diff --git a/actions/locomotion_primitives/P02/session_014/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P02/session_014/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..86e265ba763082349383cc5934d4832f6c4b7935 --- /dev/null +++ b/actions/locomotion_primitives/P02/session_014/cameras/gsi_online_calibration.json @@ -0,0 +1,251 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 14, + "median_px": 0.378 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.637, + "gate_fail": [], + "held_out_px_after": 0.45, + "held_out_px_before": 2.42, + "inliers": 2041, + "position_fitted": false, + "rotvec_deg": [ + 0.4128, + -0.391, + -0.2871 + ], + "split_deg": 0.0172, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.6548, + "gate_fail": [], + "held_out_px_after": 0.407, + "held_out_px_before": 7.06, + "inliers": 2866, + "position_fitted": true, + "position_mm": [ + 0.78, + -11.69, + 6.02 + ], + "position_sigma_mm": 0.448, + "position_split_mm": 3.671, + "rotvec_deg": [ + 0.2769, + 0.5762, + -1.5264 + ], + "split_deg": 0.0644, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 1.1962, + "gate_fail": [], + "held_out_px_after": 0.612, + "held_out_px_before": 5.048, + "inliers": 1049, + "position_fitted": false, + "rotvec_deg": [ + 1.0566, + -0.4147, + 0.3775 + ], + "split_deg": 0.0792, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.7146, + "gate_fail": [], + "held_out_px_after": 0.38, + "held_out_px_before": 2.963, + "inliers": 3028, + "position_fitted": true, + "position_mm": [ + 7.7, + -9.04, + 1.02 + ], + "position_sigma_mm": 0.464, + "position_split_mm": 3.718, + "rotvec_deg": [ + 0.505, + -0.4678, + -0.1918 + ], + "split_deg": 0.0829, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.0694, + "gate_fail": [], + "held_out_px_after": 0.359, + "held_out_px_before": 4.866, + "inliers": 3409, + "position_fitted": false, + "rotvec_deg": [ + -0.2414, + -0.1207, + -1.0348 + ], + "split_deg": 0.011, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "e17c9efadb69e7b1", + "factory_root_name": "e17c9efadb69e7b1", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "d6086b9578a2eb4ade00f69b24c86d6f6cd6d5bfdeeab9b4e63de68cc258e7c0", + "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "8cc473e2956133d0c0cee6d08729abb0dbe62d7a5f0705562fe376065941c05d", + "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "210a9f13df511b5c84caab9a356f8ea127d27cf3fbd85483f34469c16f680f94", + "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "61c57425191e960a9975ac91115a17bfd2dc18166a1e47bb3572e3917b81e4b5", + "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d" + } + }, + "input_fingerprint": "420d5d6ffedefda5", + "kind": "online_calibration", + "output_sha256": "fae2a3807c250d288bca51f1cabbbf7351eabc8f6ece3465ad87f13ba6879c54", + "overlap": { + "left-right": 0.501, + "left_eye-left": 0.707, + "left_eye-right": 0.671, + "left_front-left": 0.478, + "left_front-left_eye": 0.72, + "left_front-right": 0.448, + "left_front-right_eye": 0.732, + "left_front-right_front": 1.0, + "right_eye-left": 0.696, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.673, + "right_front-left": 0.464, + "right_front-left_eye": 0.723, + "right_front-right": 0.466, + "right_front-right_eye": 0.734 + }, + "picture_change": { + "left": 36.033, + "left_eye": 30.196, + "left_front": 31.722, + "right": 36.658, + "right_eye": 28.186, + "right_front": 30.904 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 29775129053222, + 29776129042111, + 29779129075444, + 29780129031000, + 29782129086555, + 29783129031000, + 29785129175444, + 29786129042111, + 29787129031000, + 29789129042111, + 29790129097666, + 29793129042111, + 29794129042111, + 29796129075444, + 29797129075444, + 29798129031000, + 29799129075444, + 29801129042111, + 29802129086555, + 29803129042111, + 29807129086555, + 29808129031000, + 29810129042111, + 29811129031000, + 29812129086555, + 29815129086555, + 29816129042111, + 29818129042111, + 29819129097666, + 29820129031000, + 29823129042111, + 29824129031000, + 29826129031000, + 29827129042111, + 29828129042111, + 29829129086555, + 29830129042111, + 29834129031000, + 29835129053222, + 29836129053222, + 29838129053222, + 29839129031000, + 29842129242111, + 29843129086555, + 29844129031000, + 29846129031000, + 29847129042111, + 29849129031000, + 29850129053222, + 29853129086555, + 29854129086555, + 29855129053222 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P02/session_014/cameras/slam.npz b/actions/locomotion_primitives/P02/session_014/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..c4711a9766689dd2fbe55a4768c202003ed6bd68 --- /dev/null +++ b/actions/locomotion_primitives/P02/session_014/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ee55f594a065c7b478aa88a2c1ddb9747f287e8c8de419bd313e26a779e8d50 +size 486206 diff --git a/actions/locomotion_primitives/P02/session_014/meta.json b/actions/locomotion_primitives/P02/session_014/meta.json index 24b9b1e6fa51e4f555216d3693afb938b0ac74df..424bc5ad4e91303a685441320380d715617bdb8c 100644 --- a/actions/locomotion_primitives/P02/session_014/meta.json +++ b/actions/locomotion_primitives/P02/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": { @@ -507,10 +507,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8181841438737134 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 21.17, + "offset_rotvec": [ + 0.1638, + -0.3278, + 0.0468 + ], + "dev_deg": { + "median": 28.38, + "p90": 48.46 + }, + "samples": 1434, + "accepted": 797, + "wrist_pos_err_mm_median": 85.7, + "per_camera": { + "head": { + "samples": 1434, + "accepted": 797, + "gate_deg": 30.0, + "offset_deg": 21.17, + "tier": "primary", + "dev_deg_median": 28.38, + "wrist_pos_err_mm_median": 85.7 + } + }, + "frames_by_state": { + "ace_sample": 3314, + "interpolated": 4150, + "mean_hand": 2620, + "no_body_fit": 0 + }, + "observed_fraction": 0.7402, + "observed_fraction_of_valid": 0.7402, + "palm_axis_vs_markers_deg": { + "gsi": 34.81, + "smplx": 1.09 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.9, + "p90": 7.2 + }, + "registered": { + "median": 3.6, + "p90": 7.7 + } + } + }, + "right": { + "offset_deg": 16.28, + "offset_rotvec": [ + -0.0641, + 0.2367, + 0.1436 + ], + "dev_deg": { + "median": 17.37, + "p90": 39.58 + }, + "samples": 1418, + "accepted": 1099, + "wrist_pos_err_mm_median": 77.2, + "per_camera": { + "head": { + "samples": 1418, + "accepted": 1099, + "gate_deg": 30.0, + "offset_deg": 16.28, + "tier": "primary", + "dev_deg_median": 17.37, + "wrist_pos_err_mm_median": 77.2 + } + }, + "frames_by_state": { + "ace_sample": 4566, + "interpolated": 3906, + "mean_hand": 1612, + "no_body_fit": 0 + }, + "observed_fraction": 0.8401, + "observed_fraction_of_valid": 0.8401, + "palm_axis_vs_markers_deg": { + "gsi": 18.93, + "smplx": 0.76 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 3.3, + "p90": 4.0 + }, + "registered": { + "median": 3.6, + "p90": 4.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T14:54:37.719148+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P02/session_014", "family": "locomotion_primitives", "primitive": "P02", "source_session": "20260908/P02/20260908_123222_session170" + }, + "task": { + "primitive": "P02", + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." } } diff --git a/actions/locomotion_primitives/P02/session_014/motions/hands_mano.npz b/actions/locomotion_primitives/P02/session_014/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..620f941111b56ab26cf1936545dbbf473c2d274a --- /dev/null +++ b/actions/locomotion_primitives/P02/session_014/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55f2b64dea157755aaa251ac94d1f6aff000e5d7df1b6301bac4abb322450fc8 +size 2016218 diff --git a/actions/locomotion_primitives/P02/session_014/motions/smplx.npz b/actions/locomotion_primitives/P02/session_014/motions/smplx.npz index d468274eb880608ba644b212b6b588cbb903547b..c81ead7ed50fa201eccbce7a1a4c9ff57b3ba817 100644 --- a/actions/locomotion_primitives/P02/session_014/motions/smplx.npz +++ b/actions/locomotion_primitives/P02/session_014/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7ee720d02bb24614d252641c906c8551fce27bdbbe9c80e2069126b08d6d425f -size 3881704 +oid sha256:9bb6f442498e3bb14a13ca2a955d992dac10c9b20cc0a9ece0e394a639247465 +size 6795055 diff --git a/actions/locomotion_primitives/P02/session_015/annotations.json b/actions/locomotion_primitives/P02/session_015/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..b7cfa2cd7a501fdb205cacc7ace73cc6c9363db5 --- /dev/null +++ b/actions/locomotion_primitives/P02/session_015/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P02", + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 108.966544, + "video": "left_eye", + "video_t_start": 0.03832252678937342 + } + ], + "episodes": [ + { + "id": "09f01c7f-c9b1-4531-988f-cd8fe6aa7c55", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 0, + "end_s": 8.701, + "t_start": 0.0383, + "t_end": 8.7393, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "6035dab4-f822-4888-b0b7-c90c37b77e5f", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 11.352, + "end_s": 19.279, + "t_start": 11.3903, + "t_end": 19.3173, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "1e8c124d-e718-46cd-87f4-df941eaec5e8", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 21.368, + "end_s": 29.143, + "t_start": 21.4063, + "t_end": 29.1813, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "f15fa2b8-9f81-4d86-8e30-2ce58b2a30e9", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 31.154, + "end_s": 38.539, + "t_start": 31.1923, + "t_end": 38.5773, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "e6a9046b-3bc3-4c47-af30-5e50c925bd20", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 40.618, + "end_s": 47.973, + "t_start": 40.6563, + "t_end": 48.0113, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "9dc85c91-07f1-428d-8240-babac75721b4", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 50.662, + "end_s": 59.361, + "t_start": 50.7003, + "t_end": 59.3993, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "464254a2-bced-4e47-80e0-1e78afc34df9", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 61.179, + "end_s": 68.85, + "t_start": 61.2173, + "t_end": 68.8883, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "36a9faef-8393-44f1-86d1-8858ec319040", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 71.309, + "end_s": 79.674, + "t_start": 71.3473, + "t_end": 79.7123, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "87fab07c-e792-47bf-ace7-470816baeb44", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 81.942, + "end_s": 90.559, + "t_start": 81.9803, + "t_end": 90.5973, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "b938012c-8259-461e-86c8-fb3b349b660e", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 92.891, + "end_s": 102.302, + "t_start": 92.9293, + "t_end": 102.3403, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P02/session_015/cameras/slam.npz b/actions/locomotion_primitives/P02/session_015/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..d5cd91f899c1d1e26f767b044767ccf414458bf0 --- /dev/null +++ b/actions/locomotion_primitives/P02/session_015/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:beb6cd76e6d7a63cf8073ae2e290cbb4b0e4892a1645f504aaf55b6ee6fd1d64 +size 626213 diff --git a/actions/locomotion_primitives/P02/session_015/meta.json b/actions/locomotion_primitives/P02/session_015/meta.json index ed521c98a402286209002591bdabb04a79ddf841..8134b2e15dc9a343c897cdaf4f646d7e20774c0b 100644 --- a/actions/locomotion_primitives/P02/session_015/meta.json +++ b/actions/locomotion_primitives/P02/session_015/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": { @@ -523,10 +523,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.7663147257169407 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 19.42, + "offset_rotvec": [ + 0.2093, + -0.186, + 0.191 + ], + "dev_deg": { + "median": 17.53, + "p90": 26.5 + }, + "samples": 2378, + "accepted": 2231, + "wrist_pos_err_mm_median": 206.8, + "per_camera": { + "head": { + "samples": 2378, + "accepted": 2231, + "gate_deg": 30.0, + "offset_deg": 19.42, + "tier": "primary", + "dev_deg_median": 17.53, + "wrist_pos_err_mm_median": 206.8 + } + }, + "frames_by_state": { + "ace_sample": 9242, + "interpolated": 3818, + "mean_hand": 24, + "no_body_fit": 0 + }, + "observed_fraction": 0.9982, + "observed_fraction_of_valid": 0.9982, + "palm_axis_vs_markers_deg": { + "gsi": 12.84, + "smplx": 0.41 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.8, + "p90": 12.7 + }, + "registered": { + "median": 7.5, + "p90": 11.9 + } + } + }, + "right": { + "offset_deg": 19.46, + "offset_rotvec": [ + 0.1358, + 0.3109, + 0.0137 + ], + "dev_deg": { + "median": 18.63, + "p90": 28.27 + }, + "samples": 2559, + "accepted": 2348, + "wrist_pos_err_mm_median": 140.6, + "per_camera": { + "head": { + "samples": 2559, + "accepted": 2348, + "gate_deg": 30.0, + "offset_deg": 19.46, + "tier": "primary", + "dev_deg_median": 18.63, + "wrist_pos_err_mm_median": 140.6 + } + }, + "frames_by_state": { + "ace_sample": 9668, + "interpolated": 3404, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9991, + "observed_fraction_of_valid": 0.9991, + "palm_axis_vs_markers_deg": { + "gsi": 15.71, + "smplx": 0.34 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.2, + "p90": 5.7 + }, + "registered": { + "median": 4.9, + "p90": 5.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T16:43:08.334367+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P02/session_015", "family": "locomotion_primitives", "primitive": "P02", "source_session": "20260910/P02/20260910_070935_session122" + }, + "task": { + "primitive": "P02", + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." } } diff --git a/actions/locomotion_primitives/P02/session_015/motions/hands_mano.npz b/actions/locomotion_primitives/P02/session_015/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..43ad0af009b2e542307bf9a1919a8ae12e1493aa --- /dev/null +++ b/actions/locomotion_primitives/P02/session_015/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:912617d8c2495d9cdb22ecc46afa070b4106a17eb8f884edfe8dac0925f3bcab +size 3402756 diff --git a/actions/locomotion_primitives/P02/session_015/motions/smplx.npz b/actions/locomotion_primitives/P02/session_015/motions/smplx.npz index ce362ee7e467694dc7fd29a09471f861e42af474..2b3201f93c4831f5eac7e9310ea77951d47f84a1 100644 --- a/actions/locomotion_primitives/P02/session_015/motions/smplx.npz +++ b/actions/locomotion_primitives/P02/session_015/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:500cf6da8b3859d725ad35b7b58028057523c09cab1bbd6200596b5bda29c1af -size 5037394 +oid sha256:d01f9578f86d66a478fb1c8090902b4735bec40fcfee34caac5ef4b9f71066b0 +size 9429276 diff --git a/actions/locomotion_primitives/P02/session_016/annotations.json b/actions/locomotion_primitives/P02/session_016/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..1acbb3995c5bc5c43000d2205632e1a42e6e21b8 --- /dev/null +++ b/actions/locomotion_primitives/P02/session_016/annotations.json @@ -0,0 +1,149 @@ +{ + "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": "P02", + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 163.966667, + "video": "left_eye", + "video_t_start": 0.038768604443049526 + } + ], + "episodes": [ + { + "id": "3e76b8ec-484c-493f-9c7f-3aacbce8dc86", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 0, + "end_s": 12.128, + "t_start": 0.0388, + "t_end": 12.1668, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "12a0fb7a-3895-4b35-a927-88ddb31d9cb7", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 15.017, + "end_s": 28.178, + "t_start": 15.0558, + "t_end": 28.2168, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "4de2f541-ba01-4c5e-8fd4-803281741245", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 30.668, + "end_s": 42.098, + "t_start": 30.7068, + "t_end": 42.1368, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "e6ba8422-047e-49b4-a056-03f3f523aff6", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 45.067, + "end_s": 56.39, + "t_start": 45.1058, + "t_end": 56.4288, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "02a5bb93-78b6-4bb2-8517-70b4da9b0bb8", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 60.943, + "end_s": 70.977, + "t_start": 60.9818, + "t_end": 71.0158, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "5882711b-9c29-4e55-83c0-d331a25ad3d7", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 74.462, + "end_s": 85.815, + "t_start": 74.5008, + "t_end": 85.8538, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "f316193d-b682-4758-848e-8d37dcd5c7ca", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 89.547, + "end_s": 98.528, + "t_start": 89.5858, + "t_end": 98.5668, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "37bacdc6-6701-4d39-bda5-5d1ef8e94fec", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 101.51, + "end_s": 109.468, + "t_start": 101.5488, + "t_end": 109.5068, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "cc7f8ce4-8242-4e82-abf2-737bd19a2e82", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 113.25, + "end_s": 121.243, + "t_start": 113.2888, + "t_end": 121.2818, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "237e2e30-3d8d-433b-803f-ebc8414e0441", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 123.943, + "end_s": 131.28, + "t_start": 123.9818, + "t_end": 131.3188, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "d0567fee-1410-43bc-a6e0-e9c4a99b0a74", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 135.198, + "end_s": 143.218, + "t_start": 135.2368, + "t_end": 143.2568, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "3daa70ca-b88b-4670-ba9a-32da8b39417f", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 146.53, + "end_s": 154.777, + "t_start": 146.5688, + "t_end": 154.8158, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P02/session_016/cameras/slam.npz b/actions/locomotion_primitives/P02/session_016/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..d4c83268d2672581dfd89a747c3a7026a14e11b8 --- /dev/null +++ b/actions/locomotion_primitives/P02/session_016/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54f9720684793f551221a0fdc5239a286244644216010e6831135dca21cec05a +size 941799 diff --git a/actions/locomotion_primitives/P02/session_016/meta.json b/actions/locomotion_primitives/P02/session_016/meta.json index e036032cf8ab4b5d2abc65e99bbce89c56cc672f..931f74aee612345345acc02526c940077f44e9e7 100644 --- a/actions/locomotion_primitives/P02/session_016/meta.json +++ b/actions/locomotion_primitives/P02/session_016/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": { @@ -516,10 +516,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.6763318207970169 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 11.32, + "offset_rotvec": [ + 0.1198, + 0.0999, + -0.1213 + ], + "dev_deg": { + "median": 15.42, + "p90": 26.18 + }, + "samples": 3237, + "accepted": 3011, + "wrist_pos_err_mm_median": 100.5, + "per_camera": { + "head": { + "samples": 3237, + "accepted": 3011, + "gate_deg": 30.0, + "offset_deg": 11.32, + "tier": "primary", + "dev_deg_median": 15.42, + "wrist_pos_err_mm_median": 100.5 + } + }, + "frames_by_state": { + "ace_sample": 12357, + "interpolated": 7022, + "mean_hand": 297, + "no_body_fit": 8 + }, + "observed_fraction": 0.9845, + "observed_fraction_of_valid": 0.9849, + "palm_axis_vs_markers_deg": { + "gsi": 18.71, + "smplx": 0.88 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.8, + "p90": 13.9 + }, + "registered": { + "median": 9.2, + "p90": 12.0 + } + } + }, + "right": { + "offset_deg": 13.75, + "offset_rotvec": [ + -0.1572, + -0.1174, + 0.1382 + ], + "dev_deg": { + "median": 14.24, + "p90": 37.83 + }, + "samples": 3020, + "accepted": 2501, + "wrist_pos_err_mm_median": 147.1, + "per_camera": { + "head": { + "samples": 3020, + "accepted": 2501, + "gate_deg": 30.0, + "offset_deg": 13.75, + "tier": "primary", + "dev_deg_median": 14.24, + "wrist_pos_err_mm_median": 147.1 + } + }, + "frames_by_state": { + "ace_sample": 10391, + "interpolated": 8844, + "mean_hand": 441, + "no_body_fit": 8 + }, + "observed_fraction": 0.9772, + "observed_fraction_of_valid": 0.9776, + "palm_axis_vs_markers_deg": { + "gsi": 16.14, + "smplx": 1.29 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.3, + "p90": 8.6 + }, + "registered": { + "median": 8.5, + "p90": 10.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T18:55:11.135636+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P02/session_016", "family": "locomotion_primitives", "primitive": "P02", "source_session": "20260914/P02/20260914_081847_session37" + }, + "task": { + "primitive": "P02", + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." } } diff --git a/actions/locomotion_primitives/P02/session_016/motions/hands_mano.npz b/actions/locomotion_primitives/P02/session_016/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..892880b72bb9b419b1d040791db2d6987fd247a7 --- /dev/null +++ b/actions/locomotion_primitives/P02/session_016/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b66f5174dbc56bb261147dbb8f78fb7ab4cbc80331503fa2ee97b2b76c9b7db +size 4368668 diff --git a/actions/locomotion_primitives/P02/session_016/motions/smplx.npz b/actions/locomotion_primitives/P02/session_016/motions/smplx.npz index 3c37c5a4fb10a441b9b30b483645bc60a5c23412..1f1272f0d270efe84c0df88dec2c56224a79ee22 100644 --- a/actions/locomotion_primitives/P02/session_016/motions/smplx.npz +++ b/actions/locomotion_primitives/P02/session_016/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7de27398d8aeb47c81cbadf526875c0c01d57886bf9c399e26294108807422fe -size 7552000 +oid sha256:4cc1e2ee945dedf66171f3d92cc8f36b12a938a52358cabad5d8d63611507be7 +size 14059589 diff --git a/actions/locomotion_primitives/P02/session_017/annotations.json b/actions/locomotion_primitives/P02/session_017/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..210c811f198e1c4983197da4f59be88f169cfe76 --- /dev/null +++ b/actions/locomotion_primitives/P02/session_017/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P02", + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 123.966667, + "video": "left_eye", + "video_t_start": 0.0390720273515508 + } + ], + "episodes": [ + { + "id": "7db42cde-531b-417c-8bde-449ac15b6be4", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 1.416, + "end_s": 10.233, + "t_start": 1.4551, + "t_end": 10.2721, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "663b2ef0-7c31-48f8-894d-37b6408220cb", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 13.664, + "end_s": 21.553, + "t_start": 13.7031, + "t_end": 21.5921, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "88ed4b31-4e5b-405f-9b07-514d7e47d660", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 25.057, + "end_s": 34.08, + "t_start": 25.0961, + "t_end": 34.1191, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "4efeae02-6410-4707-ab1f-56d542546b7f", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 36.977, + "end_s": 44.663, + "t_start": 37.0161, + "t_end": 44.7021, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "b49fd29a-f735-4c43-b6be-f251e442cd67", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 48.037, + "end_s": 57.308, + "t_start": 48.0761, + "t_end": 57.3471, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "b41d09bc-a9a0-4c95-9289-2608121c0a3d", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 60.306, + "end_s": 68.282, + "t_start": 60.3451, + "t_end": 68.3211, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "8d3c49c4-4574-4bcf-b781-0710690589e7", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 71.2, + "end_s": 80.175, + "t_start": 71.2391, + "t_end": 80.2141, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "21b3eeba-224c-4960-bd54-f282c0e868ef", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 83.101, + "end_s": 91.51, + "t_start": 83.1401, + "t_end": 91.5491, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "fa21f704-23f0-4804-b67c-4cf5213854b7", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 94.405, + "end_s": 103.676, + "t_start": 94.4441, + "t_end": 103.7151, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "6ce632b1-ec01-4acc-9f79-813dac51cf52", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 106.347, + "end_s": 117.18, + "t_start": 106.3861, + "t_end": 117.2191, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P02/session_017/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P02/session_017/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..67b6ec715b99e5422b3c305ed1b71825551d8cc5 --- /dev/null +++ b/actions/locomotion_primitives/P02/session_017/cameras/gsi_online_calibration.json @@ -0,0 +1,256 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 15, + "median_px": 0.344 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye", + "right" + ], + "delta_deg": 1.0149, + "gate_fail": [], + "held_out_px_after": 0.446, + "held_out_px_before": 4.261, + "inliers": 2106, + "position_fitted": false, + "rotvec_deg": [ + 0.4537, + -0.3867, + -0.8214 + ], + "split_deg": 0.0387, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.9142, + "gate_fail": [], + "held_out_px_after": 0.384, + "held_out_px_before": 6.397, + "inliers": 2978, + "position_fitted": true, + "position_mm": [ + 1.17, + -13.14, + 7.31 + ], + "position_sigma_mm": 0.362, + "position_split_mm": 3.555, + "rotvec_deg": [ + 0.0244, + 0.5904, + -1.8207 + ], + "split_deg": 0.1115, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye", + "left" + ], + "delta_deg": 1.2963, + "gate_fail": [], + "held_out_px_after": 0.579, + "held_out_px_before": 3.596, + "inliers": 1074, + "position_fitted": false, + "rotvec_deg": [ + 1.2588, + -0.301, + -0.0729 + ], + "split_deg": 0.054, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.7587, + "gate_fail": [], + "held_out_px_after": 0.359, + "held_out_px_before": 3.507, + "inliers": 2984, + "position_fitted": true, + "position_mm": [ + 5.88, + -13.41, + 8.08 + ], + "position_sigma_mm": 0.383, + "position_split_mm": 4.783, + "rotvec_deg": [ + 0.2637, + -0.5319, + -0.4724 + ], + "split_deg": 0.0983, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.3578, + "gate_fail": [], + "held_out_px_after": 0.299, + "held_out_px_before": 5.522, + "inliers": 4550, + "position_fitted": false, + "rotvec_deg": [ + -0.4416, + -0.0662, + -1.2823 + ], + "split_deg": 0.0147, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "e17c9efadb69e7b1", + "factory_root_name": "e17c9efadb69e7b1", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "17cf9f1b7ba7e7c7753752531170556dab6a28b9de3faf93fc40bfd072906318", + "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "87606accaab5c856b4d94156b98c6107b8223ea6258f5c67062845198b15eeab", + "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "3e4d6581fafac6b1a3a50f36f5bdc11ac7c036a495cfaccce92db85646d7633f", + "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "d70d12143f9fa558ab4ed1bd4fb512e8ae47ca5e36cc5cd3070eeba65ac222f3", + "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d" + } + }, + "input_fingerprint": "2652341b1be742c4", + "kind": "online_calibration", + "output_sha256": "7f8bf99f213824eef329861d2705a08cb564bca7fc2fbc2fe379ff8f2512ecf3", + "overlap": { + "left-right": 0.501, + "left_eye-left": 0.707, + "left_eye-right": 0.671, + "left_front-left": 0.478, + "left_front-left_eye": 0.72, + "left_front-right": 0.448, + "left_front-right_eye": 0.732, + "left_front-right_front": 1.0, + "right_eye-left": 0.696, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.673, + "right_front-left": 0.464, + "right_front-left_eye": 0.723, + "right_front-right": 0.466, + "right_front-right_eye": 0.734 + }, + "picture_change": { + "left": 35.707, + "left_eye": 23.484, + "left_front": 35.2, + "right": 38.034, + "right_eye": 23.926, + "right_front": 32.81 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 17966379453666, + 17967379487000, + 17973379487000, + 17974379475888, + 17975379587000, + 17978379464777, + 17979379487000, + 17982379453666, + 17983379487000, + 17986379464777, + 17987379498111, + 17993379475888, + 17994379464777, + 17995379487000, + 18001379453666, + 18002379453666, + 18004379464777, + 18005379609222, + 18009379464777, + 18010379620333, + 18012379464777, + 18013379498111, + 18016379453666, + 18017379464777, + 18021379453666, + 18022379487000, + 18025379487000, + 18026379487000, + 18027379498111, + 18030379487000, + 18031379487000, + 18035379609222, + 18036379475888, + 18039379453666, + 18040379453666, + 18042379453666, + 18043379498111, + 18048379487000, + 18049379453666, + 18053379464777, + 18054379453666, + 18055379520333, + 18059379453666, + 18060379487000, + 18065379475888, + 18066379453666, + 18068379453666, + 18069379453666, + 18071379453666, + 18072379453666, + 18076379464777, + 18077379453666, + 18081379475888, + 18082379531444, + 18083379453666 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P02/session_017/cameras/slam.npz b/actions/locomotion_primitives/P02/session_017/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..af44ddfe010a47f4253b286cf2d7e50f5382e3d3 --- /dev/null +++ b/actions/locomotion_primitives/P02/session_017/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58d3e5727e4ef8593cd37359e4bf99afc1b530768bf22b35147813af503cce70 +size 711907 diff --git a/actions/locomotion_primitives/P02/session_017/meta.json b/actions/locomotion_primitives/P02/session_017/meta.json index a3c6c9d8959e9b922e708f096d34c4d2fea392e6..b2b10e527d581eab67d296db5a98a59f91e4404e 100644 --- a/actions/locomotion_primitives/P02/session_017/meta.json +++ b/actions/locomotion_primitives/P02/session_017/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": { @@ -518,10 +518,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.6838779683895179 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 21.88, + "offset_rotvec": [ + 0.3588, + -0.0742, + -0.1075 + ], + "dev_deg": { + "median": 16.62, + "p90": 34.25 + }, + "samples": 2392, + "accepted": 2009, + "wrist_pos_err_mm_median": 49.6, + "per_camera": { + "head": { + "samples": 2392, + "accepted": 2009, + "gate_deg": 30.0, + "offset_deg": 21.88, + "tier": "primary", + "dev_deg_median": 16.62, + "wrist_pos_err_mm_median": 49.6 + } + }, + "frames_by_state": { + "ace_sample": 8338, + "interpolated": 5622, + "mean_hand": 671, + "no_body_fit": 253 + }, + "observed_fraction": 0.9379, + "observed_fraction_of_valid": 0.9541, + "palm_axis_vs_markers_deg": { + "gsi": 31.99, + "smplx": 0.97 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.0, + "p90": 13.8 + }, + "registered": { + "median": 7.7, + "p90": 14.8 + } + } + }, + "right": { + "offset_deg": 17.41, + "offset_rotvec": [ + -0.0562, + 0.207, + 0.2152 + ], + "dev_deg": { + "median": 15.86, + "p90": 42.27 + }, + "samples": 2055, + "accepted": 1577, + "wrist_pos_err_mm_median": 59.6, + "per_camera": { + "head": { + "samples": 2055, + "accepted": 1577, + "gate_deg": 30.0, + "offset_deg": 17.41, + "tier": "primary", + "dev_deg_median": 15.86, + "wrist_pos_err_mm_median": 59.6 + } + }, + "frames_by_state": { + "ace_sample": 6508, + "interpolated": 5868, + "mean_hand": 2255, + "no_body_fit": 253 + }, + "observed_fraction": 0.8315, + "observed_fraction_of_valid": 0.8459, + "palm_axis_vs_markers_deg": { + "gsi": 14.76, + "smplx": 0.65 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.3, + "p90": 11.0 + }, + "registered": { + "median": 8.0, + "p90": 10.