 38.5, + "per_camera": { + "head": { + "samples": 4273, + "accepted": 4146, + "gate_deg": 30.0, + "offset_deg": 5.37, + "tier": "primary", + "dev_deg_median": 8.12, + "wrist_pos_err_mm_median": 38.5 + } + }, + "frames_by_state": { + "ace_sample": 16636, + "interpolated": 452, + "mean_hand": 196, + "no_body_fit": 0 + }, + "observed_fraction": 0.9887, + "observed_fraction_of_valid": 0.9887, + "palm_axis_vs_markers_deg": { + "gsi": 7.22, + "smplx": 1.18 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.6, + "p90": 9.3 + }, + "registered": { + "median": 7.5, + "p90": 9.5 + } + } + }, + "right": { + "offset_deg": 8.19, + "offset_rotvec": [ + -0.0178, + -0.102, + 0.0986 + ], + "dev_deg": { + "median": 12.64, + "p90": 25.95 + }, + "samples": 4189, + "accepted": 3902, + "wrist_pos_err_mm_median": 27.9, + "per_camera": { + "head": { + "samples": 4189, + "accepted": 3902, + "gate_deg": 30.0, + "offset_deg": 8.19, + "tier": "primary", + "dev_deg_median": 12.64, + "wrist_pos_err_mm_median": 27.9 + } + }, + "frames_by_state": { + "ace_sample": 15722, + "interpolated": 1550, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9993, + "observed_fraction_of_valid": 0.9993, + "palm_axis_vs_markers_deg": { + "gsi": 13.5, + "smplx": 2.1 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.9, + "p90": 8.5 + }, + "registered": { + "median": 5.7, + "p90": 8.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:36:45.743884+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/locomanipulation/LM37/session_003", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM37/session_003/motions/smplx.npz b/actions/locomanipulation/LM37/session_003/motions/smplx.npz index 5b0dfb48f011e6d46a9a5c82f78f51eccdab64d2..ed09003c4850d387937b9a1e1d7d254a97c78973 100644 --- a/actions/locomanipulation/LM37/session_003/motions/smplx.npz +++ b/actions/locomanipulation/LM37/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:37381775c025544e33512d8968b925c5d2d0f696103e35e8ec8e29a45c59e034 -size 6627936 +oid sha256:3816e0a71ebaf2a583addbd9e8e377f05c98a0d04c709ae1c82562a85df9dc46 +size 12390227 diff --git a/actions/locomanipulation/LM37/session_006/meta.json b/actions/locomanipulation/LM37/session_006/meta.json index a80c9ceea3799b8666d80c2bfc3618664c109303..f03a200a47b6a9404db352c1fcdb5a8eaf29df34 100644 --- a/actions/locomanipulation/LM37/session_006/meta.json +++ b/actions/locomanipulation/LM37/session_006/meta.json @@ -365,8 +365,8 @@ "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": { @@ -441,10 +441,21 @@ 0.4392, 0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 171.1, - "opposite_sign_bend_deg": 23.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.912, + "inlier_spread_deg": 13.87, + "marker_Q_to_gsi_deg": { + "1": 177.4, + "-1": 6.4 + } + }, + "wrist_bend_deg_median": 169.8, + "opposite_sign_bend_deg": 38.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.43, "hand_vs_marker_frame_deg": { "before": 179.32, @@ -456,15 +467,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 169.66, + "twist_moved_deg": -169.33, "wrist_twist_deg_after": { - "median": 2.07, + "median": -0.33, "iqr": [ - -2.0, - 6.1 + -4.9, + 3.4 ] }, - "wrist_total_deg_median_after": 38.8, + "wrist_total_deg_median_after": 23.8, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -476,11 +487,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, + -0.0, + -0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.979, + "inlier_spread_deg": 9.07, + "marker_Q_to_gsi_deg": { + "1": 10.6, + "-1": 179.9 + } + }, "wrist_bend_deg_median": 19.8, "opposite_sign_bend_deg": 168.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -497,7 +519,7 @@ "forearm_twist": { "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -10.6, 15.6 @@ -512,10 +534,120 @@ }, "frames_used": 1452 }, - "generated_at_utc": "2026-10-28T06:46:53.146043+00:00", + "generated_at_utc": "2026-11-06T14:12:49.539867+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 6.62, + "offset_rotvec": [ + 0.0343, + -0.1097, + 0.0117 + ], + "dev_deg": { + "median": 14.48, + "p90": 27.31 + }, + "samples": 3526, + "accepted": 3220, + "wrist_pos_err_mm_median": 37.2, + "per_camera": { + "head": { + "samples": 3526, + "accepted": 3220, + "gate_deg": 30.0, + "offset_deg": 6.62, + "tier": "primary", + "dev_deg_median": 14.48, + "wrist_pos_err_mm_median": 37.2 + } + }, + "frames_by_state": { + "ace_sample": 12932, + "interpolated": 624, + "mean_hand": 955, + "no_body_fit": 0 + }, + "observed_fraction": 0.9342, + "observed_fraction_of_valid": 0.9342, + "palm_axis_vs_markers_deg": { + "gsi": 13.32, + "smplx": 1.35 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.2, + "p90": 12.7 + }, + "registered": { + "median": 9.6, + "p90": 13.4 + } + } + }, + "right": { + "offset_deg": 10.64, + "offset_rotvec": [ + 0.0136, + -0.1737, + 0.0641 + ], + "dev_deg": { + "median": 9.25, + "p90": 16.19 + }, + "samples": 3552, + "accepted": 3476, + "wrist_pos_err_mm_median": 22.2, + "per_camera": { + "head": { + "samples": 3552, + "accepted": 3476, + "gate_deg": 30.0, + "offset_deg": 10.64, + "tier": "primary", + "dev_deg_median": 9.25, + "wrist_pos_err_mm_median": 22.2 + } + }, + "frames_by_state": { + "ace_sample": 13924, + "interpolated": 284, + "mean_hand": 303, + "no_body_fit": 0 + }, + "observed_fraction": 0.9791, + "observed_fraction_of_valid": 0.9791, + "palm_axis_vs_markers_deg": { + "gsi": 13.65, + "smplx": 2.62 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.4, + "p90": 10.4 + }, + "registered": { + "median": 7.3, + "p90": 8.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:44:06.837130+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/locomanipulation/LM37/session_006", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM37/session_006/motions/smplx.npz b/actions/locomanipulation/LM37/session_006/motions/smplx.npz index 702d1bd5dfc12bb654ca3aca80a8003e8eda7226..774e31c1b669eebef52888322d075043830848e5 100644 --- a/actions/locomanipulation/LM37/session_006/motions/smplx.npz +++ b/actions/locomanipulation/LM37/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:bec410c9d03628161bcf7ab431e1261570281d1bf9aca65d07a70aa721e78374 -size 5580516 +oid sha256:2242dff1100bb6946ef52394dc455b385ffa5c026a3f154b59f9c8b7e2123078 +size 10271169 diff --git a/actions/locomanipulation/LM37/session_007/meta.json b/actions/locomanipulation/LM37/session_007/meta.json index 7aaa5a72c0bef56ff39f2a200ea115c9a7855c1f..7b2e0d7d644e5e2be3e6959543ada77cf9c36d30 100644 --- a/actions/locomanipulation/LM37/session_007/meta.json +++ b/actions/locomanipulation/LM37/session_007/meta.json @@ -365,8 +365,8 @@ "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": { @@ -427,14 +427,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -2.98662, - 0.4392, - 0.86995 + 2.98662, + -0.4392, + -0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 172.9, - "opposite_sign_bend_deg": 32.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.671, + "inlier_spread_deg": 10.23, + "marker_Q_to_gsi_deg": { + "1": 177.6, + "-1": 3.1 + } + }, + "wrist_bend_deg_median": 170.3, + "opposite_sign_bend_deg": 36.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.8, "hand_vs_marker_frame_deg": { "before": 179.3, @@ -445,15 +456,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 169.92, + "twist_moved_deg": -163.5, "wrist_twist_deg_after": { - "median": 6.6, + "median": -6.42, "iqr": [ - 1.5, - 11.8 + -14.2, + 1.3 ] }, - "wrist_total_deg_median_after": 35.9, + "wrist_total_deg_median_after": 33.5, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -466,11 +477,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + -0.0, + -0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.959, + "inlier_spread_deg": 10.78, + "marker_Q_to_gsi_deg": { + "1": 9.2, + "-1": 178.0 + } + }, "wrist_bend_deg_median": 37.6, "opposite_sign_bend_deg": 172.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -484,7 +506,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.01, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -502,10 +524,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:46:53.329520+00:00", + "generated_at_utc": "2026-11-06T14:12:52.653338+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 5.29, + "offset_rotvec": [ + -0.0873, + 0.0145, + -0.0261 + ], + "dev_deg": { + "median": 16.64, + "p90": 163.27 + }, + "samples": 3600, + "accepted": 2382, + "wrist_pos_err_mm_median": 40.4, + "per_camera": { + "head": { + "samples": 3600, + "accepted": 2382, + "gate_deg": 30.0, + "offset_deg": 5.29, + "tier": "primary", + "dev_deg_median": 16.64, + "wrist_pos_err_mm_median": 40.4 + } + }, + "frames_by_state": { + "ace_sample": 9612, + "interpolated": 1024, + "mean_hand": 4608, + "no_body_fit": 0 + }, + "observed_fraction": 0.6977, + "observed_fraction_of_valid": 0.6977, + "palm_axis_vs_markers_deg": { + "gsi": 14.77, + "smplx": 2.41 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.8, + "p90": 13.6 + }, + "registered": { + "median": 10.3, + "p90": 12.7 + } + } + }, + "right": { + "offset_deg": 9.72, + "offset_rotvec": [ + -0.0466, + -0.1276, + 0.1017 + ], + "dev_deg": { + "median": 11.07, + "p90": 23.07 + }, + "samples": 3612, + "accepted": 3459, + "wrist_pos_err_mm_median": 25.3, + "per_camera": { + "head": { + "samples": 3612, + "accepted": 3459, + "gate_deg": 30.0, + "offset_deg": 9.72, + "tier": "primary", + "dev_deg_median": 11.07, + "wrist_pos_err_mm_median": 25.3 + } + }, + "frames_by_state": { + "ace_sample": 13890, + "interpolated": 518, + "mean_hand": 836, + "no_body_fit": 0 + }, + "observed_fraction": 0.9452, + "observed_fraction_of_valid": 0.9452, + "palm_axis_vs_markers_deg": { + "gsi": 11.02, + "smplx": 1.73 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.8, + "p90": 17.2 + }, + "registered": { + "median": 12.3, + "p90": 15.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:44:07.436686+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/locomanipulation/LM37/session_007", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM37/session_007/motions/smplx.npz b/actions/locomanipulation/LM37/session_007/motions/smplx.npz index f5e046f88e41adc2ce13315e8013ba8f76bb6619..e02b4e691e32196c6a00bab88d17d126caf6cb63 100644 --- a/actions/locomanipulation/LM37/session_007/motions/smplx.npz +++ b/actions/locomanipulation/LM37/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:eb361c303e73d02c681cad65727eb7b5fd6eae01e8eca30560c698f1ba4f1db1 -size 5844258 +oid sha256:f82c2b59472cbbe3aac13bac49d7b9f728c81ca00daf1895486e7fe94326c786 +size 10096452 diff --git a/actions/locomanipulation/LM37/session_008/meta.json b/actions/locomanipulation/LM37/session_008/meta.json index 9ba155b8fdee5a43f16a45b959113bf1612fef78..d0be82c3dc5222fe2ed484bbc0b68ac8eea57f9f 100644 --- a/actions/locomanipulation/LM37/session_008/meta.json +++ b/actions/locomanipulation/LM37/session_008/meta.json @@ -372,8 +372,8 @@ "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": { @@ -443,10 +443,21 @@ 0.4392, 0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 169.9, - "opposite_sign_bend_deg": 27.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.928, + "inlier_spread_deg": 12.02, + "marker_Q_to_gsi_deg": { + "1": 174.0, + "-1": 7.8 + } + }, + "wrist_bend_deg_median": 165.2, + "opposite_sign_bend_deg": 36.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.3, "hand_vs_marker_frame_deg": { "before": 178.99, @@ -457,15 +468,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 164.42, + "twist_moved_deg": -164.06, "wrist_twist_deg_after": { - "median": 7.66, + "median": -0.36, "iqr": [ - 3.0, - 20.8 + -5.9, + 12.7 ] }, - "wrist_total_deg_median_after": 36.8, + "wrist_total_deg_median_after": 27.5, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -478,11 +489,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ + -0.0, 0.0, - 0.0, - -0.0 + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.975, + "inlier_spread_deg": 11.95, + "marker_Q_to_gsi_deg": { + "1": 5.1, + "-1": 178.9 + } + }, "wrist_bend_deg_median": 28.5, "opposite_sign_bend_deg": 173.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -497,9 +519,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -6.5, 5.5 @@ -514,10 +536,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:46:53.957182+00:00", + "generated_at_utc": "2026-11-06T14:12:57.235273+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 8.07, + "offset_rotvec": [ + 0.1001, + -0.0992, + -0.0023 + ], + "dev_deg": { + "median": 12.56, + "p90": 26.32 + }, + "samples": 3480, + "accepted": 3241, + "wrist_pos_err_mm_median": 43.9, + "per_camera": { + "head": { + "samples": 3480, + "accepted": 3241, + "gate_deg": 30.0, + "offset_deg": 8.07, + "tier": "primary", + "dev_deg_median": 12.56, + "wrist_pos_err_mm_median": 43.9 + } + }, + "frames_by_state": { + "ace_sample": 13174, + "interpolated": 1554, + "mean_hand": 484, + "no_body_fit": 0 + }, + "observed_fraction": 0.9682, + "observed_fraction_of_valid": 0.9682, + "palm_axis_vs_markers_deg": { + "gsi": 11.66, + "smplx": 1.38 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.4, + "p90": 7.8 + }, + "registered": { + "median": 6.6, + "p90": 8.5 + } + } + }, + "right": { + "offset_deg": 5.41, + "offset_rotvec": [ + 0.0109, + -0.0716, + 0.0606 + ], + "dev_deg": { + "median": 12.19, + "p90": 20.77 + }, + "samples": 3605, + "accepted": 3507, + "wrist_pos_err_mm_median": 53.3, + "per_camera": { + "head": { + "samples": 3605, + "accepted": 3507, + "gate_deg": 30.0, + "offset_deg": 5.41, + "tier": "primary", + "dev_deg_median": 12.19, + "wrist_pos_err_mm_median": 53.3 + } + }, + "frames_by_state": { + "ace_sample": 14180, + "interpolated": 664, + "mean_hand": 368, + "no_body_fit": 0 + }, + "observed_fraction": 0.9758, + "observed_fraction_of_valid": 0.9758, + "palm_axis_vs_markers_deg": { + "gsi": 11.56, + "smplx": 2.44 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.0, + "p90": 11.5 + }, + "registered": { + "median": 7.4, + "p90": 10.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:44:07.037280+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/locomanipulation/LM37/session_008", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM37/session_008/motions/smplx.npz b/actions/locomanipulation/LM37/session_008/motions/smplx.npz index 2f5f4cd09d88cede3e32a33b8f0b46ed1f23d685..96f8606d2da50f3cc66a3bf4c3a9621371f271c8 100644 --- a/actions/locomanipulation/LM37/session_008/motions/smplx.npz +++ b/actions/locomanipulation/LM37/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:cec398093e38315853dbaa7df2fcf0336419e77d23bf8a2dffd78672791c00b4 -size 5834224 +oid sha256:43d8fe6be1f087e4d8163bc401826a29a1a73557f341bb578ad566279e958b4a +size 10855403 diff --git a/actions/locomanipulation/LM38/session_007/meta.json b/actions/locomanipulation/LM38/session_007/meta.json index 0bb095b847e86ee8dd7f8a2f5a39a6993bc40d37..23f4dd69aead197fc6aee25d9290cd2628938d28 100644 --- a/actions/locomanipulation/LM38/session_007/meta.json +++ b/actions/locomanipulation/LM38/session_007/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": { @@ -386,19 +386,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 26.9, - "opposite_sign_bend_deg": 164.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.88, + "inlier_spread_deg": 11.48, + "marker_Q_to_gsi_deg": { + "1": 177.4, + "-1": 16.1 + } + }, + "wrist_bend_deg_median": 165.1, + "opposite_sign_bend_deg": 26.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.36, "hand_vs_marker_frame_deg": { - "before": 3.36, + "before": 178.67, "after": 3.36 }, "markers_on_wrist": [ @@ -406,15 +417,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 1.41, + "twist_moved_deg": -142.36, "wrist_twist_deg_after": { - "median": 0.0, + "median": -33.59, "iqr": [ - -18.7, - 13.5 + -52.6, + -17.2 ] }, - "wrist_total_deg_median_after": 28.7, + "wrist_total_deg_median_after": 51.4, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -432,6 +443,17 @@ 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.944, + "inlier_spread_deg": 11.54, + "marker_Q_to_gsi_deg": { + "1": 14.0, + "-1": 178.4 + } + }, "wrist_bend_deg_median": 31.1, "opposite_sign_bend_deg": 168.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -445,7 +467,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.03, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -462,7 +484,7 @@ }, "frames_used": 1473 }, - "generated_at_utc": "2026-10-28T06:25:41.918838+00:00", + "generated_at_utc": "2026-11-06T13:57:32.364628+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -587,6 +609,116 @@ }, "applied": 4 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 15.76, + "offset_rotvec": [ + -0.0033, + 0.2711, + -0.0462 + ], + "dev_deg": { + "median": 12.74, + "p90": 44.42 + }, + "samples": 3786, + "accepted": 3317, + "wrist_pos_err_mm_median": 22.4, + "per_camera": { + "head": { + "samples": 3786, + "accepted": 3317, + "gate_deg": 30.0, + "offset_deg": 15.76, + "tier": "primary", + "dev_deg_median": 12.74, + "wrist_pos_err_mm_median": 22.4 + } + }, + "frames_by_state": { + "ace_sample": 13278, + "interpolated": 438, + "mean_hand": 1768, + "no_body_fit": 0 + }, + "observed_fraction": 0.8858, + "observed_fraction_of_valid": 0.8858, + "palm_axis_vs_markers_deg": { + "gsi": 20.29, + "smplx": 2.18 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.2, + "p90": 16.2 + }, + "registered": { + "median": 10.6, + "p90": 16.4 + } + } + }, + "right": { + "offset_deg": 14.46, + "offset_rotvec": [ + 0.0562, + -0.2458, + 0.0125 + ], + "dev_deg": { + "median": 11.82, + "p90": 22.49 + }, + "samples": 3701, + "accepted": 3496, + "wrist_pos_err_mm_median": 25.6, + "per_camera": { + "head": { + "samples": 3701, + "accepted": 3496, + "gate_deg": 30.0, + "offset_deg": 14.46, + "tier": "primary", + "dev_deg_median": 11.82, + "wrist_pos_err_mm_median": 25.6 + } + }, + "frames_by_state": { + "ace_sample": 14002, + "interpolated": 574, + "mean_hand": 908, + "no_body_fit": 0 + }, + "observed_fraction": 0.9414, + "observed_fraction_of_valid": 0.9414, + "palm_axis_vs_markers_deg": { + "gsi": 17.51, + "smplx": 2.69 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.8, + "p90": 16.1 + }, + "registered": { + "median": 9.1, + "p90": 15.