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16.683 1793330557600 118.203850 331.203369 87.098030 344.556061 323.498749 -160.256866 -72.689590 142.023911 -20.151613 232.119965 80.732674 -172.565353 117.847710 330.587555 86.395699 345.466553 323.130463 -160.530075 -73.631653 141.875107 -19.252230 232.507660 81.865555 -172.489197 +2004 16.691 1793330557609 118.203751 331.229156 87.116226 344.520172 323.515839 -160.244431 -72.694649 142.015610 -20.146160 232.091904 80.719414 -172.551514 117.831741 330.596558 86.405838 345.443024 323.138855 -160.526901 -73.644974 141.874664 -19.230034 232.491394 81.869957 -172.474777 +2005 16.700 1793330557617 118.192947 331.256836 87.096725 344.486237 323.580261 -160.276962 -72.668488 142.040588 -20.120787 232.092545 80.778519 -172.550323 117.827866 330.642334 86.398361 345.413177 323.206024 -160.558960 -73.633041 141.887695 -19.207647 232.495239 81.920174 -172.483109 +2006 16.708 1793330557625 118.173561 331.264313 87.126801 344.491455 323.626251 -160.255798 -72.692322 142.038300 -20.139656 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b/actions/dynamic_recovery/DR09/session_014/raw/mocap/Body0.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30ac6fe0949e8c9308b9eb0ea7f1d9303d6f8b94ef8e7afb3c030d8f1b3985e2 +size 144339400 diff --git a/actions/dynamic_recovery/DR09/session_014/raw/mocap/Body0.trc b/actions/dynamic_recovery/DR09/session_014/raw/mocap/Body0.trc new file mode 100644 index 0000000000000000000000000000000000000000..45245c5b7fb7edbeda4a8d4ed3dd70aaa16e5f5f --- /dev/null +++ b/actions/dynamic_recovery/DR09/session_014/raw/mocap/Body0.trc @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d41ba41a7e0bed7e42c7daebee2bb57755e93e76d739f653d804e4507f2695f +size 31894349 diff --git a/actions/dynamic_recovery/DR09/session_014/raw/mocap/Tracker0.csv b/actions/dynamic_recovery/DR09/session_014/raw/mocap/Tracker0.csv new file mode 100644 index 0000000000000000000000000000000000000000..80d7c51ed8e791d2913e3b2d3995667b84f4f47f --- /dev/null +++ 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0000000000000000000000000000000000000000..d1b985789ca4954a3642e64f8b72716c6b91003e --- /dev/null +++ b/actions/dynamic_recovery/DR10/session_001/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b0d085fd2a2388a0c9d3ae82ce08ee24797f222cf04f180e88b9b9daf2cc8d7 +size 712681 diff --git a/actions/dynamic_recovery/DR10/session_001/meta.json b/actions/dynamic_recovery/DR10/session_001/meta.json index b0924ec9a23be69948335be52d4d75bde0778ff6..59800bb72032f18fcac32b39232838af66ec7df1 100644 --- a/actions/dynamic_recovery/DR10/session_001/meta.json +++ b/actions/dynamic_recovery/DR10/session_001/meta.json @@ -282,8 +282,8 @@ "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": { @@ -467,10 +467,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.5874745949635516 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 24.37, + "offset_rotvec": [ + 0.4077, + -0.0861, + 0.085 + ], + "dev_deg": { + "median": 14.37, + "p90": 32.18 + }, + "samples": 1791, + "accepted": 1566, + "wrist_pos_err_mm_median": 92.9, + "per_camera": { + "head": { + "samples": 1791, + "accepted": 1566, + "gate_deg": 30.0, + "offset_deg": 24.37, + "tier": "primary", + "dev_deg_median": 14.37, + "wrist_pos_err_mm_median": 92.9 + } + }, + "frames_by_state": { + "ace_sample": 6506, + "interpolated": 5930, + "mean_hand": 2448, + "no_body_fit": 0 + }, + "observed_fraction": 0.8355, + 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They may not all feel the same underfoot. Carry on afterwards." } } diff --git a/actions/dynamic_recovery/DR10/session_001/motions/hands_mano.npz b/actions/dynamic_recovery/DR10/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..e7b4ac7105c114171798eeab35620dda46cab891 --- /dev/null +++ b/actions/dynamic_recovery/DR10/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da3da23aa696cf432d0296ef6163bc6c7ca9a1dccd58307bc724139aabea0e67 +size 1901001 diff --git a/actions/dynamic_recovery/DR10/session_001/motions/smplx.npz b/actions/dynamic_recovery/DR10/session_001/motions/smplx.npz index 35cb3f208d09f0a401d3c982f7c0359254a5d313..97fe9d5ec15c79f5f0801607775d715bff839201 100644 --- a/actions/dynamic_recovery/DR10/session_001/motions/smplx.npz +++ b/actions/dynamic_recovery/DR10/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4e2c59a14538839364811cf3f7c262a9fb4adcda3cc642632ef421d131cdd35f -size 5716215 +oid sha256:4353a66d65ba3199bfdd393a50e4582e148afdfec4322f931b45b7a13b70d337 +size 8953069 diff --git a/actions/dynamic_recovery/DR10/session_002/annotations.json b/actions/dynamic_recovery/DR10/session_002/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..735b1d79d7dd91a36cdedad3b79183ecba7cbda2 --- /dev/null +++ b/actions/dynamic_recovery/DR10/session_002/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "DR10", + "instruction": "Walk across the mats at a normal pace. 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0000000000000000000000000000000000000000..ff0b2bded36b5a4e813b66f88eb092f78f04e358 --- /dev/null +++ b/actions/dynamic_recovery/DR10/session_002/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a205801876d4a2c114036349d342b7477f0d0830677973bdbbfdef57a6903a8b +size 747070 diff --git a/actions/dynamic_recovery/DR10/session_002/meta.json b/actions/dynamic_recovery/DR10/session_002/meta.json index 4c771838752210e0577c717bf65c483aa85a764c..cc8c057e6249f0f7fe2868d14ef2ca4bd1578edd 100644 --- a/actions/dynamic_recovery/DR10/session_002/meta.json +++ b/actions/dynamic_recovery/DR10/session_002/meta.json @@ -331,8 +331,8 @@ "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": { @@ -525,10 +525,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.213286237233967 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 4.64, + "offset_rotvec": [ + 0.0074, + -0.0619, + -0.0517 + ], + "dev_deg": { + "median": 10.23, + "p90": 29.27 + }, + "samples": 3353, + "accepted": 3037, + "wrist_pos_err_mm_median": 83.6, + "per_camera": { + "head": { + "samples": 3353, + "accepted": 3037, + "gate_deg": 30.0, + "offset_deg": 4.64, + "tier": "primary", + "dev_deg_median": 10.23, + "wrist_pos_err_mm_median": 83.6 + } + }, + "frames_by_state": { + "ace_sample": 12356, + "interpolated": 3120, + "mean_hand": 148, + "no_body_fit": 0 + }, + "observed_fraction": 0.9905, + 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+ "registered": { + "median": 12.9, + "p90": 15.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T23:00:43.957913+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/dynamic_recovery/DR10/session_002", "family": "dynamic_recovery", "primitive": "DR10", "source_session": "20260918/DR10/20260918_082125_session54" + }, + "task": { + "primitive": "DR10", + "instruction": "Walk across the mats at a normal pace. They may not all feel the same underfoot. Carry on afterwards." } } diff --git a/actions/dynamic_recovery/DR10/session_002/motions/hands_mano.npz b/actions/dynamic_recovery/DR10/session_002/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..0a73ea0ccaa925889664c8bacabefbc30f51686d --- /dev/null +++ b/actions/dynamic_recovery/DR10/session_002/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:03881b4699456c9a75cc2fe46d6e2e49828e00cc58b620c09efa6d93154027b6 +size 4605651 diff --git a/actions/dynamic_recovery/DR10/session_002/motions/smplx.npz b/actions/dynamic_recovery/DR10/session_002/motions/smplx.npz index 11300411b3981f46799da99850681db6e189e396..c48c041874b874e26f0bd99b3a8d3f84c095df89 100644 --- a/actions/dynamic_recovery/DR10/session_002/motions/smplx.npz +++ b/actions/dynamic_recovery/DR10/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:66f120d1fcabd379db200dfae123716fd5be83da49ec9a0c5385ee4de315f5dd -size 5944637 +oid sha256:f8f7f96cbb315549f5a3cd097d2ee96d81df78ee72e97730046ce591f413389f +size 11078671 diff --git a/actions/dynamic_recovery/DR10/session_003/annotations.json b/actions/dynamic_recovery/DR10/session_003/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..84484f1257c0d4d9fd9cf98e8788dc66dcea527e --- /dev/null +++ b/actions/dynamic_recovery/DR10/session_003/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "DR10", + "instruction": "Walk across the mats at a normal pace. They may not all feel the same underfoot. Carry on afterwards.", + "segments": [ + { + "id": "segment1", + "duration_s": 123.966722, + "video": "left_eye", + "video_t_start": 0.039020476370109636 + } + ], + "episodes": [ + { + "id": "6c52b2a6-fe2c-48b3-b593-31e3c7461a64", + "segment": "segment1", + "action": "DR10", + "quality": "valid", + "start_s": 1.454, + "end_s": 59.642, + "t_start": 1.493, + "t_end": 59.681, + "instruction": "Walk across the mats at a normal pace. They may not all feel the same underfoot. Carry on afterwards." + }, + { + "id": "0da7ce4b-b19b-4547-a096-403769dbe000", + "segment": "segment1", + "action": "DR10", + "quality": "valid", + "start_s": 62.432, + "end_s": 120.652, + "t_start": 62.471, + "t_end": 120.691, + "instruction": "Walk across the mats at a normal pace. They may not all feel the same underfoot. Carry on afterwards." + } + ] +} diff --git a/actions/dynamic_recovery/DR10/session_003/cameras/slam.npz b/actions/dynamic_recovery/DR10/session_003/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..64621a5fb1d9907afab142fc544a30ac0d6dfeb2 --- /dev/null +++ b/actions/dynamic_recovery/DR10/session_003/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd02af08b9a07c7c487fa54946af5f9514c686dbdab2dd9f26e0a195cb9ed4b9 +size 712719 diff --git a/actions/dynamic_recovery/DR10/session_003/meta.json b/actions/dynamic_recovery/DR10/session_003/meta.json index c87db0ad24b47ee98b93ef3d7900976ea31957e2..18f788fa48594521aef295b68fac762ebff060f7 100644 --- a/actions/dynamic_recovery/DR10/session_003/meta.json +++ b/actions/dynamic_recovery/DR10/session_003/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": { @@ -518,10 +518,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.7166081622036082 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 14.61, + "offset_rotvec": [ + 0.2308, + -0.078, + -0.0754 + ], + "dev_deg": { + "median": 15.76, + "p90": 35.21 + }, + "samples": 2066, + "accepted": 1756, + "wrist_pos_err_mm_median": 206.7, + "per_camera": { + "head": { + "samples": 2066, + "accepted": 1756, + "gate_deg": 30.0, + "offset_deg": 14.61, + "tier": "primary", + "dev_deg_median": 15.76, + "wrist_pos_err_mm_median": 206.7 + } + }, + "frames_by_state": { + "ace_sample": 7400, + "interpolated": 7068, + "mean_hand": 412, + "no_body_fit": 4 + }, + "observed_fraction": 0.9721, + "observed_fraction_of_valid": 0.9723, + "palm_axis_vs_markers_deg": { + "gsi": 23.81, + "smplx": 1.17 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 17.5, + "p90": 21.6 + }, + "registered": { + "median": 16.7, + "p90": 20.8 + } + } + }, + "right": { + "offset_deg": 13.29, + "offset_rotvec": [ + 0.0775, + -0.0687, + 0.2076 + ], + "dev_deg": { + "median": 23.65, + "p90": 48.36 + }, + "samples": 1979, + "accepted": 1150, + "wrist_pos_err_mm_median": 375.8, + "per_camera": { + "head": { + "samples": 1979, + "accepted": 1150, + "gate_deg": 30.0, + "offset_deg": 13.29, + "tier": "primary", + "dev_deg_median": 23.65, + "wrist_pos_err_mm_median": 375.8 + } + }, + "frames_by_state": { + "ace_sample": 4692, + "interpolated": 5568, + "mean_hand": 4620, + "no_body_fit": 4 + }, + "observed_fraction": 0.6893, + "observed_fraction_of_valid": 0.6895, + "palm_axis_vs_markers_deg": { + "gsi": 27.62, + "smplx": 0.57 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.2, + "p90": 15.9 + }, + "registered": { + "median": 10.0, + "p90": 15.