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T23:05:41.300921+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P02/session_017", "family": "locomotion_primitives", "primitive": "P02", "source_session": "20260916/P02/20260916_051659_session79" + }, + "task": { + "primitive": "P02", + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." } } diff --git a/actions/locomotion_primitives/P02/session_017/motions/hands_mano.npz b/actions/locomotion_primitives/P02/session_017/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..664baacf5e09552c62028ed5b2cee4a390b45b9b --- /dev/null +++ b/actions/locomotion_primitives/P02/session_017/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de234ad69eda06fd6b73280318b650debf1f5e8f0ffedf191bec2c990cb4e325 +size 3140951 diff --git a/actions/locomotion_primitives/P02/session_017/motions/smplx.npz b/actions/locomotion_primitives/P02/session_017/motions/smplx.npz index d1c9f6ce4743df9bda2b1ff66dd6c37cf81c1223..e0282545f1223cc8ac95c8c3aff37c02324d756d 100644 --- a/actions/locomotion_primitives/P02/session_017/motions/smplx.npz +++ b/actions/locomotion_primitives/P02/session_017/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8bd3dac36bb6c2f7b0115d95039ae07e46aa50861b6930644507561abbeb84ae -size 5629131 +oid sha256:5ebba710b97e7cb8718033e3cd2abc24c840e5ef81394bfe4abb32db97128bba +size 10234073 diff --git a/actions/locomotion_primitives/P02/session_018/annotations.json b/actions/locomotion_primitives/P02/session_018/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..81da1cc15069ea16516f9d45d0ea2115f6d34c0a --- /dev/null +++ b/actions/locomotion_primitives/P02/session_018/annotations.json @@ -0,0 +1,149 @@ +{ + "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": "P02", + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 78.9667, + "video": "left_eye", + "video_t_start": 0.03893195740633515 + } + ], + "episodes": [ + { + "id": "ba6627a5-0677-4442-849a-0d1a12f3473b", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 0.845, + "end_s": 8.33, + "t_start": 0.8839, + "t_end": 8.3689, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "a77e23ad-23d6-4967-99a2-6eedac8c48c2", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 8.33, + "end_s": 14.545, + "t_start": 8.3689, + "t_end": 14.5839, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "50ebbc05-e572-41cf-8056-93b66787184e", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 14.545, + "end_s": 20.545, + "t_start": 14.5839, + "t_end": 20.5839, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "7f5e17f8-5435-4be2-ba65-d85cdab10629", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 20.545, + "end_s": 27.2, + "t_start": 20.5839, + "t_end": 27.2389, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "e8f307ae-ed2a-440a-9480-6fad465f6e5c", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 27.2, + "end_s": 34.291, + "t_start": 27.2389, + "t_end": 34.3299, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "9c8df853-675f-4b08-a494-52dd7aa16505", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 34.291, + "end_s": 40.906, + "t_start": 34.3299, + "t_end": 40.9449, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "d7143aae-fe03-4a44-96a4-b96ae38b7c17", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 41.107, + "end_s": 47.489, + "t_start": 41.1459, + "t_end": 47.5279, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "ac0519b8-378c-4280-949c-bf0ab79a3fcf", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 47.489, + "end_s": 53.489, + "t_start": 47.5279, + "t_end": 53.5279, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "98430711-5fec-435a-b0fa-87aed47fe9e7", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 53.489, + "end_s": 59.489, + "t_start": 53.5279, + "t_end": 59.5279, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "2874f5c3-d097-4aad-bfdd-c7c3e1c60f7e", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 59.489, + "end_s": 65.296, + "t_start": 59.5279, + "t_end": 65.3349, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "2644dfe3-0c59-4f59-8735-92acf316e389", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 65.296, + "end_s": 70.799, + "t_start": 65.3349, + "t_end": 70.8379, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "a4e55bb2-94ab-457f-92a6-c22449bb9c98", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 70.799, + "end_s": 76.827, + "t_start": 70.8379, + "t_end": 76.8659, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P02/session_018/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P02/session_018/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..5eed8184970802fe8bbd5158b24c22d0047683c8 --- /dev/null +++ b/actions/locomotion_primitives/P02/session_018/cameras/gsi_online_calibration.json @@ -0,0 +1,252 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 14, + "median_px": 0.369 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 1.056, + "gate_fail": [], + "held_out_px_after": 0.497, + "held_out_px_before": 4.491, + "inliers": 2098, + "position_fitted": false, + "rotvec_deg": [ + 0.416, + -0.3744, + -0.8956 + ], + "split_deg": 0.08, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.9273, + "gate_fail": [], + "held_out_px_after": 0.424, + "held_out_px_before": 6.437, + "inliers": 3183, + "position_fitted": true, + "position_mm": [ + 2.46, + -12.75, + 7.72 + ], + "position_sigma_mm": 0.296, + "position_split_mm": 1.442, + "rotvec_deg": [ + 0.0866, + 0.5621, + -1.8415 + ], + "split_deg": 0.0379, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 1.6217, + "gate_fail": [], + "held_out_px_after": 0.515, + "held_out_px_before": 4.008, + "inliers": 1166, + "position_fitted": false, + "rotvec_deg": [ + 1.4609, + -0.695, + 0.1136 + ], + "split_deg": 0.0871, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.7199, + "gate_fail": [], + "held_out_px_after": 0.356, + "held_out_px_before": 3.767, + "inliers": 3106, + "position_fitted": true, + "position_mm": [ + 7.11, + -14.96, + 4.63 + ], + "position_sigma_mm": 0.279, + "position_split_mm": 1.39, + "rotvec_deg": [ + 0.2529, + -0.5076, + -0.4434 + ], + "split_deg": 0.0317, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.3921, + "gate_fail": [], + "held_out_px_after": 0.332, + "held_out_px_before": 4.912, + "inliers": 4193, + "position_fitted": false, + "rotvec_deg": [ + -0.4706, + -0.0275, + -1.3098 + ], + "split_deg": 0.0058, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "e17c9efadb69e7b1", + "factory_root_name": "e17c9efadb69e7b1", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "e9203e0c986e6b05914e9a513774a1ceffc5daf0f30c108461a482706986a95e", + "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "0b7b29df153c8663ba11980f415ffa98ecf38795efee1768e1ae0e269789bf2d", + "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "423f318c8e7cf8ae4fac37d7a0c38a0fbbd8eb67fffddd8056754e0cd8777108", + "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "0e274f13525c5f7e3ca0513c0e42bb9f6a919fee94f59f349fc723314fc255b3", + "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d" + } + }, + "input_fingerprint": "f4e4d8b78423af4b", + "kind": "online_calibration", + "output_sha256": "d462b9dd7e21c50163f09d85c0b1a74031c870c165f29a8b02b094eb2d55c563", + "overlap": { + "left-right": 0.501, + "left_eye-left": 0.707, + "left_eye-right": 0.671, + "left_front-left": 0.478, + "left_front-left_eye": 0.72, + "left_front-right": 0.448, + "left_front-right_eye": 0.732, + "left_front-right_front": 1.0, + "right_eye-left": 0.696, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.673, + "right_front-left": 0.464, + "right_front-left_eye": 0.723, + "right_front-right": 0.466, + "right_front-right_eye": 0.734 + }, + "picture_change": { + "left": 30.537, + "left_eye": 25.193, + "left_front": 33.831, + "right": 30.732, + "right_eye": 23.705, + "right_front": 32.038 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 5221310662888, + 5222310674000, + 5223310707333, + 5226310729555, + 5227310662888, + 5228310774000, + 5230310762888, + 5231310685111, + 5232310674000, + 5233310718444, + 5235310674000, + 5236310762888, + 5239310662888, + 5240310718444, + 5241310729555, + 5242310674000, + 5243310762888, + 5245310718444, + 5246310729555, + 5247310696222, + 5248310662888, + 5250310674000, + 5251310662888, + 5252310685111, + 5253310674000, + 5257310674000, + 5258310674000, + 5259310740666, + 5260310674000, + 5262310818444, + 5263310674000, + 5264310662888, + 5267310696222, + 5268310729555, + 5269310718444, + 5271310651777, + 5272310662888, + 5274310685111, + 5275310685111, + 5276310674000, + 5279310674000, + 5280310685111, + 5281310729555, + 5283310696222, + 5284310685111, + 5286310662888, + 5287310674000, + 5289310718444, + 5290310718444, + 5291310696222, + 5292310674000, + 5294310685111, + 5295310707333 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P02/session_018/cameras/slam.npz b/actions/locomotion_primitives/P02/session_018/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..69a34b19c8e6edf137d444bd2f60af9eec8a2e6b --- /dev/null +++ b/actions/locomotion_primitives/P02/session_018/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e37ae3cddfac57d63639aea34db4cadcd204f3776da97ee67d7ce307e57f01f +size 456923 diff --git a/actions/locomotion_primitives/P02/session_018/meta.json b/actions/locomotion_primitives/P02/session_018/meta.json index bbaafe200973b65fa4b66d5177bf6ed850031e9d..ae9ea307f4a33d37a0110ba465d40bcfce2ba81f 100644 --- a/actions/locomotion_primitives/P02/session_018/meta.json +++ b/actions/locomotion_primitives/P02/session_018/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -514,10 +514,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.3032961334863165 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 30.57, + "offset_rotvec": [ + 0.4299, + -0.2289, + -0.218 + ], + "dev_deg": { + "median": 9.28, + "p90": 30.99 + }, + "samples": 1139, + "accepted": 1015, + "wrist_pos_err_mm_median": 68.8, + "per_camera": { + "head": { + "samples": 1139, + "accepted": 1015, + "gate_deg": 30.0, + "offset_deg": 30.57, + "tier": "primary", + "dev_deg_median": 9.28, + "wrist_pos_err_mm_median": 68.8 + } + }, + "frames_by_state": { + "ace_sample": 4214, + "interpolated": 4486, + "mean_hand": 784, + "no_body_fit": 0 + }, + "observed_fraction": 0.9173, + "observed_fraction_of_valid": 0.9173, + "palm_axis_vs_markers_deg": { + "gsi": 31.73, + "smplx": 0.67 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.8, + "p90": 17.0 + }, + "registered": { + "median": 10.6, + "p90": 16.5 + } + } + }, + "right": { + "offset_deg": 35.37, + "offset_rotvec": [ + 0.4924, + -0.084, + 0.3628 + ], + "dev_deg": { + "median": 13.25, + "p90": 33.57 + }, + "samples": 1254, + "accepted": 1090, + "wrist_pos_err_mm_median": 62.2, + "per_camera": { + "head": { + "samples": 1254, + "accepted": 1090, + "gate_deg": 30.0, + "offset_deg": 35.37, + "tier": "primary", + "dev_deg_median": 13.25, + "wrist_pos_err_mm_median": 62.2 + } + }, + "frames_by_state": { + "ace_sample": 4570, + "interpolated": 4750, + "mean_hand": 164, + "no_body_fit": 0 + }, + "observed_fraction": 0.9827, + "observed_fraction_of_valid": 0.9827, + "palm_axis_vs_markers_deg": { + "gsi": 33.14, + "smplx": 0.66 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 16.0, + "p90": 25.3 + }, + "registered": { + "median": 16.0, + "p90": 24.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:56:22.486216+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P02/session_018", "family": "locomotion_primitives", "primitive": "P02", "source_session": "20260919/P02/20260919_115711_session206" + }, + "task": { + "primitive": "P02", + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." } } diff --git a/actions/locomotion_primitives/P02/session_018/motions/hands_mano.npz b/actions/locomotion_primitives/P02/session_018/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..88f20c26fdb7a38a249733edcef89ba4fbfa9775 --- /dev/null +++ b/actions/locomotion_primitives/P02/session_018/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d31115fda81938f51d7d491857fdfa3227ef1ef4d1d0be42c98c0851e9ef3c5 +size 1705794 diff --git a/actions/locomotion_primitives/P02/session_018/motions/smplx.npz b/actions/locomotion_primitives/P02/session_018/motions/smplx.npz index b511dcf7357d949cf229e01a7f8c8112f138e255..fdfe37883c69fc5a58b35ee902e9c58970eb96ed 100644 --- a/actions/locomotion_primitives/P02/session_018/motions/smplx.npz +++ b/actions/locomotion_primitives/P02/session_018/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ff10d8d8f25dbd0ca88b49808bc572075cca615564485037d13ae09a165cd169 -size 3665343 +oid sha256:9e6c555246688f0f13cca010eb0c4894e7a8f479ed8eb4e731258d472eaeda88 +size 6755823 diff --git a/actions/locomotion_primitives/P02/session_019/annotations.json b/actions/locomotion_primitives/P02/session_019/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..9c2930075c3e70fd53cfdb3ee74fc147d47eeaa7 --- /dev/null +++ b/actions/locomotion_primitives/P02/session_019/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P02", + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 103.966678, + "video": "left_eye", + "video_t_start": 0.03902036421540522 + } + ], + "episodes": [ + { + "id": "720768d5-a0b7-4ab0-b82a-aaaa2fdcf8ff", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 1.327, + "end_s": 9.02, + "t_start": 1.366, + "t_end": 9.059, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "8fa578b9-fad0-46d8-9fab-84bbc26b2d1b", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 12.367, + "end_s": 20.4, + "t_start": 12.406, + "t_end": 20.439, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "db55af23-6e8c-4e67-ad8f-5a0d24f787af", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 23.205, + "end_s": 31.78, + "t_start": 23.244, + "t_end": 31.819, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "eb858a13-ee05-44bc-9a85-baf4d860d8de", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 36.354, + "end_s": 43.345, + "t_start": 36.393, + "t_end": 43.384, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "067ce999-2192-4fe2-aefa-21ac4358cf77", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 46.255, + "end_s": 53.829, + "t_start": 46.294, + "t_end": 53.868, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "0babec25-9d68-4952-8f5e-1d7219e105e4", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 55.829, + "end_s": 62.909, + "t_start": 55.868, + "t_end": 62.948, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "5d99dc77-8f31-4ca0-8062-fdae00e64fe0", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 65.909, + "end_s": 72.242, + "t_start": 65.948, + "t_end": 72.281, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "384dc66d-daf2-4e11-9354-95bd5f10be03", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 74.248, + "end_s": 80.917, + "t_start": 74.287, + "t_end": 80.956, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "af758e5a-c391-4f51-8b7a-f3c842c389bc", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 83.714, + "end_s": 90.058, + "t_start": 83.753, + "t_end": 90.097, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "f5909bf0-cd65-4282-ad97-9b1aa8240617", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 92.058, + "end_s": 98.273, + "t_start": 92.097, + "t_end": 98.312, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P02/session_019/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P02/session_019/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..8d36478e1d25932b84693356ec6bb87223899b25 --- /dev/null +++ b/actions/locomotion_primitives/P02/session_019/cameras/gsi_online_calibration.json @@ -0,0 +1,254 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 14, + "median_px": 0.402 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.9504, + "gate_fail": [], + "held_out_px_after": 0.604, + "held_out_px_before": 4.575, + "inliers": 1160, + "position_fitted": false, + "rotvec_deg": [ + -0.2817, + -0.4473, + -0.7898 + ], + "split_deg": 0.1426, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 2.1645, + "gate_fail": [], + "held_out_px_after": 0.402, + "held_out_px_before": 5.829, + "inliers": 1803, + "position_fitted": true, + "position_mm": [ + 7.18, + -18.6, + 4.39 + ], + "position_sigma_mm": 0.322, + "position_split_mm": 1.302, + "rotvec_deg": [ + -0.2079, + 0.8336, + -1.9867 + ], + "split_deg": 0.0562, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 1.1165, + "gate_fail": [], + "held_out_px_after": 0.437, + "held_out_px_before": 4.525, + "inliers": 1060, + "position_fitted": false, + "rotvec_deg": [ + 1.0617, + -0.2532, + -0.2352 + ], + "split_deg": 0.0459, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.7662, + "gate_fail": [], + "held_out_px_after": 0.378, + "held_out_px_before": 4.007, + "inliers": 1890, + "position_fitted": true, + "position_mm": [ + 8.19, + -19.54, + 4.8 + ], + "position_sigma_mm": 0.296, + "position_split_mm": 1.333, + "rotvec_deg": [ + -0.0174, + -0.3919, + -0.6582 + ], + "split_deg": 0.0608, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 2.0092, + "gate_fail": [], + "held_out_px_after": 0.407, + "held_out_px_before": 8.181, + "inliers": 2221, + "position_fitted": false, + "rotvec_deg": [ + -0.6088, + 0.142, + -1.9094 + ], + "split_deg": 0.0748, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "e17c9efadb69e7b1", + "factory_root_name": "e17c9efadb69e7b1", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "09f0d3120d4e663b630597a37a7fc5d7a8b35b830853d34eb42b8ea01967c015", + "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "45a24cdd5118cd9cf1fdc9d0f5d8948d4df045101bca566d66d711ea96a7dec6", + "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "74c517d7e2cabe29fdaaf79ea28858ec8442dce4c75c8b1c6dea33f14424adc2", + "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "242b41d2ae2d5fc59eae678f9634906af8a6d7449dd65e72995eecde713e35a3", + "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d" + } + }, + "input_fingerprint": "3ba9e1ab185f3fa2", + "kind": "online_calibration", + "output_sha256": "12fd1be26cafacb2f34d9ba71b81a40cfee389e4dfe4d83053b2e52baf520c39", + "overlap": { + "left-right": 0.501, + "left_eye-left": 0.707, + "left_eye-right": 0.671, + "left_front-left": 0.478, + "left_front-left_eye": 0.72, + "left_front-right": 0.448, + "left_front-right_eye": 0.732, + "left_front-right_front": 1.0, + "right_eye-left": 0.696, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.673, + "right_front-left": 0.464, + "right_front-left_eye": 0.723, + "right_front-right": 0.466, + "right_front-right_eye": 0.734 + }, + "picture_change": { + "left": 36.449, + "left_eye": 24.788, + "left_front": 31.787, + "right": 34.423, + "right_eye": 25.016, + "right_front": 30.198 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 20614330576111, + 20615330576111, + 20619330565000, + 20620330531666, + 20622330531666, + 20623330553888, + 20627330542777, + 20628330531666, + 20629330542777, + 20633330531666, + 20634330531666, + 20637330565000, + 20638330565000, + 20639330565000, + 20644330531666, + 20645330565000, + 20647330565000, + 20648330553888, + 20649330531666, + 20653330553888, + 20654330687222, + 20657330687222, + 20658330531666, + 20659330553888, + 20664330531666, + 20665330542777, + 20666330531666, + 20667330565000, + 20669330531666, + 20670330531666, + 20673330576111, + 20674330565000, + 20675330553888, + 20676330565000, + 20678330565000, + 20679330531666, + 20682330542777, + 20683330542777, + 20685330553888, + 20686330565000, + 20688330531666, + 20689330553888, + 20694330531666, + 20695330553888, + 20696330565000, + 20700330553888, + 20701330565000, + 20702330531666, + 20703330542777, + 20705330565000, + 20706330565000, + 20710330542777, + 20711330565000, + 20713330542777, + 20714330531666 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P02/session_019/cameras/slam.npz b/actions/locomotion_primitives/P02/session_019/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..a1379b71db4edfe7dd43401033e81ddbf74ffb69 --- /dev/null +++ b/actions/locomotion_primitives/P02/session_019/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8302b39c118b89ec42dc3d0c3175d930a6513f93ef32bca50f4731023d09e603 +size 598532 diff --git a/actions/locomotion_primitives/P02/session_019/meta.json b/actions/locomotion_primitives/P02/session_019/meta.json index 263c4789f29cfa49e9ee50ec2b3f9952504e5ff1..1701a90b0fc84bbfcbcb2124b595cf679fd02eb7 100644 --- a/actions/locomotion_primitives/P02/session_019/meta.json +++ b/actions/locomotion_primitives/P02/session_019/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": { @@ -520,10 +520,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8706529930642728 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.51, + "offset_rotvec": [ + 0.0443, + 0.095, + -0.1288 + ], + "dev_deg": { + "median": 6.67, + "p90": 16.38 + }, + "samples": 2861, + "accepted": 2824, + "wrist_pos_err_mm_median": 41.2, + "per_camera": { + "head": { + "samples": 2861, + "accepted": 2824, + "gate_deg": 30.0, + "offset_deg": 9.51, + "tier": "primary", + "dev_deg_median": 6.67, + "wrist_pos_err_mm_median": 41.2 + } + }, + "frames_by_state": { + "ace_sample": 11388, + "interpolated": 1080, + "mean_hand": 16, + "no_body_fit": 0 + }, + "observed_fraction": 0.9987, + "observed_fraction_of_valid": 0.9987, + "palm_axis_vs_markers_deg": { + "gsi": 9.54, + "smplx": 0.51 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.1, + "p90": 10.1 + }, + "registered": { + "median": 7.8, + "p90": 8.6 + } + } + }, + "right": { + "offset_deg": 22.54, + "offset_rotvec": [ + 0.1728, + -0.1948, + 0.2948 + ], + "dev_deg": { + "median": 6.48, + "p90": 13.91 + }, + "samples": 2617, + "accepted": 2550, + "wrist_pos_err_mm_median": 34.0, + "per_camera": { + "head": { + "samples": 2617, + "accepted": 2550, + "gate_deg": 30.0, + "offset_deg": 22.54, + "tier": "primary", + "dev_deg_median": 6.48, + "wrist_pos_err_mm_median": 34.0 + } + }, + "frames_by_state": { + "ace_sample": 10298, + "interpolated": 2030, + "mean_hand": 156, + "no_body_fit": 0 + }, + "observed_fraction": 0.9875, + "observed_fraction_of_valid": 0.9875, + "palm_axis_vs_markers_deg": { + "gsi": 19.19, + "smplx": 0.33 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.4, + "p90": 25.2 + }, + "registered": { + "median": 12.8, + "p90": 23.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:47:07.901558+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P02/session_019", "family": "locomotion_primitives", "primitive": "P02", "source_session": "20260921/P02/20260921_060143_session115" + }, + "task": { + "primitive": "P02", + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." } } diff --git a/actions/locomotion_primitives/P02/session_019/motions/hands_mano.npz b/actions/locomotion_primitives/P02/session_019/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..a315ea6e6e00040b0f733a369c015190b36ecb9a --- /dev/null +++ b/actions/locomotion_primitives/P02/session_019/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30920e0aa7b2c9261be996f2100f7df00a779f70e26e5eaf4c3b65ab2e8f9483 +size 3739047 diff --git a/actions/locomotion_primitives/P02/session_019/motions/smplx.npz b/actions/locomotion_primitives/P02/session_019/motions/smplx.npz index a67c42bee99012159089347ea843fee18b83bbe8..4aab6ed9df43a4b9193e31b242a604a20efa898e 100644 --- a/actions/locomotion_primitives/P02/session_019/motions/smplx.npz +++ b/actions/locomotion_primitives/P02/session_019/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:49c6f45704542c14998ebafe0aa6887437d51220aeee7af5169445d8492259be -size 4800458 +oid sha256:bb2fad493127fe3fb112a0854932b79c56c42075c102a883aec2d31b1b2a1920 +size 8984849 diff --git a/actions/locomotion_primitives/P02/session_020/annotations.json b/actions/locomotion_primitives/P02/session_020/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..01317242d275f1796ce311c2689b9d7b7cad6206 --- /dev/null +++ b/actions/locomotion_primitives/P02/session_020/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P02", + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 83.9667, + "video": "left_eye", + "video_t_start": 0.03906824395632391 + } + ], + "episodes": [ + { + "id": "11fe3f8d-5616-42e2-915f-9fa40679da3b", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 0, + "end_s": 8.414, + "t_start": 0.0391, + "t_end": 8.4531, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "11a443f6-27bd-48d7-82c3-bcdb4f1bf83a", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 10.3, + "end_s": 17.288, + "t_start": 10.3391, + "t_end": 17.3271, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "1e59dff8-dfe7-4bd4-9e8e-c23d822151a4", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 19.222, + "end_s": 25.69, + "t_start": 19.2611, + "t_end": 25.7291, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "5b7cc9e4-fea3-42c2-af37-70d4f59f80c1", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 27.927, + "end_s": 33.146, + "t_start": 27.9661, + "t_end": 33.1851, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "1f16adbb-12b9-4101-96e8-3b6c23524702", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 35.202, + "end_s": 40.446, + "t_start": 35.2411, + "t_end": 40.4851, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "1101e9cf-be11-4768-ba3f-626f112b2fba", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 43.131, + "end_s": 48.19, + "t_start": 43.1701, + "t_end": 48.2291, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "72799741-9c7d-4501-baa9-02b25c74b793", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 50.458, + "end_s": 55.9, + "t_start": 50.4971, + "t_end": 55.9391, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "6291c466-892e-4afe-81d8-0a338cc47e06", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 58.643, + "end_s": 64.064, + "t_start": 58.6821, + "t_end": 64.1031, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "b4a87d37-1ac4-494e-a6d9-a714e189dacb", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 66.649, + "end_s": 71.899, + "t_start": 66.6881, + "t_end": 71.9381, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "7e3c4970-44df-499d-afa6-93a65f2cc039", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 74.384, + "end_s": 79.864, + "t_start": 74.4231, + "t_end": 79.9031, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P02/session_020/cameras/slam.npz b/actions/locomotion_primitives/P02/session_020/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..da8c309ce78f57cde3a4d32e4d5b1a1dceec7fa2 --- /dev/null +++ b/actions/locomotion_primitives/P02/session_020/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f017e61901b1606a25b9b60e241292f69e078e161f434f9315d8b4f1796bc3b4 +size 485756 diff --git a/actions/locomotion_primitives/P02/session_020/meta.json b/actions/locomotion_primitives/P02/session_020/meta.json index 1cf143ea4f38f5823e97388bda11bebd3ea3d436..96b2fe02164878872e43e0ce3b5ab56afb52b474 100644 --- a/actions/locomotion_primitives/P02/session_020/meta.json +++ b/actions/locomotion_primitives/P02/session_020/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": { @@ -524,10 +524,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1550409015622332 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 23.76, + "offset_rotvec": [ + 0.3224, + -0.2607, + -0.0104 + ], + "dev_deg": { + "median": 12.42, + "p90": 32.39 + }, + "samples": 1769, + "accepted": 1557, + "wrist_pos_err_mm_median": 153.2, + "per_camera": { + "head": { + "samples": 1769, + "accepted": 1557, + "gate_deg": 30.0, + "offset_deg": 23.76, + "tier": "primary", + "dev_deg_median": 12.42, + "wrist_pos_err_mm_median": 153.2 + } + }, + "frames_by_state": { + "ace_sample": 6478, + "interpolated": 3286, + "mean_hand": 320, + "no_body_fit": 0 + }, + "observed_fraction": 0.9683, + "observed_fraction_of_valid": 0.9683, + "palm_axis_vs_markers_deg": { + "gsi": 29.96, + "smplx": 0.57 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.2, + "p90": 5.9 + }, + "registered": { + "median": 6.4, + "p90": 7.4 + } + } + }, + "right": { + "offset_deg": 26.75, + "offset_rotvec": [ + 0.2174, + 0.4056, + 0.0787 + ], + "dev_deg": { + "median": 16.99, + "p90": 27.81 + }, + "samples": 1509, + "accepted": 1404, + "wrist_pos_err_mm_median": 100.3, + "per_camera": { + "head": { + "samples": 1509, + "accepted": 1404, + "gate_deg": 30.0, + "offset_deg": 26.75, + "tier": "primary", + "dev_deg_median": 16.99, + "wrist_pos_err_mm_median": 100.3 + } + }, + "frames_by_state": { + "ace_sample": 5900, + "interpolated": 4168, + "mean_hand": 16, + "no_body_fit": 0 + }, + "observed_fraction": 0.9984, + "observed_fraction_of_valid": 0.9984, + "palm_axis_vs_markers_deg": { + "gsi": 26.92, + "smplx": 0.59 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.3, + "p90": 13.4 + }, + "registered": { + "median": 8.0, + "p90": 12.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:38:18.291440+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P02/session_020", "family": "locomotion_primitives", "primitive": "P02", "source_session": "20260923/P02/20260923_121814_session62" + }, + "task": { + "primitive": "P02", + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." } } diff --git a/actions/locomotion_primitives/P02/session_020/motions/hands_mano.npz b/actions/locomotion_primitives/P02/session_020/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..fdf3d0620fb8ccdd09a48571aceaed5a17b3e301 --- /dev/null +++ b/actions/locomotion_primitives/P02/session_020/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57d7afb0465f415ebbe617ff50934f6a674b27f5d5f9a1631db3637383807513 +size 2287691 diff --git a/actions/locomotion_primitives/P02/session_020/motions/smplx.npz b/actions/locomotion_primitives/P02/session_020/motions/smplx.npz index 3362b4249d9f4b30b13825754204f1c3e15a54bf..6c45d0331466982b3f3eebf541ac72e4d91040ab 100644 --- a/actions/locomotion_primitives/P02/session_020/motions/smplx.npz +++ b/actions/locomotion_primitives/P02/session_020/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9a9552c41c80b676f8e420248072e7ba2f568860a52eb264bbb79a9d38e05861 -size 3889709 +oid sha256:218d813a8ac7a6d1b55d2e5b3a3478060cd8450ec2142425aec68e02c8249353 +size 7236528 diff --git a/actions/locomotion_primitives/P02/session_021/annotations.json b/actions/locomotion_primitives/P02/session_021/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..bdd42fef096b55c13997f3be1e4cc9abddd95363 --- /dev/null +++ b/actions/locomotion_primitives/P02/session_021/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P02", + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 128.966633, + "video": "left_eye", + "video_t_start": 0.03916930955881881 + } + ], + "episodes": [ + { + "id": "2f425413-b350-424e-9b46-7da81ca039b8", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 2.271, + "end_s": 16.806, + "t_start": 2.3102, + "t_end": 16.8452, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "69cb1996-6583-4858-a9bc-cb6d15fc59e9", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 18.806, + "end_s": 29.917, + "t_start": 18.8452, + "t_end": 29.9562, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "199f0dd0-8058-4fe7-87a1-3f6c85974a5b", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 33.364, + "end_s": 42.703, + "t_start": 33.4032, + "t_end": 42.7422, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "b83f3022-f19d-4351-bd63-2f7199e2995c", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 44.703, + "end_s": 52.214, + "t_start": 44.7422, + "t_end": 52.2532, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "ece4631f-cdd3-419b-a9e4-73f5e5c8b441", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 54.214, + "end_s": 63.261, + "t_start": 54.2532, + "t_end": 63.3002, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "685ab0c3-475f-45d0-b598-3f7df59e2bb1", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 66.261, + "end_s": 74.275, + "t_start": 66.3002, + "t_end": 74.3142, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "a344c692-1409-4d15-a604-10df0838c9f4", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 76.275, + "end_s": 85.657, + "t_start": 76.3142, + "t_end": 85.6962, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "c4db04e7-3eb1-430a-bb46-7bc7bd80f0c2", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 87.657, + "end_s": 95.495, + "t_start": 87.6962, + "t_end": 95.5342, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "bf2e5866-cad8-453e-b2d1-6b3445d90534", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 98.135, + "end_s": 105.619, + "t_start": 98.1742, + "t_end": 105.6582, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "48dbc8ac-7d67-4031-9ad4-6dbb4f960f0b", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 107.619, + "end_s": 117.204, + "t_start": 107.6582, + "t_end": 117.2432, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P02/session_021/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P02/session_021/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..0cb15db550f3437481609b6455157f02dd46e26b --- /dev/null +++ b/actions/locomotion_primitives/P02/session_021/cameras/gsi_online_calibration.json @@ -0,0 +1,254 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 14, + "median_px": 0.37 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 1.0414, + "gate_fail": [], + "held_out_px_after": 0.501, + "held_out_px_before": 6.025, + "inliers": 1957, + "position_fitted": false, + "rotvec_deg": [ + -0.2649, + -0.5091, + -0.869 + ], + "split_deg": 0.0315, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 2.5411, + "gate_fail": [], + "held_out_px_after": 0.379, + "held_out_px_before": 7.211, + "inliers": 2588, + "position_fitted": true, + "position_mm": [ + 1.22, + -9.44, + 3.93 + ], + "position_sigma_mm": 0.412, + "position_split_mm": 1.918, + "rotvec_deg": [ + 0.0272, + 0.8833, + -2.3825 + ], + "split_deg": 0.0207, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 1.4607, + "gate_fail": [], + "held_out_px_after": 0.573, + "held_out_px_before": 4.858, + "inliers": 1102, + "position_fitted": false, + "rotvec_deg": [ + 1.2848, + -0.4157, + -0.557 + ], + "split_deg": 0.0954, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 1.1148, + "gate_fail": [], + "held_out_px_after": 0.359, + "held_out_px_before": 3.199, + "inliers": 2761, + "position_fitted": true, + "position_mm": [ + 9.53, + -9.21, + 5.24 + ], + "position_sigma_mm": 0.405, + "position_split_mm": 3.736, + "rotvec_deg": [ + 0.3789, + -0.3134, + -1.0005 + ], + "split_deg": 0.0357, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.9924, + "gate_fail": [], + "held_out_px_after": 0.329, + "held_out_px_before": 7.476, + "inliers": 3266, + "position_fitted": false, + "rotvec_deg": [ + -0.225, + 0.0011, + -1.9797 + ], + "split_deg": 0.0406, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "e17c9efadb69e7b1", + "factory_root_name": "e17c9efadb69e7b1", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "e65f2785e427504c46161378c0819e98393cb233683c3823c8e4d00f77f8414b", + "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "2e74ac96e429c7eabf18fcf55ffb0f355b10d1e65b5c40a2ea34ab6798ddeae6", + "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "3bc81375becd93239e33b5a38af18bbf19dd4c3a77c72ac2012f53962ce1b01e", + "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "07a092fd8c409998e2c139260d9d9f576b70c8fd736f0b7a45c215a3d9e7e2ca", + "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d" + } + }, + "input_fingerprint": "e3b8c608eabea1fe", + "kind": "online_calibration", + "output_sha256": "78b94c6baf0cc454933a3f5f65ff265d8387b20d76cd37c1039c64839dd67031", + "overlap": { + "left-right": 0.501, + "left_eye-left": 0.707, + "left_eye-right": 0.671, + "left_front-left": 0.478, + "left_front-left_eye": 0.72, + "left_front-right": 0.448, + "left_front-right_eye": 0.732, + "left_front-right_front": 1.0, + "right_eye-left": 0.696, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.673, + "right_front-left": 0.464, + "right_front-left_eye": 0.723, + "right_front-right": 0.466, + "right_front-right_eye": 0.734 + }, + "picture_change": { + "left": 38.232, + "left_eye": 28.693, + "left_front": 29.816, + "right": 36.266, + "right_eye": 27.273, + "right_front": 29.289 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 7967707629111, + 7968707606888, + 7972707762444, + 7973707584666, + 7974707584666, + 7975707618000, + 7978707618000, + 7979707629111, + 7985707584666, + 7986707618000, + 7987707606888, + 7988707584666, + 7991707606888, + 7992707640222, + 7997707618000, + 7998707584666, + 7999707595777, + 8002707640222, + 8003707629111, + 8009707629111, + 8010707618000, + 8011707751333, + 8016707629111, + 8017707618000, + 8021707618000, + 8022707595777, + 8023707618000, + 8024707618000, + 8029707618000, + 8030707618000, + 8031707640222, + 8032707606888, + 8036707618000, + 8037707595777, + 8042707595777, + 8043707618000, + 8044707662444, + 8048707629111, + 8049707595777, + 8051707673555, + 8052707595777, + 8056707618000, + 8057707640222, + 8062707595777, + 8063707629111, + 8064707706888, + 8067707629111, + 8068707618000, + 8073707595777, + 8074707618000, + 8078707629111, + 8079707606888, + 8080707584666, + 8084707618000, + 8085707618000 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P02/session_021/cameras/slam.npz b/actions/locomotion_primitives/P02/session_021/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..4482ecf8204aa96491578b036559c303a118d1af --- /dev/null +++ b/actions/locomotion_primitives/P02/session_021/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:88c7053922f1ef36973d62930237985d0e6abc9ec1657323fab1652bd4f9e1ee +size 741070 diff --git a/actions/locomotion_primitives/P02/session_021/meta.json b/actions/locomotion_primitives/P02/session_021/meta.json index 78faa21315e793e4165a3c242da813a91428ca04..604581849a50ea92876c601215ba53f0cd119b01 100644 --- a/actions/locomotion_primitives/P02/session_021/meta.json +++ b/actions/locomotion_primitives/P02/session_021/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": { @@ -519,10 +519,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.2599746688118978 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 45.14, + "offset_rotvec": [ + 0.6701, + -0.3996, + -0.1091 + ], + "dev_deg": { + "median": 11.74, + "p90": 25.03 + }, + "samples": 3394, + "accepted": 3177, + "wrist_pos_err_mm_median": 46.5, + "per_camera": { + "head": { + "samples": 3394, + "accepted": 3177, + "gate_deg": 30.0, + "offset_deg": 45.14, + "tier": "primary", + "dev_deg_median": 11.74, + "wrist_pos_err_mm_median": 46.5 + } + }, + "frames_by_state": { + "ace_sample": 12924, + "interpolated": 2300, + "mean_hand": 258, + "no_body_fit": 2 + }, + "observed_fraction": 0.9832, + "observed_fraction_of_valid": 0.9833, + "palm_axis_vs_markers_deg": { + "gsi": 48.38, + "smplx": 0.51 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.3, + "p90": 11.4 + }, + "registered": { + "median": 7.8, + "p90": 10.5 + } + } + }, + "right": { + "offset_deg": 22.88, + "offset_rotvec": [ + 0.3541, + 0.0461, + 0.1788 + ], + "dev_deg": { + "median": 16.89, + "p90": 33.31 + }, + "samples": 2951, + "accepted": 2532, + "wrist_pos_err_mm_median": 178.7, + "per_camera": { + "head": { + "samples": 2951, + "accepted": 2532, + "gate_deg": 30.0, + "offset_deg": 22.88, + "tier": "primary", + "dev_deg_median": 16.89, + "wrist_pos_err_mm_median": 178.7 + } + }, + "frames_by_state": { + "ace_sample": 10404, + "interpolated": 4092, + "mean_hand": 986, + "no_body_fit": 2 + }, + "observed_fraction": 0.9362, + "observed_fraction_of_valid": 0.9363, + "palm_axis_vs_markers_deg": { + "gsi": 33.26, + "smplx": 0.45 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.5, + "p90": 12.3 + }, + "registered": { + "median": 9.2, + "p90": 10.