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:11:33.645297+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/locomanipulation/LM38/session_007", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM38/session_007/motions/smplx.npz b/actions/locomanipulation/LM38/session_007/motions/smplx.npz index f7bae6e34fc29de2b12da12bbb4c31992c36f940..2b73f11e7cc7e69713260a87bfe894b848156b3b 100644 --- a/actions/locomanipulation/LM38/session_007/motions/smplx.npz +++ b/actions/locomanipulation/LM38/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d544cfdce32fe34780c5bfe99104e59ebe560a01717fa0dffbb90a6d8df231d0 -size 5968109 +oid sha256:f4c2e118ac1ca3bfb4231c24e04c17d0b9b1dd16bc00229d70dd1812754ad1e8 +size 10822029 diff --git a/actions/locomanipulation/LM38/session_008/meta.json b/actions/locomanipulation/LM38/session_008/meta.json index c1d337d211426c4347f63b4bf4c28efd13935c2f..77ea206424f914a1c2fe66819932d00e29219eeb 100644 --- a/actions/locomanipulation/LM38/session_008/meta.json +++ b/actions/locomanipulation/LM38/session_008/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": { @@ -384,19 +384,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 20.9, - "opposite_sign_bend_deg": 168.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.854, + "inlier_spread_deg": 9.4, + "marker_Q_to_gsi_deg": { + "1": 177.2, + "-1": 14.9 + } + }, + "wrist_bend_deg_median": 168.6, + "opposite_sign_bend_deg": 20.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.11, "hand_vs_marker_frame_deg": { - "before": 3.11, + "before": 178.9, "after": 3.11 }, "markers_on_wrist": [ @@ -404,15 +415,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.01, + "twist_moved_deg": -153.67, "wrist_twist_deg_after": { - "median": -0.0, + "median": -22.14, "iqr": [ - -13.1, - 9.8 + -37.4, + -11.1 ] }, - "wrist_total_deg_median_after": 22.8, + "wrist_total_deg_median_after": 44.2, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -426,10 +437,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - 0.0, - 0.0 + -0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.982, + "inlier_spread_deg": 9.56, + "marker_Q_to_gsi_deg": { + "1": 14.6, + "-1": 179.4 + } + }, "wrist_bend_deg_median": 31.4, "opposite_sign_bend_deg": 169.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -460,7 +482,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:25:44.600599+00:00", + "generated_at_utc": "2026-11-06T13:57:33.936491+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -568,6 +590,116 @@ }, "applied": 4 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 15.01, + "offset_rotvec": [ + -0.0085, + 0.249, + -0.0812 + ], + "dev_deg": { + "median": 10.96, + "p90": 76.56 + }, + "samples": 3963, + "accepted": 3408, + "wrist_pos_err_mm_median": 37.3, + "per_camera": { + "head": { + "samples": 3963, + "accepted": 3408, + "gate_deg": 30.0, + "offset_deg": 15.01, + "tier": "primary", + "dev_deg_median": 10.96, + "wrist_pos_err_mm_median": 37.3 + } + }, + "frames_by_state": { + "ace_sample": 13622, + "interpolated": 222, + "mean_hand": 2240, + "no_body_fit": 0 + }, + "observed_fraction": 0.8607, + "observed_fraction_of_valid": 0.8607, + "palm_axis_vs_markers_deg": { + "gsi": 16.98, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 14.83, + "offset_rotvec": [ + 0.014, + -0.2565, + 0.032 + ], + "dev_deg": { + "median": 9.59, + "p90": 16.63 + }, + "samples": 3899, + "accepted": 3836, + "wrist_pos_err_mm_median": 25.5, + "per_camera": { + "head": { + "samples": 3899, + "accepted": 3836, + "gate_deg": 30.0, + "offset_deg": 14.83, + "tier": "primary", + "dev_deg_median": 9.59, + "wrist_pos_err_mm_median": 25.5 + } + }, + "frames_by_state": { + "ace_sample": 15370, + "interpolated": 270, + "mean_hand": 444, + "no_body_fit": 0 + }, + "observed_fraction": 0.9724, + "observed_fraction_of_valid": 0.9724, + "palm_axis_vs_markers_deg": { + "gsi": 18.08, + "smplx": 1.61 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.6, + "p90": 14.2 + }, + "registered": { + "median": 8.9, + "p90": 12.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:13:50.842946+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/locomanipulation/LM38/session_008", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM38/session_008/motions/smplx.npz b/actions/locomanipulation/LM38/session_008/motions/smplx.npz index c15d2709b75b03ba8e82140a4d1a84b70acd72c7..94b2fb9c653dfd6190a95eb369e2390477c616b6 100644 --- a/actions/locomanipulation/LM38/session_008/motions/smplx.npz +++ b/actions/locomanipulation/LM38/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:187e084726e6975f4f7b2fd92df6fb3ba35e5b3af6bf0d246955d945337a7e5a -size 6192701 +oid sha256:ab1c6d476549eb40d13ed84d0c33cdaeb217a48a2e46ffbd295bb45f3afd7189 +size 11212039 diff --git a/actions/locomanipulation/LM38/session_009/meta.json b/actions/locomanipulation/LM38/session_009/meta.json index 8c1e01f29fe75a46d417d1095963b01b236cafe5..b73cd868873e333e8965fe9af7f8b5eb4f40f243 100644 --- a/actions/locomanipulation/LM38/session_009/meta.json +++ b/actions/locomanipulation/LM38/session_009/meta.json @@ -325,8 +325,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -387,14 +387,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 167.0, - "opposite_sign_bend_deg": 35.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.965, + "inlier_spread_deg": 10.26, + "marker_Q_to_gsi_deg": { + "1": 177.2, + "-1": 13.1 + } + }, + "wrist_bend_deg_median": 157.1, + "opposite_sign_bend_deg": 29.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.01, "hand_vs_marker_frame_deg": { "before": 179.04, @@ -405,15 +416,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 149.19, + "twist_moved_deg": -146.33, "wrist_twist_deg_after": { - "median": 21.61, + "median": -8.9, "iqr": [ - 5.7, - 33.9 + -25.2, + 4.2 ] }, - "wrist_total_deg_median_after": 29.3, + "wrist_total_deg_median_after": 37.3, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -426,13 +437,24 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 32.2, - "opposite_sign_bend_deg": 166.6, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.954, + "inlier_spread_deg": 10.69, + "marker_Q_to_gsi_deg": { + "1": 12.5, + "-1": 178.4 + } + }, + "wrist_bend_deg_median": 32.3, + "opposite_sign_bend_deg": 166.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.17, "hand_vs_marker_frame_deg": { @@ -444,7 +466,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -1.15, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -461,7 +483,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:25:46.343957+00:00", + "generated_at_utc": "2026-11-06T13:57:39.535223+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -505,6 +527,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9228375943073129 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 13.87, + "offset_rotvec": [ + -0.0576, + 0.2186, + -0.0866 + ], + "dev_deg": { + "median": 10.43, + "p90": 19.13 + }, + "samples": 4666, + "accepted": 4494, + "wrist_pos_err_mm_median": 29.4, + "per_camera": { + "head": { + "samples": 4666, + "accepted": 4494, + "gate_deg": 30.0, + "offset_deg": 13.87, + "tier": "primary", + "dev_deg_median": 10.43, + "wrist_pos_err_mm_median": 29.4 + } + }, + "frames_by_state": { + "ace_sample": 18020, + "interpolated": 892, + "mean_hand": 172, + "no_body_fit": 0 + }, + "observed_fraction": 0.991, + "observed_fraction_of_valid": 0.991, + "palm_axis_vs_markers_deg": { + "gsi": 16.12, + "smplx": 2.17 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.8, + "p90": 15.4 + }, + "registered": { + "median": 11.6, + "p90": 15.0 + } + } + }, + "right": { + "offset_deg": 13.49, + "offset_rotvec": [ + 0.0441, + -0.231, + 0.0115 + ], + "dev_deg": { + "median": 11.37, + "p90": 20.76 + }, + "samples": 4666, + "accepted": 4444, + "wrist_pos_err_mm_median": 27.8, + "per_camera": { + "head": { + "samples": 4666, + "accepted": 4444, + "gate_deg": 30.0, + "offset_deg": 13.49, + "tier": "primary", + "dev_deg_median": 11.37, + "wrist_pos_err_mm_median": 27.8 + } + }, + "frames_by_state": { + "ace_sample": 17810, + "interpolated": 774, + "mean_hand": 500, + "no_body_fit": 0 + }, + "observed_fraction": 0.9738, + "observed_fraction_of_valid": 0.9738, + "palm_axis_vs_markers_deg": { + "gsi": 16.37, + "smplx": 2.22 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.9, + "p90": 9.8 + }, + "registered": { + "median": 7.7, + "p90": 8.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:13:49.642008+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/locomanipulation/LM38/session_009", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM38/session_009/motions/smplx.npz b/actions/locomanipulation/LM38/session_009/motions/smplx.npz index 4ce3d384d375e1f73786b9e5a271d76a94c3bd2d..1292d22960ca9023560a8a1305727852771c4019 100644 --- a/actions/locomanipulation/LM38/session_009/motions/smplx.npz +++ b/actions/locomanipulation/LM38/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b2778e00965865c5c3024e625f9a721468ae7616c1cf0a3ec2ed0f59e1c792fc -size 7357018 +oid sha256:d1edad45152a83efc53a7c42f294eefbfa7f14f1e1589ddbb94199675d6f6a98 +size 13666621 diff --git a/actions/locomanipulation/LM38/session_021/meta.json b/actions/locomanipulation/LM38/session_021/meta.json index d1f2ade08940dff251796b390c2c17aff0b7c2c1..88be79297259dd5a603ef0a0c667ba4b501fcd33 100644 --- a/actions/locomanipulation/LM38/session_021/meta.json +++ b/actions/locomanipulation/LM38/session_021/meta.json @@ -428,13 +428,20 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, - -0.0 + 0.0, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 51.7, - "opposite_sign_bend_deg": 151.6, + "q_source": "markers (GSI not reliable)", + "gsi": { + "reliable": false, + "frames": 3000, + "inlier_frac": 0.306, + "inlier_spread_deg": 12.67 + }, + "wrist_bend_deg_median": 51.9, + "opposite_sign_bend_deg": 152.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 38.32, "hand_vs_marker_frame_deg": { @@ -446,12 +453,12 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -1.24, + "twist_moved_deg": -0.01, "wrist_twist_deg_after": { - "median": -0.01, + "median": -0.0, "iqr": [ -23.9, - 21.3 + 21.4 ] }, "wrist_total_deg_median_after": 46.7, @@ -468,11 +475,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.79, + "inlier_spread_deg": 17.07, + "marker_Q_to_gsi_deg": { + "1": 32.5, + "-1": 159.1 + } + }, "wrist_bend_deg_median": 23.0, "opposite_sign_bend_deg": 171.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -503,7 +521,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:36:33.729966+00:00", + "generated_at_utc": "2026-11-06T14:02:38.399252+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/locomanipulation/LM38/session_021/motions/smplx.npz b/actions/locomanipulation/LM38/session_021/motions/smplx.npz index c30f0e99ad84fb70fdc860175115faaf3b8ee4d2..02111d3d43f68c5cfbcd0f4eede3ec541258b248 100644 --- a/actions/locomanipulation/LM38/session_021/motions/smplx.npz +++ b/actions/locomanipulation/LM38/session_021/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6854fd9f44018b939e06c4b45d2808d8dfaafbf7611ee172b4cdfd2048a0eeec -size 5979156 +oid sha256:6a9dad438657ae1f7d95a4ba99b5fcc7976357e7c2a26f297b1c4a5b1dbefa99 +size 5979104 diff --git a/actions/locomanipulation/LM39/session_013/meta.json b/actions/locomanipulation/LM39/session_013/meta.json index 202c046c0a5eae22a3a1e7b1b9ecd5c2d19a48d7..5063efccd83cc617b23a2556a379bfbb17affc10 100644 --- a/actions/locomanipulation/LM39/session_013/meta.json +++ b/actions/locomanipulation/LM39/session_013/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": 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": { @@ -393,14 +393,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 173.4, - "opposite_sign_bend_deg": 45.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.992, + "inlier_spread_deg": 5.66, + "marker_Q_to_gsi_deg": { + "1": 163.5, + "-1": 24.4 + } + }, + "wrist_bend_deg_median": 170.8, + "opposite_sign_bend_deg": 20.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.27, "hand_vs_marker_frame_deg": { "before": 178.28, @@ -412,15 +423,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 170.94, + "twist_moved_deg": -169.27, "wrist_twist_deg_after": { - "median": 3.47, + "median": -1.67, "iqr": [ - -1.7, - 7.3 + -6.6, + 1.8 ] }, - "wrist_total_deg_median_after": 20.2, + "wrist_total_deg_median_after": 45.2, "markers_on_forearm": [ "LForearm", "LWristIn" @@ -434,9 +445,20 @@ "Q_rotvec": [ -0.0, 0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.994, + "inlier_spread_deg": 5.93, + "marker_Q_to_gsi_deg": { + "1": 17.8, + "-1": 171.9 + } + }, "wrist_bend_deg_median": 36.1, "opposite_sign_bend_deg": 173.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -450,7 +472,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -467,7 +489,7 @@ }, "frames_used": 1489 }, - "generated_at_utc": "2026-10-28T06:25:47.385091+00:00", + "generated_at_utc": "2026-11-06T13:57:38.160950+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -511,6 +533,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0028071682710855 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 24.15, + "offset_rotvec": [ + -0.2582, + 0.3298, + 0.0476 + ], + "dev_deg": { + "median": 5.7, + "p90": 9.86 + }, + "samples": 3718, + "accepted": 3693, + "wrist_pos_err_mm_median": 19.1, + "per_camera": { + "head": { + "samples": 3718, + "accepted": 3693, + "gate_deg": 30.0, + "offset_deg": 24.15, + "tier": "primary", + "dev_deg_median": 5.7, + "wrist_pos_err_mm_median": 19.1 + } + }, + "frames_by_state": { + "ace_sample": 14782, + "interpolated": 86, + "mean_hand": 16, + "no_body_fit": 0 + }, + "observed_fraction": 0.9989, + "observed_fraction_of_valid": 0.9989, + "palm_axis_vs_markers_deg": { + "gsi": 26.57, + "smplx": 1.8 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.4, + "p90": 9.8 + }, + "registered": { + "median": 7.7, + "p90": 10.3 + } + } + }, + "right": { + "offset_deg": 17.95, + "offset_rotvec": [ + -0.0828, + -0.2749, + -0.1254 + ], + "dev_deg": { + "median": 5.93, + "p90": 10.46 + }, + "samples": 3658, + "accepted": 3637, + "wrist_pos_err_mm_median": 22.6, + "per_camera": { + "head": { + "samples": 3658, + "accepted": 3637, + "gate_deg": 30.0, + "offset_deg": 17.95, + "tier": "primary", + "dev_deg_median": 5.93, + "wrist_pos_err_mm_median": 22.6 + } + }, + "frames_by_state": { + "ace_sample": 14546, + "interpolated": 34, + "mean_hand": 304, + "no_body_fit": 0 + }, + "observed_fraction": 0.9796, + "observed_fraction_of_valid": 0.9796, + "palm_axis_vs_markers_deg": { + "gsi": 18.62, + "smplx": 1.27 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.1, + "p90": 16.7 + }, + "registered": { + "median": 10.4, + "p90": 16.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:13:52.543109+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/locomanipulation/LM39/session_013", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM39/session_013/motions/smplx.npz b/actions/locomanipulation/LM39/session_013/motions/smplx.npz index 4929b603bece4ddf3bf61ba2968c7ab30264c348..4e397ec6f47b94543a0689b8b42977c1ab0bc9ed 100644 --- a/actions/locomanipulation/LM39/session_013/motions/smplx.npz +++ b/actions/locomanipulation/LM39/session_013/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ce5adb3a06012df39f3952cd7b1d4401e481090f10a64c463e7a3a1ca0864c0e -size 5735473 +oid sha256:2269cc1940d7c2ae0bbe4a06f0c78af47da6c37f4bd0894554e7a6018ed00820 +size 10682103 diff --git a/actions/locomanipulation/LM39/session_014/meta.json b/actions/locomanipulation/LM39/session_014/meta.json index 61e397b20fece1d949bad5a7d8104020722da532..b348d078ab2dc962f806f4e097a9d5f84c9f4310 100644 --- a/actions/locomanipulation/LM39/session_014/meta.json +++ b/actions/locomanipulation/LM39/session_014/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": { @@ -389,14 +389,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 173.3, - "opposite_sign_bend_deg": 43.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.945, + "inlier_spread_deg": 6.2, + "marker_Q_to_gsi_deg": { + "1": 163.0, + "-1": 25.3 + } + }, + "wrist_bend_deg_median": 169.1, + "opposite_sign_bend_deg": 23.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.67, "hand_vs_marker_frame_deg": { "before": 179.34, @@ -407,15 +418,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 170.93, + "twist_moved_deg": -166.59, "wrist_twist_deg_after": { - "median": 2.38, + "median": -4.33, "iqr": [ - -5.0, - 6.6 + -12.3, + 0.2 ] }, - "wrist_total_deg_median_after": 23.7, + "wrist_total_deg_median_after": 44.6, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -428,11 +439,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, + -0.0, + -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.994, + "inlier_spread_deg": 5.45, + "marker_Q_to_gsi_deg": { + "1": 17.3, + "-1": 172.3 + } + }, "wrist_bend_deg_median": 39.6, "opposite_sign_bend_deg": 173.