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:37:06.933090+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/dynamic_recovery/DR10/session_003", "family": "dynamic_recovery", "primitive": "DR10", "source_session": "20260924/DR10/20260924_040012_session61" + }, + "task": { + "primitive": "DR10", + "instruction": "Walk across the mats at a normal pace. They may not all feel the same underfoot. Carry on afterwards." } } diff --git a/actions/dynamic_recovery/DR10/session_003/motions/hands_mano.npz b/actions/dynamic_recovery/DR10/session_003/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..258be397f0fda29dca4f0d331e649aefd8a911ff --- /dev/null +++ b/actions/dynamic_recovery/DR10/session_003/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:97275400536ef534b7f8e04ec87b214120e125af7623231961932e290509792b +size 2856890 diff --git a/actions/dynamic_recovery/DR10/session_003/motions/smplx.npz b/actions/dynamic_recovery/DR10/session_003/motions/smplx.npz index f9f3d253c444b601a94937da560fd1b098dd2101..1e61019ad69f3d3d5401bff97fec8fa99a2e212e 100644 --- a/actions/dynamic_recovery/DR10/session_003/motions/smplx.npz +++ b/actions/dynamic_recovery/DR10/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:13f3c14eb644fc59e3578b37eb5b99c311b1a450e0970647e92226c00a863d09 -size 5748462 +oid sha256:c1ea75b930501959c040b2134fa71255a7fd569af098eced9b8d2c1210e005ff +size 10193424 diff --git a/actions/dynamic_recovery/DR10/session_004/annotations.json b/actions/dynamic_recovery/DR10/session_004/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..c766a5886969c13bab3d7e5b1d31946b339f348d --- /dev/null +++ b/actions/dynamic_recovery/DR10/session_004/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "DR10", + "instruction": "Walk across the mats at a normal pace. They may not all feel the same underfoot. Carry on afterwards.", + "segments": [ + { + "id": "segment1", + "duration_s": 138.966667, + "video": "left_eye", + "video_t_start": 0.03914472276843073 + } + ], + "episodes": [ + { + "id": "52be6bae-0128-4f23-9523-f7959747b1c9", + "segment": "segment1", + "action": "DR10", + "quality": "valid", + "start_s": 0, + "end_s": 61.773, + "t_start": 0.0391, + "t_end": 61.8121, + "instruction": "Walk across the mats at a normal pace. They may not all feel the same underfoot. Carry on afterwards." + }, + { + "id": "2e714b83-73c7-4b33-82be-f0b14be67ad6", + "segment": "segment1", + "action": "DR10", + "quality": "valid", + "start_s": 64.634, + "end_s": 128.832, + "t_start": 64.6731, + "t_end": 128.8711, + "instruction": "Walk across the mats at a normal pace. They may not all feel the same underfoot. Carry on afterwards." + } + ] +} diff --git a/actions/dynamic_recovery/DR10/session_004/cameras/gsi_online_calibration.json b/actions/dynamic_recovery/DR10/session_004/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..8b2219fd08e9fd5ab3f77e05c51df7cfb14f62c9 --- /dev/null +++ b/actions/dynamic_recovery/DR10/session_004/cameras/gsi_online_calibration.json @@ -0,0 +1,257 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 15, + "median_px": 0.362 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye", + "right" + ], + "delta_deg": 1.2043, + "gate_fail": [], + "held_out_px_after": 0.522, + "held_out_px_before": 6.008, + "inliers": 3697, + "position_fitted": false, + "rotvec_deg": [ + -0.176, + -0.4311, + -1.1106 + ], + "split_deg": 0.0914, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + 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/dev/null +++ b/actions/dynamic_recovery/DR10/session_004/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:baf26ecde19765217be3cd0fcff326c7c5ef249aed1c128b6ca1f0c2cf1238ed +size 799569 diff --git a/actions/dynamic_recovery/DR10/session_004/meta.json b/actions/dynamic_recovery/DR10/session_004/meta.json index 65c15aac7e39aee4881c1d2f9f7a478916281c7f..7a83774f273184f573cc6f93da06118f140f6ea0 100644 --- a/actions/dynamic_recovery/DR10/session_004/meta.json +++ b/actions/dynamic_recovery/DR10/session_004/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": { @@ -507,10 +507,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.552298504789178 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 21.88, + "offset_rotvec": [ + 0.364, + 0.0613, + 0.098 + ], + "dev_deg": { + "median": 13.78, + "p90": 25.5 + }, + "samples": 3562, + "accepted": 3373, + "wrist_pos_err_mm_median": 62.0, + "per_camera": { + "head": { + "samples": 3562, + "accepted": 3373, + "gate_deg": 30.0, + "offset_deg": 21.88, + "tier": "primary", + "dev_deg_median": 13.78, + "wrist_pos_err_mm_median": 62.0 + } + }, + "frames_by_state": { + "ace_sample": 13656, + "interpolated": 2588, + "mean_hand": 440, + "no_body_fit": 0 + }, + "observed_fraction": 0.9736, + "observed_fraction_of_valid": 0.9736, + "palm_axis_vs_markers_deg": { + "gsi": 21.79, + "smplx": 0.95 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.7, + "p90": 11.8 + }, + "registered": { + "median": 10.6, + "p90": 12.0 + } + } + }, + "right": { + "offset_deg": 17.79, + "offset_rotvec": [ + 0.2759, + -0.035, + 0.1378 + ], + "dev_deg": { + "median": 11.1, + "p90": 37.36 + }, + "samples": 3721, + "accepted": 3230, + "wrist_pos_err_mm_median": 62.7, + "per_camera": { + "head": { + "samples": 3721, + "accepted": 3230, + "gate_deg": 30.0, + "offset_deg": 17.79, + "tier": "primary", + "dev_deg_median": 11.1, + "wrist_pos_err_mm_median": 62.7 + } + }, + "frames_by_state": { + "ace_sample": 13014, + "interpolated": 1862, + "mean_hand": 1808, + "no_body_fit": 0 + }, + "observed_fraction": 0.8916, + "observed_fraction_of_valid": 0.8916, + "palm_axis_vs_markers_deg": { + "gsi": 16.42, + "smplx": 0.7 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.3, + "p90": 15.9 + }, + "registered": { + "median": 11.1, + "p90": 14.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:18:29.835678+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/dynamic_recovery/DR10/session_004", "family": "dynamic_recovery", "primitive": "DR10", "source_session": "20261009/DR10/20261009_033819_session55" + }, + "task": { + "primitive": "DR10", + "instruction": "Walk across the mats at a normal pace. They may not all feel the same underfoot. Carry on afterwards." } } diff --git a/actions/dynamic_recovery/DR10/session_004/motions/hands_mano.npz b/actions/dynamic_recovery/DR10/session_004/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..2d98c9d83f5760b053550ffdc3c234990bf66921 --- /dev/null +++ b/actions/dynamic_recovery/DR10/session_004/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ffa0933d2eee94a34f59e885c4d584b9dbba2a5f6fc1d4107f1ac5ff1f01ff3a +size 4942587 diff --git a/actions/dynamic_recovery/DR10/session_004/motions/smplx.npz b/actions/dynamic_recovery/DR10/session_004/motions/smplx.npz index 28440fb5fb4207329bf8f7fd830bf4d7e118a618..f545bfbcfb9a70e77e4935d0a38664593c5d8458 100644 --- a/actions/dynamic_recovery/DR10/session_004/motions/smplx.npz +++ b/actions/dynamic_recovery/DR10/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4bf4d10aec8adbf348e8cfcc31cb0b0eb69cac423eb8c936887fc99f5c90dd82 -size 6414646 +oid sha256:22fd02b01602b90d9b00dcff805d4140cc63260e2b0a359f44111197a6eb074d +size 11745170