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:26:34.419674+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P02/session_021", "family": "locomotion_primitives", "primitive": "P02", "source_session": "20260929/P02/20260929_022849_session42" + }, + "task": { + "primitive": "P02", + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." } } diff --git a/actions/locomotion_primitives/P02/session_021/motions/hands_mano.npz b/actions/locomotion_primitives/P02/session_021/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..c0d01b0cfda8cc0c61943407bed717569402d838 --- /dev/null +++ b/actions/locomotion_primitives/P02/session_021/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83f4426eadef00c2076f66c45650510a026b1dcd1237e8afae14c4e47d21b0f1 +size 4340710 diff --git a/actions/locomotion_primitives/P02/session_021/motions/smplx.npz b/actions/locomotion_primitives/P02/session_021/motions/smplx.npz index 1379ae4e030ef98d859cc2afd2766f1ea081a0ec..dc8c0ca22b5623fb1415580635f0527cec956b25 100644 --- a/actions/locomotion_primitives/P02/session_021/motions/smplx.npz +++ b/actions/locomotion_primitives/P02/session_021/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2726acb6db810d701a9549c58a37c3b43ea47303f8dff0988b20e89b5571a178 -size 5954328 +oid sha256:238ee6a2df00abb5d0d451b999e6b0328da2f7a4e27dad946d31eec46ffdfaee +size 10996174 diff --git a/actions/locomotion_primitives/P02/session_022/annotations.json b/actions/locomotion_primitives/P02/session_022/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..5cf55a9b796335f2d6e2ab3fc06ea3b3fcea3c50 --- /dev/null +++ b/actions/locomotion_primitives/P02/session_022/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P02", + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 123.966533, + "video": "left_eye", + "video_t_start": 0.039636524085775005 + } + ], + "episodes": [ + { + "id": "3437dc83-f4e6-41d2-82da-c731e57a79c9", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 1, + "end_s": 7.985, + "t_start": 1.0396, + "t_end": 8.0246, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "3baf62e8-8fe6-4c90-9c69-97762e721db1", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 11.833, + "end_s": 17.953, + "t_start": 11.8726, + "t_end": 17.9926, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "927219c0-14f6-4db0-a5da-fd52c9f6f398", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 22.174, + "end_s": 28.437, + "t_start": 22.2136, + "t_end": 28.4766, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "d67e3148-d7de-49b8-ad76-c61573e26ae9", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 31.941, + "end_s": 38.313, + "t_start": 31.9806, + "t_end": 38.3526, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "b566f7fe-961d-4954-b5e0-b6ab845b241f", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 43.418, + "end_s": 50.358, + "t_start": 43.4576, + "t_end": 50.3976, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "5c2d821b-5729-4f17-b549-c315ad30ec12", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 54.477, + "end_s": 61.733, + "t_start": 54.5166, + "t_end": 61.7726, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "fd2cfd5f-f3ae-46d8-b6b8-9d77ebe6fa45", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 66.971, + "end_s": 74.089, + "t_start": 67.0106, + "t_end": 74.1286, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "1ed1eb20-6430-486d-95f0-2cd980124417", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 78.432, + "end_s": 85.206, + "t_start": 78.4716, + "t_end": 85.2456, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "d45a73b3-68b6-48aa-be59-3c3fd9e70faf", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 89.508, + "end_s": 97.241, + "t_start": 89.5476, + "t_end": 97.2806, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "257e332b-bd8f-42ac-a252-ff750e1e9e91", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 101.905, + "end_s": 109.598, + "t_start": 101.9446, + "t_end": 109.6376, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P02/session_022/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P02/session_022/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..37f2cac105d428a166a8bdf8caf2bb7863c7737f --- /dev/null +++ b/actions/locomotion_primitives/P02/session_022/cameras/gsi_online_calibration.json @@ -0,0 +1,257 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 15, + "median_px": 0.333 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye", + "right" + ], + "delta_deg": 1.2194, + "gate_fail": [], + "held_out_px_after": 0.455, + "held_out_px_before": 5.84, + "inliers": 2416, + "position_fitted": false, + "rotvec_deg": [ + -0.1428, + -0.5262, + -1.0907 + ], + "split_deg": 0.0186, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 2.5588, + "gate_fail": [], + "held_out_px_after": 0.374, + "held_out_px_before": 6.879, + "inliers": 3341, + "position_fitted": true, + "position_mm": [ + 2.27, + -11.09, + 3.47 + ], + "position_sigma_mm": 0.347, + "position_split_mm": 1.213, + "rotvec_deg": [ + 0.0359, + 0.8777, + -2.4033 + ], + "split_deg": 0.0537, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye", + "left" + ], + "delta_deg": 1.5566, + "gate_fail": [], + "held_out_px_after": 0.665, + "held_out_px_before": 5.393, + "inliers": 1170, + "position_fitted": false, + "rotvec_deg": [ + 1.4279, + -0.4209, + -0.455 + ], + "split_deg": 0.0884, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 1.1104, + "gate_fail": [], + "held_out_px_after": 0.355, + "held_out_px_before": 3.671, + "inliers": 3699, + "position_fitted": true, + "position_mm": [ + 4.25, + -12.59, + 3.76 + ], + "position_sigma_mm": 0.344, + "position_split_mm": 1.232, + "rotvec_deg": [ + 0.3178, + -0.2654, + -1.0303 + ], + "split_deg": 0.023, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 2.0305, + "gate_fail": [], + "held_out_px_after": 0.29, + "held_out_px_before": 7.108, + "inliers": 4536, + "position_fitted": false, + "rotvec_deg": [ + -0.2365, + 0.0025, + -2.0167 + ], + "split_deg": 0.0181, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "e17c9efadb69e7b1", + "factory_root_name": "e17c9efadb69e7b1", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "ee3d06e8bbdfbecdbfef6e0062c0c64754a423b6a66fbfad4eb69b0ba488084c", + "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "cad78ee4481cb57fc0e0e08c3b4c55085e457c4961074eafbea04caa30ae450b", + "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "b078400069736efccddb8be70b914327bb812a480667ed784ce2e572dc0755dc", + "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "47258a8f02284a43de1eacb97941447ff0527b6538ae30d0eda25ebef2b86dc9", + "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d" + } + }, + "input_fingerprint": "55874d11026fdac4", + "kind": "online_calibration", + "output_sha256": "951057779c0ed8df37a9bf5264eb9d2ace5f2bc1b1ea6dc82025596ca1e160c7", + "overlap": { + "left-right": 0.501, + "left_eye-left": 0.707, + "left_eye-right": 0.671, + "left_front-left": 0.478, + "left_front-left_eye": 0.72, + "left_front-right": 0.448, + "left_front-right_eye": 0.732, + "left_front-right_front": 1.0, + "right_eye-left": 0.696, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.673, + "right_front-left": 0.464, + "right_front-left_eye": 0.723, + "right_front-right": 0.466, + "right_front-right_eye": 0.734 + }, + "picture_change": { + "left": 33.888, + "left_eye": 24.22, + "left_front": 31.451, + "right": 33.714, + "right_eye": 22.549, + "right_front": 29.592 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 36937618045000, + 36938618045000, + 36944618133888, + 36945618056111, + 36947618045000, + 36948618011666, + 36951618045000, + 36952618011666, + 36954618033888, + 36955618022777, + 36958618011666, + 36959618056111, + 36964618089444, + 36965618033888, + 36968618167222, + 36969618045000, + 36970618033888, + 36974618022777, + 36975618045000, + 36979618045000, + 36980618122777, + 36981618022777, + 36986618011666, + 36987618011666, + 36990618133888, + 36991618011666, + 36994618067222, + 36995618056111, + 36998618089444, + 36999618189444, + 37003618167222, + 37004618033888, + 37005618189444, + 37009618045000, + 37010618033888, + 37014618033888, + 37015618045000, + 37016618045000, + 37017618011666, + 37020618056111, + 37021618033888, + 37026618100555, + 37027618033888, + 37030618056111, + 37031618022777, + 37033618011666, + 37034618045000, + 37038618045000, + 37039618045000, + 37040618033888, + 37043618100555, + 37044618045000, + 37050618033888, + 37051618011666, + 37052618045000, + 37053618022777 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P02/session_022/cameras/slam.npz b/actions/locomotion_primitives/P02/session_022/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..85d08192bd2e078aef62bf31a4fb80f6a02e7b93 --- /dev/null +++ b/actions/locomotion_primitives/P02/session_022/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e890e2d31e5d1377af6dfd46b3d5e9419ab1ab977e745c1e67f30df72a4c5f0a +size 712416 diff --git a/actions/locomotion_primitives/P02/session_022/meta.json b/actions/locomotion_primitives/P02/session_022/meta.json index 0c0602bb4ccc12af3085e067ed66979822b8818d..d030290de2ad178e6786a50aed8aaa06538ade9d 100644 --- a/actions/locomotion_primitives/P02/session_022/meta.json +++ b/actions/locomotion_primitives/P02/session_022/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": { @@ -520,10 +520,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.2103422840151448 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 52.02, + "offset_rotvec": [ + 0.6968, + -0.5679, + 0.1271 + ], + "dev_deg": { + "median": 16.76, + "p90": 34.55 + }, + "samples": 3241, + "accepted": 2693, + "wrist_pos_err_mm_median": 56.3, + "per_camera": { + "head": { + "samples": 3241, + "accepted": 2693, + "gate_deg": 30.0, + "offset_deg": 52.02, + "tier": "primary", + "dev_deg_median": 16.76, + "wrist_pos_err_mm_median": 56.3 + } + }, + "frames_by_state": { + "ace_sample": 11090, + "interpolated": 3554, + "mean_hand": 240, + "no_body_fit": 0 + }, + "observed_fraction": 0.9839, + "observed_fraction_of_valid": 0.9839, + "palm_axis_vs_markers_deg": { + "gsi": 54.49, + "smplx": 0.51 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.9, + "p90": 9.6 + }, + "registered": { + "median": 7.3, + "p90": 8.5 + } + } + }, + "right": { + "offset_deg": 21.01, + "offset_rotvec": [ + 0.3101, + 0.1754, + 0.0867 + ], + "dev_deg": { + "median": 16.06, + "p90": 39.46 + }, + "samples": 3016, + "accepted": 2420, + "wrist_pos_err_mm_median": 42.3, + "per_camera": { + "head": { + "samples": 3016, + "accepted": 2420, + "gate_deg": 30.0, + "offset_deg": 21.01, + "tier": "primary", + "dev_deg_median": 16.06, + "wrist_pos_err_mm_median": 42.3 + } + }, + "frames_by_state": { + "ace_sample": 9878, + "interpolated": 4262, + "mean_hand": 744, + "no_body_fit": 0 + }, + "observed_fraction": 0.95, + "observed_fraction_of_valid": 0.95, + "palm_axis_vs_markers_deg": { + "gsi": 19.82, + "smplx": 0.44 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.6, + "p90": 11.7 + }, + "registered": { + "median": 9.3, + "p90": 12.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:26:26.493326+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P02/session_022", "family": "locomotion_primitives", "primitive": "P02", "source_session": "20260929/P02/20260929_103142_session200" + }, + "task": { + "primitive": "P02", + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." } } diff --git a/actions/locomotion_primitives/P02/session_022/motions/hands_mano.npz b/actions/locomotion_primitives/P02/session_022/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..f6f8383743a1e5970743ac9031457530c870fc15 --- /dev/null +++ b/actions/locomotion_primitives/P02/session_022/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6877e02211839390da958cdf685e04a251c13b14c4a75fab33265e18cde7ee4 +size 4270760 diff --git a/actions/locomotion_primitives/P02/session_022/motions/smplx.npz b/actions/locomotion_primitives/P02/session_022/motions/smplx.npz index 1958a36532a1f1a76eae53ff9a92c689170cfee9..16e4f9e2be7e91a92c99df42fd7ed4d96ae1da60 100644 --- a/actions/locomotion_primitives/P02/session_022/motions/smplx.npz +++ b/actions/locomotion_primitives/P02/session_022/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4c19ba351dc60bd90f5fcaaf497a91775bc8dd2f7cd333052b5f27a7efbacc47 -size 5709686 +oid sha256:11fb96b3d843dbf92643bea1c55baade2be27e76b670ee437852a3d667fd7cfd +size 10619044 diff --git a/actions/locomotion_primitives/P02/session_023/annotations.json b/actions/locomotion_primitives/P02/session_023/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..cfc24e7e0b88b9166f492aad0fffd9e5044c91be --- /dev/null +++ b/actions/locomotion_primitives/P02/session_023/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P02", + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 118.966656, + "video": "left_eye", + "video_t_start": 0.03884847397336122 + } + ], + "episodes": [ + { + "id": "3a4135cf-854c-4d8e-a90e-abd3be336551", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 1, + "end_s": 11.738, + "t_start": 1.0388, + "t_end": 11.7768, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "82b43ebb-1e90-4ba3-ab87-d973ca7dcf98", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 12.738, + "end_s": 22.458, + "t_start": 12.7768, + "t_end": 22.4968, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "ae036dbe-ed05-4afd-82c7-fb7c5633f97f", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 24.458, + "end_s": 34.056, + "t_start": 24.4968, + "t_end": 34.0948, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "ec1435c1-6752-4f58-8acf-88b28066461c", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 35.056, + "end_s": 45.264, + "t_start": 35.0948, + "t_end": 45.3028, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "a33d7d1f-0c94-46c4-8ee9-1f6a911188b9", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 46.264, + "end_s": 56.356, + "t_start": 46.3028, + "t_end": 56.3948, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "f92b78d7-4b96-4b6e-9d83-ad8a5c44ed3a", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 57.356, + "end_s": 67.772, + "t_start": 57.3948, + "t_end": 67.8108, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "7d5e9b39-2218-40d7-9f41-1a839256f29b", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 67.772, + "end_s": 77.493, + "t_start": 67.8108, + "t_end": 77.5318, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "e5128792-0c35-4e24-a8e7-2be49c81db25", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 78.493, + "end_s": 88.012, + "t_start": 78.5318, + "t_end": 88.0508, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "3129694c-b2a1-4d86-9ffd-09e320274cea", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 89.012, + "end_s": 99.018, + "t_start": 89.0508, + "t_end": 99.0568, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "e502738e-3a5d-418d-929c-2a6570530861", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 100.018, + "end_s": 109.538, + "t_start": 100.0568, + "t_end": 109.5768, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P02/session_023/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P02/session_023/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..a45976c203e2de23fe78e4fdcfd0969e6453df9e --- /dev/null +++ b/actions/locomotion_primitives/P02/session_023/cameras/gsi_online_calibration.json @@ -0,0 +1,254 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 14, + "median_px": 0.343 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 1.306, + "gate_fail": [], + "held_out_px_after": 0.473, + "held_out_px_before": 5.928, + "inliers": 2265, + "position_fitted": false, + "rotvec_deg": [ + -0.0959, + -0.5257, + -1.1916 + ], + "split_deg": 0.0571, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 2.4922, + "gate_fail": [], + "held_out_px_after": 0.418, + "held_out_px_before": 7.587, + "inliers": 2944, + "position_fitted": true, + "position_mm": [ + 0.04, + -9.54, + 12.66 + ], + "position_sigma_mm": 0.54, + "position_split_mm": 4.79, + "rotvec_deg": [ + -0.0758, + 0.8355, + -2.3468 + ], + "split_deg": 0.1082, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 1.7681, + "gate_fail": [], + "held_out_px_after": 0.512, + "held_out_px_before": 6.028, + "inliers": 1422, + "position_fitted": false, + "rotvec_deg": [ + 1.6961, + -0.4717, + -0.1636 + ], + "split_deg": 0.2613, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 1.0767, + "gate_fail": [], + "held_out_px_after": 0.374, + "held_out_px_before": 3.37, + "inliers": 3318, + "position_fitted": true, + "position_mm": [ + 9.08, + -10.45, + 8.98 + ], + "position_sigma_mm": 0.487, + "position_split_mm": 3.748, + "rotvec_deg": [ + 0.2231, + -0.3031, + -1.0087 + ], + "split_deg": 0.0932, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 2.0552, + "gate_fail": [], + "held_out_px_after": 0.299, + "held_out_px_before": 7.44, + "inliers": 5026, + "position_fitted": false, + "rotvec_deg": [ + -0.2256, + 0.0281, + -2.0425 + ], + "split_deg": 0.0205, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "e17c9efadb69e7b1", + "factory_root_name": "e17c9efadb69e7b1", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "bdd84d73a2903cd8892ea5c302d05a9fbfe3b56748cbb228f3ea9b5d16672601", + "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "17fc37e0a56fcca69ff7f3ba85e8efe3944cea61fb49b02753a77acd90956b72", + "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "ef6309a584d9395f8e62008e457a99502df7ea0e023df6c0aac449052482c68c", + "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "3d29302d4ce5074de6d09b7b1c2a88aa358b7260aed7c500bc7351a40a3b66c7", + "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d" + } + }, + "input_fingerprint": "14ef67af84d9d7ee", + "kind": "online_calibration", + "output_sha256": "b7b7dd701d303bcbe8e5cbce1ecabd44d87e387fedd1015f9431a66193aca035", + "overlap": { + "left-right": 0.501, + "left_eye-left": 0.707, + "left_eye-right": 0.671, + "left_front-left": 0.478, + "left_front-left_eye": 0.72, + "left_front-right": 0.448, + "left_front-right_eye": 0.732, + "left_front-right_front": 1.0, + "right_eye-left": 0.696, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.673, + "right_front-left": 0.464, + "right_front-left_eye": 0.723, + "right_front-right": 0.466, + "right_front-right_eye": 0.734 + }, + "picture_change": { + "left": 32.013, + "left_eye": 24.023, + "left_front": 32.696, + "right": 29.411, + "right_eye": 22.218, + "right_front": 32.401 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 6221785265000, + 6222785287222, + 6227785253888, + 6228785287222, + 6231785342777, + 6232785276111, + 6235785320555, + 6236785353888, + 6237785265000, + 6238785276111, + 6243785287222, + 6244785309444, + 6245785276111, + 6248785353888, + 6249785309444, + 6254785309444, + 6255785253888, + 6258785309444, + 6259785320555, + 6261785276111, + 6262785320555, + 6265785298333, + 6266785342777, + 6269785276111, + 6270785287222, + 6271785287222, + 6272785276111, + 6276785342777, + 6277785320555, + 6281785265000, + 6282785298333, + 6283785253888, + 6287785287222, + 6288785309444, + 6292785265000, + 6293785265000, + 6296785287222, + 6297785320555, + 6298785253888, + 6303785320555, + 6304785331666, + 6308785265000, + 6309785365000, + 6312785309444, + 6313785353888, + 6314785298333, + 6319785253888, + 6320785320555, + 6321785265000, + 6327785298333, + 6328785309444, + 6329785298333, + 6330785298333, + 6332785309444, + 6333785253888 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P02/session_023/cameras/slam.npz b/actions/locomotion_primitives/P02/session_023/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..683b04361fbeda850483c8fa78755f261e3a4d46 --- /dev/null +++ b/actions/locomotion_primitives/P02/session_023/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:072cfeced485c3283573d30c08e00020be71717ff5e22e8f86524ad7d4afff0d +size 684198 diff --git a/actions/locomotion_primitives/P02/session_023/meta.json b/actions/locomotion_primitives/P02/session_023/meta.json index f23910aa8b410596f5fc7c626881031d96d0a0cd..b47768ddcabdf249958fdc3f209704cd60c4d202 100644 --- a/actions/locomotion_primitives/P02/session_023/meta.json +++ b/actions/locomotion_primitives/P02/session_023/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": { @@ -519,10 +519,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.3897141175247982 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 45.29, + "offset_rotvec": [ + 0.5879, + -0.5171, + 0.1093 + ], + "dev_deg": { + "median": 17.55, + "p90": 31.26 + }, + "samples": 2443, + "accepted": 2150, + "wrist_pos_err_mm_median": 72.3, + "per_camera": { + "head": { + "samples": 2443, + "accepted": 2150, + "gate_deg": 30.0, + "offset_deg": 45.29, + "tier": "primary", + "dev_deg_median": 17.55, + "wrist_pos_err_mm_median": 72.3 + } + }, + "frames_by_state": { + "ace_sample": 8958, + "interpolated": 5002, + "mean_hand": 324, + "no_body_fit": 0 + }, + "observed_fraction": 0.9773, + "observed_fraction_of_valid": 0.9773, + "palm_axis_vs_markers_deg": { + "gsi": 48.15, + "smplx": 0.4 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.9, + "p90": 8.3 + }, + "registered": { + "median": 7.9, + "p90": 9.5 + } + } + }, + "right": { + "offset_deg": 20.23, + "offset_rotvec": [ + -0.0123, + 0.3363, + 0.1068 + ], + "dev_deg": { + "median": 17.11, + "p90": 34.41 + }, + "samples": 2560, + "accepted": 2134, + "wrist_pos_err_mm_median": 89.3, + "per_camera": { + "head": { + "samples": 2560, + "accepted": 2134, + "gate_deg": 30.0, + "offset_deg": 20.23, + "tier": "primary", + "dev_deg_median": 17.11, + "wrist_pos_err_mm_median": 89.3 + } + }, + "frames_by_state": { + "ace_sample": 8930, + "interpolated": 5174, + "mean_hand": 180, + "no_body_fit": 0 + }, + "observed_fraction": 0.9874, + "observed_fraction_of_valid": 0.9874, + "palm_axis_vs_markers_deg": { + "gsi": 25.53, + "smplx": 0.41 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.2, + "p90": 5.7 + }, + "registered": { + "median": 6.3, + "p90": 7.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:22:59.517416+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P02/session_023", "family": "locomotion_primitives", "primitive": "P02", "source_session": "20260930/P02/20260930_021737_session38" + }, + "task": { + "primitive": "P02", + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." } } diff --git a/actions/locomotion_primitives/P02/session_023/motions/hands_mano.npz b/actions/locomotion_primitives/P02/session_023/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..774049f04610c8980c209804464b323e1ed74bc2 --- /dev/null +++ b/actions/locomotion_primitives/P02/session_023/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a24fd3ee08bb0d54a75623f4578d37b1103d9986b9dfc4b87566c234b50d51a0 +size 3465384 diff --git a/actions/locomotion_primitives/P02/session_023/motions/smplx.npz b/actions/locomotion_primitives/P02/session_023/motions/smplx.npz index 820997e35961730bbd3086695c542937c9b48f12..92d76caf9588933384f218d60f5d8e31964fc72c 100644 --- a/actions/locomotion_primitives/P02/session_023/motions/smplx.npz +++ b/actions/locomotion_primitives/P02/session_023/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:78c963aa761ddb3d7071c9025e668004b90f52a5825d4df5b1da19829e7fb863 -size 5497302 +oid sha256:a4fa3a38aa2ec8e9be71fdeb055d49d7502ab6c6676bace62f9d480416d8eb2e +size 10229844 diff --git a/actions/locomotion_primitives/P02/session_024/annotations.json b/actions/locomotion_primitives/P02/session_024/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..2f1a4b362dfe541e3183c26f1d2e00084bad2db0 --- /dev/null +++ b/actions/locomotion_primitives/P02/session_024/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P02", + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 58.966633, + "video": "left_eye", + "video_t_start": 0.038892501483699604 + } + ], + "episodes": [ + { + "id": "a8d04ee1-b5bf-4750-8e7f-663c1810fb77", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 0, + "end_s": 3.71, + "t_start": 0.0389, + "t_end": 3.7489, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "0770be03-ca4d-4642-9f08-f567e9a2854a", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 3.71, + "end_s": 11.299, + "t_start": 3.7489, + "t_end": 11.3379, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "f8331ec4-194b-4ca1-a3dc-e33d5ffb146b", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 11.299, + "end_s": 15.979, + "t_start": 11.3379, + "t_end": 16.0179, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "62daab1d-efee-4f3f-9704-7a26e2b69c0d", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 15.979, + "end_s": 21.754, + "t_start": 16.0179, + "t_end": 21.7929, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "8095faa2-5938-4c92-aeb4-5a8173705a00", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 21.754, + "end_s": 26.464, + "t_start": 21.7929, + "t_end": 26.5029, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "abb5cb10-ea6e-4958-999a-4c229ac31be3", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 26.464, + "end_s": 30.999, + "t_start": 26.5029, + "t_end": 31.0379, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "ef56c8e1-f9dc-483a-9e02-e0ce95bbdb80", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 30.999, + "end_s": 35.909, + "t_start": 31.0379, + "t_end": 35.9479, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "85b77909-fc8c-4e47-aefd-33f30814cc7e", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 35.909, + "end_s": 40.909, + "t_start": 35.9479, + "t_end": 40.9479, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "8afdc7d8-c0fc-4480-8d3c-1de128d867fd", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 40.909, + "end_s": 46.355, + "t_start": 40.9479, + "t_end": 46.3939, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "a612dbc1-97fc-4337-9816-2e7102b03e51", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 46.355, + "end_s": 52.77, + "t_start": 46.3939, + "t_end": 52.8089, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P02/session_024/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P02/session_024/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..cddcf74cc7c36c8f06259e0f22db16b620233f46 --- /dev/null +++ b/actions/locomotion_primitives/P02/session_024/cameras/gsi_online_calibration.json @@ -0,0 +1,248 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 14, + "median_px": 0.357 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 1.2398, + "gate_fail": [], + "held_out_px_after": 0.58, + "held_out_px_before": 6.561, + "inliers": 1597, + "position_fitted": false, + "rotvec_deg": [ + 0.2177, + -0.2735, + -1.1895 + ], + "split_deg": 0.2856, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 2.3735, + "gate_fail": [], + "held_out_px_after": 0.356, + "held_out_px_before": 5.113, + "inliers": 4046, + "position_fitted": true, + "position_mm": [ + 3.29, + -15.04, + 12.15 + ], + "position_sigma_mm": 0.408, + "position_split_mm": 1.173, + "rotvec_deg": [ + -0.2021, + 0.8389, + -2.2111 + ], + "split_deg": 0.0197, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 1.6329, + "gate_fail": [], + "held_out_px_after": 0.454, + "held_out_px_before": 6.129, + "inliers": 2612, + "position_fitted": false, + "rotvec_deg": [ + 1.623, + -0.1698, + -0.0581 + ], + "split_deg": 0.0526, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.9922, + "gate_fail": [], + "held_out_px_after": 0.386, + "held_out_px_before": 3.834, + "inliers": 3717, + "position_fitted": true, + "position_mm": [ + 10.94, + -17.07, + 8.35 + ], + "position_sigma_mm": 0.38, + "position_split_mm": 3.108, + "rotvec_deg": [ + 0.1781, + -0.3337, + -0.9173 + ], + "split_deg": 0.0516, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 2.1722, + "gate_fail": [], + "held_out_px_after": 0.327, + "held_out_px_before": 6.834, + "inliers": 5324, + "position_fitted": false, + "rotvec_deg": [ + -0.2869, + -0.0995, + -2.1509 + ], + "split_deg": 0.0031, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "e17c9efadb69e7b1", + "factory_root_name": "e17c9efadb69e7b1", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "c19620ef266bd59160dbddffcddb54fd420fbd8ec80873d647041c7cdc12edef", + "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "401fa46007fa2d7e88c85bd91b0c6f5fa00aaf033400655877e8224127e6e302", + "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "ff8ac41e0a48ee507a372799054eb4fb5c7a6bf1268e815a92094546c38065fa", + "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "724b1dbb3779eb37011886302e97208a5503fbea7b6ab411c4af22201c32d5c0", + "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d" + } + }, + "input_fingerprint": "c5e505390f55c5f1", + "kind": "online_calibration", + "output_sha256": "daf6bef5bf545064d961447c30147eac1e4057a18133fd3f9d19e04dfccfb631", + "overlap": { + "left-right": 0.501, + "left_eye-left": 0.707, + "left_eye-right": 0.671, + "left_front-left": 0.478, + "left_front-left_eye": 0.72, + "left_front-right": 0.448, + "left_front-right_eye": 0.732, + "left_front-right_front": 1.0, + "right_eye-left": 0.696, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.673, + "right_front-left": 0.464, + "right_front-left_eye": 0.723, + "right_front-right": 0.466, + "right_front-right_eye": 0.734 + }, + "picture_change": { + "left": 32.757, + "left_eye": 37.459, + "left_front": 43.676, + "right": 35.708, + "right_eye": 33.233, + "right_front": 45.017 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 37556787754111, + 37557787709666, + 37558787720777, + 37560787731888, + 37561787754111, + 37562787709666, + 37563787743000, + 37564787743000, + 37565787743000, + 37566787743000, + 37567787731888, + 37568787754111, + 37569787720777, + 37571787720777, + 37572787709666, + 37573787765222, + 37574787709666, + 37575787865222, + 37576787720777, + 37577787720777, + 37578787720777, + 37580787754111, + 37581787731888, + 37582787720777, + 37583787720777, + 37584787887444, + 37585787743000, + 37586787809666, + 37587787754111, + 37589787898555, + 37590787720777, + 37591787765222, + 37592787720777, + 37593787743000, + 37594787720777, + 37595787743000, + 37596787754111, + 37598787731888, + 37599787743000, + 37600787743000, + 37601787720777, + 37602787720777, + 37603787709666, + 37604787720777, + 37605787809666, + 37606787754111, + 37607787720777, + 37608787754111, + 37609787887444 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P02/session_024/cameras/slam.npz b/actions/locomotion_primitives/P02/session_024/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..977545f8e210f6f5c72c5ce124bbe595fe7b639e --- /dev/null +++ b/actions/locomotion_primitives/P02/session_024/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:67e4f5bf5c0308ac63debcfcdd91dfdeb63992679b97a578d15e3fa95d37b6a8 +size 336337 diff --git a/actions/locomotion_primitives/P02/session_024/meta.json b/actions/locomotion_primitives/P02/session_024/meta.json index 0d3473d317d60db23fd0b8dbad911758160b689f..6140e59a20dde947c60e8fd3aaf4847d31f57ba4 100644 --- a/actions/locomotion_primitives/P02/session_024/meta.json +++ b/actions/locomotion_primitives/P02/session_024/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": { @@ -517,10 +517,124 @@ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 26.46, + "offset_rotvec": [ + 0.0075, + -0.3849, + 0.255 + ], + "dev_deg": { + "median": 11.31, + "p90": 21.75 + }, + "samples": 1505, + "accepted": 1435, + "wrist_pos_err_mm_median": 70.2, + "per_camera": { + "head": { + "samples": 1505, + "accepted": 1435, + "gate_deg": 30.0, + "offset_deg": 26.46, + "tier": "primary", + "dev_deg_median": 11.31, + "wrist_pos_err_mm_median": 70.2 + } + }, + "frames_by_state": { + "ace_sample": 5840, + "interpolated": 1112, + "mean_hand": 132, + "no_body_fit": 0 + }, + "observed_fraction": 0.9814, + "observed_fraction_of_valid": 0.9814, + "palm_axis_vs_markers_deg": { + "gsi": 25.04, + "smplx": 0.45 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.9, + "p90": 12.1 + }, + "registered": { + "median": 7.1, + "p90": 8.4 + } + } + }, + "right": { + "offset_deg": 17.03, + "offset_rotvec": [ + 0.1655, + 0.2243, + 0.1035 + ], + "dev_deg": { + "median": 15.63, + "p90": 31.74 + }, + "samples": 1082, + "accepted": 946, + "wrist_pos_err_mm_median": 84.6, + "per_camera": { + "head": { + "samples": 1082, + "accepted": 946, + "gate_deg": 30.0, + "offset_deg": 17.03, + "tier": "primary", + "dev_deg_median": 15.63, + "wrist_pos_err_mm_median": 84.6 + } + }, + "frames_by_state": { + "ace_sample": 4012, + "interpolated": 2940, + "mean_hand": 132, + "no_body_fit": 0 + }, + "observed_fraction": 0.9814, + "observed_fraction_of_valid": 0.9814, + "palm_axis_vs_markers_deg": { + "gsi": 18.94, + "smplx": 0.46 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.3, + "p90": 11.8 + }, + "registered": { + "median": 7.1, + "p90": 11.