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -446,7 +468,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -463,7 +485,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:25:47.733203+00:00", + "generated_at_utc": "2026-11-06T13:57:56.749971+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -507,6 +529,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0470427377755338 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 23.93, + "offset_rotvec": [ + -0.2559, + 0.3288, + 0.028 + ], + "dev_deg": { + "median": 6.81, + "p90": 13.47 + }, + "samples": 3851, + "accepted": 3657, + "wrist_pos_err_mm_median": 24.0, + "per_camera": { + "head": { + "samples": 3851, + "accepted": 3657, + "gate_deg": 30.0, + "offset_deg": 23.93, + "tier": "primary", + "dev_deg_median": 6.81, + "wrist_pos_err_mm_median": 24.0 + } + }, + "frames_by_state": { + "ace_sample": 14632, + "interpolated": 244, + "mean_hand": 608, + "no_body_fit": 0 + }, + "observed_fraction": 0.9607, + "observed_fraction_of_valid": 0.9607, + "palm_axis_vs_markers_deg": { + "gsi": 27.46, + "smplx": 1.46 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.5, + "p90": 12.7 + }, + "registered": { + "median": 10.2, + "p90": 13.0 + } + } + }, + "right": { + "offset_deg": 17.42, + "offset_rotvec": [ + -0.0857, + -0.2743, + -0.0992 + ], + "dev_deg": { + "median": 5.36, + "p90": 10.63 + }, + "samples": 3829, + "accepted": 3807, + "wrist_pos_err_mm_median": 19.1, + "per_camera": { + "head": { + "samples": 3829, + "accepted": 3807, + "gate_deg": 30.0, + "offset_deg": 17.42, + "tier": "primary", + "dev_deg_median": 5.36, + "wrist_pos_err_mm_median": 19.1 + } + }, + "frames_by_state": { + "ace_sample": 15234, + "interpolated": 70, + "mean_hand": 180, + "no_body_fit": 0 + }, + "observed_fraction": 0.9884, + "observed_fraction_of_valid": 0.9884, + "palm_axis_vs_markers_deg": { + "gsi": 18.57, + "smplx": 1.79 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.4, + "p90": 20.3 + }, + "registered": { + "median": 13.4, + "p90": 19.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:13:49.847299+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/locomanipulation/LM39/session_014", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM39/session_014/motions/smplx.npz b/actions/locomanipulation/LM39/session_014/motions/smplx.npz index 4f03c7ec49fd90243def224d0a8846ec6dd52bb1..a0325808413dc813e40d5bdfac4b91ed6be7ea8b 100644 --- a/actions/locomanipulation/LM39/session_014/motions/smplx.npz +++ b/actions/locomanipulation/LM39/session_014/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ca0df7a7de02dd68ab857f3259f6a8fc97c8842291849e4ac28a0775733d2869 -size 5954257 +oid sha256:da091ca2404e32bc735336c8060893ebe78c51f9229b05b47eaf0153a14b0296 +size 11052208 diff --git a/actions/locomanipulation/LM39/session_015/meta.json b/actions/locomanipulation/LM39/session_015/meta.json index 0f2693cf433e5fc5530677179f5bd91306f8a219..b1e1ad477215f66b9e4e581a14560376c186c2b9 100644 --- a/actions/locomanipulation/LM39/session_015/meta.json +++ b/actions/locomanipulation/LM39/session_015/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": { @@ -389,14 +389,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 173.2, - "opposite_sign_bend_deg": 41.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.984, + "inlier_spread_deg": 4.86, + "marker_Q_to_gsi_deg": { + "1": 161.2, + "-1": 27.7 + } + }, + "wrist_bend_deg_median": 172.3, + "opposite_sign_bend_deg": 20.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.96, "hand_vs_marker_frame_deg": { "before": 179.42, @@ -407,15 +418,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 172.14, + "twist_moved_deg": -170.14, "wrist_twist_deg_after": { - "median": 1.15, + "median": -2.0, "iqr": [ - -2.4, - 4.4 + -7.1, + 1.3 ] }, - "wrist_total_deg_median_after": 20.9, + "wrist_total_deg_median_after": 42.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -428,11 +439,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, + -0.0, 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.998, + "inlier_spread_deg": 4.34, + "marker_Q_to_gsi_deg": { + "1": 18.5, + "-1": 172.0 + } + }, "wrist_bend_deg_median": 35.3, "opposite_sign_bend_deg": 173.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -448,7 +470,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -3.1, 3.3 @@ -463,7 +485,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:25:47.965615+00:00", + "generated_at_utc": "2026-11-06T13:58:13.359519+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -507,6 +529,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9093891362173792 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 28.09, + "offset_rotvec": [ + -0.3117, + 0.3751, + 0.049 + ], + "dev_deg": { + "median": 4.97, + "p90": 9.54 + }, + "samples": 3779, + "accepted": 3720, + "wrist_pos_err_mm_median": 31.0, + "per_camera": { + "head": { + "samples": 3779, + "accepted": 3720, + "gate_deg": 30.0, + "offset_deg": 28.09, + "tier": "primary", + "dev_deg_median": 4.97, + "wrist_pos_err_mm_median": 31.0 + } + }, + "frames_by_state": { + "ace_sample": 14880, + "interpolated": 0, + "mean_hand": 604, + "no_body_fit": 0 + }, + "observed_fraction": 0.961, + "observed_fraction_of_valid": 0.961, + "palm_axis_vs_markers_deg": { + "gsi": 29.1, + "smplx": 1.13 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.0, + "p90": 13.9 + }, + "registered": { + "median": 9.3, + "p90": 13.6 + } + } + }, + "right": { + "offset_deg": 18.52, + "offset_rotvec": [ + -0.0818, + -0.2855, + -0.1277 + ], + "dev_deg": { + "median": 4.37, + "p90": 7.67 + }, + "samples": 3836, + "accepted": 3826, + "wrist_pos_err_mm_median": 19.5, + "per_camera": { + "head": { + "samples": 3836, + "accepted": 3826, + "gate_deg": 30.0, + "offset_deg": 18.52, + "tier": "primary", + "dev_deg_median": 4.37, + "wrist_pos_err_mm_median": 19.5 + } + }, + "frames_by_state": { + "ace_sample": 15302, + "interpolated": 34, + "mean_hand": 148, + "no_body_fit": 0 + }, + "observed_fraction": 0.9904, + "observed_fraction_of_valid": 0.9904, + "palm_axis_vs_markers_deg": { + "gsi": 19.01, + "smplx": 1.18 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.9, + "p90": 19.2 + }, + "registered": { + "median": 11.3, + "p90": 18.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:13:34.435043+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/locomanipulation/LM39/session_015", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM39/session_015/motions/smplx.npz b/actions/locomanipulation/LM39/session_015/motions/smplx.npz index b3e509bfbd6cd2e2027f7c93c7c7ffe1a17132ef..27026255bd26e65b677ffeb259e402f7bc650058 100644 --- a/actions/locomanipulation/LM39/session_015/motions/smplx.npz +++ b/actions/locomanipulation/LM39/session_015/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7447f9c59c2aaac0fbc001d7326ba052139cb3fd48343a87bcab31af2e1c8357 -size 5967038 +oid sha256:30bd58eca7702dd19ba699c49679b8b007899fd0576b026d33638f167a9c93c9 +size 11044860 diff --git a/actions/locomanipulation/LM39/session_022/meta.json b/actions/locomanipulation/LM39/session_022/meta.json index fa105f34970f9ad6fe1656ea4e5ece4f5ecf26d2..1f02a9e4e2b25a80c3a705b8a3cbb5229c4bba29 100644 --- a/actions/locomanipulation/LM39/session_022/meta.json +++ b/actions/locomanipulation/LM39/session_022/meta.json @@ -362,8 +362,8 @@ "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": { @@ -422,19 +422,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + 2.99022, + -0.44902, + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 41.6, - "opposite_sign_bend_deg": 166.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2509, + "inlier_frac": 0.462, + "inlier_spread_deg": 17.36, + "marker_Q_to_gsi_deg": { + "1": 159.6, + "-1": 32.1 + } + }, + "wrist_bend_deg_median": 169.9, + "opposite_sign_bend_deg": 41.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.84, "hand_vs_marker_frame_deg": { - "before": 2.84, + "before": 178.99, "after": 2.84 }, "markers_on_wrist": [ @@ -442,15 +453,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -4.52, + "twist_moved_deg": 167.58, "wrist_twist_deg_after": { - "median": -0.12, + "median": 4.43, "iqr": [ - -4.8, - 9.7 + 0.8, + 16.4 ] }, - "wrist_total_deg_median_after": 42.4, + "wrist_total_deg_median_after": 26.5, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -463,11 +474,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, + 0.0, -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2529, + "inlier_frac": 0.54, + "inlier_spread_deg": 17.89, + "marker_Q_to_gsi_deg": { + "1": 31.9, + "-1": 161.8 + } + }, "wrist_bend_deg_median": 15.9, "opposite_sign_bend_deg": 173.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -483,7 +505,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -5.4, 5.1 @@ -498,7 +520,7 @@ }, "frames_used": 1488 }, - "generated_at_utc": "2026-10-28T06:36:34.190171+00:00", + "generated_at_utc": "2026-11-06T14:02:39.435717+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -588,6 +610,116 @@ }, "applied": 6 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 30.31, + "offset_rotvec": [ + 0.4345, + 0.2635, + 0.1468 + ], + "dev_deg": { + "median": 33.37, + "p90": 123.72 + }, + "samples": 2509, + "accepted": 1070, + "wrist_pos_err_mm_median": 47.4, + "per_camera": { + "head": { + "samples": 2509, + "accepted": 1070, + "gate_deg": 30.0, + "offset_deg": 30.31, + "tier": "primary", + "dev_deg_median": 33.37, + "wrist_pos_err_mm_median": 47.4 + } + }, + "frames_by_state": { + "ace_sample": 4238, + "interpolated": 1340, + "mean_hand": 9296, + "no_body_fit": 10 + }, + "observed_fraction": 0.3748, + "observed_fraction_of_valid": 0.375, + "palm_axis_vs_markers_deg": { + "gsi": 30.91, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 39.13, + "offset_rotvec": [ + 0.5938, + -0.1996, + -0.2718 + ], + "dev_deg": { + "median": 28.35, + "p90": 47.32 + }, + "samples": 2529, + "accepted": 1375, + "wrist_pos_err_mm_median": 72.0, + "per_camera": { + "head": { + "samples": 2529, + "accepted": 1375, + "gate_deg": 30.0, + "offset_deg": 39.13, + "tier": "primary", + "dev_deg_median": 28.35, + "wrist_pos_err_mm_median": 72.0 + } + }, + "frames_by_state": { + "ace_sample": 5550, + "interpolated": 2946, + "mean_hand": 6378, + "no_body_fit": 10 + }, + "observed_fraction": 0.5708, + "observed_fraction_of_valid": 0.5712, + "palm_axis_vs_markers_deg": { + "gsi": 34.82, + "smplx": 2.05 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.0, + "p90": 10.5 + }, + "registered": { + "median": 6.8, + "p90": 12.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:23:24.942596+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/locomanipulation/LM39/session_022", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM39/session_022/motions/smplx.npz b/actions/locomanipulation/LM39/session_022/motions/smplx.npz index 22ae8089062494f11b1fe35aa4435226ef937260..7bf6327bae930f89ff90cb2274f584a49f81bb9e 100644 --- a/actions/locomanipulation/LM39/session_022/motions/smplx.npz +++ b/actions/locomanipulation/LM39/session_022/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f9ec9323adcae5b00fe44dc493ffd973e1d972e91aa63c27b06285aa9c0e2c78 -size 5754797 +oid sha256:99230b9fa37e34b5404d24e8c3dce6c2d19ea9258f753a25713011312aa3d351 +size 8592274 diff --git a/actions/locomanipulation/LM39/session_023/meta.json b/actions/locomanipulation/LM39/session_023/meta.json index 262372a5aebbbb979d3397260d700e0d18edd987..6888510b29b147fe88c10f5173e76cdab591d196 100644 --- a/actions/locomanipulation/LM39/session_023/meta.json +++ b/actions/locomanipulation/LM39/session_023/meta.json @@ -362,8 +362,8 @@ "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": { @@ -427,19 +427,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -2.99022, + 0.44902, + 0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 41.1, - "opposite_sign_bend_deg": 171.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2161, + "inlier_frac": 0.628, + "inlier_spread_deg": 18.33, + "marker_Q_to_gsi_deg": { + "1": 160.0, + "-1": 32.3 + } + }, + "wrist_bend_deg_median": 171.9, + "opposite_sign_bend_deg": 41.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.76, "hand_vs_marker_frame_deg": { - "before": 4.76, + "before": 177.72, "after": 4.76 }, "markers_on_wrist": [ @@ -448,15 +459,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.89, + "twist_moved_deg": 169.65, "wrist_twist_deg_after": { - "median": -0.0, + "median": 4.21, "iqr": [ - -4.2, - 7.8 + 0.4, + 11.2 ] }, - "wrist_total_deg_median_after": 41.2, + "wrist_total_deg_median_after": 19.2, "markers_on_forearm": [ "LWristIn", "LWristOut" @@ -468,11 +479,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ + 0.0, -0.0, - -0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2600, + "inlier_frac": 0.667, + "inlier_spread_deg": 17.32, + "marker_Q_to_gsi_deg": { + "1": 30.8, + "-1": 162.0 + } + }, "wrist_bend_deg_median": 17.7, "opposite_sign_bend_deg": 174.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -489,7 +511,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -10.9, 5.3 @@ -503,7 +525,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:36:34.721770+00:00", + "generated_at_utc": "2026-11-06T14:02:45.138280+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -549,6 +571,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 37.32, + "offset_rotvec": [ + 0.5574, + 0.21, + 0.2634 + ], + "dev_deg": { + "median": 24.43, + "p90": 53.58 + }, + "samples": 2161, + "accepted": 1399, + "wrist_pos_err_mm_median": 48.4, + "per_camera": { + "head": { + "samples": 2161, + "accepted": 1399, + "gate_deg": 30.0, + "offset_deg": 37.32, + "tier": "primary", + "dev_deg_median": 24.43, + "wrist_pos_err_mm_median": 48.4 + } + }, + "frames_by_state": { + "ace_sample": 5556, + "interpolated": 1388, + "mean_hand": 9138, + "no_body_fit": 2 + }, + "observed_fraction": 0.4317, + "observed_fraction_of_valid": 0.4318, + "palm_axis_vs_markers_deg": { + "gsi": 31.58, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 36.29, + "offset_rotvec": [ + 0.5296, + -0.2119, + -0.2755 + ], + "dev_deg": { + "median": 24.17, + "p90": 45.01 + }, + "samples": 2600, + "accepted": 1719, + "wrist_pos_err_mm_median": 56.8, + "per_camera": { + "head": { + "samples": 2600, + "accepted": 1719, + "gate_deg": 30.0, + "offset_deg": 36.29, + "tier": "primary", + "dev_deg_median": 24.17, + "wrist_pos_err_mm_median": 56.8 + } + }, + "frames_by_state": { + "ace_sample": 6910, + "interpolated": 2446, + "mean_hand": 6726, + "no_body_fit": 2 + }, + "observed_fraction": 0.5817, + "observed_fraction_of_valid": 0.5818, + "palm_axis_vs_markers_deg": { + "gsi": 30.25, + "smplx": 2.62 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.3, + "p90": 10.0 + }, + "registered": { + "median": 6.2, + "p90": 12.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:23:26.437171+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/locomanipulation/LM39/session_023", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM39/session_023/motions/smplx.npz b/actions/locomanipulation/LM39/session_023/motions/smplx.npz index 8f64e71daa03d7cdcbc0f757ac29020c5ea45466..85da333019a1d59af813141ea30cb2302572fb49 100644 --- a/actions/locomanipulation/LM39/session_023/motions/smplx.npz +++ b/actions/locomanipulation/LM39/session_023/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:21f24c19bd17db97d550e73e41fe2b204f7784203fae6859ba09f9f67873137f -size 6212092 +oid sha256:463addba092ad391764df54949c93bce8fb0cc4fddb17b8225eb60f65c315ce6 +size 9515751 diff --git a/actions/locomanipulation/LM39/session_024/meta.json b/actions/locomanipulation/LM39/session_024/meta.json index 99a89ee33d187d515f567e38928d7dd77ea32dd4..f1ab8d86dbdec0019368d62eaa414b374f6e8599 100644 --- a/actions/locomanipulation/LM39/session_024/meta.json +++ b/actions/locomanipulation/LM39/session_024/meta.json @@ -424,13 +424,20 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, + 0.0, 0.0, -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 35.9, - "opposite_sign_bend_deg": 174.5, + "q_source": "markers (GSI not reliable)", + "gsi": { + "reliable": false, + "frames": 2372, + "inlier_frac": 0.562, + "inlier_spread_deg": 20.47 + }, + "wrist_bend_deg_median": 35.7, + "opposite_sign_bend_deg": 172.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.03, "hand_vs_marker_frame_deg": { @@ -442,9 +449,9 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 2.44, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -3.9, 7.4 @@ -463,11 +470,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ + 0.0, -0.0, - -0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2457, + "inlier_frac": 0.6, + "inlier_spread_deg": 17.24, + "marker_Q_to_gsi_deg": { + "1": 24.8, + "-1": 164.4 + } + }, "wrist_bend_deg_median": 17.1, "opposite_sign_bend_deg": 174.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -483,7 +501,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -8.3, 4.8 @@ -498,7 +516,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:36:35.314305+00:00", + "generated_at_utc": "2026-11-06T14:03:07.404995+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/locomanipulation/LM39/session_024/motions/smplx.npz b/actions/locomanipulation/LM39/session_024/motions/smplx.npz index 29c80f26db95f560a79f865b2ac0c0ce4354c39b..dcf558b4b3d1f3eaa4918a9125d395f605fb48e3 100644 --- a/actions/locomanipulation/LM39/session_024/motions/smplx.npz +++ b/actions/locomanipulation/LM39/session_024/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5d7a45865e0faeef36bb448419c3fa4cf3e2b0b5d0c144274b9ea921596d451f -size 6430117 +oid sha256:dcdbcfd8d09ea90311b85996650d00af922d6f8ab5e6829390e91f53d5281bda +size 6430041 diff --git a/actions/locomanipulation/LM40/session_010/meta.json b/actions/locomanipulation/LM40/session_010/meta.json index 0b09d4b8bed8905fd54c5e9ced96ad99cf065829..185883133f9458b63992d3231eda7a8d2c06683e 100644 --- a/actions/locomanipulation/LM40/session_010/meta.json +++ b/actions/locomanipulation/LM40/session_010/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": { @@ -393,14 +393,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 169.2, - "opposite_sign_bend_deg": 34.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.995, + "inlier_spread_deg": 8.2, + "marker_Q_to_gsi_deg": { + "1": 162.6, + "-1": 20.7 + } + }, + "wrist_bend_deg_median": 163.0, + "opposite_sign_bend_deg": 25.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.34, "hand_vs_marker_frame_deg": { "before": 178.91, @@ -411,15 +422,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -161.94, + "twist_moved_deg": 154.93, "wrist_twist_deg_after": { - "median": -15.94, + "median": 7.01, "iqr": [ - -28.1, - -6.7 + -0.6, + 24.0 ] }, - "wrist_total_deg_median_after": 24.9, + "wrist_total_deg_median_after": 34.2, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -433,12 +444,23 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - 0.0, - 0.0 + -0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 38.0, - "opposite_sign_bend_deg": 158.1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.991, + "inlier_spread_deg": 6.07, + "marker_Q_to_gsi_deg": { + "1": 11.9, + "-1": 171.8 + } + }, + "wrist_bend_deg_median": 34.6, + "opposite_sign_bend_deg": 166.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.89, "hand_vs_marker_frame_deg": { @@ -451,7 +473,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 18.76, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -467,7 +489,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:25:48.154964+00:00", + "generated_at_utc": "2026-11-06T13:58:16.969393+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -511,6 +533,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.121515343075449 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 20.7, + "offset_rotvec": [ + -0.2944, + 0.2082, + 0.0229 + ], + "dev_deg": { + "median": 8.24, + "p90": 15.09 + }, + "samples": 3868, + "accepted": 3848, + "wrist_pos_err_mm_median": 35.0, + "per_camera": { + "head": { + "samples": 3868, + "accepted": 3848, + "gate_deg": 30.0, + "offset_deg": 20.7, + "tier": "primary", + "dev_deg_median": 8.24, + "wrist_pos_err_mm_median": 35.0 + } + }, + "frames_by_state": { + "ace_sample": 15398, + "interpolated": 70, + "mean_hand": 16, + "no_body_fit": 0 + }, + "observed_fraction": 0.999, + "observed_fraction_of_valid": 0.999, + "palm_axis_vs_markers_deg": { + "gsi": 23.31, + "smplx": 1.96 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.0, + "p90": 16.1 + }, + "registered": { + "median": 11.0, + "p90": 15.7 + } + } + }, + "right": { + "offset_deg": 12.04, + "offset_rotvec": [ + -0.1069, + -0.1605, + -0.0834 + ], + "dev_deg": { + "median": 6.02, + "p90": 10.35 + }, + "samples": 3868, + "accepted": 3836, + "wrist_pos_err_mm_median": 30.1, + "per_camera": { + "head": { + "samples": 3868, + "accepted": 3836, + "gate_deg": 30.0, + "offset_deg": 12.04, + "tier": "primary", + "dev_deg_median": 6.02, + "wrist_pos_err_mm_median": 30.1 + } + }, + "frames_by_state": { + "ace_sample": 15340, + "interpolated": 0, + "mean_hand": 144, + "no_body_fit": 0 + }, + "observed_fraction": 0.9907, + "observed_fraction_of_valid": 0.9907, + "palm_axis_vs_markers_deg": { + "gsi": 13.7, + "smplx": 2.76 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.1, + "p90": 13.5 + }, + "registered": { + "median": 8.5, + "p90": 11.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:13:33.235722+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/locomanipulation/LM40/session_010", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM40/session_010/motions/smplx.npz b/actions/locomanipulation/LM40/session_010/motions/smplx.npz index 74284343db0e3ea5f7ff9230f3a0d88e8f5efe4f..e1a9c77cccf660106c7e8fdc02c0b1468bee4e2e 100644 --- a/actions/locomanipulation/LM40/session_010/motions/smplx.npz +++ b/actions/locomanipulation/LM40/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c6ac734afe169f634c075f63cc5c6d125d53144dd3132c4b866566b180945869 -size 5936968 +oid sha256:b6533a6234773da335e7fbf80be84392ef3c938c33ee1b82f6dd789902da4367 +size 11109533 diff --git a/actions/locomanipulation/LM40/session_011/meta.json b/actions/locomanipulation/LM40/session_011/meta.json index ae21049528fa24970d1e5e5013b3535d340f2aa6..d4ca24884813ea7efc2ed2ddbe101e612b99e1fe 100644 --- a/actions/locomanipulation/LM40/session_011/meta.json +++ b/actions/locomanipulation/LM40/session_011/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": { @@ -387,14 +387,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 174.1, - "opposite_sign_bend_deg": 36.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.977, + "inlier_spread_deg": 5.62, + "marker_Q_to_gsi_deg": { + "1": 164.8, + "-1": 19.7 + } + }, + "wrist_bend_deg_median": 169.7, + "opposite_sign_bend_deg": 16.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.09, "hand_vs_marker_frame_deg": { "before": 178.74, @@ -405,15 +416,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 170.83, + "twist_moved_deg": -166.73, "wrist_twist_deg_after": { - "median": 5.23, + "median": -4.09, "iqr": [ - 1.7, - 13.6 + -9.4, + 5.2 ] }, - "wrist_total_deg_median_after": 17.2, + "wrist_total_deg_median_after": 37.6, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -428,11 +439,22 @@ "Q_rotvec": [ -0.0, 0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.999, + "inlier_spread_deg": 4.81, + "marker_Q_to_gsi_deg": { + "1": 11.5, + "-1": 174.4 + } + }, "wrist_bend_deg_median": 31.3, - "opposite_sign_bend_deg": 173.7, + "opposite_sign_bend_deg": 173.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.91, "hand_vs_marker_frame_deg": { @@ -444,7 +466,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.06, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -461,7 +483,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:25:54.511676+00:00", + "generated_at_utc": "2026-11-06T13:58:22.136095+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -505,6 +527,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1947559856210075 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 19.35, + "offset_rotvec": [ + -0.249, + 0.2281, + 0.0074 + ], + "dev_deg": { + "median": 5.78, + "p90": 13.49 + }, + "samples": 4144, + "accepted": 4054, + "wrist_pos_err_mm_median": 36.2, + "per_camera": { + "head": { + "samples": 4144, + "accepted": 4054, + "gate_deg": 30.0, + "offset_deg": 19.35, + "tier": "primary", + "dev_deg_median": 5.78, + "wrist_pos_err_mm_median": 36.2 + } + }, + "frames_by_state": { + "ace_sample": 16228, + "interpolated": 204, + "mean_hand": 252, + "no_body_fit": 0 + }, + "observed_fraction": 0.9849, + "observed_fraction_of_valid": 0.9849, + "palm_axis_vs_markers_deg": { + "gsi": 21.94, + "smplx": 2.01 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.5, + "p90": 14.5 + }, + "registered": { + "median": 10.7, + "p90": 14.2 + } + } + }, + "right": { + "offset_deg": 11.69, + "offset_rotvec": [ + -0.0657, + -0.1799, + -0.0703 + ], + "dev_deg": { + "median": 4.81, + "p90": 9.51 + }, + "samples": 4141, + "accepted": 4135, + "wrist_pos_err_mm_median": 34.0, + "per_camera": { + "head": { + "samples": 4141, + "accepted": 4135, + "gate_deg": 30.0, + "offset_deg": 11.69, + "tier": "primary", + "dev_deg_median": 4.81, + "wrist_pos_err_mm_median": 34.0 + } + }, + "frames_by_state": { + "ace_sample": 16546, + "interpolated": 122, + "mean_hand": 16, + "no_body_fit": 0 + }, + "observed_fraction": 0.999, + "observed_fraction_of_valid": 0.999, + "palm_axis_vs_markers_deg": { + "gsi": 13.34, + "smplx": 1.03 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.3, + "p90": 12.6 + }, + "registered": { + "median": 8.3, + "p90": 11.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:13:40.340592+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/locomanipulation/LM40/session_011", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM40/session_011/motions/smplx.npz b/actions/locomanipulation/LM40/session_011/motions/smplx.npz index ec4f8c7bf1de8cbb7306d0f7742e58ab0a9c6c71..efd5f6e6349362b7781368a5d861c5817be63d12 100644 --- a/actions/locomanipulation/LM40/session_011/motions/smplx.npz +++ b/actions/locomanipulation/LM40/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6be8a7efa75ae9e903d3c6b2d45f96d4b69e62b994df01c60d83dd9cae88b192 -size 6409791 +oid sha256:07699ea72f1dd5e5dde277e2aa3a2c5b264dc44026550d238c14fd63df180f34 +size 11957433 diff --git a/actions/locomanipulation/LM40/session_012/meta.json b/actions/locomanipulation/LM40/session_012/meta.json index b23fdd1c5f61563f9ba851bdb29167e0762ae1a8..02cc4a3443c17ab892f04ffee8ef20d3de6386a1 100644 --- a/actions/locomanipulation/LM40/session_012/meta.json +++ b/actions/locomanipulation/LM40/session_012/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": { @@ -388,14 +388,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 171.0, - "opposite_sign_bend_deg": 48.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.93, + "inlier_spread_deg": 4.99, + "marker_Q_to_gsi_deg": { + "1": 165.0, + "-1": 25.1 + } + }, + "wrist_bend_deg_median": 163.4, + "opposite_sign_bend_deg": 32.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.58, "hand_vs_marker_frame_deg": { "before": 178.4, @@ -406,15 +417,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 164.37, + "twist_moved_deg": -159.71, "wrist_twist_deg_after": { - "median": 7.89, + "median": -4.66, "iqr": [ - 4.9, - 24.2 + -8.3, + 15.9 ] }, - "wrist_total_deg_median_after": 33.1, + "wrist_total_deg_median_after": 48.0, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -427,13 +438,24 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, + -0.0, 0.0, 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 34.3, - "opposite_sign_bend_deg": 171.9, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.998, + "inlier_spread_deg": 6.63, + "marker_Q_to_gsi_deg": { + "1": 16.0, + "-1": 172.8 + } + }, + "wrist_bend_deg_median": 34.4, + "opposite_sign_bend_deg": 172.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.2, "hand_vs_marker_frame_deg": { @@ -445,7 +467,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.47, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -462,7 +484,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:25:52.295061+00:00", + "generated_at_utc": "2026-11-06T13:58:33.636276+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -506,6 +528,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9933603347883342 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 22.94, + "offset_rotvec": [ + -0.2052, + 0.3437, + 0.0103 + ], + "dev_deg": { + "median": 5.68, + "p90": 17.08 + }, + "samples": 3805, + "accepted": 3545, + "wrist_pos_err_mm_median": 25.0, + "per_camera": { + "head": { + "samples": 3805, + "accepted": 3545, + "gate_deg": 30.0, + "offset_deg": 22.94, + "tier": "primary", + "dev_deg_median": 5.68, + "wrist_pos_err_mm_median": 25.0 + } + }, + "frames_by_state": { + "ace_sample": 14182, + "interpolated": 18, + "mean_hand": 1284, + "no_body_fit": 0 + }, + "observed_fraction": 0.9171, + "observed_fraction_of_valid": 0.9171, + "palm_axis_vs_markers_deg": { + "gsi": 26.09, + "smplx": 1.82 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.8, + "p90": 10.5 + }, + "registered": { + "median": 8.3, + "p90": 10.7 + } + } + }, + "right": { + "offset_deg": 16.05, + "offset_rotvec": [ + -0.0803, + -0.2507, + -0.0955 + ], + "dev_deg": { + "median": 6.7, + "p90": 11.6 + }, + "samples": 3823, + "accepted": 3815, + "wrist_pos_err_mm_median": 31.6, + "per_camera": { + "head": { + "samples": 3823, + "accepted": 3815, + "gate_deg": 30.0, + "offset_deg": 16.05, + "tier": "primary", + "dev_deg_median": 6.7, + "wrist_pos_err_mm_median": 31.6 + } + }, + "frames_by_state": { + "ace_sample": 15274, + "interpolated": 198, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9992, + "observed_fraction_of_valid": 0.9992, + "palm_axis_vs_markers_deg": { + "gsi": 17.04, + "smplx": 2.59 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.3, + "p90": 20.1 + }, + "registered": { + "median": 12.1, + "p90": 19.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:13:47.440665+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/locomanipulation/LM40/session_012", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM40/session_012/motions/smplx.npz b/actions/locomanipulation/LM40/session_012/motions/smplx.npz index 320b8549bd100c5ad8adcd55eebdb1e6d01d91e8..0d30a487cd105434a435c40107da3ff7e3342e2a 100644 --- a/actions/locomanipulation/LM40/session_012/motions/smplx.npz +++ b/actions/locomanipulation/LM40/session_012/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:35a351df7082ec19e067d1aba40c66b84e0f406c2943af9786ea877a74346eb4 -size 5921327 +oid sha256:2d7afe0666fc4d8587376d8ec8c3f76f8eaa73eb93c6a1d9eee31e8445ba320d +size 10891519 diff --git a/actions/locomanipulation/LM40/session_019/meta.json b/actions/locomanipulation/LM40/session_019/meta.json index abb4bb5005bd9639cc8d123643c5f8aea6718a5c..3839ba89161459a15f7474203f9bfe6b4f818831 100644 --- a/actions/locomanipulation/LM40/session_019/meta.json +++ b/actions/locomanipulation/LM40/session_019/meta.json @@ -365,8 +365,8 @@ "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": { @@ -427,14 +427,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 2.99022, - -0.44902, - -0.85238 + -2.99022, + 0.44902, + 0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 175.4, - "opposite_sign_bend_deg": 35.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1944, + "inlier_frac": 0.675, + "inlier_spread_deg": 9.58, + "marker_Q_to_gsi_deg": { + "1": 178.6, + "-1": 4.4 + } + }, + "wrist_bend_deg_median": 173.6, + "opposite_sign_bend_deg": 13.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.11, "hand_vs_marker_frame_deg": { "before": 178.98, @@ -445,15 +456,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 173.62, + "twist_moved_deg": -170.81, "wrist_twist_deg_after": { - "median": 2.87, + "median": -3.16, "iqr": [ - -0.2, - 5.9 + -7.6, + 1.4 ] }, - "wrist_total_deg_median_after": 13.7, + "wrist_total_deg_median_after": 36.0, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -471,8 +482,19 @@ 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 31.9, - "opposite_sign_bend_deg": 162.8, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1338, + "inlier_frac": 0.772, + "inlier_spread_deg": 13.69, + "marker_Q_to_gsi_deg": { + "1": 17.7, + "-1": 165.5 + } + }, + "wrist_bend_deg_median": 23.8, + "opposite_sign_bend_deg": 174.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.38, "hand_vs_marker_frame_deg": { @@ -484,7 +506,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -20.58, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -501,10 +523,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:36:35.658355+00:00", + "generated_at_utc": "2026-11-06T14:03:07.766142+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 15.17, + "offset_rotvec": [ + 0.2582, + 0.0577, + 0.012 + ], + "dev_deg": { + "median": 19.64, + "p90": 72.54 + }, + "samples": 1944, + "accepted": 1185, + "wrist_pos_err_mm_median": 35.3, + "per_camera": { + "head": { + "samples": 1944, + "accepted": 1185, + "gate_deg": 30.0, + "offset_deg": 15.17, + "tier": "primary", + "dev_deg_median": 19.64, + "wrist_pos_err_mm_median": 35.3 + } + }, + "frames_by_state": { + "ace_sample": 4734, + "interpolated": 718, + "mean_hand": 10032, + "no_body_fit": 0 + }, + "observed_fraction": 0.3521, + "observed_fraction_of_valid": 0.3521, + "palm_axis_vs_markers_deg": { + "gsi": 14.13, + "smplx": 4.39 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.6, + "p90": 10.6 + }, + "registered": { + "median": 10.0, + "p90": 11.4 + } + } + }, + "right": { + "offset_deg": 24.32, + "offset_rotvec": [ + 0.4165, + -0.0464, + -0.067 + ], + "dev_deg": { + "median": 19.04, + "p90": 47.62 + }, + "samples": 1338, + "accepted": 1067, + "wrist_pos_err_mm_median": 70.8, + "per_camera": { + "head": { + "samples": 1338, + "accepted": 1067, + "gate_deg": 30.0, + "offset_deg": 24.32, + "tier": "primary", + "dev_deg_median": 19.04, + "wrist_pos_err_mm_median": 70.8 + } + }, + "frames_by_state": { + "ace_sample": 4294, + "interpolated": 1298, + "mean_hand": 9892, + "no_body_fit": 0 + }, + "observed_fraction": 0.3611, + "observed_fraction_of_valid": 0.3611, + "palm_axis_vs_markers_deg": { + "gsi": 20.36, + "smplx": 2.16 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.9, + "p90": 14.2 + }, + "registered": { + "median": 9.2, + "p90": 13.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:23:16.235524+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/locomanipulation/LM40/session_019", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM40/session_019/motions/smplx.npz b/actions/locomanipulation/LM40/session_019/motions/smplx.npz index aab689e847931c509261c100d9962aae283bb2de..d26c4597b8b1d8c7b0230a74185b36486c4bea94 100644 --- a/actions/locomanipulation/LM40/session_019/motions/smplx.npz +++ b/actions/locomanipulation/LM40/session_019/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e1de3c21631573793a5e2d63df6ff78c93efb8c13483b36d5c9b228d07827caa -size 5967982 +oid sha256:68d9c0d1bd04ec0500094d5ee854b7929398c11d9a92c2d6ec236fbc88044eef +size 8057162 diff --git a/actions/locomanipulation/LM40/session_020/meta.json b/actions/locomanipulation/LM40/session_020/meta.json index a8c983092738827c190ce7f0e981500e38ba3273..366dbd2a313fbf004de0ad8491f5bb6f70621d07 100644 --- a/actions/locomanipulation/LM40/session_020/meta.json +++ b/actions/locomanipulation/LM40/session_020/meta.json @@ -427,9 +427,16 @@ "Q_rotvec": [ -0.0, 0.0, - -0.0 + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI not reliable)", + "gsi": { + "reliable": false, + "frames": 2009, + "inlier_frac": 0.395, + "inlier_spread_deg": 11.37 + }, "wrist_bend_deg_median": 29.2, "opposite_sign_bend_deg": 176.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -443,9 +450,9 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.01, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -12.3, 2.4 @@ -461,35 +468,46 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 87.98, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 1.49301, + 0.09078, + -0.34712 ], "in_out_sign": 1, - "wrist_bend_deg_median": 14.8, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 1813, + "inlier_frac": 0.411, + "inlier_spread_deg": 16.44, + "marker_Q_to_gsi_deg": { + "1": 88.0, + "-1": 105.4 + } + }, + "wrist_bend_deg_median": 91.2, "opposite_sign_bend_deg": 171.