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:07:47.550748+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P02/session_024", "family": "locomotion_primitives", "primitive": "P02", "source_session": "20261013/P02/20261013_104837_session190" + }, + "task": { + "primitive": "P02", + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." } } diff --git a/actions/locomotion_primitives/P02/session_024/motions/hands_mano.npz b/actions/locomotion_primitives/P02/session_024/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..b470a9f4788bb34cb938ea039e1333a239542230 --- /dev/null +++ b/actions/locomotion_primitives/P02/session_024/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73cb40bc510d073462691adc263b5db42a28fd8faa305c365387e3bf3cce804a +size 1789198 diff --git a/actions/locomotion_primitives/P02/session_024/motions/smplx.npz b/actions/locomotion_primitives/P02/session_024/motions/smplx.npz index b0255ffbd8bab2223041349f3a14a7f02f7b785a..25404c90038ace4904d2edea5c3fa0afeaddb8ad 100644 --- a/actions/locomotion_primitives/P02/session_024/motions/smplx.npz +++ b/actions/locomotion_primitives/P02/session_024/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:40991446019d8f588a526badf715a0a9d583d2cb3a287cd66feb9a0df47fb6f5 -size 2737674 +oid sha256:3bc79b2553c267640affac91e2fc544545be1401e485a86f62a3d6424404cb44 +size 5083054 diff --git a/actions/locomotion_primitives/P02/session_025/annotations.json b/actions/locomotion_primitives/P02/session_025/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..55c9a77c15401606cc631e0a15d3bf8c489d748d --- /dev/null +++ b/actions/locomotion_primitives/P02/session_025/annotations.json @@ -0,0 +1,149 @@ +{ + "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": "P02", + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 137.899922, + "video": "left_eye", + "video_t_start": 0.040078116626914906 + } + ], + "episodes": [ + { + "id": "2bfc2590-fc76-4c78-8b35-fd5882fe10f4", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 2.118, + "end_s": 9.767, + "t_start": 2.1581, + "t_end": 9.8071, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "99f3e598-25ca-412f-af88-fc6b2bb60e37", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 13.767, + "end_s": 20.618, + "t_start": 13.8071, + "t_end": 20.6581, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "de3e6b08-dad4-4469-9fee-09ca174ef784", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 24.618, + "end_s": 32.482, + "t_start": 24.6581, + "t_end": 32.5221, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "a7b581ab-23dc-4266-ab8b-04b27d9b0904", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 36.27, + "end_s": 43.339, + "t_start": 36.3101, + "t_end": 43.3791, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "6c3fe83a-486a-44e2-9540-a84b384bd100", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 47.339, + "end_s": 55.277, + "t_start": 47.3791, + "t_end": 55.3171, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "cb5e6f4f-0861-4d88-9c7c-8b33b13173ea", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 59.365, + "end_s": 66.435, + "t_start": 59.4051, + "t_end": 66.4751, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "c35ff32e-ac41-4acb-badc-fed6faa79658", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 69.435, + "end_s": 76.665, + "t_start": 69.4751, + "t_end": 76.7051, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "7778c796-ff27-4a5a-983b-323aa3d174c8", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 80.159, + "end_s": 87.423, + "t_start": 80.1991, + "t_end": 87.4631, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "62360190-2152-4f1c-bcb7-64e40edb7aff", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 90.423, + "end_s": 97.748, + "t_start": 90.4631, + "t_end": 97.7881, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "69512e4a-c98b-4297-b17e-7afc1af3e1d3", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 100.847, + "end_s": 108.099, + "t_start": 100.8871, + "t_end": 108.1391, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "849cd3f7-af1a-4fca-a853-00678af18b66", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 112.372, + "end_s": 119.57, + "t_start": 112.4121, + "t_end": 119.6101, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + }, + { + "id": "4fde5290-9e6c-4a12-b318-1fa396f49a7d", + "segment": "segment1", + "action": "P02", + "quality": "valid", + "start_s": 122.57, + "end_s": 130.112, + "t_start": 122.6101, + "t_end": 130.1521, + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P02/session_025/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P02/session_025/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..6aa7e9270264245beace3a9dbaf4e2659f705207 --- /dev/null +++ b/actions/locomotion_primitives/P02/session_025/cameras/gsi_online_calibration.json @@ -0,0 +1,220 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 14, + "median_px": 0.341 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 1.6402, + "gate_fail": [], + "held_out_px_after": 0.377, + "held_out_px_before": 22.958, + "inliers": 1850, + "position_fitted": false, + "rotvec_deg": [ + -1.4115, + -0.1641, + -0.8191 + ], + "split_deg": 0.069, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 2.7479, + "gate_fail": [], + "held_out_px_after": 0.404, + "held_out_px_before": 10.124, + "inliers": 2859, + "position_fitted": true, + "position_mm": [ + 5.21, + -21.63, + -5.19 + ], + "position_sigma_mm": 0.163, + "position_split_mm": 4.075, + "rotvec_deg": [ + 1.807, + -0.9048, + 1.862 + ], + "split_deg": 0.0552, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 3.4184, + "gate_fail": [], + "held_out_px_after": 0.595, + "held_out_px_before": 10.822, + "inliers": 769, + "position_fitted": false, + "rotvec_deg": [ + 1.3468, + -0.9228, + 3.0033 + ], + "split_deg": 0.0995, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 3.2248, + "gate_fail": [], + "held_out_px_after": 0.384, + "held_out_px_before": 5.062, + "inliers": 2941, + "position_fitted": true, + "position_mm": [ + 2.42, + -16.68, + -1.23 + ], + "position_sigma_mm": 0.316, + "position_split_mm": 2.873, + "rotvec_deg": [ + 1.9376, + -1.1429, + 2.3106 + ], + "split_deg": 0.0272, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 0.4757, + "gate_fail": [], + "held_out_px_after": 0.307, + "held_out_px_before": 2.269, + "inliers": 3668, + "position_fitted": false, + "rotvec_deg": [ + 0.2356, + -0.4112, + -0.0414 + ], + "split_deg": 0.0077, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "c9205ac6e17d2d5c", + "factory_root_name": "c9205ac6e17d2d5c", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "346fb2438d24c9807fd93f80e3aef30f258917fe64db478efbcae957b1099668", + "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "3e22ff0b11cfc4b7d5f8c178ed9bbde2b1adbe3ce9a933b9c81e41714df047af", + "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "32574aed99cff0097e16f817f9da1bc5aaf763829654028617b143903bfa4a22", + "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "daa125e2da6b1c926739e2093bb1bcebb51a3063790783135d41c6071c9dc5f1", + "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3" + } + }, + "input_fingerprint": "c9c5d8b64d5f161d", + "kind": "online_calibration", + "output_sha256": "405eb3f4affbca2d19dcaaed5e1fd935f98b9b6a688bab1b4f83406284e36418", + "overlap": { + "left-right": 0.5, + "left_eye-left": 0.695, + "left_eye-right": 0.702, + "left_front-left": 0.506, + "left_front-left_eye": 0.692, + "left_front-right": 0.458, + "left_front-right_eye": 0.698, + "left_front-right_front": 1.0, + "right_eye-left": 0.699, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.706, + "right_front-left": 0.49, + "right_front-left_eye": 0.697, + "right_front-right": 0.464, + "right_front-right_eye": 0.704 + }, + "picture_change": { + "left": 40.332, + "left_eye": 35.129, + "left_front": 41.008, + "right": 35.193, + "right_eye": 35.345, + "right_front": 41.804 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 4643564591333, + 4644564724666, + 4645564591333, + 4646564613555, + 4647564591333, + 4648564746888, + 4649564624666, + 4650564580222, + 4651564758000, + 4652564613555, + 4653564602444, + 4654564591333, + 4655564691333, + 4656564591333, + 4657564658000, + 4658564591333, + 4659564669111, + 4660564613555, + 4661564602444, + 4662564624666, + 4663564591333 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P02/session_025/cameras/slam.npz b/actions/locomotion_primitives/P02/session_025/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..0c7b91270e923085533bae2d70d63b3b361c7e7a --- /dev/null +++ b/actions/locomotion_primitives/P02/session_025/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:224a9f8bf3cc845487b8ad3b15fee824650af8ed4ce63e57ef2a190fc3573410 +size 792567 diff --git a/actions/locomotion_primitives/P02/session_025/meta.json b/actions/locomotion_primitives/P02/session_025/meta.json index 0ae7bbad69d0bd7142b14ab07a2e3fc84048dda1..81ce0d48c304363b81123a6596cacb0a36b311fb 100644 --- a/actions/locomotion_primitives/P02/session_025/meta.json +++ b/actions/locomotion_primitives/P02/session_025/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": { @@ -525,10 +525,124 @@ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 28.54, + "offset_rotvec": [ + 0.1614, + -0.4414, + 0.1652 + ], + "dev_deg": { + "median": 17.43, + "p90": 29.17 + }, + "samples": 3093, + "accepted": 2818, + "wrist_pos_err_mm_median": 56.3, + "per_camera": { + "head": { + "samples": 3093, + "accepted": 2818, + "gate_deg": 30.0, + "offset_deg": 28.54, + "tier": "primary", + "dev_deg_median": 17.43, + "wrist_pos_err_mm_median": 56.3 + } + }, + "frames_by_state": { + "ace_sample": 11554, + "interpolated": 4606, + "mean_hand": 396, + "no_body_fit": 0 + }, + "observed_fraction": 0.9761, + "observed_fraction_of_valid": 0.9761, + "palm_axis_vs_markers_deg": { + "gsi": 28.04, + "smplx": 0.59 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.8, + "p90": 11.0 + }, + "registered": { + "median": 9.5, + "p90": 11.9 + } + } + }, + "right": { + "offset_deg": 10.18, + "offset_rotvec": [ + 0.1388, + 0.044, + 0.1017 + ], + "dev_deg": { + "median": 14.67, + "p90": 40.32 + }, + "samples": 3712, + "accepted": 3113, + "wrist_pos_err_mm_median": 38.4, + "per_camera": { + "head": { + "samples": 3712, + "accepted": 3113, + "gate_deg": 30.0, + "offset_deg": 10.18, + "tier": "primary", + "dev_deg_median": 14.67, + "wrist_pos_err_mm_median": 38.4 + } + }, + "frames_by_state": { + "ace_sample": 12630, + "interpolated": 3210, + "mean_hand": 716, + "no_body_fit": 0 + }, + "observed_fraction": 0.9568, + "observed_fraction_of_valid": 0.9568, + "palm_axis_vs_markers_deg": { + "gsi": 11.3, + "smplx": 0.37 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.0, + "p90": 14.4 + }, + "registered": { + "median": 9.4, + "p90": 12.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T21:28:09.859327+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P02/session_025", "family": "locomotion_primitives", "primitive": "P02", "source_session": "20261019/P02/20261019_015947_session18" + }, + "task": { + "primitive": "P02", + "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop." } } diff --git a/actions/locomotion_primitives/P02/session_025/motions/hands_mano.npz b/actions/locomotion_primitives/P02/session_025/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..05fbf7d673ab1d5de2cf8f5efc1890a2d185c497 --- /dev/null +++ b/actions/locomotion_primitives/P02/session_025/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eaa0372bb5e734f4fce24c9cba3306b4fbcc9c36b3c8d422c28aefc54d0cc160 +size 4642322 diff --git a/actions/locomotion_primitives/P02/session_025/motions/smplx.npz b/actions/locomotion_primitives/P02/session_025/motions/smplx.npz index 755e3dc55a3f037575c0a2cfc93828e3c930403c..ba00a18e061714188a49d7b1e33ecf4952e27753 100644 --- a/actions/locomotion_primitives/P02/session_025/motions/smplx.npz +++ b/actions/locomotion_primitives/P02/session_025/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:563b6683c256a55f5f6fd429daccc0d3e7bb2756140dec2cb2d5d4f05b9cec6b -size 6364436 +oid sha256:e53a9a82a6abef82c7849ecb9c8f6119f289b8184b2788305165ca8eb32c3ab9 +size 11813933 diff --git a/actions/locomotion_primitives/P03/session_001/annotations.json b/actions/locomotion_primitives/P03/session_001/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..81cd89d357f993a7b350ce8a1ca94588361216b2 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_001/annotations.json @@ -0,0 +1,127 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 1, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 78.966533, + "video": "left_eye", + "video_t_start": 0.038954118688029116 + } + ], + "episodes": [ + { + "id": "9524c594-263c-4f30-b621-a265eb62f6ca", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 1.542, + "end_s": 4.855, + "t_start": 1.581, + "t_end": 4.894, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "07a398c5-e655-4225-8e79-d9d8d65e9c48", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 7.567, + "end_s": 11.614, + "t_start": 7.606, + "t_end": 11.653, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "8de385f5-75d6-498f-84b9-808f6c150de4", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 14.99, + "end_s": 19.923, + "t_start": 15.029, + "t_end": 19.962, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "82d55ff2-6310-414c-b327-cf561f387961", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 23.082, + "end_s": 27.851, + "t_start": 23.121, + "t_end": 27.89, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "618323bf-ad0a-4ace-b2b8-56e05e762608", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 30.719, + "end_s": 35.34, + "t_start": 30.758, + "t_end": 35.379, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "996dd0a4-ddbd-494c-b67a-89d8f7b5c239", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 38.192, + "end_s": 43.109, + "t_start": 38.231, + "t_end": 43.148, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "df5e405e-4863-4975-ba5c-36032f5edd8b", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 45.723, + "end_s": 50.411, + "t_start": 45.762, + "t_end": 50.45, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "a591f0be-5e9d-4e37-a734-8a5f864d9521", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 53.442, + "end_s": 58.245, + "t_start": 53.481, + "t_end": 58.284, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "f26f09ac-4e53-4099-bc5c-a37aa02fa760", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 60.969, + "end_s": 66.938, + "t_start": 61.008, + "t_end": 66.977, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "6ee98391-5ef2-4c49-a9bf-00bd8fc7b436", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 69.052, + "end_s": 73.936, + "t_start": 69.091, + "t_end": 73.975, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P03/session_001/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P03/session_001/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..62192678e42feeb8bf790e3a5a55f3bcfc2b7676 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_001/cameras/gsi_online_calibration.json @@ -0,0 +1,261 @@ +{ + "camera_fit": { + "groups_dropped": [ + { + "matches": 228, + "median_px": 690.38, + "pair": [ + "left", + "right" + ] + } + ], + "groups_used": 14, + "median_px": 0.337 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.8714, + "gate_fail": [], + "held_out_px_after": 0.544, + "held_out_px_before": 6.918, + "inliers": 1627, + "position_fitted": false, + "rotvec_deg": [ + 0.0067, + 0.7742, + 0.4001 + ], + "split_deg": 0.0876, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.0976, + "gate_fail": [], + "held_out_px_after": 0.334, + "held_out_px_before": 2.24, + "inliers": 2496, + "position_fitted": true, + "position_mm": [ + -11.63, + 11.04, + 10.76 + ], + "position_sigma_mm": 0.415, + "position_split_mm": 6.619, + "rotvec_deg": [ + 0.1576, + 0.7312, + -0.8032 + ], + "split_deg": 0.1396, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.4437, + "gate_fail": [], + "held_out_px_after": 0.465, + "held_out_px_before": 2.209, + "inliers": 1635, + "position_fitted": false, + "rotvec_deg": [ + 0.4176, + -0.0716, + -0.1317 + ], + "split_deg": 0.1086, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.8042, + "gate_fail": [], + "held_out_px_after": 0.385, + "held_out_px_before": 1.489, + "inliers": 2597, + "position_fitted": true, + "position_mm": [ + -10.43, + 12.58, + 6.78 + ], + "position_sigma_mm": 0.407, + "position_split_mm": 3.781, + "rotvec_deg": [ + 0.3078, + 0.4018, + -0.6249 + ], + "split_deg": 0.0637, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.7133, + "gate_fail": [], + "held_out_px_after": 0.331, + "held_out_px_before": 7.594, + "inliers": 3799, + "position_fitted": false, + "rotvec_deg": [ + -0.3377, + 0.4575, + -1.6162 + ], + "split_deg": 0.0385, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "850a0e6aafa85fdf", + "factory_root_name": "850a0e6aafa85fdf", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "1fa639929d5b173afa983a0796a2f5109ec11c7afb489432da6e5f10435227b9", + "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "248566047364b99cdd3685a49eb3c4fbad464d421311950fd683bb152375ae5b", + "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "ff0e96553c314e6961278c36933c4185add1894d0a82e8d85c858d18c7d98487", + "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "193e14f2fc7b3808075efaad8b1cb45ec3ede665a851a355563f230e818e3256", + "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3" + } + }, + "input_fingerprint": "e9c93dc06d2fa1a0", + "kind": "online_calibration", + "output_sha256": "62aa06b4c0f9dc9bc6887cc36f9b2caf5ff1468b0da7d61812ffae623b7011fb", + "overlap": { + "left-right": 0.487, + "left_eye-left": 0.707, + "left_eye-right": 0.685, + "left_front-left": 0.484, + "left_front-left_eye": 0.709, + "left_front-right": 0.464, + "left_front-right_eye": 0.711, + "left_front-right_front": 1.0, + "right_eye-left": 0.708, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.668, + "right_front-left": 0.482, + "right_front-left_eye": 0.711, + "right_front-right": 0.463, + "right_front-right_eye": 0.724 + }, + "picture_change": { + "left": 41.579, + "left_eye": 36.875, + "left_front": 42.343, + "right": 36.344, + "right_eye": 38.367, + "right_front": 41.845 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 4217930456777, + 4218930445666, + 4221930467888, + 4222930445666, + 4223930456777, + 4224930456777, + 4227930467888, + 4228930456777, + 4229930445666, + 4231930456777, + 4232930445666, + 4233930467888, + 4234930456777, + 4236930445666, + 4237930456777, + 4239930467888, + 4240930456777, + 4241930467888, + 4243930456777, + 4244930467888, + 4246930445666, + 4247930445666, + 4249930456777, + 4250930445666, + 4251930456777, + 4254930445666, + 4255930445666, + 4256930467888, + 4257930456777, + 4258930445666, + 4259930456777, + 4261930567888, + 4262930467888, + 4265930456777, + 4266930456777, + 4267930456777, + 4270930445666, + 4271930445666, + 4272930456777, + 4274930456777, + 4275930456777, + 4277930456777, + 4278930456777, + 4279930467888, + 4282930456777, + 4283930467888, + 4285930445666, + 4286930467888, + 4287930467888, + 4289930456777, + 4290930445666, + 4291930456777, + 4292930456777 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P03/session_001/cameras/slam.npz b/actions/locomotion_primitives/P03/session_001/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..72f0000646ea1d12025d28cae7a3f6a4863e9a61 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_001/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e9c2d444602483ae4ad6bbecab296a5b9a16228c6c641017ffa883a6518ea12c +size 454180 diff --git a/actions/locomotion_primitives/P03/session_001/meta.json b/actions/locomotion_primitives/P03/session_001/meta.json index f5a74e957fffde6e060e002c97a532aba308f1bc..ece94d63bfb93334fe3c34f22ad2467f695834e0 100644 --- a/actions/locomotion_primitives/P03/session_001/meta.json +++ b/actions/locomotion_primitives/P03/session_001/meta.json @@ -333,8 +333,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -514,10 +514,124 @@ "file": "derived/rig_tracker_provider/rig_tracker.json", "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.21, + "offset_rotvec": [ + -0.1395, + -0.2606, + -0.0531 + ], + "dev_deg": { + "median": 8.85, + "p90": 21.52 + }, + "samples": 2021, + "accepted": 1952, + "wrist_pos_err_mm_median": 57.7, + "per_camera": { + "head": { + "samples": 2021, + "accepted": 1952, + "gate_deg": 30.0, + "offset_deg": 17.21, + "tier": "primary", + "dev_deg_median": 8.85, + "wrist_pos_err_mm_median": 57.7 + } + }, + "frames_by_state": { + "ace_sample": 7943, + "interpolated": 1528, + "mean_hand": 5, + "no_body_fit": 8 + }, + "observed_fraction": 0.9986, + "observed_fraction_of_valid": 0.9995, + "palm_axis_vs_markers_deg": { + "gsi": 14.63, + "smplx": 0.64 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.6, + "p90": 10.9 + }, + "registered": { + "median": 10.6, + "p90": 12.0 + } + } + }, + "right": { + "offset_deg": 8.44, + "offset_rotvec": [ + -0.0486, + 0.0026, + 0.1391 + ], + "dev_deg": { + "median": 10.12, + "p90": 24.92 + }, + "samples": 2041, + "accepted": 1927, + "wrist_pos_err_mm_median": 96.4, + "per_camera": { + "head": { + "samples": 2041, + "accepted": 1927, + "gate_deg": 30.0, + "offset_deg": 8.44, + "tier": "primary", + "dev_deg_median": 10.12, + "wrist_pos_err_mm_median": 96.4 + } + }, + "frames_by_state": { + "ace_sample": 7865, + "interpolated": 1446, + "mean_hand": 165, + "no_body_fit": 8 + }, + "observed_fraction": 0.9818, + "observed_fraction_of_valid": 0.9826, + "palm_axis_vs_markers_deg": { + "gsi": 9.54, + "smplx": 0.76 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.0, + "p90": 6.3 + }, + "registered": { + "median": 5.4, + "p90": 7.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T12:22:09.330122+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P03/session_001", "family": "locomotion_primitives", "primitive": "P03", "source_session": "20260828/P03/20260828_021111_session235" + }, + "task": { + "primitive": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." } } diff --git a/actions/locomotion_primitives/P03/session_001/motions/hands_mano.npz b/actions/locomotion_primitives/P03/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..a549a320457b925726752619e40f294b7d67bb70 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:008283a397724f2328c67f52c2e1b0fd3282b5202070785d04398ad185cdbf56 +size 2773232 diff --git a/actions/locomotion_primitives/P03/session_001/motions/smplx.npz b/actions/locomotion_primitives/P03/session_001/motions/smplx.npz index cf52ae5e513f59f0aacee387061de5f544eb7fdd..9aa4b39dce5de69dfee5dc691e7f57ae822a0d54 100644 --- a/actions/locomotion_primitives/P03/session_001/motions/smplx.npz +++ b/actions/locomotion_primitives/P03/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:93c0ba65fa270cb338d1fab12a683b0fd93b01e15fb4fbd6d97a2da17d312d54 -size 3635917 +oid sha256:e439582c13f2f436634756875d4edcd3381c0231e67b34162303c295c56c953d +size 6809869 diff --git a/actions/locomotion_primitives/P03/session_002/annotations.json b/actions/locomotion_primitives/P03/session_002/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..ce02413ac0e8ceaa88ed14ab45718c08a9ac6494 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_002/annotations.json @@ -0,0 +1,127 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 1, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 83.966578, + "video": "left_eye", + "video_t_start": 0.03899867626457709 + } + ], + "episodes": [ + { + "id": "7640716f-65e3-4885-b78a-a3402a1486ad", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 3.928, + "end_s": 8.245, + "t_start": 3.967, + "t_end": 8.284, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "65adb4c4-b5ab-4d2e-9111-db9ffe620613", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 10.395, + "end_s": 14.364, + "t_start": 10.434, + "t_end": 14.403, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "5c1c6fa2-1f56-42f3-90f4-6f12baeb3c59", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 16.928, + "end_s": 21.326, + "t_start": 16.967, + "t_end": 21.365, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "a6a86b6f-bf80-4f4b-ac27-5ba76b8de49e", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 24.103, + "end_s": 28.694, + "t_start": 24.142, + "t_end": 28.733, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "2cd334f7-0cb0-4eb1-89a2-fd5a9e94528f", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 31.866, + "end_s": 36.741, + "t_start": 31.905, + "t_end": 36.78, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "5eba980c-4934-4581-9492-08484fec688c", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 40.623, + "end_s": 44.917, + "t_start": 40.662, + "t_end": 44.956, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "b674fd82-6700-46bc-898a-48f48e31e356", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 48.133, + "end_s": 52.85, + "t_start": 48.172, + "t_end": 52.889, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "8035090a-3d3a-4c43-8548-944e888ae953", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 56.321, + "end_s": 61.479, + "t_start": 56.36, + "t_end": 61.518, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "8de6c65f-9b4f-4879-8bd4-159434da03b8", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 64.024, + "end_s": 68.894, + "t_start": 64.063, + "t_end": 68.933, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "8c0855ab-c98f-4c78-affa-725c03ace677", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 71.795, + "end_s": 76.681, + "t_start": 71.834, + "t_end": 76.72, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P03/session_002/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P03/session_002/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..836b6ee27114dfecf54a725c2d9116c92ce332b9 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_002/cameras/gsi_online_calibration.json @@ -0,0 +1,261 @@ +{ + "camera_fit": { + "groups_dropped": [ + { + "matches": 149, + "median_px": 13.8, + "pair": [ + "left", + "right" + ] + } + ], + "groups_used": 14, + "median_px": 0.329 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.9494, + "gate_fail": [], + "held_out_px_after": 0.623, + "held_out_px_before": 6.758, + "inliers": 1528, + "position_fitted": false, + "rotvec_deg": [ + 0.0525, + 0.8446, + 0.4305 + ], + "split_deg": 0.1162, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.0566, + "gate_fail": [], + "held_out_px_after": 0.362, + "held_out_px_before": 2.204, + "inliers": 2548, + "position_fitted": true, + "position_mm": [ + -10.08, + 8.93, + 12.08 + ], + "position_sigma_mm": 0.445, + "position_split_mm": 3.271, + "rotvec_deg": [ + 0.1153, + 0.7002, + -0.7828 + ], + "split_deg": 0.1605, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.428, + "gate_fail": [], + "held_out_px_after": 0.459, + "held_out_px_before": 2.268, + "inliers": 1682, + "position_fitted": false, + "rotvec_deg": [ + 0.3945, + -0.0958, + -0.1356 + ], + "split_deg": 0.2219, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.7623, + "gate_fail": [], + "held_out_px_after": 0.401, + "held_out_px_before": 1.684, + "inliers": 2534, + "position_fitted": true, + "position_mm": [ + -17.1, + 7.86, + 9.37 + ], + "position_sigma_mm": 0.444, + "position_split_mm": 4.013, + "rotvec_deg": [ + 0.1887, + 0.3906, + -0.6269 + ], + "split_deg": 0.1046, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.7325, + "gate_fail": [], + "held_out_px_after": 0.316, + "held_out_px_before": 7.481, + "inliers": 4860, + "position_fitted": false, + "rotvec_deg": [ + -0.3413, + 0.4368, + -1.6414 + ], + "split_deg": 0.0417, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "850a0e6aafa85fdf", + "factory_root_name": "850a0e6aafa85fdf", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "8a5648ae35784f8e5c6d506548c161562bb4f11b76f06fc2fb5bd92f314383dd", + "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "08accd67b524e158ad1dddfeb9b45a9d563a639b6b0519a594c8aab4ebb1ac37", + "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "2939252e7ce0846deef88578660e811cf61c7303040cef89d83f881e97027aaf", + "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "736d05058cb153b5026de10361df627f6c512ddca1e710d50f2c4e4fb797d316", + "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3" + } + }, + "input_fingerprint": "29f716d7e419cc18", + "kind": "online_calibration", + "output_sha256": "fa891f149d61d9aa06deb68e5aef83ceaed145db2add4a0beb2d0bc66b2f1856", + "overlap": { + "left-right": 0.487, + "left_eye-left": 0.707, + "left_eye-right": 0.685, + "left_front-left": 0.484, + "left_front-left_eye": 0.709, + "left_front-right": 0.464, + "left_front-right_eye": 0.711, + "left_front-right_front": 1.0, + "right_eye-left": 0.708, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.668, + "right_front-left": 0.482, + "right_front-left_eye": 0.711, + "right_front-right": 0.463, + "right_front-right_eye": 0.724 + }, + "picture_change": { + "left": 37.077, + "left_eye": 32.801, + "left_front": 42.875, + "right": 33.068, + "right_eye": 36.324, + "right_front": 42.781 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 4350357550111, + 4351357550111, + 4352357539000, + 4353357550111, + 4355357539000, + 4356357683444, + 4358357550111, + 4359357539000, + 4362357550111, + 4363357561222, + 4364357550111, + 4366357561222, + 4367357561222, + 4369357550111, + 4370357550111, + 4372357550111, + 4373357539000, + 4374357572333, + 4377357550111, + 4378357550111, + 4380357550111, + 4381357550111, + 4382357550111, + 4384357539000, + 4385357550111, + 4388357561222, + 4389357550111, + 4390357561222, + 4392357539000, + 4393357539000, + 4396357527888, + 4397357561222, + 4398357561222, + 4401357539000, + 4402357550111, + 4403357539000, + 4406357650111, + 4407357539000, + 4409357550111, + 4410357550111, + 4412357516777, + 4413357539000, + 4414357539000, + 4415357539000, + 4416357550111, + 4417357550111, + 4420357539000, + 4421357539000, + 4422357539000, + 4424357539000, + 4425357516777, + 4427357539000, + 4428357550111 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P03/session_002/cameras/slam.npz b/actions/locomotion_primitives/P03/session_002/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..9dcc4e714cde3ecaa26934b368dc4629e9ca2380 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_002/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4608b20287aef55f1b733d4d7575b29a173ced0c401559a53465bae3f160de24 +size 482558 diff --git a/actions/locomotion_primitives/P03/session_002/meta.json b/actions/locomotion_primitives/P03/session_002/meta.json index 786526f49d57c70d9e37dd526ecc57ef1d7e5a32..12f4fd6e2094896aa1e2a4f0cc3ba3e45fb0a0ee 100644 --- a/actions/locomotion_primitives/P03/session_002/meta.json +++ b/actions/locomotion_primitives/P03/session_002/meta.json @@ -332,8 +332,8 @@ "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 @@ "file": "derived/rig_tracker_provider/rig_tracker.json", "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 16.08, + "offset_rotvec": [ + -0.1293, + -0.2347, + -0.0836 + ], + "dev_deg": { + "median": 7.92, + "p90": 18.21 + }, + "samples": 2287, + "accepted": 2239, + "wrist_pos_err_mm_median": 55.9, + "per_camera": { + "head": { + "samples": 2287, + "accepted": 2239, + "gate_deg": 30.0, + "offset_deg": 16.08, + "tier": "primary", + "dev_deg_median": 7.92, + "wrist_pos_err_mm_median": 55.9 + } + }, + "frames_by_state": { + "ace_sample": 9074, + "interpolated": 998, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9988, + "observed_fraction_of_valid": 0.9988, + "palm_axis_vs_markers_deg": { + "gsi": 13.41, + "smplx": 0.68 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.0, + "p90": 12.7 + }, + "registered": { + "median": 11.0, + "p90": 12.1 + } + } + }, + "right": { + "offset_deg": 10.08, + "offset_rotvec": [ + -0.0732, + -0.0354, + 0.156 + ], + "dev_deg": { + "median": 7.24, + "p90": 19.44 + }, + "samples": 2132, + "accepted": 2073, + "wrist_pos_err_mm_median": 76.3, + "per_camera": { + "head": { + "samples": 2132, + "accepted": 2073, + "gate_deg": 30.0, + "offset_deg": 10.08, + "tier": "primary", + "dev_deg_median": 7.24, + "wrist_pos_err_mm_median": 76.3 + } + }, + "frames_by_state": { + "ace_sample": 8422, + "interpolated": 1650, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9988, + "observed_fraction_of_valid": 0.9988, + "palm_axis_vs_markers_deg": { + "gsi": 9.37, + "smplx": 1.1 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.4, + "p90": 7.0 + }, + "registered": { + "median": 5.5, + "p90": 7.