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.94, "hand_vs_marker_frame_deg": { "before": 3.94, - "after": 3.94 + "after": 88.27 }, "markers_on_wrist": [ "RHandIn", "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.18, + "twist_moved_deg": -86.16, "wrist_twist_deg_after": { - "median": 0.01, + "median": -0.03, "iqr": [ - -12.8, - 5.3 + -12.9, + 5.9 ] }, - "wrist_total_deg_median_after": 14.9, + "wrist_total_deg_median_after": 25.8, "markers_on_forearm": [ "RElbow", "RForearm", @@ -499,7 +517,7 @@ }, "frames_used": 1369 }, - "generated_at_utc": "2026-10-28T06:36:36.957603+00:00", + "generated_at_utc": "2026-11-06T14:03:02.156992+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/locomanipulation/LM40/session_020/motions/smplx.npz b/actions/locomanipulation/LM40/session_020/motions/smplx.npz index d5052976441f7a6bfe48e37e272ef510a8b1da25..ac6ce83ae9bd7ddd8d15325bf112c0cbdba0a42e 100644 --- a/actions/locomanipulation/LM40/session_020/motions/smplx.npz +++ b/actions/locomanipulation/LM40/session_020/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d51e1b47884cff54ead09105919c67d9359f802b7f9df8c420499ff964a57f2e -size 5284911 +oid sha256:e0a4133291a4ffc8bab600239f0643c7254aea14d439be9c361f9f2ba85d8019 +size 5281947 diff --git a/actions/locomanipulation/LM40/session_021/meta.json b/actions/locomanipulation/LM40/session_021/meta.json index cbacdf65b6650de1c5439903f39d9ba2ad229060..5c0d76cdb4221968c05e4a90411e461040f6e115 100644 --- a/actions/locomanipulation/LM40/session_021/meta.json +++ b/actions/locomanipulation/LM40/session_021/meta.json @@ -363,8 +363,8 @@ "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": { @@ -438,19 +438,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + 2.99022, + -0.44902, + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 25.6, - "opposite_sign_bend_deg": 174.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1859, + "inlier_frac": 0.647, + "inlier_spread_deg": 9.42, + "marker_Q_to_gsi_deg": { + "1": 156.9, + "-1": 23.5 + } + }, + "wrist_bend_deg_median": 174.6, + "opposite_sign_bend_deg": 25.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.51, "hand_vs_marker_frame_deg": { - "before": 1.51, + "before": 179.35, "after": 1.51 }, "markers_on_wrist": [ @@ -459,15 +470,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.28, + "twist_moved_deg": -120.53, "wrist_twist_deg_after": { - "median": -0.0, + "median": -57.09, "iqr": [ - -5.4, - 9.0 + -64.1, + -48.1 ] }, - "wrist_total_deg_median_after": 25.9, + "wrist_total_deg_median_after": 59.8, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -479,11 +490,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, + 0.0, -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1246, + "inlier_frac": 0.928, + "inlier_spread_deg": 11.26, + "marker_Q_to_gsi_deg": { + "1": 32.7, + "-1": 151.6 + } + }, "wrist_bend_deg_median": 10.4, "opposite_sign_bend_deg": 176.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -499,7 +521,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -514,7 +536,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:36:37.358271+00:00", + "generated_at_utc": "2026-11-06T14:03:08.961465+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -560,6 +582,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 26.22, + "offset_rotvec": [ + 0.4388, + -0.068, + -0.1106 + ], + "dev_deg": { + "median": 17.42, + "p90": 152.41 + }, + "samples": 1859, + "accepted": 1258, + "wrist_pos_err_mm_median": 54.2, + "per_camera": { + "head": { + "samples": 1859, + "accepted": 1258, + "gate_deg": 30.0, + "offset_deg": 26.22, + "tier": "primary", + "dev_deg_median": 17.42, + "wrist_pos_err_mm_median": 54.2 + } + }, + "frames_by_state": { + "ace_sample": 5016, + "interpolated": 684, + "mean_hand": 10377, + "no_body_fit": 7 + }, + "observed_fraction": 0.3544, + "observed_fraction_of_valid": 0.3545, + "palm_axis_vs_markers_deg": { + "gsi": 27.02, + "smplx": 1.62 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.4, + "p90": 7.0 + }, + "registered": { + "median": 4.9, + "p90": 6.6 + } + } + }, + "right": { + "offset_deg": 35.68, + "offset_rotvec": [ + 0.6107, + -0.091, + -0.0812 + ], + "dev_deg": { + "median": 12.22, + "p90": 26.31 + }, + "samples": 1246, + "accepted": 1162, + "wrist_pos_err_mm_median": 63.3, + "per_camera": { + "head": { + "samples": 1246, + "accepted": 1162, + "gate_deg": 30.0, + "offset_deg": 35.68, + "tier": "primary", + "dev_deg_median": 12.22, + "wrist_pos_err_mm_median": 63.3 + } + }, + "frames_by_state": { + "ace_sample": 4628, + "interpolated": 716, + "mean_hand": 10733, + "no_body_fit": 7 + }, + "observed_fraction": 0.3323, + "observed_fraction_of_valid": 0.3324, + "palm_axis_vs_markers_deg": { + "gsi": 31.7, + "smplx": 4.56 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 3.7, + "p90": 6.0 + }, + "registered": { + "median": 3.5, + "p90": 6.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:23:14.235559+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/locomanipulation/LM40/session_021", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM40/session_021/motions/smplx.npz b/actions/locomanipulation/LM40/session_021/motions/smplx.npz index 262297602c97defc0c3d66235190c0d40d2a003a..49d6cf912c72073d8ed07be82a6421e1b029c52f 100644 --- a/actions/locomanipulation/LM40/session_021/motions/smplx.npz +++ b/actions/locomanipulation/LM40/session_021/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1ade70ced0840e436de47cfea6b17e70e67e5f842823539f1849233ae69295a8 -size 6207243 +oid sha256:5381b86c2d2635804aac669056347af6572c20e5a044d3a1bc952f5a3ead2ee8 +size 8343525 diff --git a/actions/locomanipulation/LM40/session_027/meta.json b/actions/locomanipulation/LM40/session_027/meta.json index 1ebb801d1dbfbb096d47c2ee58d191eae6e5b7ca..d61f9d5d79caca0c7e15e5eaedee06c7138fce8d 100644 --- a/actions/locomanipulation/LM40/session_027/meta.json +++ b/actions/locomanipulation/LM40/session_027/meta.json @@ -379,8 +379,8 @@ "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": { @@ -444,35 +444,46 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 115.21, "Q_rotvec": [ - 2.98163, - -0.44128, - -0.88585 + -1.60526, + 1.04988, + 0.60364 ], "in_out_sign": 1, - "wrist_bend_deg_median": 174.6, - "opposite_sign_bend_deg": 15.6, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 1710, + "inlier_frac": 0.405, + "inlier_spread_deg": 13.68, + "marker_Q_to_gsi_deg": { + "1": 115.2, + "-1": 78.7 + } + }, + "wrist_bend_deg_median": 95.6, + "opposite_sign_bend_deg": 171.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.1, "hand_vs_marker_frame_deg": { - "before": 179.7, - "after": 1.1 + "before": 1.1, + "after": 115.26 }, "markers_on_wrist": [ "LHandIn", "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 171.72, + "twist_moved_deg": -94.16, "wrist_twist_deg_after": { - "median": 2.89, + "median": -0.17, "iqr": [ - -0.3, - 7.7 + -2.2, + 2.9 ] }, - "wrist_total_deg_median_after": 48.9, + "wrist_total_deg_median_after": 17.7, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -483,20 +494,31 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 81.12, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + 1.3969, + 0.12385, + -0.1948 ], "in_out_sign": 1, - "wrist_bend_deg_median": 20.2, - "opposite_sign_bend_deg": 175.5, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 1634, + "inlier_frac": 0.43, + "inlier_spread_deg": 11.31, + "marker_Q_to_gsi_deg": { + "1": 81.1, + "-1": 107.4 + } + }, + "wrist_bend_deg_median": 86.3, + "opposite_sign_bend_deg": 175.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.07, "hand_vs_marker_frame_deg": { "before": 1.07, - "after": 1.07 + "after": 81.1 }, "markers_on_wrist": [ "RWristOut", @@ -504,15 +526,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.22, + "twist_moved_deg": -82.26, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ - -5.7, + -5.9, 1.2 ] }, - "wrist_total_deg_median_after": 20.2, + "wrist_total_deg_median_after": 29.0, "markers_on_forearm": [ "RForearm", "RWristIn" @@ -520,10 +542,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:41:03.362340+00:00", + "generated_at_utc": "2026-11-06T14:06:31.115975+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 27.26, + "offset_rotvec": [ + -0.4736, + -0.0254, + 0.0361 + ], + "dev_deg": { + "median": 34.58, + "p90": 61.14 + }, + "samples": 1710, + "accepted": 589, + "wrist_pos_err_mm_median": 53.3, + "per_camera": { + "head": { + "samples": 1710, + "accepted": 589, + "gate_deg": 30.0, + "offset_deg": 27.26, + "tier": "primary", + "dev_deg_median": 34.58, + "wrist_pos_err_mm_median": 53.3 + } + }, + "frames_by_state": { + "ace_sample": 2374, + "interpolated": 1356, + "mean_hand": 12095, + "no_body_fit": 7 + }, + "observed_fraction": 0.2356, + "observed_fraction_of_valid": 0.2357, + "palm_axis_vs_markers_deg": { + "gsi": 59.48, + "smplx": 65.54 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 25.2, + "p90": 44.7 + }, + "registered": { + "median": 23.4, + "p90": 41.2 + } + } + }, + "right": { + "offset_deg": 33.71, + "offset_rotvec": [ + -0.5747, + 0.0762, + 0.1006 + ], + "dev_deg": { + "median": 38.81, + "p90": 59.42 + }, + "samples": 1634, + "accepted": 428, + "wrist_pos_err_mm_median": 41.0, + "per_camera": { + "head": { + "samples": 1634, + "accepted": 428, + "gate_deg": 30.0, + "offset_deg": 33.71, + "tier": "primary", + "dev_deg_median": 38.81, + "wrist_pos_err_mm_median": 41.0 + } + }, + "frames_by_state": { + "ace_sample": 1710, + "interpolated": 750, + "mean_hand": 13365, + "no_body_fit": 7 + }, + "observed_fraction": 0.1554, + "observed_fraction_of_valid": 0.1555, + "palm_axis_vs_markers_deg": { + "gsi": 62.16, + "smplx": 71.43 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 22.6, + "p90": 45.7 + }, + "registered": { + "median": 19.3, + "p90": 45.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:31:04.140696+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/locomanipulation/LM40/session_027", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM40/session_027/motions/smplx.npz b/actions/locomanipulation/LM40/session_027/motions/smplx.npz index 42fe71675cb8794a33ff98ee8469e122391c884e..befd38180b0f83ed3d0a71dee4003567c8971b71 100644 --- a/actions/locomanipulation/LM40/session_027/motions/smplx.npz +++ b/actions/locomanipulation/LM40/session_027/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:839602983560a28015f5170992ce285e8b91aa5d9baa4c9b3e8a7b9778acf715 -size 6085681 +oid sha256:a41bdb428f52d974b67ddfe8e825b0d5b9f0046fbb94cf0306368230636d04db +size 7431171 diff --git a/actions/locomanipulation/LM40/session_028/meta.json b/actions/locomanipulation/LM40/session_028/meta.json index 0b8537299bece81848fbc8df023271548afe925f..4b3e809d0bb3ac7fc266e2ed0735fc266cfd186c 100644 --- a/actions/locomanipulation/LM40/session_028/meta.json +++ b/actions/locomanipulation/LM40/session_028/meta.json @@ -378,8 +378,8 @@ "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": { @@ -443,35 +443,46 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 111.83, "Q_rotvec": [ - 2.98163, - -0.44128, - -0.88585 + -1.61803, + 0.92829, + 0.57396 ], "in_out_sign": 1, - "wrist_bend_deg_median": 174.5, - "opposite_sign_bend_deg": 15.2, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 2001, + "inlier_frac": 0.695, + "inlier_spread_deg": 13.15, + "marker_Q_to_gsi_deg": { + "1": 111.8, + "-1": 78.3 + } + }, + "wrist_bend_deg_median": 96.5, + "opposite_sign_bend_deg": 172.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.87, "hand_vs_marker_frame_deg": { - "before": 179.63, - "after": 1.87 + "before": 1.87, + "after": 111.62 }, "markers_on_wrist": [ "LHandIn", "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 172.66, + "twist_moved_deg": -94.26, "wrist_twist_deg_after": { - "median": 2.29, + "median": -0.0, "iqr": [ - -1.0, - 5.6 + -2.9, + 2.6 ] }, - "wrist_total_deg_median_after": 38.0, + "wrist_total_deg_median_after": 23.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -482,20 +493,31 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 81.91, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + 1.40991, + 0.15314, + -0.18005 ], "in_out_sign": 1, - "wrist_bend_deg_median": 27.4, - "opposite_sign_bend_deg": 173.6, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 1627, + "inlier_frac": 0.691, + "inlier_spread_deg": 12.05, + "marker_Q_to_gsi_deg": { + "1": 81.9, + "-1": 106.2 + } + }, + "wrist_bend_deg_median": 90.0, + "opposite_sign_bend_deg": 173.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.03, "hand_vs_marker_frame_deg": { "before": 2.03, - "after": 2.03 + "after": 81.94 }, "markers_on_wrist": [ "RWristOut", @@ -503,15 +525,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.56, + "twist_moved_deg": -84.14, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ -4.3, - 3.1 + 2.9 ] }, - "wrist_total_deg_median_after": 27.5, + "wrist_total_deg_median_after": 35.0, "markers_on_forearm": [ "RElbowIn", "RForearm", @@ -520,10 +542,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:41:04.028031+00:00", + "generated_at_utc": "2026-11-06T14:06:32.872675+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 6.12, + "offset_rotvec": [ + -0.106, + -0.0062, + -0.0112 + ], + "dev_deg": { + "median": 18.97, + "p90": 52.86 + }, + "samples": 2001, + "accepted": 1414, + "wrist_pos_err_mm_median": 60.6, + "per_camera": { + "head": { + "samples": 2001, + "accepted": 1414, + "gate_deg": 30.0, + "offset_deg": 6.12, + "tier": "primary", + "dev_deg_median": 18.97, + "wrist_pos_err_mm_median": 60.6 + } + }, + "frames_by_state": { + "ace_sample": 5708, + "interpolated": 2516, + "mean_hand": 7483, + "no_body_fit": 9 + }, + "observed_fraction": 0.5233, + "observed_fraction_of_valid": 0.5236, + "palm_axis_vs_markers_deg": { + "gsi": 68.6, + "smplx": 69.22 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 25.2, + "p90": 45.4 + }, + "registered": { + "median": 24.8, + "p90": 44.8 + } + } + }, + "right": { + "offset_deg": 10.57, + "offset_rotvec": [ + -0.1783, + 0.0133, + 0.0452 + ], + "dev_deg": { + "median": 20.4, + "p90": 65.05 + }, + "samples": 1627, + "accepted": 1080, + "wrist_pos_err_mm_median": 43.5, + "per_camera": { + "head": { + "samples": 1627, + "accepted": 1080, + "gate_deg": 30.0, + "offset_deg": 10.57, + "tier": "primary", + "dev_deg_median": 20.4, + "wrist_pos_err_mm_median": 43.5 + } + }, + "frames_by_state": { + "ace_sample": 4324, + "interpolated": 1480, + "mean_hand": 9903, + "no_body_fit": 9 + }, + "observed_fraction": 0.3693, + "observed_fraction_of_valid": 0.3695, + "palm_axis_vs_markers_deg": { + "gsi": 73.95, + "smplx": 75.1 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 27.7, + "p90": 49.0 + }, + "registered": { + "median": 21.3, + "p90": 48.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:31:09.244563+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/locomanipulation/LM40/session_028", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM40/session_028/motions/smplx.npz b/actions/locomanipulation/LM40/session_028/motions/smplx.npz index bd4fe433ad2723491409059ab0969b2dd656d855..6c0dd11c6b0465525cc435570cfaddae73e59458 100644 --- a/actions/locomanipulation/LM40/session_028/motions/smplx.npz +++ b/actions/locomanipulation/LM40/session_028/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fca649bde544ab39c5712dc12756e8dc5f53923790f52ebac7db54f55a83832f -size 6045450 +oid sha256:7077c79208ebcd592f918cc01ab2bcc06948003dd20a4b1b8965fb26ff969cb9 +size 8721829 diff --git a/actions/locomanipulation/LM41/session_004/meta.json b/actions/locomanipulation/LM41/session_004/meta.json index 1151b383fd4375e19bad7c423e1345b074a11332..52a2bf97bd593a1734e3f82caa00d0f9aa79e86e 100644 --- a/actions/locomanipulation/LM41/session_004/meta.json +++ b/actions/locomanipulation/LM41/session_004/meta.json @@ -363,8 +363,8 @@ "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": { @@ -434,10 +434,21 @@ 0.42773, 0.87113 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 168.7, - "opposite_sign_bend_deg": 32.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2702, + "inlier_frac": 0.882, + "inlier_spread_deg": 9.99, + "marker_Q_to_gsi_deg": { + "1": 165.6, + "-1": 14.4 + } + }, + "wrist_bend_deg_median": 161.5, + "opposite_sign_bend_deg": 41.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.89, "hand_vs_marker_frame_deg": { "before": 178.25, @@ -449,15 +460,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 160.9, + "twist_moved_deg": -160.25, "wrist_twist_deg_after": { - "median": 10.14, + "median": -0.66, "iqr": [ - 3.8, - 24.1 + -6.6, + 16.2 ] }, - "wrist_total_deg_median_after": 41.3, + "wrist_total_deg_median_after": 32.1, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -469,11 +480,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ + -0.0, 0.0, - 0.0, - -0.0 + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2917, + "inlier_frac": 0.877, + "inlier_spread_deg": 10.24, + "marker_Q_to_gsi_deg": { + "1": 12.7, + "-1": 178.7 + } + }, "wrist_bend_deg_median": 17.5, "opposite_sign_bend_deg": 173.