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T12:22:15.523765+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P03/session_002", "family": "locomotion_primitives", "primitive": "P03", "source_session": "20260828/P03/20260828_021323_session237" + }, + "task": { + "primitive": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." } } diff --git a/actions/locomotion_primitives/P03/session_002/motions/hands_mano.npz b/actions/locomotion_primitives/P03/session_002/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..451f17f443cdf46c0855b4f074ebcbd408e42ca4 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_002/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f3bfac05619f9b737481913cac77c689e6cf702cfedb85aa2045aeeb2d8c2ca +size 3019262 diff --git a/actions/locomotion_primitives/P03/session_002/motions/smplx.npz b/actions/locomotion_primitives/P03/session_002/motions/smplx.npz index 95c4074b73c9567e0d2a5d2c737e12b17cd28119..4db81c57535817ba5889607873063ecc8245e804 100644 --- a/actions/locomotion_primitives/P03/session_002/motions/smplx.npz +++ b/actions/locomotion_primitives/P03/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:14ef496e305b2b78fa924b57a3f2f382c0e7ac44d94e44dca32e2886a22435c1 -size 3879222 +oid sha256:53bc84ac0c34fafa31ed0d32a9f69e977a86a3cc36baec6bff3753bf9a503762 +size 7270927 diff --git a/actions/locomotion_primitives/P03/session_003/annotations.json b/actions/locomotion_primitives/P03/session_003/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..bcf9efea31babaffc807a76f9b732da5f8013d24 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_003/annotations.json @@ -0,0 +1,237 @@ +{ + "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": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 183.966689, + "video": "left_eye", + "video_t_start": 0.03825822578945215 + } + ], + "episodes": [ + { + "id": "ed01ac74-9b0a-4e45-92ab-be4c36436a16", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 5.034, + "end_s": 10.491, + "t_start": 5.0723, + "t_end": 10.5293, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "f33bf89b-c048-48e0-a418-49e06fa4f0df", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 12.384, + "end_s": 17.205, + "t_start": 12.4223, + "t_end": 17.2433, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "9773ed79-bf40-4172-9e00-98d5fe7fe4d5", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 19.575, + "end_s": 24.996, + "t_start": 19.6133, + "t_end": 25.0343, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "0dd2bde5-cd2a-4963-9ca7-adffd8b7b07d", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 27.415, + "end_s": 33.191, + "t_start": 27.4533, + "t_end": 33.2293, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "bf1ebde5-3819-4fa4-ab3e-9333983a26fb", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 35.32, + "end_s": 40.745, + "t_start": 35.3583, + "t_end": 40.7833, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "fc99fb9e-e3f9-4aee-8ccd-9762fbc96445", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 43.351, + "end_s": 48.802, + "t_start": 43.3893, + "t_end": 48.8403, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "790e4049-07bc-4264-b750-6ed5cc045854", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 51.143, + "end_s": 56.594, + "t_start": 51.1813, + "t_end": 56.6323, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "a6412adb-4660-4f51-9feb-4970384b4d65", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 59.408, + "end_s": 65.334, + "t_start": 59.4463, + "t_end": 65.3723, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "0c364334-35ad-43d8-b1e5-941970af255b", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 68.564, + "end_s": 74.192, + "t_start": 68.6023, + "t_end": 74.2303, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "beedb9fc-ae64-40a2-b267-0370811b68d3", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 78.136, + "end_s": 84.68, + "t_start": 78.1743, + "t_end": 84.7183, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "002c6db7-3e89-41ab-8c00-e876e7491b15", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 87.006, + "end_s": 93.563, + "t_start": 87.0443, + "t_end": 93.6013, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "8911e23f-a63c-4717-9986-b7479c12c75f", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 95.737, + "end_s": 101.86, + "t_start": 95.7753, + "t_end": 101.8983, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "32060fc1-3ec3-4953-894a-2075ae9564f1", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 104.235, + "end_s": 109.752, + "t_start": 104.2733, + "t_end": 109.7903, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "3696e0ee-15e9-42c3-9b7d-46edc8cade70", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 112.412, + "end_s": 118.399, + "t_start": 112.4503, + "t_end": 118.4373, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "fc691931-688f-473c-b160-67157a5a1478", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 121.637, + "end_s": 127.645, + "t_start": 121.6753, + "t_end": 127.6833, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "3619150a-c04d-4067-a386-d255ed95fbdf", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 132.044, + "end_s": 138.314, + "t_start": 132.0823, + "t_end": 138.3523, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "a8e0f074-6c78-469a-9f72-ad748c83350b", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 142.493, + "end_s": 149.356, + "t_start": 142.5313, + "t_end": 149.3943, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "3381d372-2b95-4970-b043-9becce714e88", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 152.308, + "end_s": 158.121, + "t_start": 152.3463, + "t_end": 158.1593, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "d86a8cda-6fdb-40e5-9834-f1f01bbe16ad", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 160.009, + "end_s": 165.85, + "t_start": 160.0473, + "t_end": 165.8883, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "ab6e8eb5-2ebb-4105-9ea8-9b56253ccdc4", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 168.968, + "end_s": 174.947, + "t_start": 169.0063, + "t_end": 174.9853, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P03/session_003/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P03/session_003/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..77b46f1f8cbe2d21472e2702dedf6b4e4934f9fd --- /dev/null +++ b/actions/locomotion_primitives/P03/session_003/cameras/gsi_online_calibration.json @@ -0,0 +1,267 @@ +{ + "camera_fit": { + "groups_dropped": [ + { + "matches": 142, + "median_px": 8.76, + "pair": [ + "left", + "right" + ] + } + ], + "groups_used": 14, + "median_px": 0.357 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.9767, + "gate_fail": [], + "held_out_px_after": 0.511, + "held_out_px_before": 7.46, + "inliers": 2227, + "position_fitted": false, + "rotvec_deg": [ + -0.1007, + 0.8224, + 0.5171 + ], + "split_deg": 0.0218, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.231, + "gate_fail": [], + "held_out_px_after": 0.336, + "held_out_px_before": 3.927, + "inliers": 3405, + "position_fitted": true, + "position_mm": [ + -11.09, + 11.85, + 9.52 + ], + "position_sigma_mm": 0.345, + "position_split_mm": 2.675, + "rotvec_deg": [ + 0.2072, + 0.8256, + -0.8892 + ], + "split_deg": 0.0899, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.4806, + "gate_fail": [], + "held_out_px_after": 0.632, + "held_out_px_before": 2.429, + "inliers": 1300, + "position_fitted": false, + "rotvec_deg": [ + 0.4446, + -0.18, + -0.0289 + ], + "split_deg": 0.0833, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.8849, + "gate_fail": [], + "held_out_px_after": 0.355, + "held_out_px_before": 1.568, + "inliers": 3694, + "position_fitted": true, + "position_mm": [ + -12.85, + 12.57, + 9.16 + ], + "position_sigma_mm": 0.38, + "position_split_mm": 3.375, + "rotvec_deg": [ + 0.3716, + 0.3844, + -0.7052 + ], + "split_deg": 0.1017, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.8738, + "gate_fail": [], + "held_out_px_after": 0.337, + "held_out_px_before": 6.982, + "inliers": 4537, + "position_fitted": false, + "rotvec_deg": [ + -0.3047, + 0.5389, + -1.7686 + ], + "split_deg": 0.0167, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "850a0e6aafa85fdf", + "factory_root_name": "850a0e6aafa85fdf", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "4f3494c10d4153de8caca3dbfc6a9ebc652403b29d1799cd43fb9439338e7e43", + "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "612a9993941206d860f9cce228630772b85227a16d6ea80e357dab498ac0c92a", + "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "ed727564a79d5e17df016e339e6b6559830ccf5b8bad1c1fad5afcb9d1bc66d3", + "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "e0479d06e35fdb5e3525c04f9ec65efe9840f1c31c041bd68c85e2d8d3c3cabf", + "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3" + } + }, + "input_fingerprint": "7b934a0740291149", + "kind": "online_calibration", + "output_sha256": "ad912076cb571a661e3e68e1a6d7ec40216195e0a5e7b083bc5e07ed2e89aa33", + "overlap": { + "left-right": 0.487, + "left_eye-left": 0.707, + "left_eye-right": 0.685, + "left_front-left": 0.484, + "left_front-left_eye": 0.709, + "left_front-right": 0.464, + "left_front-right_eye": 0.711, + "left_front-right_front": 1.0, + "right_eye-left": 0.708, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.668, + "right_front-left": 0.482, + "right_front-left_eye": 0.711, + "right_front-right": 0.463, + "right_front-right_eye": 0.724 + }, + "picture_change": { + "left": 46.307, + "left_eye": 40.168, + "left_front": 46.042, + "right": 41.809, + "right_eye": 41.795, + "right_front": 46.121 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 1964000891222, + 1965000902333, + 1972000902333, + 1973000902333, + 1979000902333, + 1980000891222, + 1987000902333, + 1988000913444, + 1993000902333, + 1994000902333, + 1995000902333, + 1996000902333, + 2002000902333, + 2003000902333, + 2011000913444, + 2012000902333, + 2017000902333, + 2018000913444, + 2019000891222, + 2020000902333, + 2028000891222, + 2029000891222, + 2031001035666, + 2032000891222, + 2037000913444, + 2038000902333, + 2045000913444, + 2046000902333, + 2047000902333, + 2048000902333, + 2055000891222, + 2056000902333, + 2063000902333, + 2064001035666, + 2070000902333, + 2071000913444, + 2072000902333, + 2073000902333, + 2081000902333, + 2082000902333, + 2086000902333, + 2087000891222, + 2091000913444, + 2092000891222, + 2097000891222, + 2098000869000, + 2101000891222, + 2102000869000, + 2111000902333, + 2112000869000, + 2113000902333, + 2120000891222, + 2121000902333, + 2128000902333, + 2129000891222, + 2131000902333, + 2132000902333, + 2137000902333, + 2138000902333 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P03/session_003/cameras/slam.npz b/actions/locomotion_primitives/P03/session_003/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..b9bb677a1ac8ed687ed102c0fef7f458780ade9e --- /dev/null +++ b/actions/locomotion_primitives/P03/session_003/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38f198b9f067873d1fd3dd4b7d4bdc3e920a21fa2035f84fc09a61e6adb6ace5 +size 1055330 diff --git a/actions/locomotion_primitives/P03/session_003/meta.json b/actions/locomotion_primitives/P03/session_003/meta.json index 2efad24bc72968bb2165da06afb0427992afbdfe..fde1e6c8e7feb413a936a7d646027b1759a954b4 100644 --- a/actions/locomotion_primitives/P03/session_003/meta.json +++ b/actions/locomotion_primitives/P03/session_003/meta.json @@ -334,8 +334,8 @@ "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": { @@ -516,10 +516,124 @@ "file": "derived/rig_tracker_provider/rig_tracker.json", "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.65, + "offset_rotvec": [ + -0.1671, + -0.2529, + -0.0547 + ], + "dev_deg": { + "median": 7.55, + "p90": 18.43 + }, + "samples": 4846, + "accepted": 4682, + "wrist_pos_err_mm_median": 44.1, + "per_camera": { + "head": { + "samples": 4846, + "accepted": 4682, + "gate_deg": 30.0, + "offset_deg": 17.65, + "tier": "primary", + "dev_deg_median": 7.55, + "wrist_pos_err_mm_median": 44.1 + } + }, + "frames_by_state": { + "ace_sample": 19000, + "interpolated": 3072, + "mean_hand": 5, + "no_body_fit": 7 + }, + "observed_fraction": 0.9995, + "observed_fraction_of_valid": 0.9998, + "palm_axis_vs_markers_deg": { + "gsi": 15.1, + "smplx": 0.84 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.6, + "p90": 10.1 + }, + "registered": { + "median": 7.9, + "p90": 11.0 + } + } + }, + "right": { + "offset_deg": 9.69, + "offset_rotvec": [ + -0.1046, + -0.0309, + 0.1293 + ], + "dev_deg": { + "median": 8.72, + "p90": 23.07 + }, + "samples": 4614, + "accepted": 4393, + "wrist_pos_err_mm_median": 75.3, + "per_camera": { + "head": { + "samples": 4614, + "accepted": 4393, + "gate_deg": 30.0, + "offset_deg": 9.69, + "tier": "primary", + "dev_deg_median": 8.72, + "wrist_pos_err_mm_median": 75.3 + } + }, + "frames_by_state": { + "ace_sample": 17936, + "interpolated": 4008, + "mean_hand": 133, + "no_body_fit": 7 + }, + "observed_fraction": 0.9937, + "observed_fraction_of_valid": 0.994, + "palm_axis_vs_markers_deg": { + "gsi": 10.02, + "smplx": 0.78 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.2, + "p90": 6.7 + }, + "registered": { + "median": 6.5, + "p90": 7.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T12:45:54.544182+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P03/session_003", "family": "locomotion_primitives", "primitive": "P03", "source_session": "20260831/P03/20260831_020758_session7" + }, + "task": { + "primitive": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." } } diff --git a/actions/locomotion_primitives/P03/session_003/motions/hands_mano.npz b/actions/locomotion_primitives/P03/session_003/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..79168d6e1bc60fd4008a0feb62fda1ed9363d229 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_003/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39911346f9b13ce5fc6a6e8c80c7e915e4ea9b41722a3cc5e26041787e2d71cb +size 6461668 diff --git a/actions/locomotion_primitives/P03/session_003/motions/smplx.npz b/actions/locomotion_primitives/P03/session_003/motions/smplx.npz index 8259dbda30ee3af80a3798364254b41985f01f0c..e23e16aba24e061043b4d83a3e40355dcc46ed02 100644 --- a/actions/locomotion_primitives/P03/session_003/motions/smplx.npz +++ b/actions/locomotion_primitives/P03/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c80aac268d9d5dab936616bf6f2218b0d84b4e35293c733a5470a428a945ef16 -size 8500307 +oid sha256:68770795393a91f3e96ac857d4ea15180c702bf7247b5b29a3eefded49915660 +size 15906537 diff --git a/actions/locomotion_primitives/P03/session_004/annotations.json b/actions/locomotion_primitives/P03/session_004/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b91251b9aad45f8689d4e985e4c2b34261c268 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_004/annotations.json @@ -0,0 +1,237 @@ +{ + "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": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 178.966656, + "video": "left_eye", + "video_t_start": 0.03846116848505776 + } + ], + "episodes": [ + { + "id": "d6394855-c36d-43b2-b9ad-6993d986f4c9", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 2.026, + "end_s": 6.875, + "t_start": 2.0645, + "t_end": 6.9135, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "d5e7819f-fe76-4a8f-97b7-2dcc901007fe", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 9.095, + "end_s": 14.908, + "t_start": 9.1335, + "t_end": 14.9465, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "9cbf4d94-6cab-4c72-85c4-dadbc6a13b24", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 16.71, + "end_s": 22.155, + "t_start": 16.7485, + "t_end": 22.1935, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "5dd348e6-1ba9-48d0-8806-afd9b58a1603", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 24.272, + "end_s": 29.792, + "t_start": 24.3105, + "t_end": 29.8305, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "ca2746b4-6e69-426b-9aca-f8a7bb598ddb", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 31.874, + "end_s": 37.368, + "t_start": 31.9125, + "t_end": 37.4065, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "d912d7bd-1b9f-4fb4-a7ef-b4b9dfed3ff2", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 39.498, + "end_s": 44.909, + "t_start": 39.5365, + "t_end": 44.9475, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "7057a5aa-a74b-4477-9921-629458fdd968", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 47.262, + "end_s": 52.788, + "t_start": 47.3005, + "t_end": 52.8265, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "b6764697-e715-464e-95f8-337c0cadce56", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 55.135, + "end_s": 61.071, + "t_start": 55.1735, + "t_end": 61.1095, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "2f53a269-7364-4025-acf9-cdec4d55257f", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 63.295, + "end_s": 70.55, + "t_start": 63.3335, + "t_end": 70.5885, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "b93fb6b3-089f-4ee0-8d71-a44b17bd447a", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 72.846, + "end_s": 79.665, + "t_start": 72.8845, + "t_end": 79.7035, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "0b60204e-532f-4aec-8ea9-a826c66aa090", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 82.814, + "end_s": 89.037, + "t_start": 82.8525, + "t_end": 89.0755, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "04d8601c-8846-4e7b-bdf1-3eb327102153", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 92.284, + "end_s": 99.301, + "t_start": 92.3225, + "t_end": 99.3395, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "e7c33880-8f98-4720-a0e2-7a20baa9182b", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 101.579, + "end_s": 108.794, + "t_start": 101.6175, + "t_end": 108.8325, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "011d3e54-f46b-4d8e-ae5c-83634dc602bd", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 111.865, + "end_s": 117.213, + "t_start": 111.9035, + "t_end": 117.2515, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "7af1512b-96a3-4fa3-ba86-162799089dee", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 118.975, + "end_s": 125.401, + "t_start": 119.0135, + "t_end": 125.4395, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "daaf02d6-f654-44dd-8a4d-3e205c697937", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 127.538, + "end_s": 133.283, + "t_start": 127.5765, + "t_end": 133.3215, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "91e03b73-7226-4bf2-a57e-22f6c956ee41", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 136.113, + "end_s": 143.7, + "t_start": 136.1515, + "t_end": 143.7385, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "98f75220-9018-4d61-802b-4ff1d9eba746", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 147.73, + "end_s": 155.277, + "t_start": 147.7685, + "t_end": 155.3155, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "ec0defea-7958-4de3-a422-b0871fb7ea0f", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 157.754, + "end_s": 164.281, + "t_start": 157.7925, + "t_end": 164.3195, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "f37744eb-a3ee-4d9c-a9f5-c95d99674e01", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 167.603, + "end_s": 173.77, + "t_start": 167.6415, + "t_end": 173.8085, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P03/session_004/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P03/session_004/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..577ef6689871fcb4cc332a76c3ebe012d0a30b86 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_004/cameras/gsi_online_calibration.json @@ -0,0 +1,267 @@ +{ + "camera_fit": { + "groups_dropped": [ + { + "matches": 183, + "median_px": 8.77, + "pair": [ + "left", + "right" + ] + } + ], + "groups_used": 14, + "median_px": 0.373 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.9324, + "gate_fail": [], + "held_out_px_after": 0.49, + "held_out_px_before": 7.898, + "inliers": 2238, + "position_fitted": false, + "rotvec_deg": [ + -0.0563, + 0.7929, + 0.4873 + ], + "split_deg": 0.0328, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.2353, + "gate_fail": [], + "held_out_px_after": 0.356, + "held_out_px_before": 3.404, + "inliers": 3405, + "position_fitted": true, + "position_mm": [ + -12.09, + 11.58, + 9.1 + ], + "position_sigma_mm": 0.359, + "position_split_mm": 1.527, + "rotvec_deg": [ + 0.1824, + 0.8344, + -0.8924 + ], + "split_deg": 0.0544, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.4833, + "gate_fail": [], + "held_out_px_after": 0.614, + "held_out_px_before": 2.42, + "inliers": 1293, + "position_fitted": false, + "rotvec_deg": [ + 0.4612, + -0.1436, + -0.0155 + ], + "split_deg": 0.0215, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.878, + "gate_fail": [], + "held_out_px_after": 0.357, + "held_out_px_before": 1.763, + "inliers": 3829, + "position_fitted": true, + "position_mm": [ + -10.66, + 12.78, + 8.13 + ], + "position_sigma_mm": 0.364, + "position_split_mm": 1.908, + "rotvec_deg": [ + 0.3634, + 0.3754, + -0.7056 + ], + "split_deg": 0.0575, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.8715, + "gate_fail": [], + "held_out_px_after": 0.358, + "held_out_px_before": 6.751, + "inliers": 4315, + "position_fitted": false, + "rotvec_deg": [ + -0.3117, + 0.5236, + -1.7695 + ], + "split_deg": 0.0371, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "850a0e6aafa85fdf", + "factory_root_name": "850a0e6aafa85fdf", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "e320f223cd4eceebcb7d30f466ac905b4cfb7c36b419ab74eec0ed54dc0db379", + "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "fb3b2cdd109e37538abfeea2bf814fcf0164752c77c5be3ffa5ccc7ba681eb57", + "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "a0b92956a253d191b6d23d0372570a99c9dcd5458ec5464d115f78431b98e0c6", + "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "939299f09931107eb50d5e2b0a3be5d68bbbda571c248034aae4704b9cd643d2", + "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3" + } + }, + "input_fingerprint": "1accfdfdefff5881", + "kind": "online_calibration", + "output_sha256": "b60a0a7d94b1b72c03c868569163721dc90114568ff24bc10434c10d287136f6", + "overlap": { + "left-right": 0.487, + "left_eye-left": 0.707, + "left_eye-right": 0.685, + "left_front-left": 0.484, + "left_front-left_eye": 0.709, + "left_front-right": 0.464, + "left_front-right_eye": 0.711, + "left_front-right_front": 1.0, + "right_eye-left": 0.708, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.668, + "right_front-left": 0.482, + "right_front-left_eye": 0.711, + "right_front-right": 0.463, + "right_front-right_eye": 0.724 + }, + "picture_change": { + "left": 45.963, + "left_eye": 42.37, + "left_front": 46.582, + "right": 37.727, + "right_eye": 43.256, + "right_front": 45.876 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 2158546427888, + 2159546439000, + 2166546427888, + 2167546439000, + 2174546450111, + 2175546405666, + 2178546439000, + 2179546394555, + 2184546583444, + 2185546427888, + 2193546427888, + 2194546427888, + 2196546439000, + 2197546427888, + 2204546450111, + 2205546439000, + 2208546439000, + 2209546405666, + 2212546427888, + 2213546450111, + 2217546439000, + 2218546439000, + 2226546539000, + 2227546439000, + 2231546405666, + 2232546439000, + 2236546439000, + 2237546539000, + 2245546439000, + 2246546439000, + 2248546561222, + 2249546550111, + 2255546450111, + 2256546439000, + 2263546439000, + 2264546405666, + 2265546439000, + 2266546439000, + 2271546427888, + 2272546572333, + 2281546427888, + 2282546439000, + 2284546405666, + 2285546572333, + 2290546439000, + 2291546427888, + 2294546439000, + 2295546439000, + 2300546594555, + 2301546427888, + 2310546427888, + 2311546450111, + 2312546439000, + 2320546427888, + 2321546439000, + 2324546405666, + 2325546439000, + 2333546427888, + 2334546416777 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P03/session_004/cameras/slam.npz b/actions/locomotion_primitives/P03/session_004/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..347d6e0b5808d200c52d708c726d5f95a55b993b --- /dev/null +++ b/actions/locomotion_primitives/P03/session_004/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54f959dadf621ce1b8230e7635de916f6903a9ab209f1192a910166b95fbe9cc +size 1027410 diff --git a/actions/locomotion_primitives/P03/session_004/meta.json b/actions/locomotion_primitives/P03/session_004/meta.json index 6790d92d824dd403613188fa4de98fe36c79e1b4..086acdb4bdb6eb3acac64e004c1263585c332d32 100644 --- a/actions/locomotion_primitives/P03/session_004/meta.json +++ b/actions/locomotion_primitives/P03/session_004/meta.json @@ -333,8 +333,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -515,10 +515,124 @@ "file": "derived/rig_tracker_provider/rig_tracker.json", "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.98, + "offset_rotvec": [ + -0.1517, + -0.2716, + -0.0411 + ], + "dev_deg": { + "median": 8.51, + "p90": 19.52 + }, + "samples": 4613, + "accepted": 4471, + "wrist_pos_err_mm_median": 50.0, + "per_camera": { + "head": { + "samples": 4613, + "accepted": 4471, + "gate_deg": 30.0, + "offset_deg": 17.98, + "tier": "primary", + "dev_deg_median": 8.51, + "wrist_pos_err_mm_median": 50.0 + } + }, + "frames_by_state": { + "ace_sample": 18180, + "interpolated": 3292, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9994, + "observed_fraction_of_valid": 0.9994, + "palm_axis_vs_markers_deg": { + "gsi": 15.57, + "smplx": 0.78 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.8, + "p90": 11.3 + }, + "registered": { + "median": 8.2, + "p90": 12.3 + } + } + }, + "right": { + "offset_deg": 9.11, + "offset_rotvec": [ + -0.1165, + 0.001, + 0.1081 + ], + "dev_deg": { + "median": 9.91, + "p90": 25.34 + }, + "samples": 4192, + "accepted": 3929, + "wrist_pos_err_mm_median": 77.6, + "per_camera": { + "head": { + "samples": 4192, + "accepted": 3929, + "gate_deg": 30.0, + "offset_deg": 9.11, + "tier": "primary", + "dev_deg_median": 9.91, + "wrist_pos_err_mm_median": 77.6 + } + }, + "frames_by_state": { + "ace_sample": 16126, + "interpolated": 5346, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9994, + "observed_fraction_of_valid": 0.9994, + "palm_axis_vs_markers_deg": { + "gsi": 9.99, + "smplx": 0.78 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.1, + "p90": 6.7 + }, + "registered": { + "median": 6.4, + "p90": 7.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T12:45:54.221355+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P03/session_004", "family": "locomotion_primitives", "primitive": "P03", "source_session": "20260831/P03/20260831_021113_session8" + }, + "task": { + "primitive": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." } } diff --git a/actions/locomotion_primitives/P03/session_004/motions/hands_mano.npz b/actions/locomotion_primitives/P03/session_004/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..19f9261978ae5b5105316758f8540971192859bc --- /dev/null +++ b/actions/locomotion_primitives/P03/session_004/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00a2387a708398426d39cdd4388da65ceee5540a488f5c1b8c37a964940c9679 +size 6038526 diff --git a/actions/locomotion_primitives/P03/session_004/motions/smplx.npz b/actions/locomotion_primitives/P03/session_004/motions/smplx.npz index 3813d047724c98349ab061c868a1f0f872b70a79..9434134c197398cb01063106b160891f1870b3a9 100644 --- a/actions/locomotion_primitives/P03/session_004/motions/smplx.npz +++ b/actions/locomotion_primitives/P03/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8ebb82e7bfd99dd06c092d4523be9937395d5d505922c785e5c8a0e12f12f666 -size 8265417 +oid sha256:5ae211b5a8ba4781d1e28ad615cc2dd5b10ff04c77ddea8dcce3a7cb875d9bb7 +size 15483887 diff --git a/actions/locomotion_primitives/P03/session_005/annotations.json b/actions/locomotion_primitives/P03/session_005/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..aad7297371678def88dc621d1f347f7e4fff43ea --- /dev/null +++ b/actions/locomotion_primitives/P03/session_005/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 78.966544, + "video": "left_eye", + "video_t_start": 0.03834892749784791 + } + ], + "episodes": [ + { + "id": "103695cf-66e6-4377-bd6b-ad6fbed44cba", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 1.174, + "end_s": 6.718, + "t_start": 1.2123, + "t_end": 6.7563, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "87432edc-ec80-4efb-8522-6240b7b3e8ce", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 8.321, + "end_s": 13.104, + "t_start": 8.3593, + "t_end": 13.1423, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "20f5541c-20fe-4e5f-a0ed-7dd8694451a6", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 15.369, + "end_s": 20.407, + "t_start": 15.4073, + "t_end": 20.4453, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "ad2b7afd-1c72-48f5-944b-2c5dad919cc2", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 23.124, + "end_s": 28.131, + "t_start": 23.1623, + "t_end": 28.1693, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "53074b6a-bd6f-4fbf-958e-0865c44d7b5b", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 30.746, + "end_s": 35.68, + "t_start": 30.7843, + "t_end": 35.7183, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "51f515cd-7222-4cc6-b51b-f27526eaecfc", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 38.727, + "end_s": 43.489, + "t_start": 38.7653, + "t_end": 43.5273, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "64575df6-fd8b-4045-9e91-e9ba1d155dc0", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 46.177, + "end_s": 51.134, + "t_start": 46.2153, + "t_end": 51.1723, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "62397802-63f0-40da-a2d3-7384948e7202", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 53.656, + "end_s": 58.958, + "t_start": 53.6943, + "t_end": 58.9963, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "2313f90b-aa83-412a-b0da-a603dc75960d", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 61.215, + "end_s": 66.645, + "t_start": 61.2533, + "t_end": 66.6833, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "685522ae-8f08-4946-9b73-cd7012793ffe", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 68.725, + "end_s": 73.947, + "t_start": 68.7633, + "t_end": 73.9853, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P03/session_005/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P03/session_005/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..847d5d5405a380a3ba5c292de371b709d6353d4b --- /dev/null +++ b/actions/locomotion_primitives/P03/session_005/cameras/gsi_online_calibration.json @@ -0,0 +1,261 @@ +{ + "camera_fit": { + "groups_dropped": [ + { + "matches": 155, + "median_px": 631.47, + "pair": [ + "left", + "right" + ] + } + ], + "groups_used": 14, + "median_px": 0.372 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.9046, + "gate_fail": [], + "held_out_px_after": 0.608, + "held_out_px_before": 6.552, + "inliers": 1735, + "position_fitted": false, + "rotvec_deg": [ + 0.0117, + 0.8505, + 0.3078 + ], + "split_deg": 0.1002, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.0945, + "gate_fail": [], + "held_out_px_after": 0.38, + "held_out_px_before": 2.495, + "inliers": 3065, + "position_fitted": true, + "position_mm": [ + -11.55, + 11.4, + 11.02 + ], + "position_sigma_mm": 0.242, + "position_split_mm": 3.446, + "rotvec_deg": [ + 0.1947, + 0.7273, + -0.7943 + ], + "split_deg": 0.0981, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.3593, + "gate_fail": [], + "held_out_px_after": 0.674, + "held_out_px_before": 2.945, + "inliers": 1460, + "position_fitted": false, + "rotvec_deg": [ + 0.3528, + -0.0628, + 0.0257 + ], + "split_deg": 0.1895, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.7959, + "gate_fail": [], + "held_out_px_after": 0.373, + "held_out_px_before": 1.774, + "inliers": 3403, + "position_fitted": true, + "position_mm": [ + -9.02, + 10.84, + 8.57 + ], + "position_sigma_mm": 0.3, + "position_split_mm": 4.9, + "rotvec_deg": [ + 0.3037, + 0.3683, + -0.6369 + ], + "split_deg": 0.1722, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.8598, + "gate_fail": [], + "held_out_px_after": 0.374, + "held_out_px_before": 6.583, + "inliers": 3710, + "position_fitted": false, + "rotvec_deg": [ + -0.3432, + 0.4864, + -1.762 + ], + "split_deg": 0.0795, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "850a0e6aafa85fdf", + "factory_root_name": "850a0e6aafa85fdf", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "5b4b8d44e4e035af7794ede1223b2aa816fe671a05b1427fa3f4b14901bf16f6", + "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "27ea39adb84e63b8d53ea697b1b88f7c220440cc4b9aeb4e0aaf13c236687519", + "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "10228098d8a5b0dd8fce7e37f96c4aba4984251dd025427fe317d31e6fdc0c0f", + "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "a655a0fe11de6f66aefdc56a0a8690a2820b54b637a2ce3381ded3a19472155b", + "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3" + } + }, + "input_fingerprint": "0bfa1e96ca1b0460", + "kind": "online_calibration", + "output_sha256": "d8eb3b232ebecea1392699b999ca0b9cc3d30298ea493198006511f58b467076", + "overlap": { + "left-right": 0.487, + "left_eye-left": 0.707, + "left_eye-right": 0.685, + "left_front-left": 0.484, + "left_front-left_eye": 0.709, + "left_front-right": 0.464, + "left_front-right_eye": 0.711, + "left_front-right_front": 1.0, + "right_eye-left": 0.708, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.668, + "right_front-left": 0.482, + "right_front-left_eye": 0.711, + "right_front-right": 0.463, + "right_front-right_eye": 0.724 + }, + "picture_change": { + "left": 45.301, + "left_eye": 36.674, + "left_front": 43.214, + "right": 39.893, + "right_eye": 38.932, + "right_front": 44.129 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 9840201409888, + 9841201398777, + 9844201398777, + 9845201398777, + 9846201398777, + 9847201387666, + 9848201398777, + 9849201376555, + 9851201387666, + 9852201387666, + 9853201387666, + 9854201454333, + 9857201387666, + 9858201398777, + 9859201398777, + 9860201387666, + 9862201398777, + 9863201387666, + 9864201365444, + 9866201398777, + 9867201409888, + 9870201398777, + 9871201387666, + 9872201398777, + 9875201376555, + 9876201387666, + 9877201387666, + 9880201398777, + 9881201398777, + 9882201387666, + 9883201387666, + 9885201398777, + 9886201387666, + 9887201409888, + 9888201409888, + 9889201398777, + 9890201409888, + 9891201387666, + 9893201387666, + 9894201432111, + 9897201387666, + 9898201398777, + 9900201398777, + 9901201387666, + 9902201387666, + 9905201387666, + 9906201398777, + 9907201387666, + 9908201387666, + 9909201387666, + 9912201387666, + 9913201387666, + 9914201365444 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P03/session_005/cameras/slam.npz b/actions/locomotion_primitives/P03/session_005/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..82462650a7338c50656ec7b46d958b431f8625c9 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_005/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ba7eb7e8e792eccfd1fced93b55d5a4105c9b2d5594e6281212af3d89568ecf +size 454606 diff --git a/actions/locomotion_primitives/P03/session_005/meta.json b/actions/locomotion_primitives/P03/session_005/meta.json index 003fcc67094b50e34ccdbeced3db4067c52cea76..861101687ace5c3bc4991f3afcb44b7e8bea04b7 100644 --- a/actions/locomotion_primitives/P03/session_005/meta.json +++ b/actions/locomotion_primitives/P03/session_005/meta.json @@ -334,8 +334,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -515,10 +515,124 @@ "file": "derived/rig_tracker_provider/rig_tracker.json", "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 15.22, + "offset_rotvec": [ + -0.119, + -0.2366, + -0.0214 + ], + "dev_deg": { + "median": 7.94, + "p90": 19.06 + }, + "samples": 2083, + "accepted": 2007, + "wrist_pos_err_mm_median": 62.6, + "per_camera": { + "head": { + "samples": 2083, + "accepted": 2007, + "gate_deg": 30.0, + "offset_deg": 15.22, + "tier": "primary", + "dev_deg_median": 7.94, + "wrist_pos_err_mm_median": 62.6 + } + }, + "frames_by_state": { + "ace_sample": 8143, + "interpolated": 1328, + "mean_hand": 5, + "no_body_fit": 8 + }, + "observed_fraction": 0.9986, + "observed_fraction_of_valid": 0.9995, + "palm_axis_vs_markers_deg": { + "gsi": 12.78, + "smplx": 0.99 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.1, + "p90": 10.2 + }, + "registered": { + "median": 9.1, + "p90": 11.3 + } + } + }, + "right": { + "offset_deg": 10.11, + "offset_rotvec": [ + -0.076, + -0.0928, + 0.1293 + ], + "dev_deg": { + "median": 8.01, + "p90": 26.62 + }, + "samples": 1883, + "accepted": 1735, + "wrist_pos_err_mm_median": 52.5, + "per_camera": { + "head": { + "samples": 1883, + "accepted": 1735, + "gate_deg": 30.0, + "offset_deg": 10.11, + "tier": "primary", + "dev_deg_median": 8.01, + "wrist_pos_err_mm_median": 52.5 + } + }, + "frames_by_state": { + "ace_sample": 7089, + "interpolated": 2382, + "mean_hand": 5, + "no_body_fit": 8 + }, + "observed_fraction": 0.9986, + "observed_fraction_of_valid": 0.9995, + "palm_axis_vs_markers_deg": { + "gsi": 11.27, + "smplx": 0.79 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.1, + "p90": 6.6 + }, + "registered": { + "median": 5.2, + "p90": 6.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T12:45:32.229976+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P03/session_005", "family": "locomotion_primitives", "primitive": "P03", "source_session": "20260831/P03/20260831_083147_session45" + }, + "task": { + "primitive": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." } } diff --git a/actions/locomotion_primitives/P03/session_005/motions/hands_mano.npz b/actions/locomotion_primitives/P03/session_005/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..75622f06cb6e75f0105ae96a16ab2c3cf210debf --- /dev/null +++ b/actions/locomotion_primitives/P03/session_005/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b54667321916326d6fd42b737f098b6f482199a88cd2ba67a97627b4f50430b5 +size 2712902 diff --git a/actions/locomotion_primitives/P03/session_005/motions/smplx.npz b/actions/locomotion_primitives/P03/session_005/motions/smplx.npz index 20b75f6923a6db0ce601a6c83386fbb9eb4fbb76..d9bed88844384b83b5428edbc11af25d8e1c33f6 100644 --- a/actions/locomotion_primitives/P03/session_005/motions/smplx.npz +++ b/actions/locomotion_primitives/P03/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4942921a26c140c5c95a8b7142546b77eab9154adfe77dc6e1f0e15d0b570de3 -size 3644283 +oid sha256:d11044420be4d5cb654cda7275d3a6cbc24e15d14afbc6029468921116f92e87 +size 6828590 diff --git a/actions/locomotion_primitives/P03/session_006/annotations.json b/actions/locomotion_primitives/P03/session_006/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..c0028a8ba740bcca4698c0740b79060a798cc6be --- /dev/null +++ b/actions/locomotion_primitives/P03/session_006/annotations.json @@ -0,0 +1,105 @@ +{ + "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": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 68.966656, + "video": "left_eye", + "video_t_start": 0.03862074900915857 + } + ], + "episodes": [ + { + "id": "d94ca812-449d-469b-b897-dddd5438a405", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 0.972, + "end_s": 6.91, + "t_start": 1.0106, + "t_end": 6.9486, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "5f84fd48-6975-4354-b7f9-41d2bcb3e275", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 9.156, + "end_s": 14.457, + "t_start": 9.1946, + "t_end": 14.4956, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "acc0350f-b8b4-4192-a3fc-0879e1a40915", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 17.443, + "end_s": 22.844, + "t_start": 17.4816, + "t_end": 22.8826, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "dd61c7b2-f084-4ec2-979c-c6c82b752c1d", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 25.842, + "end_s": 32.136, + "t_start": 25.8806, + "t_end": 32.1746, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "d958159b-8bab-419d-bb77-161d32185be0", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 34.34, + "end_s": 40.009, + "t_start": 34.3786, + "t_end": 40.0476, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "4a93a83d-1749-4eab-95b5-3750092c2c57", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 42.389, + "end_s": 49.029, + "t_start": 42.4276, + "t_end": 49.0676, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "75d47f54-7047-4c93-a3c2-2b7c7b5045e4", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 50.582, + "end_s": 56.227, + "t_start": 50.6206, + "t_end": 56.2656, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "c5c78df1-a70e-4073-9b0d-70b8346d9a50", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 58.142, + "end_s": 63.632, + "t_start": 58.1806, + "t_end": 63.6706, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P03/session_006/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P03/session_006/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..c74b7e404bdbc4f125da5387b4c1b40282834363 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_006/cameras/gsi_online_calibration.json @@ -0,0 +1,259 @@ +{ + "camera_fit": { + "groups_dropped": [ + { + "matches": 147, + "median_px": 632.97, + "pair": [ + "left", + "right" + ] + } + ], + "groups_used": 14, + "median_px": 0.359 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.9008, + "gate_fail": [], + "held_out_px_after": 0.514, + "held_out_px_before": 6.536, + "inliers": 1688, + "position_fitted": false, + "rotvec_deg": [ + -0.0134, + 0.833, + 0.3428 + ], + "split_deg": 0.0129, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.0512, + "gate_fail": [], + "held_out_px_after": 0.332, + "held_out_px_before": 2.402, + "inliers": 3069, + "position_fitted": true, + "position_mm": [ + -8.71, + 6.92, + 12.67 + ], + "position_sigma_mm": 0.27, + "position_split_mm": 1.184, + "rotvec_deg": [ + 0.0592, + 0.6806, + -0.7989 + ], + "split_deg": 0.0497, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.3666, + "gate_fail": [], + "held_out_px_after": 0.596, + "held_out_px_before": 2.886, + "inliers": 1431, + "position_fitted": false, + "rotvec_deg": [ + 0.3399, + -0.1332, + -0.0333 + ], + "split_deg": 0.0677, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.737, + "gate_fail": [], + "held_out_px_after": 0.366, + "held_out_px_before": 2.119, + "inliers": 3340, + "position_fitted": true, + "position_mm": [ + -8.47, + 6.06, + 10.5 + ], + "position_sigma_mm": 0.283, + "position_split_mm": 1.789, + "rotvec_deg": [ + 0.1623, + 0.3374, + -0.6348 + ], + "split_deg": 0.0755, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.8797, + "gate_fail": [], + "held_out_px_after": 0.344, + "held_out_px_before": 6.456, + "inliers": 3763, + "position_fitted": false, + "rotvec_deg": [ + -0.3417, + 0.4523, + -1.7921 + ], + "split_deg": 0.0047, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "850a0e6aafa85fdf", + "factory_root_name": "850a0e6aafa85fdf", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "795022f82bc76de6e235140ce1a5e34527b61879656ab7c8a355192eb268a986", + "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "6b18de56d2dc1a01a9e78d2b7689a8547c2d18e5f26df18408aa34b5093400e5", + "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "1ec7a8600552c2cc0f2f4cff544607b171aa84a87a30120b296e819b05f7cf4c", + "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "39751f7b0a51c05a84df8aed363cd2239396124b1ea9287e54fcb1edf96c6f97", + "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3" + } + }, + "input_fingerprint": "3c845149537664d8", + "kind": "online_calibration", + "output_sha256": "c92316018a3a386ca5ccde5f66fa4b8d71e46bb78cbfb70b25b736209278a57f", + "overlap": { + "left-right": 0.487, + "left_eye-left": 0.707, + "left_eye-right": 0.685, + "left_front-left": 0.484, + "left_front-left_eye": 0.709, + "left_front-right": 0.464, + "left_front-right_eye": 0.711, + "left_front-right_front": 1.0, + "right_eye-left": 0.708, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.668, + "right_front-left": 0.482, + "right_front-left_eye": 0.711, + "right_front-right": 0.463, + "right_front-right_eye": 0.724 + }, + "picture_change": { + "left": 45.199, + "left_eye": 36.717, + "left_front": 45.09, + "right": 40.506, + "right_eye": 38.991, + "right_front": 44.939 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 9929633177000, + 9930633177000, + 9933633177000, + 9934633143666, + 9935633165888, + 9937633177000, + 9938633165888, + 9939633165888, + 9942633165888, + 9943633165888, + 9944633143666, + 9945633177000, + 9946633165888, + 9948633165888, + 9949633165888, + 9950633165888, + 9951633177000, + 9952633165888, + 9953633177000, + 9954633210333, + 9957633177000, + 9958633165888, + 9959633165888, + 9960633177000, + 9961633177000, + 9963633177000, + 9964633143666, + 9965633177000, + 9967633177000, + 9968633177000, + 9970633165888, + 9971633165888, + 9972633177000, + 9974633143666, + 9975633177000, + 9976633177000, + 9977633177000, + 9978633165888, + 9981633165888, + 9982633165888, + 9983633165888, + 9984633143666, + 9985633177000, + 9986633143666, + 9987633165888, + 9988633165888, + 9989633177000, + 9990633177000, + 9991633177000, + 9992633177000, + 9993633177000 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P03/session_006/cameras/slam.npz b/actions/locomotion_primitives/P03/session_006/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..43c3568d75772147710e5f04d8f76a3cc57ff763 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_006/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:78c70e52376cc1b8676b1d390af84fe62c55dc59e422642228a8edf2d2cc38cf +size 397206 diff --git a/actions/locomotion_primitives/P03/session_006/meta.json b/actions/locomotion_primitives/P03/session_006/meta.json index 8921d4677c9a4cdbc272f35b3acc47c86fe125fe..50be7d4848c15d16d36fa4820eeb7e960e77f3ca 100644 --- a/actions/locomotion_primitives/P03/session_006/meta.json +++ b/actions/locomotion_primitives/P03/session_006/meta.json @@ -334,8 +334,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -515,10 +515,124 @@ "file": "derived/rig_tracker_provider/rig_tracker.json", "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 15.47, + "offset_rotvec": [ + -0.1219, + -0.2404, + -0.0165 + ], + "dev_deg": { + "median": 8.62, + "p90": 21.82 + }, + "samples": 1867, + "accepted": 1800, + "wrist_pos_err_mm_median": 57.0, + "per_camera": { + "head": { + "samples": 1867, + "accepted": 1800, + "gate_deg": 30.0, + "offset_deg": 15.47, + "tier": "primary", + "dev_deg_median": 8.62, + "wrist_pos_err_mm_median": 57.0 + } + }, + "frames_by_state": { + "ace_sample": 7302, + "interpolated": 970, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9986, + "observed_fraction_of_valid": 0.9986, + "palm_axis_vs_markers_deg": { + "gsi": 12.94, + "smplx": 1.1 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.4, + "p90": 7.0 + }, + "registered": { + "median": 5.4, + "p90": 6.2 + } + } + }, + "right": { + "offset_deg": 9.8, + "offset_rotvec": [ + -0.0793, + -0.0937, + 0.1191 + ], + "dev_deg": { + "median": 7.61, + "p90": 22.98 + }, + "samples": 1707, + "accepted": 1609, + "wrist_pos_err_mm_median": 54.2, + "per_camera": { + "head": { + "samples": 1707, + "accepted": 1609, + "gate_deg": 30.0, + "offset_deg": 9.8, + "tier": "primary", + "dev_deg_median": 7.61, + "wrist_pos_err_mm_median": 54.2 + } + }, + "frames_by_state": { + "ace_sample": 6546, + "interpolated": 1598, + "mean_hand": 140, + "no_body_fit": 0 + }, + "observed_fraction": 0.9831, + "observed_fraction_of_valid": 0.9831, + "palm_axis_vs_markers_deg": { + "gsi": 10.95, + "smplx": 0.74 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.1, + "p90": 6.1 + }, + "registered": { + "median": 5.0, + "p90": 6.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T12:45:30.719870+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P03/session_006", "family": "locomotion_primitives", "primitive": "P03", "source_session": "20260831/P03/20260831_083317_session46" + }, + "task": { + "primitive": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." } } diff --git a/actions/locomotion_primitives/P03/session_006/motions/hands_mano.npz b/actions/locomotion_primitives/P03/session_006/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..c113ffb07c6b2c960e91eef48b73601c0c07e584 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_006/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bfbf6e8a64d2e57b862ead2ac2b43fa5a93c8b0d21ad80fb43ed385100438a88 +size 2441742 diff --git a/actions/locomotion_primitives/P03/session_006/motions/smplx.npz b/actions/locomotion_primitives/P03/session_006/motions/smplx.npz index 807f0d923f03a7062a459f325091b3a4b709d6ed..3466e19a0f60d4deb3b54ce9058055b93befd69b 100644 --- a/actions/locomotion_primitives/P03/session_006/motions/smplx.npz +++ b/actions/locomotion_primitives/P03/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ffaeec97cf6a73a543247f6afd3ed0006146b750cc85ec0827da01987eca0c0e -size 3185973 +oid sha256:d1ef4570304bcc4b0f9a891c96bcac369a7ee130f8042b7d2902fe2098731e0e +size 5958885 diff --git a/actions/locomotion_primitives/P03/session_007/annotations.json b/actions/locomotion_primitives/P03/session_007/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..d61e6d4fc32d53824e0cefddc2a5ad8caa7d3219 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_007/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 78.966656, + "video": "left_eye", + "video_t_start": 0.03841231990182359 + } + ], + "episodes": [ + { + "id": "1ef66237-cea0-451e-9868-c54172c500a8", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 0.997, + "end_s": 6.357, + "t_start": 1.0354, + "t_end": 6.3954, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "73ceec92-023d-4778-8718-a536564af103", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 9.006, + "end_s": 14.383, + "t_start": 9.0444, + "t_end": 14.4214, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "1cbf7b65-e03c-483f-ab77-4a95ae6cba74", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 16.454, + "end_s": 21.453, + "t_start": 16.4924, + "t_end": 21.4914, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "cb506c84-5c2a-49e0-a63c-c8def69304df", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 24.158, + "end_s": 29.203, + "t_start": 24.1964, + "t_end": 29.2414, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "7be8411b-08ce-4d37-be03-3bf7158ac440", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 31.926, + "end_s": 36.786, + "t_start": 31.9644, + "t_end": 36.8244, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "ed7113f7-00d2-43b2-9899-b13a1fd0240d", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 38.985, + "end_s": 43.934, + "t_start": 39.0234, + "t_end": 43.9724, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "2999fb5f-6a5b-41c3-b017-cb860f32c751", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 46.519, + "end_s": 52.32, + "t_start": 46.5574, + "t_end": 52.3584, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "4157c1ea-f0d8-4bb7-9dd3-d2aa1b4017e7", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 54.762, + "end_s": 60.106, + "t_start": 54.8004, + "t_end": 60.1444, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "f2673802-c577-4411-82b3-7bb0d076f30a", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 62.507, + "end_s": 67.704, + "t_start": 62.5454, + "t_end": 67.7424, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "ae2ee714-d060-4edb-a5fc-e14a1a8e0f5c", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 69.868, + "end_s": 74.889, + "t_start": 69.9064, + "t_end": 74.9274, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P03/session_007/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P03/session_007/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..8241df62974ccbbaefa81efb501b4b267432b8b3 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_007/cameras/gsi_online_calibration.json @@ -0,0 +1,258 @@ +{ + "camera_fit": { + "groups_dropped": [ + { + "matches": 141, + "median_px": 642.9, + "pair": [ + "left", + "right" + ] + } + ], + "groups_used": 14, + "median_px": 0.357 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.9518, + "gate_fail": [], + "held_out_px_after": 0.935, + "held_out_px_before": 5.507, + "inliers": 1591, + "position_fitted": false, + "rotvec_deg": [ + 0.0204, + 0.9051, + 0.2938 + ], + "split_deg": 0.2481, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.101, + "gate_fail": [], + "held_out_px_after": 0.464, + "held_out_px_before": 2.441, + "inliers": 2688, + "position_fitted": true, + "position_mm": [ + -11.08, + 7.83, + 12.96 + ], + "position_sigma_mm": 0.296, + "position_split_mm": 5.17, + "rotvec_deg": [ + 0.0559, + 0.6832, + -0.8615 + ], + "split_deg": 0.1076, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.4599, + "gate_fail": [], + "held_out_px_after": 0.653, + "held_out_px_before": 3.046, + "inliers": 1414, + "position_fitted": false, + "rotvec_deg": [ + 0.4131, + -0.2019, + -0.0099 + ], + "split_deg": 0.0197, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.7534, + "gate_fail": [], + "held_out_px_after": 0.528, + "held_out_px_before": 2.432, + "inliers": 2738, + "position_fitted": true, + "position_mm": [ + -11.55, + 7.48, + 11.94 + ], + "position_sigma_mm": 0.31, + "position_split_mm": 3.814, + "rotvec_deg": [ + 0.1536, + 0.3433, + -0.6528 + ], + "split_deg": 0.1342, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.8766, + "gate_fail": [], + "held_out_px_after": 0.413, + "held_out_px_before": 7.942, + "inliers": 3263, + "position_fitted": false, + "rotvec_deg": [ + -0.3424, + 0.4302, + -1.7943 + ], + "split_deg": 0.0733, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "850a0e6aafa85fdf", + "factory_root_name": "850a0e6aafa85fdf", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "cb2eadc86dec16e67632f2179c6700f1a6758cbb5ece5983f8b714a13e36c091", + "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "9d805565cf2dbf8be0527b3fcaa205e53f8d6fb9cd90dcb9f0bfad07e578b1e1", + "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "4424fd17db71809460d715bb5291894a62c08943ea052950c2efbfeb22483ba2", + "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "96975ef67d7e475289da7729e80b2bd43af09f612b45ba566acd801c1bd87164", + "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3" + } + }, + "input_fingerprint": "02aa93a7a3777490", + "kind": "online_calibration", + "output_sha256": "56dea915e3b422003890fce2182efb022f3604a3453bb41b9c9c5ee39152eda8", + "overlap": { + "left-right": 0.487, + "left_eye-left": 0.707, + "left_eye-right": 0.685, + "left_front-left": 0.484, + "left_front-left_eye": 0.709, + "left_front-right": 0.464, + "left_front-right_eye": 0.711, + "left_front-right_front": 1.0, + "right_eye-left": 0.708, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.668, + "right_front-left": 0.482, + "right_front-left_eye": 0.711, + "right_front-right": 0.463, + "right_front-right_eye": 0.724 + }, + "picture_change": { + "left": 44.121, + "left_eye": 37.017, + "left_front": 44.959, + "right": 40.771, + "right_eye": 39.07, + "right_front": 45.867 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 10008362104888, + 10009362093777, + 10013362093777, + 10014362071555, + 10015362104888, + 10018362227111, + 10019362093777, + 10020362093777, + 10021362093777, + 10022362093777, + 10025362093777, + 10026362104888, + 10028362093777, + 10029362093777, + 10030362093777, + 10031362093777, + 10032362104888, + 10035362082666, + 10036362093777, + 10037362104888, + 10039362104888, + 10040362082666, + 10043362216000, + 10044362104888, + 10045362093777, + 10046362104888, + 10047362104888, + 10051362093777, + 10052362093777, + 10053362093777, + 10055362104888, + 10056362093777, + 10058362093777, + 10059362093777, + 10060362104888, + 10062362104888, + 10063362104888, + 10066362104888, + 10067362093777, + 10068362093777, + 10069362093777, + 10070362227111, + 10073362071555, + 10074362104888, + 10075362216000, + 10077362093777, + 10078362093777, + 10081362093777, + 10082362093777, + 10083362093777 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P03/session_007/cameras/slam.npz b/actions/locomotion_primitives/P03/session_007/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..3c9d67c4f7e5087b3cf96be4c0aebec023417f5a --- /dev/null +++ b/actions/locomotion_primitives/P03/session_007/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44f7fa9cf74354b3542bbc43f39ebcc0ba73c53614d5d86da2f1399fa4441db4 +size 454941 diff --git a/actions/locomotion_primitives/P03/session_007/meta.json b/actions/locomotion_primitives/P03/session_007/meta.json index 7b580e8af4eb159988cc0749c1c0f3496f612bca..07b1a5b4845004fcff0b875d5bfd743a0a061ff1 100644 --- a/actions/locomotion_primitives/P03/session_007/meta.json +++ b/actions/locomotion_primitives/P03/session_007/meta.json @@ -333,8 +333,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -514,10 +514,124 @@ "file": "derived/rig_tracker_provider/rig_tracker.json", "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 16.5, + "offset_rotvec": [ + -0.1014, + -0.269, + -0.0184 + ], + "dev_deg": { + "median": 8.43, + "p90": 19.73 + }, + "samples": 2058, + "accepted": 2008, + "wrist_pos_err_mm_median": 56.5, + "per_camera": { + "head": { + "samples": 2058, + "accepted": 2008, + "gate_deg": 30.0, + "offset_deg": 16.5, + "tier": "primary", + "dev_deg_median": 8.43, + "wrist_pos_err_mm_median": 56.5 + } + }, + "frames_by_state": { + "ace_sample": 8144, + "interpolated": 1328, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9987, + "observed_fraction_of_valid": 0.9987, + "palm_axis_vs_markers_deg": { + "gsi": 13.67, + "smplx": 0.83 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.1, + "p90": 11.1 + }, + "registered": { + "median": 9.1, + "p90": 11.8 + } + } + }, + "right": { + "offset_deg": 9.75, + "offset_rotvec": [ + -0.1013, + -0.0817, + 0.1096 + ], + "dev_deg": { + "median": 8.62, + "p90": 26.28 + }, + "samples": 1922, + "accepted": 1795, + "wrist_pos_err_mm_median": 56.1, + "per_camera": { + "head": { + "samples": 1922, + "accepted": 1795, + "gate_deg": 30.0, + "offset_deg": 9.75, + "tier": "primary", + "dev_deg_median": 8.62, + "wrist_pos_err_mm_median": 56.1 + } + }, + "frames_by_state": { + "ace_sample": 7334, + "interpolated": 2130, + "mean_hand": 20, + "no_body_fit": 0 + }, + "observed_fraction": 0.9979, + "observed_fraction_of_valid": 0.9979, + "palm_axis_vs_markers_deg": { + "gsi": 11.17, + "smplx": 0.7 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.7, + "p90": 9.6 + }, + "registered": { + "median": 8.4, + "p90": 9.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T12:45:32.230281+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P03/session_007", "family": "locomotion_primitives", "primitive": "P03", "source_session": "20260831/P03/20260831_083436_session47" + }, + "task": { + "primitive": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." } } diff --git a/actions/locomotion_primitives/P03/session_007/motions/hands_mano.npz b/actions/locomotion_primitives/P03/session_007/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..35effedc578ebc317e73559a0898ead7abd11683 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_007/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11d98d98d9cab80b57ebd0cfbc65c2d2b06e761b40a4b94a38bcf9202aedf79b +size 2723046 diff --git a/actions/locomotion_primitives/P03/session_007/motions/smplx.npz b/actions/locomotion_primitives/P03/session_007/motions/smplx.npz index 62d0f80d452cdacd1be6c55e9d801f5b8a37a26e..0038e56b8a48e6d4d7ee8414f601c84f333a7131 100644 --- a/actions/locomotion_primitives/P03/session_007/motions/smplx.npz +++ b/actions/locomotion_primitives/P03/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b7e6ee4927749d2d38177cfffb3fa33ae4e4b71601d15441cd4fbb63e5640db3 -size 3649118 +oid sha256:e06b1483e974dfc8d55d065cbf7fa7f63637293c2a904cea9cec6a07ecabd7ce +size 6836691 diff --git a/actions/locomotion_primitives/P03/session_008/annotations.json b/actions/locomotion_primitives/P03/session_008/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..39b9752a2a053dcf91c2f7300fb12301ff1e29cc --- /dev/null +++ b/actions/locomotion_primitives/P03/session_008/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 93.966511, + "video": "left_eye", + "video_t_start": 0.03866291803189692 + } + ], + "episodes": [ + { + "id": "4c5699c0-d1cb-4256-bf56-11ac767a291c", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 0.49, + "end_s": 6.07, + "t_start": 0.5287, + "t_end": 6.1087, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "63eedd95-b470-4ee2-89f7-be2dc1d854d3", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 8.381, + "end_s": 13.914, + "t_start": 8.4197, + "t_end": 13.9527, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "e5faada4-8ba2-4565-8f45-061b7ee6e5c0", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 16.488, + "end_s": 22.493, + "t_start": 16.5267, + "t_end": 22.5317, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "bb98c933-acca-4bfe-a73c-84d59b0f4957", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 25.103, + "end_s": 31.269, + "t_start": 25.1417, + "t_end": 31.3077, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "ab7f7fb4-deb6-47c1-920f-af804636d454", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 33.538, + "end_s": 39.715, + "t_start": 33.5767, + "t_end": 39.7537, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "5c5f306c-e997-4976-a319-f60becf509c7", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 42.53, + "end_s": 49.066, + "t_start": 42.5687, + "t_end": 49.1047, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "c9535868-a37a-4d84-9013-e7c527e20db3", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 52.439, + "end_s": 58.833, + "t_start": 52.4777, + "t_end": 58.8717, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "fccc9093-25cc-496e-819c-8aaac66c2b62", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 62.03, + "end_s": 68.319, + "t_start": 62.0687, + "t_end": 68.3577, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "3c6d8474-650b-45b8-a180-ad9172066e21", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 71.053, + "end_s": 76.846, + "t_start": 71.0917, + "t_end": 76.8847, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "e80acf1c-d952-4d34-a36d-6a176d8b9928", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 79.86, + "end_s": 85.768, + "t_start": 79.8987, + "t_end": 85.8067, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P03/session_008/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P03/session_008/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..95bb4f597025c02a2900c108b5d43a1cd9fa48e5 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_008/cameras/gsi_online_calibration.json @@ -0,0 +1,262 @@ +{ + "camera_fit": { + "groups_dropped": [ + { + "matches": 149, + "median_px": 633.61, + "pair": [ + "left", + "right" + ] + } + ], + "groups_used": 14, + "median_px": 0.355 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.9025, + "gate_fail": [], + "held_out_px_after": 0.552, + "held_out_px_before": 6.576, + "inliers": 1658, + "position_fitted": false, + "rotvec_deg": [ + 0.0535, + 0.8388, + 0.3285 + ], + "split_deg": 0.0869, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.0468, + "gate_fail": [], + "held_out_px_after": 0.356, + "held_out_px_before": 2.458, + "inliers": 2862, + "position_fitted": true, + "position_mm": [ + -7.9, + 5.86, + 12.46 + ], + "position_sigma_mm": 0.278, + "position_split_mm": 3.931, + "rotvec_deg": [ + 0.0371, + 0.6866, + -0.7892 + ], + "split_deg": 0.0702, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.4385, + "gate_fail": [], + "held_out_px_after": 0.648, + "held_out_px_before": 3.054, + "inliers": 1386, + "position_fitted": false, + "rotvec_deg": [ + 0.4027, + -0.1735, + -0.0023 + ], + "split_deg": 0.1294, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.7227, + "gate_fail": [], + "held_out_px_after": 0.383, + "held_out_px_before": 2.301, + "inliers": 3128, + "position_fitted": true, + "position_mm": [ + -9.06, + 4.86, + 10.25 + ], + "position_sigma_mm": 0.278, + "position_split_mm": 2.51, + "rotvec_deg": [ + 0.1367, + 0.3245, + -0.6312 + ], + "split_deg": 0.0954, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.8686, + "gate_fail": [], + "held_out_px_after": 0.379, + "held_out_px_before": 6.883, + "inliers": 3645, + "position_fitted": false, + "rotvec_deg": [ + -0.3318, + 0.4576, + -1.781 + ], + "split_deg": 0.0939, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "850a0e6aafa85fdf", + "factory_root_name": "850a0e6aafa85fdf", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "9b0dde0183b0b942b86b5b7d84b9ead1d3383d3d2a562661cb313eebf44fe320", + "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "f69c325cfc416025b43abfdbf8637f64cf59528ca58ec8601e1cf490963e003a", + "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "b7a4d305bb90a79c6f32358878572f8edfb88ee63a5d64539d58768ebb394497", + "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "9489a4ef4dab603cddb8c7f15591886213269dd648dec0429042fc2bceb29438", + "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3" + } + }, + "input_fingerprint": "59ea545359215a15", + "kind": "online_calibration", + "output_sha256": "b8b01446f01350fd5ff6ca5854a1f4607104cb23da4bcbe2858ed73ecbfed9ca", + "overlap": { + "left-right": 0.487, + "left_eye-left": 0.707, + "left_eye-right": 0.685, + "left_front-left": 0.484, + "left_front-left_eye": 0.709, + "left_front-right": 0.464, + "left_front-right_eye": 0.711, + "left_front-right_front": 1.0, + "right_eye-left": 0.708, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.668, + "right_front-left": 0.482, + "right_front-left_eye": 0.711, + "right_front-right": 0.463, + "right_front-right_eye": 0.724 + }, + "picture_change": { + "left": 41.913, + "left_eye": 34.552, + "left_front": 44.267, + "right": 34.783, + "right_eye": 36.673, + "right_front": 42.25 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 10096409131444, + 10097409142555, + 10100409131444, + 10101409131444, + 10103409142555, + 10104409253666, + 10107409131444, + 10108409131444, + 10109409131444, + 10112409131444, + 10113409131444, + 10115409142555, + 10116409131444, + 10117409253666, + 10118409142555, + 10120409131444, + 10121409131444, + 10124409109222, + 10125409131444, + 10128409120333, + 10129409131444, + 10130409131444, + 10134409153666, + 10135409131444, + 10136409142555, + 10139409131444, + 10140409131444, + 10142409120333, + 10143409131444, + 10144409109222, + 10146409131444, + 10147409264777, + 10150409109222, + 10151409142555, + 10153409131444, + 10154409142555, + 10157409120333, + 10158409131444, + 10160409142555, + 10161409142555, + 10163409131444, + 10164409175888, + 10166409131444, + 10167409142555, + 10168409131444, + 10171409131444, + 10172409131444, + 10174409253666, + 10175409098111, + 10178409142555, + 10179409120333, + 10180409131444, + 10182409131444, + 10183409131444 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P03/session_008/cameras/slam.npz b/actions/locomotion_primitives/P03/session_008/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..118c6e4b47d12b0970c2556c0b96f532f3befc94 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_008/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9d9a141d30e28d5382584afaf70250c75dc25236c27f22d5a221ca568ef308d +size 539598 diff --git a/actions/locomotion_primitives/P03/session_008/meta.json b/actions/locomotion_primitives/P03/session_008/meta.json index 53948ec2bf14726264bf63c68e9f49f849655e8c..bb92dfa251849df0987ba5912c1b7e856a49d64c 100644 --- a/actions/locomotion_primitives/P03/session_008/meta.json +++ b/actions/locomotion_primitives/P03/session_008/meta.json @@ -348,8 +348,8 @@ "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": { @@ -529,10 +529,124 @@ "file": "derived/rig_tracker_provider/rig_tracker.json", "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 15.94, + "offset_rotvec": [ + -0.1143, + -0.2532, + -0.0152 + ], + "dev_deg": { + "median": 8.3, + "p90": 18.61 + }, + "samples": 2500, + "accepted": 2450, + "wrist_pos_err_mm_median": 56.9, + "per_camera": { + "head": { + "samples": 2500, + "accepted": 2450, + "gate_deg": 30.0, + "offset_deg": 15.94, + "tier": "primary", + "dev_deg_median": 8.3, + "wrist_pos_err_mm_median": 56.9 + } + }, + "frames_by_state": { + "ace_sample": 9916, + "interpolated": 1356, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9989, + "observed_fraction_of_valid": 0.9989, + "palm_axis_vs_markers_deg": { + "gsi": 13.63, + "smplx": 0.94 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.6, + "p90": 10.9 + }, + "registered": { + "median": 7.2, + "p90": 11.6 + } + } + }, + "right": { + "offset_deg": 9.5, + "offset_rotvec": [ + -0.069, + -0.0859, + 0.1238 + ], + "dev_deg": { + "median": 8.06, + "p90": 26.57 + }, + "samples": 2225, + "accepted": 2059, + "wrist_pos_err_mm_median": 54.7, + "per_camera": { + "head": { + "samples": 2225, + "accepted": 2059, + "gate_deg": 30.0, + "offset_deg": 9.5, + "tier": "primary", + "dev_deg_median": 8.06, + "wrist_pos_err_mm_median": 54.7 + } + }, + "frames_by_state": { + "ace_sample": 8442, + "interpolated": 2830, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9989, + "observed_fraction_of_valid": 0.9989, + "palm_axis_vs_markers_deg": { + "gsi": 11.43, + "smplx": 0.72 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.1, + "p90": 6.2 + }, + "registered": { + "median": 5.1, + "p90": 6.