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -489,7 +511,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -6.1, 4.3 @@ -505,10 +527,120 @@ }, "frames_used": 1354 }, - "generated_at_utc": "2026-10-28T06:41:03.842065+00:00", + "generated_at_utc": "2026-11-06T14:06:32.735119+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 12.95, + "offset_rotvec": [ + -0.212, + 0.0363, + 0.0695 + ], + "dev_deg": { + "median": 11.38, + "p90": 32.2 + }, + "samples": 2702, + "accepted": 2397, + "wrist_pos_err_mm_median": 60.9, + "per_camera": { + "head": { + "samples": 2702, + "accepted": 2397, + "gate_deg": 30.0, + "offset_deg": 12.95, + "tier": "primary", + "dev_deg_median": 11.38, + "wrist_pos_err_mm_median": 60.9 + } + }, + "frames_by_state": { + "ace_sample": 9608, + "interpolated": 1216, + "mean_hand": 2716, + "no_body_fit": 0 + }, + "observed_fraction": 0.7994, + "observed_fraction_of_valid": 0.7994, + "palm_axis_vs_markers_deg": { + "gsi": 17.08, + "smplx": 2.5 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.1, + "p90": 13.6 + }, + "registered": { + "median": 9.7, + "p90": 11.7 + } + } + }, + "right": { + "offset_deg": 12.53, + "offset_rotvec": [ + 0.0376, + -0.176, + -0.1243 + ], + "dev_deg": { + "median": 11.34, + "p90": 34.63 + }, + "samples": 2917, + "accepted": 2559, + "wrist_pos_err_mm_median": 43.9, + "per_camera": { + "head": { + "samples": 2917, + "accepted": 2559, + "gate_deg": 30.0, + "offset_deg": 12.53, + "tier": "primary", + "dev_deg_median": 11.34, + "wrist_pos_err_mm_median": 43.9 + } + }, + "frames_by_state": { + "ace_sample": 10310, + "interpolated": 1606, + "mean_hand": 1624, + "no_body_fit": 0 + }, + "observed_fraction": 0.8801, + "observed_fraction_of_valid": 0.8801, + "palm_axis_vs_markers_deg": { + "gsi": 14.1, + "smplx": 1.03 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 15.7, + "p90": 22.8 + }, + "registered": { + "median": 15.5, + "p90": 21.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:31:24.044320+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/locomanipulation/LM41/session_004", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM41/session_004/motions/smplx.npz b/actions/locomanipulation/LM41/session_004/motions/smplx.npz index 2884b13966ee65507a1e4e97b4267cf99bab3329..efbc761c7d6c09ed51c79d7be4cdf9fff0f588f8 100644 --- a/actions/locomanipulation/LM41/session_004/motions/smplx.npz +++ b/actions/locomanipulation/LM41/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a26686ea9b9d02ea9410856c07475723a92e3405b00c65b3854326c5383853aa -size 5238149 +oid sha256:36f39b4410cca67360c47f73f85c9819ef861af818f10f7c4c9bfc167b58b734 +size 9248938 diff --git a/actions/locomanipulation/LM41/session_006/meta.json b/actions/locomanipulation/LM41/session_006/meta.json index 3c610659e24986254341216c5ebca74820a4fb25..16ff455947876ade5f5286ba523d944ec259e50e 100644 --- a/actions/locomanipulation/LM41/session_006/meta.json +++ b/actions/locomanipulation/LM41/session_006/meta.json @@ -353,8 +353,8 @@ "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": { @@ -423,19 +423,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 36.4, - "opposite_sign_bend_deg": 161.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.941, + "inlier_spread_deg": 8.14, + "marker_Q_to_gsi_deg": { + "1": 172.7, + "-1": 16.3 + } + }, + "wrist_bend_deg_median": 170.0, + "opposite_sign_bend_deg": 35.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.27, "hand_vs_marker_frame_deg": { - "before": 3.27, + "before": 179.11, "after": 3.27 }, "markers_on_wrist": [ @@ -444,15 +455,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 12.32, + "twist_moved_deg": -150.03, "wrist_twist_deg_after": { - "median": 0.0, + "median": -23.62, "iqr": [ - -6.5, - 24.1 + -30.6, + -0.9 ] }, - "wrist_total_deg_median_after": 35.3, + "wrist_total_deg_median_after": 32.4, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -465,10 +476,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - 0.0, - 0.0 + -1e-05, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.991, + "inlier_spread_deg": 8.33, + "marker_Q_to_gsi_deg": { + "1": 13.6, + "-1": 171.4 + } + }, "wrist_bend_deg_median": 17.0, "opposite_sign_bend_deg": 170.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -499,7 +521,7 @@ }, "frames_used": 1429 }, - "generated_at_utc": "2026-10-28T06:47:49.886830+00:00", + "generated_at_utc": "2026-11-06T14:16:10.345766+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -539,6 +561,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 16.61, + "offset_rotvec": [ + -0.1146, + -0.2139, + 0.1587 + ], + "dev_deg": { + "median": 8.53, + "p90": 21.21 + }, + "samples": 3536, + "accepted": 3321, + "wrist_pos_err_mm_median": 56.3, + "per_camera": { + "head": { + "samples": 3536, + "accepted": 3321, + "gate_deg": 30.0, + "offset_deg": 16.61, + "tier": "primary", + "dev_deg_median": 8.53, + "wrist_pos_err_mm_median": 56.3 + } + }, + "frames_by_state": { + "ace_sample": 13302, + "interpolated": 246, + "mean_hand": 736, + "no_body_fit": 0 + }, + "observed_fraction": 0.9485, + "observed_fraction_of_valid": 0.9485, + "palm_axis_vs_markers_deg": { + "gsi": 15.02, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 14.24, + "offset_rotvec": [ + -0.1042, + -0.1214, + -0.1902 + ], + "dev_deg": { + "median": 8.41, + "p90": 15.27 + }, + "samples": 3494, + "accepted": 3458, + "wrist_pos_err_mm_median": 33.9, + "per_camera": { + "head": { + "samples": 3494, + "accepted": 3458, + "gate_deg": 30.0, + "offset_deg": 14.24, + "tier": "primary", + "dev_deg_median": 8.41, + "wrist_pos_err_mm_median": 33.9 + } + }, + "frames_by_state": { + "ace_sample": 13850, + "interpolated": 50, + "mean_hand": 384, + "no_body_fit": 0 + }, + "observed_fraction": 0.9731, + "observed_fraction_of_valid": 0.9731, + "palm_axis_vs_markers_deg": { + "gsi": 12.71, + "smplx": 1.62 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.2, + "p90": 9.9 + }, + "registered": { + "median": 6.9, + "p90": 9.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:51:17.335903+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/locomanipulation/LM41/session_006", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM41/session_006/motions/smplx.npz b/actions/locomanipulation/LM41/session_006/motions/smplx.npz index 6e9b2417d01117270b91e4c17b482a0510450283..e4d7cb942c314aa3fb3df4567c3d8e195734e290 100644 --- a/actions/locomanipulation/LM41/session_006/motions/smplx.npz +++ b/actions/locomanipulation/LM41/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e97d93d589696709927c22d8b8d341eccb8051e4bd2ea61a64afbb3dd2eeaaa6 -size 5482579 +oid sha256:b15a6c90e3a2a8fc842977cc78ff7e486824346a84647b807cc62120c7954f32 +size 10123300 diff --git a/actions/locomanipulation/LM41/session_007/meta.json b/actions/locomanipulation/LM41/session_007/meta.json index 5e0b4def8878501ef1da308ff08eeef6e63660c1..41ee8781f2c3e532ebfee78637e02cdddb0403ca 100644 --- a/actions/locomanipulation/LM41/session_007/meta.json +++ b/actions/locomanipulation/LM41/session_007/meta.json @@ -353,8 +353,8 @@ "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": { @@ -423,20 +423,31 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + 3.02706, + -0.2415, + -0.80508 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 34.7, - "opposite_sign_bend_deg": 168.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", - "marker_frame_spread_deg": 2.71, + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.946, + "inlier_spread_deg": 7.71, + "marker_Q_to_gsi_deg": { + "1": 172.3, + "-1": 16.1 + } + }, + "wrist_bend_deg_median": 171.4, + "opposite_sign_bend_deg": 33.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", + "marker_frame_spread_deg": 2.72, "hand_vs_marker_frame_deg": { - "before": 2.71, - "after": 2.71 + "before": 179.24, + "after": 2.72 }, "markers_on_wrist": [ "LWristIn", @@ -444,15 +455,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -6.54, + "twist_moved_deg": -148.12, "wrist_twist_deg_after": { - "median": -0.0, + "median": -26.57, "iqr": [ - -8.0, - 24.1 + -34.1, + -3.0 ] }, - "wrist_total_deg_median_after": 33.4, + "wrist_total_deg_median_after": 35.2, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -464,11 +475,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, - 0.0 + -1e-05, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.827, + "inlier_spread_deg": 8.56, + "marker_Q_to_gsi_deg": { + "1": 14.9, + "-1": 169.9 + } + }, "wrist_bend_deg_median": 16.3, "opposite_sign_bend_deg": 168.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -483,7 +505,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.1, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -499,7 +521,7 @@ }, "frames_used": 1393 }, - "generated_at_utc": "2026-10-28T06:47:50.016356+00:00", + "generated_at_utc": "2026-11-06T14:16:11.559143+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -561,6 +583,116 @@ }, "applied": 3 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 16.16, + "offset_rotvec": [ + -0.1158, + -0.1989, + 0.1629 + ], + "dev_deg": { + "median": 8.02, + "p90": 17.06 + }, + "samples": 3719, + "accepted": 3521, + "wrist_pos_err_mm_median": 51.3, + "per_camera": { + "head": { + "samples": 3719, + "accepted": 3521, + "gate_deg": 30.0, + "offset_deg": 16.16, + "tier": "primary", + "dev_deg_median": 8.02, + "wrist_pos_err_mm_median": 51.3 + } + }, + "frames_by_state": { + "ace_sample": 14096, + "interpolated": 80, + "mean_hand": 761, + "no_body_fit": 43 + }, + "observed_fraction": 0.9463, + "observed_fraction_of_valid": 0.9491, + "palm_axis_vs_markers_deg": { + "gsi": 14.72, + "smplx": 2.29 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.8, + "p90": 15.1 + }, + "registered": { + "median": 9.3, + "p90": 14.0 + } + } + }, + "right": { + "offset_deg": 15.56, + "offset_rotvec": [ + -0.13, + -0.1365, + -0.1954 + ], + "dev_deg": { + "median": 10.19, + "p90": 163.22 + }, + "samples": 3618, + "accepted": 2983, + "wrist_pos_err_mm_median": 46.4, + "per_camera": { + "head": { + "samples": 3618, + "accepted": 2983, + "gate_deg": 30.0, + "offset_deg": 15.56, + "tier": "primary", + "dev_deg_median": 10.19, + "wrist_pos_err_mm_median": 46.4 + } + }, + "frames_by_state": { + "ace_sample": 11942, + "interpolated": 294, + "mean_hand": 2701, + "no_body_fit": 43 + }, + "observed_fraction": 0.8168, + "observed_fraction_of_valid": 0.8192, + "palm_axis_vs_markers_deg": { + "gsi": 16.18, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:51:17.439661+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/locomanipulation/LM41/session_007", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM41/session_007/motions/smplx.npz b/actions/locomanipulation/LM41/session_007/motions/smplx.npz index 645c2033f66d238070b46354beb5e22a34fddfa8..05c6609c8c22f51c3cc6b196c3857c25d93dc180 100644 --- a/actions/locomanipulation/LM41/session_007/motions/smplx.npz +++ b/actions/locomanipulation/LM41/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:95539abb9271983bc4b1e77d5ba3d945a22eb53fe3e62684a2d3dd0dc2f41bc8 -size 5734845 +oid sha256:aa75918c13899713e3aa5b64da898f87d1ffa54a8426c469bdb06d50fe0774c5 +size 10227562 diff --git a/actions/locomanipulation/LM42/session_013/meta.json b/actions/locomanipulation/LM42/session_013/meta.json index 76517219e82920d2a39b8d4f22fa12e7410f327f..a29f1836c88e3e5b9e46e5cb25fa32e9534f0880 100644 --- a/actions/locomanipulation/LM42/session_013/meta.json +++ b/actions/locomanipulation/LM42/session_013/meta.json @@ -418,19 +418,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - 2.98498, - -0.43373, - -0.87829 + 0.0, + 0.0, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 176.2, - "opposite_sign_bend_deg": 41.7, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.928, + "inlier_spread_deg": 13.74, + "marker_Q_to_gsi_deg": { + "1": 35.0, + "-1": 152.2 + } + }, + "wrist_bend_deg_median": 19.7, + "opposite_sign_bend_deg": 161.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.3, "hand_vs_marker_frame_deg": { - "before": 178.23, + "before": 2.3, "after": 2.3 }, "markers_on_wrist": [ @@ -439,15 +450,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -162.24, + "twist_moved_deg": -14.47, "wrist_twist_deg_after": { - "median": -14.47, + "median": 0.0, "iqr": [ - -18.0, - -2.2 + -3.6, + 12.3 ] }, - "wrist_total_deg_median_after": 19.2, + "wrist_total_deg_median_after": 13.5, "markers_on_forearm": [ "LForearm", "LWristIn" @@ -460,12 +471,23 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - -0.0, + 0.0, 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 37.2, - "opposite_sign_bend_deg": 148.8, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.486, + "inlier_spread_deg": 13.32, + "marker_Q_to_gsi_deg": { + "1": 32.2, + "-1": 153.3 + } + }, + "wrist_bend_deg_median": 36.6, + "opposite_sign_bend_deg": 144.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 7.59, "hand_vs_marker_frame_deg": { @@ -477,7 +499,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -37.07, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -494,7 +516,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:47:51.414151+00:00", + "generated_at_utc": "2026-11-06T14:16:20.141771+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/locomanipulation/LM42/session_013/motions/smplx.npz b/actions/locomanipulation/LM42/session_013/motions/smplx.npz index 23cb1b1b08a8caefc799250bab86d7ceb6ec27b2..eeb86bf26b366e3cb28b547b284bf0f13d17030c 100644 --- a/actions/locomanipulation/LM42/session_013/motions/smplx.npz +++ b/actions/locomanipulation/LM42/session_013/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:dd564d60ca1ed8c4727ac119bb9a67cabb09c6997b5b48c0e70aaacfc3a6f351 -size 6400415 +oid sha256:26b0e798e70846eef69c13f8971abd2cc004cdc54cfd0f58b68c44826a54e769 +size 6401450 diff --git a/actions/locomanipulation/LM42/session_014/meta.json b/actions/locomanipulation/LM42/session_014/meta.json index e151b5260fdec5cce367fda74c9ae8a9658ae728..3e10ca486596ee9d493dd1f60239fb34f029edf3 100644 --- a/actions/locomanipulation/LM42/session_014/meta.json +++ b/actions/locomanipulation/LM42/session_014/meta.json @@ -413,19 +413,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - 2.98498, - -0.43373, - -0.87829 + -0.0, + -0.0, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 162.8, - "opposite_sign_bend_deg": 43.0, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.715, + "inlier_spread_deg": 16.04, + "marker_Q_to_gsi_deg": { + "1": 44.4, + "-1": 143.8 + } + }, + "wrist_bend_deg_median": 42.8, + "opposite_sign_bend_deg": 158.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.19, "hand_vs_marker_frame_deg": { - "before": 179.35, + "before": 3.19, "after": 3.19 }, "markers_on_wrist": [ @@ -433,15 +444,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -156.58, + "twist_moved_deg": -21.53, "wrist_twist_deg_after": { - "median": -21.53, + "median": -0.0, "iqr": [ - -46.4, - -19.5 + -24.9, + 2.1 ] }, - "wrist_total_deg_median_after": 42.1, + "wrist_total_deg_median_after": 26.5, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -455,12 +466,23 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 70.7, - "opposite_sign_bend_deg": 111.1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.443, + "inlier_spread_deg": 14.06, + "marker_Q_to_gsi_deg": { + "1": 43.8, + "-1": 138.6 + } + }, + "wrist_bend_deg_median": 39.0, + "opposite_sign_bend_deg": 143.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.43, "hand_vs_marker_frame_deg": { @@ -472,7 +494,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 58.27, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -489,7 +511,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:47:51.873739+00:00", + "generated_at_utc": "2026-11-06T14:16:16.764218+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/locomanipulation/LM42/session_014/motions/smplx.npz b/actions/locomanipulation/LM42/session_014/motions/smplx.npz index bdfac41b0138a662ebcbb68538a809bfb464ce74..08e5cfac6cd399ce2cb0cb3a79390fcc6f40cb1b 100644 --- a/actions/locomanipulation/LM42/session_014/motions/smplx.npz +++ b/actions/locomanipulation/LM42/session_014/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f7daac1b20c392cc1c6b8492d4a16f2c1d8950bf4d996ba18976160a355f0477 -size 6654898 +oid sha256:706d956bea72da61ad4ee4f2357722f06e9d22fccaa6fc8fcb6e86d6f06092d6 +size 6657681 diff --git a/actions/locomanipulation/LM43/session_001/meta.json b/actions/locomanipulation/LM43/session_001/meta.json index a31187b5e9bf77963be8e082d622b3615e0b6bad..5665aaef27c507e38a39da62bae86cd8a8267181 100644 --- a/actions/locomanipulation/LM43/session_001/meta.json +++ b/actions/locomanipulation/LM43/session_001/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": { @@ -407,14 +407,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02575, - 0.26943, - 0.80116 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 166.4, - "opposite_sign_bend_deg": 23.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.821, + "inlier_spread_deg": 12.18, + "marker_Q_to_gsi_deg": { + "1": 172.2, + "-1": 10.6 + } + }, + "wrist_bend_deg_median": 124.6, + "opposite_sign_bend_deg": 66.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.62, "hand_vs_marker_frame_deg": { "before": 175.28, @@ -426,15 +437,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 122.77, + "twist_moved_deg": -122.75, "wrist_twist_deg_after": { - "median": 53.53, + "median": -0.02, "iqr": [ - 39.8, - 68.8 + -10.0, + 14.7 ] }, - "wrist_total_deg_median_after": 66.8, + "wrist_total_deg_median_after": 24.0, "markers_on_forearm": [ "LForearm", "LWristIn" @@ -448,9 +459,20 @@ "Q_rotvec": [ -0.0, -0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.902, + "inlier_spread_deg": 8.6, + "marker_Q_to_gsi_deg": { + "1": 2.9, + "-1": 179.8 + } + }, "wrist_bend_deg_median": 22.6, "opposite_sign_bend_deg": 172.