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T12:45:36.026576+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P03/session_008", "family": "locomotion_primitives", "primitive": "P03", "source_session": "20260831/P03/20260831_083604_session48" + }, + "task": { + "primitive": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." } } diff --git a/actions/locomotion_primitives/P03/session_008/motions/hands_mano.npz b/actions/locomotion_primitives/P03/session_008/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..7fe2b4b1c598186b958a08326ceae80dbb545a30 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_008/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a1dc32adbad8a2b31dda607b00a5a76e966d02f69a7abc70a572d4dfaee0141 +size 3231983 diff --git a/actions/locomotion_primitives/P03/session_008/motions/smplx.npz b/actions/locomotion_primitives/P03/session_008/motions/smplx.npz index 6e4248796597d0d3d78c301d4108e8b251f819fd..fa3e3031894d1b81aa17ec305fa484dc17e133b7 100644 --- a/actions/locomotion_primitives/P03/session_008/motions/smplx.npz +++ b/actions/locomotion_primitives/P03/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:637e38c6b85c4dcec87d9a11a36ec4e152536d562119918b319e370e7bf8853f -size 4332790 +oid sha256:6799648233d163e5e1cf6f103b226cb7c2a2837ddc3ced304dc518cc4f74f4e0 +size 8124505 diff --git a/actions/locomotion_primitives/P03/session_009/annotations.json b/actions/locomotion_primitives/P03/session_009/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..6bf86ec3ca7b1f71d2c78f351f4f11d50bf8499d --- /dev/null +++ b/actions/locomotion_primitives/P03/session_009/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 88.966567, + "video": "left_eye", + "video_t_start": 0.03828735512068793 + } + ], + "episodes": [ + { + "id": "fff889c0-f4e4-4076-b055-27093c1afa8b", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 1.226, + "end_s": 7.756, + "t_start": 1.2643, + "t_end": 7.7943, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "3a23d774-6276-40d2-8ed2-e6dbef0af580", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 9.73, + "end_s": 15.096, + "t_start": 9.7683, + "t_end": 15.1343, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "6843b06b-af7b-421c-b313-b29b699d467b", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 17.221, + "end_s": 23.679, + "t_start": 17.2593, + "t_end": 23.7173, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "44958d58-7f8c-4411-adb8-890eafdf6e5a", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 26.167, + "end_s": 32.311, + "t_start": 26.2053, + "t_end": 32.3493, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "6f66f3b3-850d-4808-a477-41600a2c4bf2", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 34.344, + "end_s": 40.602, + "t_start": 34.3823, + "t_end": 40.6403, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "8814f800-256c-4461-94d2-2f3de914a853", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 43.281, + "end_s": 49.873, + "t_start": 43.3193, + "t_end": 49.9113, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "c6ad4851-9abf-464c-8567-f713ef0ac8c9", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 51.788, + "end_s": 57.979, + "t_start": 51.8263, + "t_end": 58.0173, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "284bf1e4-0229-4be1-a96e-49762cb39a9d", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 60.813, + "end_s": 67.51, + "t_start": 60.8513, + "t_end": 67.5483, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "452bf9cf-cd74-409c-a6d2-08bd13554c48", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 70.351, + "end_s": 76.776, + "t_start": 70.3893, + "t_end": 76.8143, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "b656fee8-2e39-4ade-b122-0686dd616a95", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 79.008, + "end_s": 84.751, + "t_start": 79.0463, + "t_end": 84.7893, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P03/session_009/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P03/session_009/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..e497083b1ee7fab8d8c51a2f1610174090e86f75 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_009/cameras/gsi_online_calibration.json @@ -0,0 +1,263 @@ +{ + "camera_fit": { + "groups_dropped": [ + { + "matches": 176, + "median_px": 35.32, + "pair": [ + "left", + "right" + ] + } + ], + "groups_used": 14, + "median_px": 0.386 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.9072, + "gate_fail": [], + "held_out_px_after": 0.629, + "held_out_px_before": 6.704, + "inliers": 1527, + "position_fitted": false, + "rotvec_deg": [ + 0.0529, + 0.8579, + 0.2905 + ], + "split_deg": 0.1152, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.0668, + "gate_fail": [], + "held_out_px_after": 0.37, + "held_out_px_before": 2.368, + "inliers": 2735, + "position_fitted": true, + "position_mm": [ + -8.42, + 10.67, + 11.06 + ], + "position_sigma_mm": 0.375, + "position_split_mm": 3.332, + "rotvec_deg": [ + 0.1849, + 0.6762, + -0.8041 + ], + "split_deg": 0.118, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.4649, + "gate_fail": [], + "held_out_px_after": 0.581, + "held_out_px_before": 2.713, + "inliers": 1576, + "position_fitted": false, + "rotvec_deg": [ + 0.4351, + -0.1635, + 0.005 + ], + "split_deg": 0.1193, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.7554, + "gate_fail": [], + "held_out_px_after": 0.396, + "held_out_px_before": 2.433, + "inliers": 2928, + "position_fitted": true, + "position_mm": [ + -9.1, + 9.48, + 10.3 + ], + "position_sigma_mm": 0.369, + "position_split_mm": 2.436, + "rotvec_deg": [ + 0.2508, + 0.3271, + -0.633 + ], + "split_deg": 0.0661, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.8955, + "gate_fail": [], + "held_out_px_after": 0.384, + "held_out_px_before": 6.958, + "inliers": 3074, + "position_fitted": false, + "rotvec_deg": [ + -0.3441, + 0.4577, + -1.807 + ], + "split_deg": 0.0268, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "850a0e6aafa85fdf", + "factory_root_name": "850a0e6aafa85fdf", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "36bbd20cd2ead2d78a706811c0ca90840aae1b39e83adde17b207b00627a96b4", + "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "05d02f01e424567ac269d944ed0120b1192a590c4ffb64974b0c6238feb1445f", + "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "f4e459dc407a43ce5659c54bb2df0d230f7ec82acc0cacf41808b3a648596497", + "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "808d76e8ec28e5ae28a63ab3a348979f4c4b47ce2059e0912310dcbe655f730e", + "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3" + } + }, + "input_fingerprint": "ae34cdf0c84774df", + "kind": "online_calibration", + "output_sha256": "247c59685a8f1d68d57a4ea52fe8268b3e44d9403a0631f6ff64b51dbd977292", + "overlap": { + "left-right": 0.487, + "left_eye-left": 0.707, + "left_eye-right": 0.685, + "left_front-left": 0.484, + "left_front-left_eye": 0.709, + "left_front-right": 0.464, + "left_front-right_eye": 0.711, + "left_front-right_front": 1.0, + "right_eye-left": 0.708, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.668, + "right_front-left": 0.482, + "right_front-left_eye": 0.711, + "right_front-right": 0.463, + "right_front-right_eye": 0.724 + }, + "picture_change": { + "left": 46.928, + "left_eye": 38.864, + "left_front": 45.148, + "right": 43.246, + "right_eye": 41.968, + "right_front": 45.58 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 10202738848000, + 10203738859111, + 10207738848000, + 10208738848000, + 10210738859111, + 10211738836888, + 10213738848000, + 10214738870222, + 10215738836888, + 10216738848000, + 10219738848000, + 10220738836888, + 10221738848000, + 10223738848000, + 10224738959111, + 10227738848000, + 10228738859111, + 10229738848000, + 10232738848000, + 10233738859111, + 10234738814666, + 10235738848000, + 10239738814666, + 10240738859111, + 10241738848000, + 10243738848000, + 10244738825777, + 10247738836888, + 10248738859111, + 10249738859111, + 10250738848000, + 10251738848000, + 10252738848000, + 10256738836888, + 10257738848000, + 10258738848000, + 10259738859111, + 10260738870222, + 10261738848000, + 10265738859111, + 10266738848000, + 10267738848000, + 10268738848000, + 10269738848000, + 10271738848000, + 10272738848000, + 10276738848000, + 10277738848000, + 10278738848000, + 10280738859111, + 10281738848000, + 10284738859111, + 10285738848000, + 10287738859111, + 10288738848000 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P03/session_009/cameras/slam.npz b/actions/locomotion_primitives/P03/session_009/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..624878da92b610481601f9ef2c733bea19d13df4 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_009/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11567eb88c0a838af8de8741a0a6fa8e2aeb87cf433c97b60e7aa9df93bca666 +size 511971 diff --git a/actions/locomotion_primitives/P03/session_009/meta.json b/actions/locomotion_primitives/P03/session_009/meta.json index 78846972dd523f22f455db7d3c4ff222850f6594..bf457de4012e266d156f4785ba84e281229f88e1 100644 --- a/actions/locomotion_primitives/P03/session_009/meta.json +++ b/actions/locomotion_primitives/P03/session_009/meta.json @@ -333,8 +333,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -514,10 +514,124 @@ "file": "derived/rig_tracker_provider/rig_tracker.json", "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 16.04, + "offset_rotvec": [ + -0.1175, + -0.2539, + -0.0118 + ], + "dev_deg": { + "median": 8.72, + "p90": 19.28 + }, + "samples": 2319, + "accepted": 2261, + "wrist_pos_err_mm_median": 61.7, + "per_camera": { + "head": { + "samples": 2319, + "accepted": 2261, + "gate_deg": 30.0, + "offset_deg": 16.04, + "tier": "primary", + "dev_deg_median": 8.72, + "wrist_pos_err_mm_median": 61.7 + } + }, + "frames_by_state": { + "ace_sample": 9176, + "interpolated": 1496, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9989, + "observed_fraction_of_valid": 0.9989, + "palm_axis_vs_markers_deg": { + "gsi": 13.92, + "smplx": 0.86 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.0, + "p90": 7.6 + }, + "registered": { + "median": 6.2, + "p90": 7.0 + } + } + }, + "right": { + "offset_deg": 10.6, + "offset_rotvec": [ + -0.0836, + -0.1077, + 0.1252 + ], + "dev_deg": { + "median": 7.68, + "p90": 28.16 + }, + "samples": 2108, + "accepted": 1926, + "wrist_pos_err_mm_median": 58.9, + "per_camera": { + "head": { + "samples": 2108, + "accepted": 1926, + "gate_deg": 30.0, + "offset_deg": 10.6, + "tier": "primary", + "dev_deg_median": 7.68, + "wrist_pos_err_mm_median": 58.9 + } + }, + "frames_by_state": { + "ace_sample": 7888, + "interpolated": 2768, + "mean_hand": 28, + "no_body_fit": 0 + }, + "observed_fraction": 0.9974, + "observed_fraction_of_valid": 0.9974, + "palm_axis_vs_markers_deg": { + "gsi": 12.19, + "smplx": 0.77 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.0, + "p90": 7.2 + }, + "registered": { + "median": 5.9, + "p90": 7.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T12:45:42.321985+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P03/session_009", "family": "locomotion_primitives", "primitive": "P03", "source_session": "20260831/P03/20260831_083750_session49" + }, + "task": { + "primitive": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." } } diff --git a/actions/locomotion_primitives/P03/session_009/motions/hands_mano.npz b/actions/locomotion_primitives/P03/session_009/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..886e982585206d8d3d295b8c6296f95714d82819 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_009/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93ed539d4488655aac89016f374c0d0e70999baf4837b0265b5c28864af6b94b +size 3033712 diff --git a/actions/locomotion_primitives/P03/session_009/motions/smplx.npz b/actions/locomotion_primitives/P03/session_009/motions/smplx.npz index 91566cc4c5dc80ac791408000e9e22f3a203baf4..55f738b050f0d618831e44c9b0a54c125f0c3bad 100644 --- a/actions/locomotion_primitives/P03/session_009/motions/smplx.npz +++ b/actions/locomotion_primitives/P03/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8ca8db75fd1fafecc723500ffab266fd1ef042efad2a3f59446a619886dd9f90 -size 4106165 +oid sha256:d184c6fc0980c5d8a83221b42d6c36218b13d08bc71b67ea9d3727f8622760c4 +size 7696196 diff --git a/actions/locomotion_primitives/P03/session_010/annotations.json b/actions/locomotion_primitives/P03/session_010/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..1a04604c93c14a7809032c0e32eb45c63749d97d --- /dev/null +++ b/actions/locomotion_primitives/P03/session_010/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 83.966622, + "video": "left_eye", + "video_t_start": 0.038614278939664626 + } + ], + "episodes": [ + { + "id": "68d1e5f9-9466-4794-a519-a7d3fa863cca", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 0.361, + "end_s": 6.375, + "t_start": 0.3996, + "t_end": 6.4136, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "0042445e-bb05-405e-b16f-354b2830ce9b", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 8.636, + "end_s": 14.324, + "t_start": 8.6746, + "t_end": 14.3626, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "ea4081c6-3496-41ac-bffd-659eecfde26f", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 16.723, + "end_s": 22.041, + "t_start": 16.7616, + "t_end": 22.0796, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "8a968a90-be76-4654-9cc5-9fd2371c6a0b", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 24.165, + "end_s": 29.432, + "t_start": 24.2036, + "t_end": 29.4706, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "bdd01ea5-ed1f-4e84-b479-a937720dc6b7", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 31.829, + "end_s": 37.394, + "t_start": 31.8676, + "t_end": 37.4326, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "2c690259-9fa6-4d04-a0a8-8e36c28963a7", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 39.818, + "end_s": 45.199, + "t_start": 39.8566, + "t_end": 45.2376, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "a918efb5-6826-4ace-9390-861eac608c6b", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 47.046, + "end_s": 52.202, + "t_start": 47.0846, + "t_end": 52.2406, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "5524d02b-0dff-4e86-8944-8daa48f00b5f", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 54.697, + "end_s": 60.529, + "t_start": 54.7356, + "t_end": 60.5676, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "951bdebe-5e87-4d9d-b012-ff7568e9fdd8", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 62.661, + "end_s": 68.013, + "t_start": 62.6996, + "t_end": 68.0516, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "92d85392-9a20-4bfb-bd07-3f8189e086f3", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 70.329, + "end_s": 75.814, + "t_start": 70.3676, + "t_end": 75.8526, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P03/session_010/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P03/session_010/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..1d2293f7632daea2836be55fbcdb51fda8b7a1f6 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_010/cameras/gsi_online_calibration.json @@ -0,0 +1,261 @@ +{ + "camera_fit": { + "groups_dropped": [ + { + "matches": 149, + "median_px": 18.64, + "pair": [ + "left", + "right" + ] + } + ], + "groups_used": 14, + "median_px": 0.419 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.9422, + "gate_fail": [], + "held_out_px_after": 0.732, + "held_out_px_before": 5.383, + "inliers": 1485, + "position_fitted": false, + "rotvec_deg": [ + 0.094, + 0.8915, + 0.2899 + ], + "split_deg": 0.1275, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.0876, + "gate_fail": [], + "held_out_px_after": 0.42, + "held_out_px_before": 2.347, + "inliers": 2811, + "position_fitted": true, + "position_mm": [ + -8.48, + 8.98, + 12.49 + ], + "position_sigma_mm": 0.318, + "position_split_mm": 3.183, + "rotvec_deg": [ + 0.1335, + 0.6976, + -0.8237 + ], + "split_deg": 0.1077, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.4771, + "gate_fail": [], + "held_out_px_after": 0.648, + "held_out_px_before": 2.672, + "inliers": 1556, + "position_fitted": false, + "rotvec_deg": [ + 0.4396, + -0.1855, + 0.0055 + ], + "split_deg": 0.0595, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.6935, + "gate_fail": [], + "held_out_px_after": 0.514, + "held_out_px_before": 2.613, + "inliers": 2954, + "position_fitted": true, + "position_mm": [ + -7.64, + 6.39, + 9.26 + ], + "position_sigma_mm": 0.3, + "position_split_mm": 1.771, + "rotvec_deg": [ + 0.2169, + 0.2821, + -0.5953 + ], + "split_deg": 0.1302, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.9065, + "gate_fail": [], + "held_out_px_after": 0.392, + "held_out_px_before": 6.739, + "inliers": 3134, + "position_fitted": false, + "rotvec_deg": [ + -0.3312, + 0.4384, + -1.8256 + ], + "split_deg": 0.0241, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "850a0e6aafa85fdf", + "factory_root_name": "850a0e6aafa85fdf", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "c10d7c4e2c4710225e3c7ea88d2c9d4f8fa5b293f5a75a59cf2f276e92bb35b1", + "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "e4b6ec23915b34205a8bb6682b400c89d44a8a80681ffe189b7b3a388f2d920e", + "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "b3e9f9d2925dba3842947eb1e85aa7a11c51a25f23cc5b63d6815bfc20a855f2", + "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "8f8d3c2b9c5d8cbb946d4a8a3f0653fa211a71c30066f235f536195884c1ec18", + "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3" + } + }, + "input_fingerprint": "47203fb3d1147821", + "kind": "online_calibration", + "output_sha256": "34219f04ffcde1b046d81747ffd30c5de7c4a66df6f885942a74cd5507adc128", + "overlap": { + "left-right": 0.487, + "left_eye-left": 0.707, + "left_eye-right": 0.685, + "left_front-left": 0.484, + "left_front-left_eye": 0.709, + "left_front-right": 0.464, + "left_front-right_eye": 0.711, + "left_front-right_front": 1.0, + "right_eye-left": 0.708, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.668, + "right_front-left": 0.482, + "right_front-left_eye": 0.711, + "right_front-right": 0.463, + "right_front-right_eye": 0.724 + }, + "picture_change": { + "left": 41.303, + "left_eye": 37.151, + "left_front": 45.366, + "right": 38.63, + "right_eye": 38.444, + "right_front": 43.738 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 10303793283777, + 10304793261555, + 10305793294888, + 10306793283777, + 10307793272666, + 10308793283777, + 10311793283777, + 10312793272666, + 10313793294888, + 10314793261555, + 10315793283777, + 10317793294888, + 10318793283777, + 10321793283777, + 10322793283777, + 10324793261555, + 10325793283777, + 10326793294888, + 10329793272666, + 10330793272666, + 10331793283777, + 10334793294888, + 10335793283777, + 10336793283777, + 10337793283777, + 10338793283777, + 10340793294888, + 10341793283777, + 10344793261555, + 10345793283777, + 10346793283777, + 10349793272666, + 10350793294888, + 10351793294888, + 10353793272666, + 10354793261555, + 10355793261555, + 10356793283777, + 10359793406000, + 10360793283777, + 10361793283777, + 10362793283777, + 10363793294888, + 10364793294888, + 10367793283777, + 10368793283777, + 10370793294888, + 10371793294888, + 10372793272666, + 10374793294888, + 10375793306000, + 10376793294888, + 10377793283777 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P03/session_010/cameras/slam.npz b/actions/locomotion_primitives/P03/session_010/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..39d78d58374f58c1b62c4e170dccd61edd291e4c --- /dev/null +++ b/actions/locomotion_primitives/P03/session_010/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b462a9f866a6b87d147f1740217702b28dcd5af65af92c9abdfc551cc5d5c15b +size 483065 diff --git a/actions/locomotion_primitives/P03/session_010/meta.json b/actions/locomotion_primitives/P03/session_010/meta.json index 780c60fdbbdb8e59e9293fa24325c81aead929ce..d01bfaa85171535efe40d5b1bd9aa3a238040dc0 100644 --- a/actions/locomotion_primitives/P03/session_010/meta.json +++ b/actions/locomotion_primitives/P03/session_010/meta.json @@ -332,8 +332,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -513,10 +513,124 @@ "file": "derived/rig_tracker_provider/rig_tracker.json", "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 16.8, + "offset_rotvec": [ + -0.1186, + -0.268, + -0.0091 + ], + "dev_deg": { + "median": 8.61, + "p90": 19.63 + }, + "samples": 2269, + "accepted": 2215, + "wrist_pos_err_mm_median": 57.0, + "per_camera": { + "head": { + "samples": 2269, + "accepted": 2215, + "gate_deg": 30.0, + "offset_deg": 16.8, + "tier": "primary", + "dev_deg_median": 8.61, + "wrist_pos_err_mm_median": 57.0 + } + }, + "frames_by_state": { + "ace_sample": 8962, + "interpolated": 1110, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9988, + "observed_fraction_of_valid": 0.9988, + "palm_axis_vs_markers_deg": { + "gsi": 13.99, + "smplx": 0.95 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.5, + "p90": 11.2 + }, + "registered": { + "median": 5.1, + "p90": 12.0 + } + } + }, + "right": { + "offset_deg": 9.53, + "offset_rotvec": [ + -0.054, + -0.0771, + 0.1372 + ], + "dev_deg": { + "median": 8.67, + "p90": 31.34 + }, + "samples": 1917, + "accepted": 1696, + "wrist_pos_err_mm_median": 52.1, + "per_camera": { + "head": { + "samples": 1917, + "accepted": 1696, + "gate_deg": 30.0, + "offset_deg": 9.53, + "tier": "primary", + "dev_deg_median": 8.67, + "wrist_pos_err_mm_median": 52.1 + } + }, + "frames_by_state": { + "ace_sample": 6968, + "interpolated": 2724, + "mean_hand": 392, + "no_body_fit": 0 + }, + "observed_fraction": 0.9611, + "observed_fraction_of_valid": 0.9611, + "palm_axis_vs_markers_deg": { + "gsi": 11.09, + "smplx": 0.84 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.3, + "p90": 6.5 + }, + "registered": { + "median": 5.3, + "p90": 6.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T12:45:41.829730+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P03/session_010", "family": "locomotion_primitives", "primitive": "P03", "source_session": "20260831/P03/20260831_083929_session50" + }, + "task": { + "primitive": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." } } diff --git a/actions/locomotion_primitives/P03/session_010/motions/hands_mano.npz b/actions/locomotion_primitives/P03/session_010/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..014e0bbe7b11daf9a0cc4c9780435f866332ed72 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_010/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:901b84ac378c7c9a6621ebf6051a00e21510e222169994563520e48d588e1417 +size 2865057 diff --git a/actions/locomotion_primitives/P03/session_010/motions/smplx.npz b/actions/locomotion_primitives/P03/session_010/motions/smplx.npz index 696f3bc40aadef605d6f68f5485a9c3bd6f1d347..6577150f101c0eea9717616fe751b2b79b71f8a9 100644 --- a/actions/locomotion_primitives/P03/session_010/motions/smplx.npz +++ b/actions/locomotion_primitives/P03/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:98ca1236f9e2dd45ac76bf12d91e143b3f9dd24286b61153fcd4af8e3c7610ee -size 3875521 +oid sha256:de5174c24b671d169c7a812da62756d9f4db5c5608584f2fca6ee92beea0cfde +size 7207783 diff --git a/actions/locomotion_primitives/P03/session_011/annotations.json b/actions/locomotion_primitives/P03/session_011/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..1cf9ee308949998eadac90abb76a748f2e78b41e --- /dev/null +++ b/actions/locomotion_primitives/P03/session_011/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 83.966633, + "video": "left_eye", + "video_t_start": 0.03887016919273689 + } + ], + "episodes": [ + { + "id": "8ecae1b5-5d04-4333-a4e3-5aff52591855", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 1.165, + "end_s": 6.631, + "t_start": 1.2039, + "t_end": 6.6699, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "b86f20b2-433f-4c71-8743-d355b6ed6984", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 8.534, + "end_s": 13.723, + "t_start": 8.5729, + "t_end": 13.7619, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "6ac7e6a1-f335-4364-a380-4ad2d9219d22", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 16.108, + "end_s": 21.465, + "t_start": 16.1469, + "t_end": 21.5039, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "92ed296d-4818-460b-b11b-3cb5edfa178c", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 23.608, + "end_s": 28.541, + "t_start": 23.6469, + "t_end": 28.5799, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "7234522c-4db3-4a10-bf7d-d5eb895164cb", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 31.091, + "end_s": 36.24, + "t_start": 31.1299, + "t_end": 36.2789, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "c52ddb15-99d0-4eb7-a58e-863845a5c55f", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 39.021, + "end_s": 44.131, + "t_start": 39.0599, + "t_end": 44.1699, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "5067764a-6df6-451e-8e5a-2fb145cb6777", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 47.049, + "end_s": 52.387, + "t_start": 47.0879, + "t_end": 52.4259, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "6561f266-cc05-4eb6-a792-2dd3db8d5918", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 55.29, + "end_s": 60.629, + "t_start": 55.3289, + "t_end": 60.6679, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "b8e950b2-f626-4c90-856d-a3c8857c367e", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 63.705, + "end_s": 69.014, + "t_start": 63.7439, + "t_end": 69.0529, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "de6cfd8e-686d-4b35-a8dd-4c438f8d1bd0", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 71.54, + "end_s": 76.784, + "t_start": 71.5789, + "t_end": 76.8229, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P03/session_011/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P03/session_011/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..32cfa41b6a35b29b83225dd0a4b0513c55def488 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_011/cameras/gsi_online_calibration.json @@ -0,0 +1,262 @@ +{ + "camera_fit": { + "groups_dropped": [ + { + "matches": 199, + "median_px": 14.23, + "pair": [ + "left", + "right" + ] + } + ], + "groups_used": 14, + "median_px": 0.357 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.9094, + "gate_fail": [], + "held_out_px_after": 0.506, + "held_out_px_before": 7.706, + "inliers": 2277, + "position_fitted": false, + "rotvec_deg": [ + 0.0275, + 0.8211, + 0.3898 + ], + "split_deg": 0.0638, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.0801, + "gate_fail": [], + "held_out_px_after": 0.367, + "held_out_px_before": 3.123, + "inliers": 2958, + "position_fitted": true, + "position_mm": [ + -8.33, + 8.63, + 13.1 + ], + "position_sigma_mm": 0.375, + "position_split_mm": 4.414, + "rotvec_deg": [ + 0.0879, + 0.7496, + -0.7727 + ], + "split_deg": 0.0764, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.3526, + "gate_fail": [], + "held_out_px_after": 0.519, + "held_out_px_before": 2.873, + "inliers": 1852, + "position_fitted": false, + "rotvec_deg": [ + 0.3104, + -0.1486, + -0.0766 + ], + "split_deg": 0.1294, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.7293, + "gate_fail": [], + "held_out_px_after": 0.388, + "held_out_px_before": 2.35, + "inliers": 3551, + "position_fitted": true, + "position_mm": [ + -17.12, + 8.77, + 13.89 + ], + "position_sigma_mm": 0.429, + "position_split_mm": 5.728, + "rotvec_deg": [ + 0.1926, + 0.3107, + -0.6311 + ], + "split_deg": 0.1125, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.9965, + "gate_fail": [], + "held_out_px_after": 0.33, + "held_out_px_before": 10.349, + "inliers": 4639, + "position_fitted": false, + "rotvec_deg": [ + -0.3485, + 0.5027, + -1.9004 + ], + "split_deg": 0.0262, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "850a0e6aafa85fdf", + "factory_root_name": "850a0e6aafa85fdf", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "551c2d16e1f02a2b7bb6666ef25be8da9fb6125fb89ca438c5e2d266d5e1e669", + "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "cb82e1aa9b061a6c07ae1c41e43bea0919eaf297affdd50034b72c25c7c04657", + "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "27411c3cdb14f09740ba00ca81f7ffdd15d936e236e43c1ff6f0c819133f81dc", + "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "7176a079017b1e412b421a6dd36a87643934a6a20748c79155a5078774f002ab", + "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3" + } + }, + "input_fingerprint": "b8c6217835019e7a", + "kind": "online_calibration", + "output_sha256": "b24454caa6f84245c942eeaab7b1d0dc2678bb605c2f6733bac9c0e61a4547d9", + "overlap": { + "left-right": 0.487, + "left_eye-left": 0.707, + "left_eye-right": 0.685, + "left_front-left": 0.484, + "left_front-left_eye": 0.709, + "left_front-right": 0.464, + "left_front-right_eye": 0.711, + "left_front-right_front": 1.0, + "right_eye-left": 0.708, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.668, + "right_front-left": 0.482, + "right_front-left_eye": 0.711, + "right_front-right": 0.463, + "right_front-right_eye": 0.724 + }, + "picture_change": { + "left": 34.251, + "left_eye": 32.973, + "left_front": 36.41, + "right": 37.41, + "right_eye": 35.181, + "right_front": 36.676 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 4338785302666, + 4339785302666, + 4342785324888, + 4343785313777, + 4345785302666, + 4346785313777, + 4347785313777, + 4350785302666, + 4351785313777, + 4352785313777, + 4353785324888, + 4356785302666, + 4357785313777, + 4358785302666, + 4360785313777, + 4361785302666, + 4362785302666, + 4363785291555, + 4365785302666, + 4366785302666, + 4368785447111, + 4369785302666, + 4372785291555, + 4373785302666, + 4374785313777, + 4375785302666, + 4376785447111, + 4380785302666, + 4381785324888, + 4382785358222, + 4384785302666, + 4385785302666, + 4388785302666, + 4389785313777, + 4390785313777, + 4392785336000, + 4393785302666, + 4394785324888, + 4395785302666, + 4397785402666, + 4398785302666, + 4400785302666, + 4401785302666, + 4402785280444, + 4403785302666, + 4405785302666, + 4406785302666, + 4408785302666, + 4409785302666, + 4411785313777, + 4412785302666, + 4413785302666, + 4416785313777, + 4417785302666 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P03/session_011/cameras/slam.npz b/actions/locomotion_primitives/P03/session_011/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..142c03fa068d33b991e532cfcb6fb73b732d9328 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_011/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5160f820f4f30ac87e1dbef099c2f0a593707f4f16f40b8da9efb72999a8921f +size 483315 diff --git a/actions/locomotion_primitives/P03/session_011/meta.json b/actions/locomotion_primitives/P03/session_011/meta.json index c4a718471ee41e9f7a36df45de816df1ddcfec52..870834e55abf139dc7e3a745caac5d6a6a20f4f9 100644 --- a/actions/locomotion_primitives/P03/session_011/meta.json +++ b/actions/locomotion_primitives/P03/session_011/meta.json @@ -349,8 +349,8 @@ "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": { @@ -521,10 +521,124 @@ "file": "derived/rig_tracker_provider/rig_tracker.json", "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 14.18, + "offset_rotvec": [ + -0.1222, + -0.1832, + -0.1128 + ], + "dev_deg": { + "median": 8.98, + "p90": 24.16 + }, + "samples": 1954, + "accepted": 1835, + "wrist_pos_err_mm_median": 45.6, + "per_camera": { + "head": { + "samples": 1954, + "accepted": 1835, + "gate_deg": 30.0, + "offset_deg": 14.18, + "tier": "primary", + "dev_deg_median": 8.98, + "wrist_pos_err_mm_median": 45.6 + } + }, + "frames_by_state": { + "ace_sample": 7569, + "interpolated": 2041, + "mean_hand": 444, + "no_body_fit": 30 + }, + "observed_fraction": 0.953, + "observed_fraction_of_valid": 0.9558, + "palm_axis_vs_markers_deg": { + "gsi": 9.14, + "smplx": 1.95 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.3, + "p90": 7.3 + }, + "registered": { + "median": 5.8, + "p90": 8.8 + } + } + }, + "right": { + "offset_deg": 12.04, + "offset_rotvec": [ + -0.0999, + -0.1358, + 0.1254 + ], + "dev_deg": { + "median": 8.15, + "p90": 29.56 + }, + "samples": 1877, + "accepted": 1694, + "wrist_pos_err_mm_median": 60.2, + "per_camera": { + "head": { + "samples": 1877, + "accepted": 1694, + "gate_deg": 30.0, + "offset_deg": 12.04, + "tier": "primary", + "dev_deg_median": 8.15, + "wrist_pos_err_mm_median": 60.2 + } + }, + "frames_by_state": { + "ace_sample": 7014, + "interpolated": 2600, + "mean_hand": 440, + "no_body_fit": 30 + }, + "observed_fraction": 0.9534, + "observed_fraction_of_valid": 0.9562, + "palm_axis_vs_markers_deg": { + "gsi": 12.9, + "smplx": 2.24 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.3, + "p90": 9.7 + }, + "registered": { + "median": 8.1, + "p90": 9.