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -466,7 +488,7 @@ "forearm_twist": { "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -8.0, 6.8 @@ -481,7 +503,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:14:48.396624+00:00", + "generated_at_utc": "2026-11-06T13:37:00.847105+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -525,6 +547,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.028522808723028 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 6.15, + "offset_rotvec": [ + -0.0653, + -0.0705, + 0.048 + ], + "dev_deg": { + "median": 15.09, + "p90": 35.23 + }, + "samples": 3581, + "accepted": 2977, + "wrist_pos_err_mm_median": 31.2, + "per_camera": { + "head": { + "samples": 3581, + "accepted": 2977, + "gate_deg": 30.0, + "offset_deg": 6.15, + "tier": "primary", + "dev_deg_median": 15.09, + "wrist_pos_err_mm_median": 31.2 + } + }, + "frames_by_state": { + "ace_sample": 11920, + "interpolated": 628, + "mean_hand": 2936, + "no_body_fit": 0 + }, + "observed_fraction": 0.8104, + "observed_fraction_of_valid": 0.8104, + "palm_axis_vs_markers_deg": { + "gsi": 10.94, + "smplx": 4.67 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.4, + "p90": 11.6 + }, + "registered": { + "median": 10.0, + "p90": 12.4 + } + } + }, + "right": { + "offset_deg": 3.78, + "offset_rotvec": [ + 0.024, + -0.036, + 0.0499 + ], + "dev_deg": { + "median": 9.99, + "p90": 29.26 + }, + "samples": 3457, + "accepted": 3125, + "wrist_pos_err_mm_median": 28.8, + "per_camera": { + "head": { + "samples": 3457, + "accepted": 3125, + "gate_deg": 30.0, + "offset_deg": 3.78, + "tier": "primary", + "dev_deg_median": 9.99, + "wrist_pos_err_mm_median": 28.8 + } + }, + "frames_by_state": { + "ace_sample": 12508, + "interpolated": 560, + "mean_hand": 2416, + "no_body_fit": 0 + }, + "observed_fraction": 0.844, + "observed_fraction_of_valid": 0.844, + "palm_axis_vs_markers_deg": { + "gsi": 8.97, + "smplx": 2.47 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.1, + "p90": 10.4 + }, + "registered": { + "median": 6.2, + "p90": 9.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:27:58.745178+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/locomanipulation/LM43/session_001", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM43/session_001/motions/smplx.npz b/actions/locomanipulation/LM43/session_001/motions/smplx.npz index 0c2b186218f5cd9122730f51eacca429a32eac0c..5a8477a9eae5a8e39f4e546da079b76acc53ccd2 100644 --- a/actions/locomanipulation/LM43/session_001/motions/smplx.npz +++ b/actions/locomanipulation/LM43/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9ec9d64576984b2600a8065b88b2b9567b831f4b222056ba95e745055543441f -size 5924619 +oid sha256:1f118fd7e35729f479d9f33e07f60544669381b8d4f6e21c3f9fcd8dbb5717d4 +size 10369323 diff --git a/actions/locomanipulation/LM43/session_002/meta.json b/actions/locomanipulation/LM43/session_002/meta.json index 59761954c50129162e0e5c0000426f98f2061e80..7599b0b2b73789eb8ae799310e2ff9c093ef90dd 100644 --- a/actions/locomanipulation/LM43/session_002/meta.json +++ b/actions/locomanipulation/LM43/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": { @@ -409,10 +409,21 @@ 0.26943, 0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 170.9, - "opposite_sign_bend_deg": 21.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.897, + "inlier_spread_deg": 9.88, + "marker_Q_to_gsi_deg": { + "1": 175.5, + "-1": 9.7 + } + }, + "wrist_bend_deg_median": 166.6, + "opposite_sign_bend_deg": 38.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.45, "hand_vs_marker_frame_deg": { "before": 179.02, @@ -423,15 +434,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 166.62, + "twist_moved_deg": -164.41, "wrist_twist_deg_after": { - "median": 8.46, + "median": -2.21, "iqr": [ - 2.4, - 18.5 + -8.0, + 8.6 ] }, - "wrist_total_deg_median_after": 38.3, + "wrist_total_deg_median_after": 21.6, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -444,11 +455,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.941, + "inlier_spread_deg": 8.61, + "marker_Q_to_gsi_deg": { + "1": 2.4, + "-1": 178.6 + } + }, "wrist_bend_deg_median": 23.3, "opposite_sign_bend_deg": 172.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -462,7 +484,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -479,7 +501,7 @@ }, "frames_used": 1489 }, - "generated_at_utc": "2026-10-28T06:14:48.507479+00:00", + "generated_at_utc": "2026-11-06T13:36:52.939864+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -523,6 +545,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9944472630498011 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 7.07, + "offset_rotvec": [ + -0.0619, + -0.1025, + 0.0299 + ], + "dev_deg": { + "median": 11.01, + "p90": 30.53 + }, + "samples": 3461, + "accepted": 3107, + "wrist_pos_err_mm_median": 38.3, + "per_camera": { + "head": { + "samples": 3461, + "accepted": 3107, + "gate_deg": 30.0, + "offset_deg": 7.07, + "tier": "primary", + "dev_deg_median": 11.01, + "wrist_pos_err_mm_median": 38.3 + } + }, + "frames_by_state": { + "ace_sample": 12430, + "interpolated": 546, + "mean_hand": 1908, + "no_body_fit": 0 + }, + "observed_fraction": 0.8718, + "observed_fraction_of_valid": 0.8718, + "palm_axis_vs_markers_deg": { + "gsi": 11.91, + "smplx": 1.68 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.9, + "p90": 13.8 + }, + "registered": { + "median": 8.6, + "p90": 14.2 + } + } + }, + "right": { + "offset_deg": 2.35, + "offset_rotvec": [ + -0.0186, + 0.015, + 0.0333 + ], + "dev_deg": { + "median": 9.13, + "p90": 22.22 + }, + "samples": 3381, + "accepted": 3198, + "wrist_pos_err_mm_median": 36.7, + "per_camera": { + "head": { + "samples": 3381, + "accepted": 3198, + "gate_deg": 30.0, + "offset_deg": 2.35, + "tier": "primary", + "dev_deg_median": 9.13, + "wrist_pos_err_mm_median": 36.7 + } + }, + "frames_by_state": { + "ace_sample": 12804, + "interpolated": 548, + "mean_hand": 1532, + "no_body_fit": 0 + }, + "observed_fraction": 0.8971, + "observed_fraction_of_valid": 0.8971, + "palm_axis_vs_markers_deg": { + "gsi": 8.62, + "smplx": 2.07 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.5, + "p90": 10.1 + }, + "registered": { + "median": 6.2, + "p90": 9.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:27:45.946862+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/locomanipulation/LM43/session_002", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM43/session_002/motions/smplx.npz b/actions/locomanipulation/LM43/session_002/motions/smplx.npz index 3e4ac599b10ec287c082bee3dec89279b065570f..3a784a099a72c07afe97c72c7c1f4010a73c4038 100644 --- a/actions/locomanipulation/LM43/session_002/motions/smplx.npz +++ b/actions/locomanipulation/LM43/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7fff46c441c0988a412eef882c7c92016035e0dc5bbd5f5563e6119a175c5557 -size 5704242 +oid sha256:f1d9f37fe099c408aade017be024aac77775b88c5fe27dcdf0e3b5bc22eabfc3 +size 10263535 diff --git a/actions/locomanipulation/LM43/session_003/meta.json b/actions/locomanipulation/LM43/session_003/meta.json index b10056dc69f049e41995bb61241c91e4659f6c05..ef38933cc4e472d12d63a24541f3f39103a875d2 100644 --- a/actions/locomanipulation/LM43/session_003/meta.json +++ b/actions/locomanipulation/LM43/session_003/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 +408,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02575, - 0.26943, - 0.80116 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 168.5, - "opposite_sign_bend_deg": 26.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2985, + "inlier_frac": 0.989, + "inlier_spread_deg": 10.53, + "marker_Q_to_gsi_deg": { + "1": 178.0, + "-1": 6.2 + } + }, + "wrist_bend_deg_median": 162.5, + "opposite_sign_bend_deg": 41.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.58, "hand_vs_marker_frame_deg": { "before": 176.77, @@ -427,15 +438,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 161.99, + "twist_moved_deg": -159.26, "wrist_twist_deg_after": { - "median": 8.15, + "median": -2.73, "iqr": [ - 1.2, - 24.7 + -12.2, + 9.5 ] }, - "wrist_total_deg_median_after": 41.4, + "wrist_total_deg_median_after": 26.4, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -447,11 +458,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, + 0.0, -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2830, + "inlier_frac": 0.971, + "inlier_spread_deg": 8.72, + "marker_Q_to_gsi_deg": { + "1": 1.5, + "-1": 180.0 + } + }, "wrist_bend_deg_median": 26.2, "opposite_sign_bend_deg": 172.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -465,7 +487,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -482,7 +504,7 @@ }, "frames_used": 1309 }, - "generated_at_utc": "2026-10-28T06:14:51.978654+00:00", + "generated_at_utc": "2026-11-06T13:36:49.436074+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -526,6 +548,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8718138600572729 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 6.27, + "offset_rotvec": [ + -0.0334, + -0.0917, + 0.0496 + ], + "dev_deg": { + "median": 10.6, + "p90": 22.28 + }, + "samples": 2985, + "accepted": 2953, + "wrist_pos_err_mm_median": 31.5, + "per_camera": { + "head": { + "samples": 2985, + "accepted": 2953, + "gate_deg": 30.0, + "offset_deg": 6.27, + "tier": "primary", + "dev_deg_median": 10.6, + "wrist_pos_err_mm_median": 31.5 + } + }, + "frames_by_state": { + "ace_sample": 11842, + "interpolated": 426, + "mean_hand": 816, + "no_body_fit": 0 + }, + "observed_fraction": 0.9376, + "observed_fraction_of_valid": 0.9376, + "palm_axis_vs_markers_deg": { + "gsi": 10.07, + "smplx": 4.06 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.4, + "p90": 10.1 + }, + "registered": { + "median": 7.4, + "p90": 9.8 + } + } + }, + "right": { + "offset_deg": 1.65, + "offset_rotvec": [ + 0.0002, + -0.0086, + 0.0274 + ], + "dev_deg": { + "median": 8.96, + "p90": 17.54 + }, + "samples": 2830, + "accepted": 2749, + "wrist_pos_err_mm_median": 37.4, + "per_camera": { + "head": { + "samples": 2830, + "accepted": 2749, + "gate_deg": 30.0, + "offset_deg": 1.65, + "tier": "primary", + "dev_deg_median": 8.96, + "wrist_pos_err_mm_median": 37.4 + } + }, + "frames_by_state": { + "ace_sample": 11004, + "interpolated": 364, + "mean_hand": 1716, + "no_body_fit": 0 + }, + "observed_fraction": 0.8688, + "observed_fraction_of_valid": 0.8688, + "palm_axis_vs_markers_deg": { + "gsi": 8.75, + "smplx": 2.69 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.9, + "p90": 10.2 + }, + "registered": { + "median": 5.5, + "p90": 9.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:27:52.544317+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/locomanipulation/LM43/session_003", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM43/session_003/motions/smplx.npz b/actions/locomanipulation/LM43/session_003/motions/smplx.npz index a3f32c80d98bbbf33bd334b4f2cb48f083ce9b88..02444aa4aa57f30be215ec831b65fcd3ae18fa92 100644 --- a/actions/locomanipulation/LM43/session_003/motions/smplx.npz +++ b/actions/locomanipulation/LM43/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:dabe2d01d9f3eda615abd5440f1fcf76d550a27aed929ac4e1e040cdb03fcbe0 -size 5002973 +oid sha256:29c4f8216271ac0b6ce0dcd5a99b4d34652abeef6bd9da2287eaeaafd87371d1 +size 9026896 diff --git a/actions/locomanipulation/LM44/session_001/meta.json b/actions/locomanipulation/LM44/session_001/meta.json index d798955767f1d0c6ebb997649740f892bc06c025..1719c05720f1465c5c7163abd98433395719d09d 100644 --- a/actions/locomanipulation/LM44/session_001/meta.json +++ b/actions/locomanipulation/LM44/session_001/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": { @@ -407,10 +407,21 @@ 0.26943, 0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 169.9, - "opposite_sign_bend_deg": 20.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.891, + "inlier_spread_deg": 9.61, + "marker_Q_to_gsi_deg": { + "1": 175.6, + "-1": 10.0 + } + }, + "wrist_bend_deg_median": 154.5, + "opposite_sign_bend_deg": 42.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.27, "hand_vs_marker_frame_deg": { "before": 179.29, @@ -421,15 +432,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 153.68, + "twist_moved_deg": -153.08, "wrist_twist_deg_after": { - "median": 21.92, + "median": -0.6, "iqr": [ - 10.5, - 32.1 + -10.0, + 9.2 ] }, - "wrist_total_deg_median_after": 42.7, + "wrist_total_deg_median_after": 20.4, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -442,11 +453,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ + 0.0, -0.0, - -0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.964, + "inlier_spread_deg": 10.45, + "marker_Q_to_gsi_deg": { + "1": 4.6, + "-1": 179.1 + } + }, "wrist_bend_deg_median": 21.3, "opposite_sign_bend_deg": 171.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -460,7 +482,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -477,7 +499,7 @@ }, "frames_used": 1368 }, - "generated_at_utc": "2026-10-28T06:14:53.440071+00:00", + "generated_at_utc": "2026-11-06T13:36:59.436301+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -521,6 +543,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8386156868196296 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 8.1, + "offset_rotvec": [ + -0.0679, + -0.1185, + 0.0365 + ], + "dev_deg": { + "median": 10.76, + "p90": 29.97 + }, + "samples": 3125, + "accepted": 2813, + "wrist_pos_err_mm_median": 33.7, + "per_camera": { + "head": { + "samples": 3125, + "accepted": 2813, + "gate_deg": 30.0, + "offset_deg": 8.1, + "tier": "primary", + "dev_deg_median": 10.76, + "wrist_pos_err_mm_median": 33.7 + } + }, + "frames_by_state": { + "ace_sample": 11286, + "interpolated": 754, + "mean_hand": 1636, + "no_body_fit": 8 + }, + "observed_fraction": 0.8799, + "observed_fraction_of_valid": 0.8804, + "palm_axis_vs_markers_deg": { + "gsi": 11.76, + "smplx": 2.13 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.1, + "p90": 9.7 + }, + "registered": { + "median": 8.2, + "p90": 10.9 + } + } + }, + "right": { + "offset_deg": 4.95, + "offset_rotvec": [ + -0.0069, + 0.0528, + 0.0681 + ], + "dev_deg": { + "median": 10.97, + "p90": 21.15 + }, + "samples": 3012, + "accepted": 2901, + "wrist_pos_err_mm_median": 29.5, + "per_camera": { + "head": { + "samples": 3012, + "accepted": 2901, + "gate_deg": 30.0, + "offset_deg": 4.95, + "tier": "primary", + "dev_deg_median": 10.97, + "wrist_pos_err_mm_median": 29.5 + } + }, + "frames_by_state": { + "ace_sample": 11622, + "interpolated": 658, + "mean_hand": 1396, + "no_body_fit": 8 + }, + "observed_fraction": 0.8974, + "observed_fraction_of_valid": 0.8979, + "palm_axis_vs_markers_deg": { + "gsi": 8.91, + "smplx": 1.98 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.4, + "p90": 11.4 + }, + "registered": { + "median": 7.5, + "p90": 10.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:27:53.943957+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/locomanipulation/LM44/session_001", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM44/session_001/motions/smplx.npz b/actions/locomanipulation/LM44/session_001/motions/smplx.npz index d15006bd25e5bc5c79e17d51fb3616042a5160f4..6026aef6772e7eb52325136ae7008808483369ee 100644 --- a/actions/locomanipulation/LM44/session_001/motions/smplx.npz +++ b/actions/locomanipulation/LM44/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:61489e7723fdc78e0599e176455124526f13c5a5a44c1020027313e65ca08745 -size 5249752 +oid sha256:6eec167c61c683e3d7e3f35700b07a0e335e694367e2a41f981d126678e11915 +size 9464662 diff --git a/actions/locomanipulation/LM46/session_001/meta.json b/actions/locomanipulation/LM46/session_001/meta.json index f459834dce582a65c528044b44683f9fac21ba33..6eeea5cdd91595884b2bb69cf4cb48078c7e14b5 100644 --- a/actions/locomanipulation/LM46/session_001/meta.json +++ b/actions/locomanipulation/LM46/session_001/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -393,14 +393,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02575, - 0.26943, - 0.80116 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 171.6, - "opposite_sign_bend_deg": 20.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.985, + "inlier_spread_deg": 10.52, + "marker_Q_to_gsi_deg": { + "1": 173.8, + "-1": 11.5 + } + }, + "wrist_bend_deg_median": 160.2, + "opposite_sign_bend_deg": 35.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.76, "hand_vs_marker_frame_deg": { "before": 179.22, @@ -411,15 +422,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 159.97, + "twist_moved_deg": -156.87, "wrist_twist_deg_after": { - "median": 14.27, + "median": -3.11, "iqr": [ - 6.8, - 25.4 + -11.0, + 6.8 ] }, - "wrist_total_deg_median_after": 35.3, + "wrist_total_deg_median_after": 20.4, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -432,11 +443,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.967, + "inlier_spread_deg": 8.75, + "marker_Q_to_gsi_deg": { + "1": 6.7, + "-1": 178.8 + } + }, "wrist_bend_deg_median": 21.7, "opposite_sign_bend_deg": 172.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -451,9 +473,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -8.1, 7.8 @@ -467,7 +489,7 @@ }, "frames_used": 1308 }, - "generated_at_utc": "2026-10-28T06:14:53.031688+00:00", + "generated_at_utc": "2026-11-06T13:37:01.836188+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -511,6 +533,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.034452581198605 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 11.7, + "offset_rotvec": [ + -0.1129, + -0.1571, + 0.0651 + ], + "dev_deg": { + "median": 10.64, + "p90": 19.79 + }, + "samples": 3077, + "accepted": 3030, + "wrist_pos_err_mm_median": 34.1, + "per_camera": { + "head": { + "samples": 3077, + "accepted": 3030, + "gate_deg": 30.0, + "offset_deg": 11.7, + "tier": "primary", + "dev_deg_median": 10.64, + "wrist_pos_err_mm_median": 34.1 + } + }, + "frames_by_state": { + "ace_sample": 12153, + "interpolated": 562, + "mean_hand": 361, + "no_body_fit": 8 + }, + "observed_fraction": 0.9718, + "observed_fraction_of_valid": 0.9724, + "palm_axis_vs_markers_deg": { + "gsi": 12.63, + "smplx": 1.93 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.3, + "p90": 10.3 + }, + "registered": { + "median": 9.6, + "p90": 11.5 + } + } + }, + "right": { + "offset_deg": 6.53, + "offset_rotvec": [ + -0.0451, + 0.0553, + 0.0888 + ], + "dev_deg": { + "median": 8.93, + "p90": 15.94 + }, + "samples": 3077, + "accepted": 2974, + "wrist_pos_err_mm_median": 28.1, + "per_camera": { + "head": { + "samples": 3077, + "accepted": 2974, + "gate_deg": 30.0, + "offset_deg": 6.53, + "tier": "primary", + "dev_deg_median": 8.93, + "wrist_pos_err_mm_median": 28.1 + } + }, + "frames_by_state": { + "ace_sample": 11905, + "interpolated": 418, + "mean_hand": 753, + "no_body_fit": 8 + }, + "observed_fraction": 0.9418, + "observed_fraction_of_valid": 0.9424, + "palm_axis_vs_markers_deg": { + "gsi": 7.59, + "smplx": 2.24 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.4, + "p90": 8.1 + }, + "registered": { + "median": 5.4, + "p90": 9.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:27:40.845519+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/locomanipulation/LM46/session_001", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM46/session_001/motions/smplx.npz b/actions/locomanipulation/LM46/session_001/motions/smplx.npz index b36f8794dd8fd63abfbf5b699ec62ca30078eb42..fdddd5dc3ecf974ab5aa0e60ac398e4c336e64ca 100644 --- a/actions/locomanipulation/LM46/session_001/motions/smplx.npz +++ b/actions/locomanipulation/LM46/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a2a7c3a0a93676f911955d84cdd3c4098199be0399fa5f75b4df337bf21ef259 -size 5027056 +oid sha256:6c01520380f15061fe3d1b5973cab44bbcd4ca1848def4baa567afcf3cf00456 +size 9286472 diff --git a/actions/locomanipulation/LM46/session_002/meta.json b/actions/locomanipulation/LM46/session_002/meta.json index 1729df778064db393246ad3e36a2ce235dd17840..ad61c0fc6f89258baef7ef9e037d4bd54d40f3df 100644 --- a/actions/locomanipulation/LM46/session_002/meta.json +++ b/actions/locomanipulation/LM46/session_002/meta.json @@ -340,8 +340,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": 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": { @@ -402,14 +402,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02575, - 0.26943, - 0.80116 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 170.7, - "opposite_sign_bend_deg": 21.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2794, + "inlier_frac": 0.969, + "inlier_spread_deg": 8.89, + "marker_Q_to_gsi_deg": { + "1": 171.1, + "-1": 13.7 + } + }, + "wrist_bend_deg_median": 164.2, + "opposite_sign_bend_deg": 32.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.61, "hand_vs_marker_frame_deg": { "before": 179.17, @@ -420,15 +431,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 164.29, + "twist_moved_deg": -160.15, "wrist_twist_deg_after": { - "median": 11.19, + "median": -4.14, "iqr": [ - 3.7, - 19.2 + -12.6, + 4.4 ] }, - "wrist_total_deg_median_after": 32.6, + "wrist_total_deg_median_after": 21.0, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -442,10 +453,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - -0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2913, + "inlier_frac": 0.973, + "inlier_spread_deg": 7.72, + "marker_Q_to_gsi_deg": { + "1": 6.0, + "-1": 179.4 + } + }, "wrist_bend_deg_median": 23.4, "opposite_sign_bend_deg": 171.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -459,9 +481,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -11.3, 9.1 @@ -476,7 +498,7 @@ }, "frames_used": 1308 }, - "generated_at_utc": "2026-10-28T06:14:53.367939+00:00", + "generated_at_utc": "2026-11-06T13:37:11.944879+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -520,6 +542,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9598206226773321 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 13.58, + "offset_rotvec": [ + -0.1582, + -0.167, + 0.0573 + ], + "dev_deg": { + "median": 9.13, + "p90": 19.41 + }, + "samples": 2794, + "accepted": 2709, + "wrist_pos_err_mm_median": 35.4, + "per_camera": { + "head": { + "samples": 2794, + "accepted": 2709, + "gate_deg": 30.0, + "offset_deg": 13.58, + "tier": "primary", + "dev_deg_median": 9.13, + "wrist_pos_err_mm_median": 35.4 + } + }, + "frames_by_state": { + "ace_sample": 10866, + "interpolated": 798, + "mean_hand": 1412, + "no_body_fit": 8 + }, + "observed_fraction": 0.8915, + "observed_fraction_of_valid": 0.892, + "palm_axis_vs_markers_deg": { + "gsi": 13.51, + "smplx": 1.63 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.3, + "p90": 10.8 + }, + "registered": { + "median": 10.5, + "p90": 12.0 + } + } + }, + "right": { + "offset_deg": 6.09, + "offset_rotvec": [ + -0.0169, + 0.0528, + 0.0906 + ], + "dev_deg": { + "median": 7.92, + "p90": 19.05 + }, + "samples": 2913, + "accepted": 2836, + "wrist_pos_err_mm_median": 24.0, + "per_camera": { + "head": { + "samples": 2913, + "accepted": 2836, + "gate_deg": 30.0, + "offset_deg": 6.09, + "tier": "primary", + "dev_deg_median": 7.92, + "wrist_pos_err_mm_median": 24.0 + } + }, + "frames_by_state": { + "ace_sample": 11362, + "interpolated": 482, + "mean_hand": 1232, + "no_body_fit": 8 + }, + "observed_fraction": 0.9052, + "observed_fraction_of_valid": 0.9058, + "palm_axis_vs_markers_deg": { + "gsi": 6.46, + "smplx": 1.61 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.0, + "p90": 8.4 + }, + "registered": { + "median": 6.3, + "p90": 8.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:29:49.745548+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/locomanipulation/LM46/session_002", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM46/session_002/motions/smplx.npz b/actions/locomanipulation/LM46/session_002/motions/smplx.npz index f586ca1e1b41f59ebddd1f7a831e2d61c398c742..13a99dd1134d7a60b935893d8a7646768896aa33 100644 --- a/actions/locomanipulation/LM46/session_002/motions/smplx.npz +++ b/actions/locomanipulation/LM46/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1788a588e768757b7cecb90bfde41e9744e6a1d1bf37a53b5adb682d6a5823b2 -size 5024505 +oid sha256:c6bda30489d2ee3fc2e32450f2a48988beac675cebc938ad449e9b6e6d0b5acd +size 9063696 diff --git a/actions/locomanipulation/LM46/session_003/meta.json b/actions/locomanipulation/LM46/session_003/meta.json index 32bbe3b4171ede4a19c1fc42d4d57071e9f1a142..d912f088ee5258fcf9069f6a4a31451a88d36b2e 100644 --- a/actions/locomanipulation/LM46/session_003/meta.json +++ b/actions/locomanipulation/LM46/session_003/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": { @@ -390,19 +390,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 35.6, - "opposite_sign_bend_deg": 169.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2783, + "inlier_frac": 0.916, + "inlier_spread_deg": 10.54, + "marker_Q_to_gsi_deg": { + "1": 171.9, + "-1": 10.1 + } + }, + "wrist_bend_deg_median": 169.0, + "opposite_sign_bend_deg": 35.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.36, "hand_vs_marker_frame_deg": { - "before": 4.37, + "before": 177.28, "after": 4.36 }, "markers_on_wrist": [ @@ -411,15 +422,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -2.57, + "twist_moved_deg": -160.07, "wrist_twist_deg_after": { - "median": 0.0, + "median": -12.92, "iqr": [ - -7.3, - 13.2 + -21.9, + -2.0 ] }, - "wrist_total_deg_median_after": 35.8, + "wrist_total_deg_median_after": 27.9, "markers_on_forearm": [ "LElbow", "LForearm", @@ -432,11 +443,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, + 0.0, -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2883, + "inlier_frac": 0.967, + "inlier_spread_deg": 9.52, + "marker_Q_to_gsi_deg": { + "1": 7.0, + "-1": 174.7 + } + }, "wrist_bend_deg_median": 21.7, "opposite_sign_bend_deg": 172.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -450,7 +472,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -467,7 +489,7 @@ }, "frames_used": 1249 }, - "generated_at_utc": "2026-10-28T06:14:53.366820+00:00", + "generated_at_utc": "2026-11-06T13:37:14.835716+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -542,6 +564,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 8.7, + "offset_rotvec": [ + -0.1342, + -0.0671, + 0.0229 + ], + "dev_deg": { + "median": 10.91, + "p90": 26.78 + }, + "samples": 2783, + "accepted": 2549, + "wrist_pos_err_mm_median": 75.9, + "per_camera": { + "head": { + "samples": 2783, + "accepted": 2549, + "gate_deg": 30.0, + "offset_deg": 8.7, + "tier": "primary", + "dev_deg_median": 10.91, + "wrist_pos_err_mm_median": 75.9 + } + }, + "frames_by_state": { + "ace_sample": 10240, + "interpolated": 1488, + "mean_hand": 756, + "no_body_fit": 0 + }, + "observed_fraction": 0.9394, + "observed_fraction_of_valid": 0.9394, + "palm_axis_vs_markers_deg": { + "gsi": 10.46, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 5.59, + "offset_rotvec": [ + -0.0871, + -0.0139, + 0.0415 + ], + "dev_deg": { + "median": 10.13, + "p90": 20.14 + }, + "samples": 2883, + "accepted": 2790, + "wrist_pos_err_mm_median": 72.5, + "per_camera": { + "head": { + "samples": 2883, + "accepted": 2790, + "gate_deg": 30.0, + "offset_deg": 5.59, + "tier": "primary", + "dev_deg_median": 10.13, + "wrist_pos_err_mm_median": 72.5 + } + }, + "frames_by_state": { + "ace_sample": 11216, + "interpolated": 896, + "mean_hand": 372, + "no_body_fit": 0 + }, + "observed_fraction": 0.9702, + "observed_fraction_of_valid": 0.9702, + "palm_axis_vs_markers_deg": { + "gsi": 9.46, + "smplx": 1.95 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.5, + "p90": 7.3 + }, + "registered": { + "median": 6.3, + "p90": 7.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:30:01.239507+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/locomanipulation/LM46/session_003", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM46/session_003/motions/smplx.npz b/actions/locomanipulation/LM46/session_003/motions/smplx.npz index 57afa2dc1cd1bf4d8775593b70bba60b49c2b16b..3e7960fe2ee36f5dc6d706ee541090a33809b226 100644 --- a/actions/locomanipulation/LM46/session_003/motions/smplx.npz +++ b/actions/locomanipulation/LM46/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8bed489e18e0cf26f8d3f65b31eecd445093bf26b89c0fa3c251d5100c3ceb07 -size 4814531 +oid sha256:0b551f4bf4cfa0abc47c276255b334d065ed6cd2659d20dfa50ca14c17a1e72d +size 8879399 diff --git a/actions/locomanipulation/LM47/session_001/meta.json b/actions/locomanipulation/LM47/session_001/meta.json index 04fa562b7f5b926a9bf4d3e53eedba9bf58c3c9f..80209beaba40fffb3a530acefe1aa71bd27c9d2a 100644 --- a/actions/locomanipulation/LM47/session_001/meta.json +++ b/actions/locomanipulation/LM47/session_001/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": { @@ -400,14 +400,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02575, - 0.26943, - 0.80116 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 168.5, - "opposite_sign_bend_deg": 25.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.802, + "inlier_spread_deg": 12.79, + "marker_Q_to_gsi_deg": { + "1": 169.0, + "-1": 16.6 + } + }, + "wrist_bend_deg_median": 158.8, + "opposite_sign_bend_deg": 41.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.3, "hand_vs_marker_frame_deg": { "before": 177.92, @@ -418,15 +429,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 162.81, + "twist_moved_deg": -158.36, "wrist_twist_deg_after": { - "median": 12.35, + "median": -4.45, "iqr": [ - 3.9, - 25.1 + -11.8, + 12.5 ] }, - "wrist_total_deg_median_after": 41.9, + "wrist_total_deg_median_after": 24.4, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -439,11 +450,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.928, + "inlier_spread_deg": 10.14, + "marker_Q_to_gsi_deg": { + "1": 3.4, + "-1": 179.1 + } + }, "wrist_bend_deg_median": 21.4, "opposite_sign_bend_deg": 173.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -457,9 +479,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -7.4, 10.3 @@ -474,7 +496,7 @@ }, "frames_used": 1428 }, - "generated_at_utc": "2026-10-28T06:14:54.251799+00:00", + "generated_at_utc": "2026-11-06T13:37:22.436570+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -518,6 +540,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.915087630667323 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 16.94, + "offset_rotvec": [ + -0.2195, + -0.1789, + 0.085 + ], + "dev_deg": { + "median": 14.71, + "p90": 132.76 + }, + "samples": 3294, + "accepted": 2612, + "wrist_pos_err_mm_median": 54.5, + "per_camera": { + "head": { + "samples": 3294, + "accepted": 2612, + "gate_deg": 30.0, + "offset_deg": 16.94, + "tier": "primary", + "dev_deg_median": 14.71, + "wrist_pos_err_mm_median": 54.5 + } + }, + "frames_by_state": { + "ace_sample": 10516, + "interpolated": 1060, + "mean_hand": 2700, + "no_body_fit": 8 + }, + "observed_fraction": 0.8104, + "observed_fraction_of_valid": 0.8109, + "palm_axis_vs_markers_deg": { + "gsi": 19.46, + "smplx": 2.61 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.8, + "p90": 13.1 + }, + "registered": { + "median": 11.7, + "p90": 14.1 + } + } + }, + "right": { + "offset_deg": 3.82, + "offset_rotvec": [ + 0.0103, + -0.0413, + 0.0514 + ], + "dev_deg": { + "median": 11.31, + "p90": 26.57 + }, + "samples": 3265, + "accepted": 3024, + "wrist_pos_err_mm_median": 52.6, + "per_camera": { + "head": { + "samples": 3265, + "accepted": 3024, + "gate_deg": 30.0, + "offset_deg": 3.82, + "tier": "primary", + "dev_deg_median": 11.31, + "wrist_pos_err_mm_median": 52.6 + } + }, + "frames_by_state": { + "ace_sample": 12204, + "interpolated": 1464, + "mean_hand": 608, + "no_body_fit": 8 + }, + "observed_fraction": 0.9569, + "observed_fraction_of_valid": 0.9574, + "palm_axis_vs_markers_deg": { + "gsi": 10.42, + "smplx": 2.34 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.9, + "p90": 11.9 + }, + "registered": { + "median": 7.7, + "p90": 10.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:30:02.539348+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/locomanipulation/LM47/session_001", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM47/session_001/motions/smplx.npz b/actions/locomanipulation/LM47/session_001/motions/smplx.npz index a2156ebd8383ba5e8d2e1f84deb5e93e0f7f177c..ad9ac535777dec33cdef4af5dcf1ec744e3f4a2c 100644 --- a/actions/locomanipulation/LM47/session_001/motions/smplx.npz +++ b/actions/locomanipulation/LM47/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:bb37918b025488aebb00c898b00dd831a57d623d0947bb09f54eeef239742804 -size 5470960 +oid sha256:f648a80713d759d7440b600559090da57e05cb51ff5ea86a58e7c594750ea846 +size 9798242 diff --git a/actions/locomanipulation/LM47/session_002/meta.json b/actions/locomanipulation/LM47/session_002/meta.json index 190450ad43e01394ccacfaaca41b2a6a2d1df127..608c43d51b92aa04d18cf4865869ba5735a9983f 100644 --- a/actions/locomanipulation/LM47/session_002/meta.json +++ b/actions/locomanipulation/LM47/session_002/meta.json @@ -325,8 +325,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -387,14 +387,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02575, - 0.26943, - 0.80116 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 169.8, - "opposite_sign_bend_deg": 24.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.591, + "inlier_spread_deg": 10.61, + "marker_Q_to_gsi_deg": { + "1": 165.6, + "-1": 17.7 + } + }, + "wrist_bend_deg_median": 130.9, + "opposite_sign_bend_deg": 54.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.3, "hand_vs_marker_frame_deg": { "before": 175.75, @@ -405,15 +416,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 128.59, + "twist_moved_deg": -117.69, "wrist_twist_deg_after": { - "median": 46.07, + "median": -10.91, "iqr": [ - 5.1, - 59.0 + -63.1, + -0.6 ] }, - "wrist_total_deg_median_after": 54.9, + "wrist_total_deg_median_after": 24.2, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -426,11 +437,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.888, + "inlier_spread_deg": 10.13, + "marker_Q_to_gsi_deg": { + "1": 2.9, + "-1": 179.8 + } + }, "wrist_bend_deg_median": 20.5, "opposite_sign_bend_deg": 173.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -444,7 +466,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -461,7 +483,7 @@ }, "frames_used": 1309 }, - "generated_at_utc": "2026-10-28T06:14:53.694590+00:00", + "generated_at_utc": "2026-11-06T13:37:28.541687+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -505,6 +527,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9858481941656767 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 21.46, + "offset_rotvec": [ + -0.327, + -0.1401, + 0.1169 + ], + "dev_deg": { + "median": 20.1, + "p90": 164.32 + }, + "samples": 3024, + "accepted": 1775, + "wrist_pos_err_mm_median": 79.5, + "per_camera": { + "head": { + "samples": 3024, + "accepted": 1775, + "gate_deg": 30.0, + "offset_deg": 21.46, + "tier": "primary", + "dev_deg_median": 20.1, + "wrist_pos_err_mm_median": 79.5 + } + }, + "frames_by_state": { + "ace_sample": 7134, + "interpolated": 742, + "mean_hand": 5208, + "no_body_fit": 0 + }, + "observed_fraction": 0.602, + "observed_fraction_of_valid": 0.602, + "palm_axis_vs_markers_deg": { + "gsi": 24.93, + "smplx": 5.21 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.7, + "p90": 15.0 + }, + "registered": { + "median": 11.3, + "p90": 15.2 + } + } + }, + "right": { + "offset_deg": 3.53, + "offset_rotvec": [ + 0.0038, + 0.0136, + 0.06 + ], + "dev_deg": { + "median": 11.25, + "p90": 31.28 + }, + "samples": 3078, + "accepted": 2730, + "wrist_pos_err_mm_median": 81.5, + "per_camera": { + "head": { + "samples": 3078, + "accepted": 2730, + "gate_deg": 30.0, + "offset_deg": 3.53, + "tier": "primary", + "dev_deg_median": 11.25, + "wrist_pos_err_mm_median": 81.5 + } + }, + "frames_by_state": { + "ace_sample": 11000, + "interpolated": 1048, + "mean_hand": 1036, + "no_body_fit": 0 + }, + "observed_fraction": 0.9208, + "observed_fraction_of_valid": 0.9208, + "palm_axis_vs_markers_deg": { + "gsi": 10.16, + "smplx": 2.3 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.6, + "p90": 9.4 + }, + "registered": { + "median": 7.2, + "p90": 9.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:29:57.639701+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/locomanipulation/LM47/session_002", "family": "locomanipulation",