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T13:45:44.022098+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P03/session_011", "family": "locomotion_primitives", "primitive": "P03", "source_session": "20260904/P03/20260904_021457_session7" + }, + "task": { + "primitive": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." } } diff --git a/actions/locomotion_primitives/P03/session_011/motions/hands_mano.npz b/actions/locomotion_primitives/P03/session_011/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..9a107771fae4fe6f1c2af428704a13effaf8ff0d --- /dev/null +++ b/actions/locomotion_primitives/P03/session_011/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cda08efa3e83589a7c95b5ee35a2cf051f0ae7a94b3947d599ccc84e4d927992 +size 2712478 diff --git a/actions/locomotion_primitives/P03/session_011/motions/smplx.npz b/actions/locomotion_primitives/P03/session_011/motions/smplx.npz index 736da59ee39298dc19e56a59d83fad0b25a087d5..7d19caebd9fb9b31ce1940b4b8dea3eb938fbc28 100644 --- a/actions/locomotion_primitives/P03/session_011/motions/smplx.npz +++ b/actions/locomotion_primitives/P03/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:10269b763732d3233cee1e4368454fd0f7a82424084309c25ea7951f1f80ae76 -size 3876644 +oid sha256:d4f86c403cced2938ca9baea600d7ec0fc3811d1521684cd9bfe3eaec7ce54ed +size 7151444 diff --git a/actions/locomotion_primitives/P03/session_012/annotations.json b/actions/locomotion_primitives/P03/session_012/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..91e4428f0a9163b2e4eec0e107388e1bbea540c3 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_012/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 58.9667, + "video": "left_eye", + "video_t_start": 0.03920867718027754 + } + ], + "episodes": [ + { + "id": "ee395c5f-c8d1-4b86-8766-a03ef31976c1", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 0, + "end_s": 4.293, + "t_start": 0.0392, + "t_end": 4.3322, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "1ad58d69-cb74-434b-b2f1-bb05f0c2c864", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 6.023, + "end_s": 10.046, + "t_start": 6.0622, + "t_end": 10.0852, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "aadd10f1-dee0-4a5f-b86e-e4304e39f9a5", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 11.761, + "end_s": 15.325, + "t_start": 11.8002, + "t_end": 15.3642, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "f496e060-ae69-4158-a651-4b84a3704c1c", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 17.365, + "end_s": 20.825, + "t_start": 17.4042, + "t_end": 20.8642, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "6f8ce220-abb7-4afb-950d-cd706275a911", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 22.996, + "end_s": 26.633, + "t_start": 23.0352, + "t_end": 26.6722, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "12c9f014-1450-44a2-99e6-5e5a90f191ea", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 28.338, + "end_s": 32.356, + "t_start": 28.3772, + "t_end": 32.3952, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "63cec861-bde7-40f2-91c6-b5ad88b05e52", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 34.072, + "end_s": 37.568, + "t_start": 34.1112, + "t_end": 37.6072, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "a3e3aea7-440a-468c-a422-eef0f15311d5", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 39.685, + "end_s": 43.244, + "t_start": 39.7242, + "t_end": 43.2832, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "66ec7ead-7eb0-4b6f-a933-5064aa5ddc44", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 44.791, + "end_s": 48.283, + "t_start": 44.8302, + "t_end": 48.3222, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "b20f60d6-4560-438e-89aa-231600eee260", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 50.545, + "end_s": 55.013, + "t_start": 50.5842, + "t_end": 55.0522, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P03/session_012/cameras/slam.npz b/actions/locomotion_primitives/P03/session_012/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..fb88361f8667c202917c7ef6cd0666bd84c622b7 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_012/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba9b0abc65504ac723c5b46d0a8153ff6b69a95a924bfad0b0d3666d1cf17683 +size 341829 diff --git a/actions/locomotion_primitives/P03/session_012/meta.json b/actions/locomotion_primitives/P03/session_012/meta.json index d6ed7e785c7cc1409258e51630b5068ecb11c497..c2d20441ebb180b02ab55e0a0a005a562de7cbc8 100644 --- a/actions/locomotion_primitives/P03/session_012/meta.json +++ b/actions/locomotion_primitives/P03/session_012/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": { @@ -522,10 +522,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0780282005410307 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 19.35, + "offset_rotvec": [ + 0.1486, + -0.2069, + 0.2217 + ], + "dev_deg": { + "median": 13.71, + "p90": 21.18 + }, + "samples": 1623, + "accepted": 1563, + "wrist_pos_err_mm_median": 96.0, + "per_camera": { + "head": { + "samples": 1623, + "accepted": 1563, + "gate_deg": 30.0, + "offset_deg": 19.35, + "tier": "primary", + "dev_deg_median": 13.71, + "wrist_pos_err_mm_median": 96.0 + } + }, + "frames_by_state": { + "ace_sample": 6306, + "interpolated": 650, + "mean_hand": 128, + "no_body_fit": 0 + }, + "observed_fraction": 0.9819, + "observed_fraction_of_valid": 0.9819, + "palm_axis_vs_markers_deg": { + "gsi": 13.22, + "smplx": 0.53 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.5, + "p90": 8.0 + }, + "registered": { + "median": 5.9, + "p90": 7.9 + } + } + }, + "right": { + "offset_deg": 8.28, + "offset_rotvec": [ + -0.0128, + 0.1439, + -0.0047 + ], + "dev_deg": { + "median": 8.17, + "p90": 17.59 + }, + "samples": 1635, + "accepted": 1589, + "wrist_pos_err_mm_median": 106.9, + "per_camera": { + "head": { + "samples": 1635, + "accepted": 1589, + "gate_deg": 30.0, + "offset_deg": 8.28, + "tier": "primary", + "dev_deg_median": 8.17, + "wrist_pos_err_mm_median": 106.9 + } + }, + "frames_by_state": { + "ace_sample": 6382, + "interpolated": 398, + "mean_hand": 304, + "no_body_fit": 0 + }, + "observed_fraction": 0.9571, + "observed_fraction_of_valid": 0.9571, + "palm_axis_vs_markers_deg": { + "gsi": 5.95, + "smplx": 0.7 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.9, + "p90": 9.9 + }, + "registered": { + "median": 9.1, + "p90": 11.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T14:54:38.122979+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P03/session_012", "family": "locomotion_primitives", "primitive": "P03", "source_session": "20260908/P03/20260908_052749_session27" + }, + "task": { + "primitive": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." } } diff --git a/actions/locomotion_primitives/P03/session_012/motions/hands_mano.npz b/actions/locomotion_primitives/P03/session_012/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..7476662a1378b9b79457116f9584aa16396b91b8 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_012/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:78cbee589f53a8e22a8143b5646fcd36e0339d8895ff55cec11f69ad28944204 +size 2215348 diff --git a/actions/locomotion_primitives/P03/session_012/motions/smplx.npz b/actions/locomotion_primitives/P03/session_012/motions/smplx.npz index 59cd2e091b4c3a24a3a862946ada935ec360e8c4..4887d299361c7eb595ba1f90a3cfeb5ee49a2437 100644 --- a/actions/locomotion_primitives/P03/session_012/motions/smplx.npz +++ b/actions/locomotion_primitives/P03/session_012/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e1e657321bb5a9e538851ec95671240488051bf0200277e0e4902b299dd3049f -size 2728247 +oid sha256:0b699790a62e9b2f7b6ae51d11e97e4714e8be6deeddb18974cfb0d05324748f +size 5055618 diff --git a/actions/locomotion_primitives/P03/session_013/annotations.json b/actions/locomotion_primitives/P03/session_013/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..6fd199da353e561df844d2d6295e1806cd06ae1a --- /dev/null +++ b/actions/locomotion_primitives/P03/session_013/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 38.966611, + "video": "left_eye", + "video_t_start": 0.04132224229666459 + } + ], + "episodes": [ + { + "id": "a3c5966c-5b14-4cb3-97ee-6183f13a040b", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 0.503, + "end_s": 4.148, + "t_start": 0.5443, + "t_end": 4.1893, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "50295195-fccf-4986-9a57-da41b2f89e12", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 4.148, + "end_s": 7.235, + "t_start": 4.1893, + "t_end": 7.2763, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "14d1d502-a4d2-4b11-abe8-545e471fc4b4", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 7.235, + "end_s": 10.954, + "t_start": 7.2763, + "t_end": 10.9953, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "6525798e-a307-4f0d-8bed-fab14d0ef2a6", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 10.954, + "end_s": 13.867, + "t_start": 10.9953, + "t_end": 13.9083, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "04acaf85-4179-4763-b5a6-cf4357ce365e", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 13.867, + "end_s": 17.977, + "t_start": 13.9083, + "t_end": 18.0183, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "36007c16-3da6-4441-afbd-3cb127761600", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 17.977, + "end_s": 20.984, + "t_start": 18.0183, + "t_end": 21.0253, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "b457d37f-3e20-4c74-b891-2c95ef754467", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 21.06, + "end_s": 24.625, + "t_start": 21.1013, + "t_end": 24.6663, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "0cfe1efb-9a63-4e7b-9763-9471411f0fa1", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 24.625, + "end_s": 27.185, + "t_start": 24.6663, + "t_end": 27.2263, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "3fc9fcfb-8eea-4917-809d-213ec0a26a32", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 27.185, + "end_s": 31.262, + "t_start": 27.2263, + "t_end": 31.3033, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "80156dc2-e15c-4f9e-b371-1272feb28c9a", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 31.262, + "end_s": 35.272, + "t_start": 31.3033, + "t_end": 35.3133, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P03/session_013/cameras/slam.npz b/actions/locomotion_primitives/P03/session_013/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..61c9f4bf3974e865b76c28e60e692ecb5efe6f02 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_013/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a565fb00021dce97b3f5f7acd4e786e0b7d6405f0c2c64927c240efade6ca56a +size 227367 diff --git a/actions/locomotion_primitives/P03/session_013/meta.json b/actions/locomotion_primitives/P03/session_013/meta.json index 4923d65cb538e06ea830e214b78a55e2043d4425..24bb41f90325f9ec83b961d80665d8eac388ce2f 100644 --- a/actions/locomotion_primitives/P03/session_013/meta.json +++ b/actions/locomotion_primitives/P03/session_013/meta.json @@ -323,8 +323,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -508,10 +508,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.796765599590211 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 16.39, + "offset_rotvec": [ + 0.1448, + -0.2196, + -0.1124 + ], + "dev_deg": { + "median": 14.83, + "p90": 25.96 + }, + "samples": 487, + "accepted": 457, + "wrist_pos_err_mm_median": 185.3, + "per_camera": { + "head": { + "samples": 487, + "accepted": 457, + "gate_deg": 30.0, + "offset_deg": 16.39, + "tier": "primary", + "dev_deg_median": 14.83, + "wrist_pos_err_mm_median": 185.3 + } + }, + "frames_by_state": { + "ace_sample": 1981, + "interpolated": 2634, + "mean_hand": 5, + "no_body_fit": 64 + }, + "observed_fraction": 0.9853, + "observed_fraction_of_valid": 0.9989, + "palm_axis_vs_markers_deg": { + "gsi": 17.95, + "smplx": 1.05 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.6, + "p90": 7.4 + }, + "registered": { + "median": 5.8, + "p90": 9.8 + } + } + }, + "right": { + "offset_deg": 20.19, + "offset_rotvec": [ + 0.0208, + 0.3434, + 0.0758 + ], + "dev_deg": { + "median": 17.81, + "p90": 29.41 + }, + "samples": 612, + "accepted": 554, + "wrist_pos_err_mm_median": 125.7, + "per_camera": { + "head": { + "samples": 612, + "accepted": 554, + "gate_deg": 30.0, + "offset_deg": 20.19, + "tier": "primary", + "dev_deg_median": 17.81, + "wrist_pos_err_mm_median": 125.7 + } + }, + "frames_by_state": { + "ace_sample": 2345, + "interpolated": 2062, + "mean_hand": 213, + "no_body_fit": 64 + }, + "observed_fraction": 0.9409, + "observed_fraction_of_valid": 0.9539, + "palm_axis_vs_markers_deg": { + "gsi": 16.25, + "smplx": 0.63 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.6, + "p90": 12.2 + }, + "registered": { + "median": 9.7, + "p90": 11.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T15:39:09.326033+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P03/session_013", "family": "locomotion_primitives", "primitive": "P03", "source_session": "20260909/P03/20260909_033748_session56" + }, + "task": { + "primitive": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." } } diff --git a/actions/locomotion_primitives/P03/session_013/motions/hands_mano.npz b/actions/locomotion_primitives/P03/session_013/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..69ed66bb61d94735127e682e56c784802cd3ed52 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_013/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5966cc8a65efab5d0cc652ca70464bf27d6cb6192a8cfa43e5f86d872acea930 +size 810557 diff --git a/actions/locomotion_primitives/P03/session_013/motions/smplx.npz b/actions/locomotion_primitives/P03/session_013/motions/smplx.npz index b0b17ed7f9aa6abb665bca3b8134fe421b7f892f..e2bd9e6e2e80f4b2bb72b571c95c82c87d245f32 100644 --- a/actions/locomotion_primitives/P03/session_013/motions/smplx.npz +++ b/actions/locomotion_primitives/P03/session_013/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7d522b5159253ad390ec7ce5e285dfff4a5b845bacac148cb8651c5e75f42d15 -size 1792397 +oid sha256:0a3fb1b03a403e5c9427ec703a6ce022a539d25bb08dde0921c612f5f7f8727f +size 3319162 diff --git a/actions/locomotion_primitives/P03/session_014/annotations.json b/actions/locomotion_primitives/P03/session_014/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..09da2f6d2b8c4b4bd81072c77c85b8eb93551c3a --- /dev/null +++ b/actions/locomotion_primitives/P03/session_014/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 73.9667, + "video": "left_eye", + "video_t_start": 0.03065331871266383 + } + ], + "episodes": [ + { + "id": "2ad14f04-be37-4da7-a3c0-7b259c7dca8b", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 0, + "end_s": 6.486, + "t_start": 0.0307, + "t_end": 6.5167, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "2d955de5-26c4-4f74-8dcf-cb449f2e1d8d", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 8.412, + "end_s": 12.863, + "t_start": 8.4427, + "t_end": 12.8937, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "0852dea9-7ac9-46ac-b650-d1de6ce2e769", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 15.097, + "end_s": 19.614, + "t_start": 15.1277, + "t_end": 19.6447, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "ac5415b1-7cb6-4af1-bc6d-86db574e1748", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 23.054, + "end_s": 27.498, + "t_start": 23.0847, + "t_end": 27.5287, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "b0952ffc-e96b-479d-877b-de205ab515cb", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 29.31, + "end_s": 33.437, + "t_start": 29.3407, + "t_end": 33.4677, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "2d7aa97b-c873-46c3-bd13-bdf03e92c560", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 36.795, + "end_s": 41.637, + "t_start": 36.8257, + "t_end": 41.6677, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "9f7745c3-b069-415f-8ee1-4fe7139a646a", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 44.589, + "end_s": 48.778, + "t_start": 44.6197, + "t_end": 48.8087, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "37651c1f-41e8-41b6-8e7b-ed09e079dda8", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 50.956, + "end_s": 55.099, + "t_start": 50.9867, + "t_end": 55.1297, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "43a15828-ea7a-4f87-a8ff-c5d182cb6603", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 58.235, + "end_s": 62.179, + "t_start": 58.2657, + "t_end": 62.2097, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "ba7a3d1b-f132-4a33-94d1-b20d19b0a15a", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 64.315, + "end_s": 68.874, + "t_start": 64.3457, + "t_end": 68.9047, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P03/session_014/cameras/slam.npz b/actions/locomotion_primitives/P03/session_014/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..811e0db0a657bc6aa5e1637c6de34f33c15dcd40 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_014/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b56e7b559f03267224eef1b2e8570aa05ecde857e07d6aeddd085f03b80d76ba +size 428607 diff --git a/actions/locomotion_primitives/P03/session_014/meta.json b/actions/locomotion_primitives/P03/session_014/meta.json index 91d4ac3302797fcbd2f1cc1f60809ae420bc8e3d..5860d35a8fdecd4e7f62695d64d21eb018b89991 100644 --- a/actions/locomotion_primitives/P03/session_014/meta.json +++ b/actions/locomotion_primitives/P03/session_014/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": { @@ -510,10 +510,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.6000219953816909 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.03, + "offset_rotvec": [ + 0.0257, + 0.1419, + -0.0993 + ], + "dev_deg": { + "median": 13.32, + "p90": 33.25 + }, + "samples": 1161, + "accepted": 1003, + "wrist_pos_err_mm_median": 110.1, + "per_camera": { + "head": { + "samples": 1161, + "accepted": 1003, + "gate_deg": 30.0, + "offset_deg": 10.03, + "tier": "primary", + "dev_deg_median": 13.32, + "wrist_pos_err_mm_median": 110.1 + } + }, + "frames_by_state": { + "ace_sample": 4172, + "interpolated": 4128, + "mean_hand": 583, + "no_body_fit": 0 + }, + "observed_fraction": 0.9344, + "observed_fraction_of_valid": 0.9344, + "palm_axis_vs_markers_deg": { + "gsi": 16.8, + "smplx": 1.06 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.3, + "p90": 16.8 + }, + "registered": { + "median": 9.3, + "p90": 15.8 + } + } + }, + "right": { + "offset_deg": 12.55, + "offset_rotvec": [ + -0.1893, + -0.0588, + 0.0931 + ], + "dev_deg": { + "median": 18.39, + "p90": 40.52 + }, + "samples": 965, + "accepted": 717, + "wrist_pos_err_mm_median": 149.8, + "per_camera": { + "head": { + "samples": 965, + "accepted": 717, + "gate_deg": 30.0, + "offset_deg": 12.55, + "tier": "primary", + "dev_deg_median": 18.39, + "wrist_pos_err_mm_median": 149.8 + } + }, + "frames_by_state": { + "ace_sample": 2976, + "interpolated": 4028, + "mean_hand": 1879, + "no_body_fit": 0 + }, + "observed_fraction": 0.7885, + "observed_fraction_of_valid": 0.7885, + "palm_axis_vs_markers_deg": { + "gsi": 18.19, + "smplx": 0.94 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.2, + "p90": 9.2 + }, + "registered": { + "median": 7.9, + "p90": 9.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T18:55:48.330769+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P03/session_014", "family": "locomotion_primitives", "primitive": "P03", "source_session": "20260914/P03/20260914_082229_session38" + }, + "task": { + "primitive": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." } } diff --git a/actions/locomotion_primitives/P03/session_014/motions/hands_mano.npz b/actions/locomotion_primitives/P03/session_014/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..f233f26b5140c9e79dd18697c9da3df5c4b1e654 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_014/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4ea62ba8dcdda4ed8fb666e178f30952d04ebf3db5df20ccf58f5a62fe90d16 +size 1528158 diff --git a/actions/locomotion_primitives/P03/session_014/motions/smplx.npz b/actions/locomotion_primitives/P03/session_014/motions/smplx.npz index 451b247042af1ca444d7db4a9dda0cccf43fc02f..1b942769192b4d4d7404ce360a5f36f0e6280423 100644 --- a/actions/locomotion_primitives/P03/session_014/motions/smplx.npz +++ b/actions/locomotion_primitives/P03/session_014/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1c95a35cfdc27df1f5833f9073c830e48485fe68f5dff35939f5df5d6061aa05 -size 3427808 +oid sha256:f97357d38472d1a94bc51297c05c5013accf197e0811659b7b34cccb1c6901f1 +size 6155756 diff --git a/actions/locomotion_primitives/P03/session_015/annotations.json b/actions/locomotion_primitives/P03/session_015/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..95653e5c3b9f0be6db42e510d2014cf6cf2e15ea --- /dev/null +++ b/actions/locomotion_primitives/P03/session_015/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 73.966622, + "video": "left_eye", + "video_t_start": 0.039124459834570136 + } + ], + "episodes": [ + { + "id": "2b2ae759-958b-4de6-a0a6-2cab82b1ea3e", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 0.892, + "end_s": 5.849, + "t_start": 0.9311, + "t_end": 5.8881, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "fd04fba0-b4e6-4fd4-8086-5dcb265d15f1", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 8.232, + "end_s": 12.823, + "t_start": 8.2711, + "t_end": 12.8621, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "a10394f5-958e-409e-8eef-63c356821fd7", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 15.154, + "end_s": 19.569, + "t_start": 15.1931, + "t_end": 19.6081, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "2cc5a340-cd2c-48f8-a363-d1bef0e76931", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 21.792, + "end_s": 25.631, + "t_start": 21.8311, + "t_end": 25.6701, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "2366362d-593c-43b5-b542-9084ba19a76a", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 27.997, + "end_s": 32.316, + "t_start": 28.0361, + "t_end": 32.3551, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "baefe4d9-6f40-4293-a6f8-79c9449660ec", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 34.282, + "end_s": 38.488, + "t_start": 34.3211, + "t_end": 38.5271, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "1903fac2-1a4a-4a52-98b7-49f69e160cf2", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 40.512, + "end_s": 45.598, + "t_start": 40.5511, + "t_end": 45.6371, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "d9e3a6a7-48a3-45d0-9d86-b27da9058a65", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 47.666, + "end_s": 51.585, + "t_start": 47.7051, + "t_end": 51.6241, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "8f530a44-035d-4a98-8018-84af0c8e6a39", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 53.969, + "end_s": 58.607, + "t_start": 54.0081, + "t_end": 58.6461, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "f81c1927-5192-446a-9269-0dd0d822ee89", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 60.894, + "end_s": 65.293, + "t_start": 60.9331, + "t_end": 65.3321, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P03/session_015/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P03/session_015/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..9c465c554a8baf504e7688a73050dddcfbe9a64d --- /dev/null +++ b/actions/locomotion_primitives/P03/session_015/cameras/gsi_online_calibration.json @@ -0,0 +1,254 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 14, + "median_px": 0.345 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 1.1546, + "gate_fail": [], + "held_out_px_after": 0.531, + "held_out_px_before": 4.226, + "inliers": 2131, + "position_fitted": false, + "rotvec_deg": [ + 0.599, + -0.4145, + -0.8959 + ], + "split_deg": 0.0416, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.969, + "gate_fail": [], + "held_out_px_after": 0.438, + "held_out_px_before": 6.533, + "inliers": 2962, + "position_fitted": false, + "position_rejected": { + "position_mm": [ + -4.17, + -5.36, + 2.64 + ], + "position_sigma_mm": 0.36, + "position_split_mm": 5.636 + }, + "rotvec_deg": [ + 0.3893, + 0.6496, + -1.8175 + ], + "split_deg": 0.0653, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 1.3696, + "gate_fail": [], + "held_out_px_after": 0.604, + "held_out_px_before": 3.669, + "inliers": 1032, + "position_fitted": false, + "rotvec_deg": [ + 1.3618, + -0.1062, + 0.1008 + ], + "split_deg": 0.1332, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.9372, + "gate_fail": [], + "held_out_px_after": 0.403, + "held_out_px_before": 3.863, + "inliers": 2878, + "position_fitted": false, + "position_rejected": { + "position_mm": [ + 2.25, + -11.53, + 6.8 + ], + "position_sigma_mm": 0.42, + "position_split_mm": 7.427 + }, + "rotvec_deg": [ + 0.6447, + -0.4837, + -0.4782 + ], + "split_deg": 0.1025, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.3774, + "gate_fail": [], + "held_out_px_after": 0.284, + "held_out_px_before": 5.605, + "inliers": 4652, + "position_fitted": false, + "rotvec_deg": [ + -0.4425, + -0.0934, + -1.3011 + ], + "split_deg": 0.0222, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "e17c9efadb69e7b1", + "factory_root_name": "e17c9efadb69e7b1", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "01ada4394a014dcc37fdc603ac8bf471654ab9316f07ef301e0c97d862684239", + "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "1f4de7da5608c483e07216dce23ca1a7d11216129ac30ecf602aa5b6c37264b1", + "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "ebd5d81f313d2674e2e07aa2da5113315f158368ca3adb2aa5c9b76230fc52f6", + "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "3eb4ace962142d2b51341bad03b5301587e73a455fab78ed18b6c3a3e81e9db6", + "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d" + } + }, + "input_fingerprint": "fb4c1a6c1f4c6cec", + "kind": "online_calibration", + "output_sha256": "a2283140693e3c9e2e3995c0cc255ee4a4507a0c4c5dc7ef1d171237541f73cc", + "overlap": { + "left-right": 0.501, + "left_eye-left": 0.707, + "left_eye-right": 0.671, + "left_front-left": 0.478, + "left_front-left_eye": 0.72, + "left_front-right": 0.448, + "left_front-right_eye": 0.732, + "left_front-right_front": 1.0, + "right_eye-left": 0.696, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.673, + "right_front-left": 0.464, + "right_front-left_eye": 0.723, + "right_front-right": 0.466, + "right_front-right_eye": 0.734 + }, + "picture_change": { + "left": 35.979, + "left_eye": 24.387, + "left_front": 34.53, + "right": 39.228, + "right_eye": 26.619, + "right_front": 32.416 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 18109167657000, + 18110167634777, + 18112167634777, + 18113167634777, + 18114167634777, + 18115167657000, + 18116167779222, + 18117167634777, + 18120167634777, + 18121167657000, + 18122167668111, + 18123167634777, + 18124167623666, + 18125167834777, + 18126167623666, + 18129167657000, + 18130167623666, + 18131167657000, + 18133167657000, + 18134167623666, + 18135167623666, + 18136167657000, + 18137167634777, + 18139167812555, + 18140167790333, + 18142167645888, + 18143167657000, + 18144167657000, + 18145167823666, + 18146167657000, + 18147167657000, + 18148167645888, + 18151167679222, + 18152167657000, + 18153167657000, + 18155167645888, + 18156167623666, + 18157167645888, + 18159167634777, + 18160167668111, + 18162167623666, + 18163167657000, + 18164167657000, + 18165167668111, + 18166167657000, + 18169167657000, + 18170167623666, + 18171167645888, + 18173167734777, + 18174167668111, + 18175167623666 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P03/session_015/cameras/slam.npz b/actions/locomotion_primitives/P03/session_015/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..53fd2973e1ea60c34529031295365b6783f58082 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_015/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac3f6b5a8add110a5bd647b4767f110cf8d896bb66d31a19559b2f413502912d +size 427613 diff --git a/actions/locomotion_primitives/P03/session_015/meta.json b/actions/locomotion_primitives/P03/session_015/meta.json index b6ff4cdc110819e319c712b86ba6f18b12a82c0e..f77c64b2e32f5ddf6601a74c5a70651aa22d05db 100644 --- a/actions/locomotion_primitives/P03/session_015/meta.json +++ b/actions/locomotion_primitives/P03/session_015/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": { @@ -513,10 +513,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.6337933011686139 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.74, + "offset_rotvec": [ + 0.1744, + -0.0447, + -0.0522 + ], + "dev_deg": { + "median": 23.64, + "p90": 36.64 + }, + "samples": 1469, + "accepted": 1095, + "wrist_pos_err_mm_median": 69.5, + "per_camera": { + "head": { + "samples": 1469, + "accepted": 1095, + "gate_deg": 30.0, + "offset_deg": 10.74, + "tier": "primary", + "dev_deg_median": 23.64, + "wrist_pos_err_mm_median": 69.5 + } + }, + "frames_by_state": { + "ace_sample": 4596, + "interpolated": 4156, + "mean_hand": 132, + "no_body_fit": 0 + }, + "observed_fraction": 0.9851, + "observed_fraction_of_valid": 0.9851, + "palm_axis_vs_markers_deg": { + "gsi": 29.08, + "smplx": 1.36 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.1, + "p90": 10.3 + }, + "registered": { + "median": 6.7, + "p90": 10.7 + } + } + }, + "right": { + "offset_deg": 18.49, + "offset_rotvec": [ + -0.0414, + 0.2009, + 0.2491 + ], + "dev_deg": { + "median": 20.22, + "p90": 52.4 + }, + "samples": 1140, + "accepted": 801, + "wrist_pos_err_mm_median": 90.6, + "per_camera": { + "head": { + "samples": 1140, + "accepted": 801, + "gate_deg": 30.0, + "offset_deg": 18.49, + "tier": "primary", + "dev_deg_median": 20.22, + "wrist_pos_err_mm_median": 90.6 + } + }, + "frames_by_state": { + "ace_sample": 3348, + "interpolated": 3380, + "mean_hand": 2156, + "no_body_fit": 0 + }, + "observed_fraction": 0.7573, + "observed_fraction_of_valid": 0.7573, + "palm_axis_vs_markers_deg": { + "gsi": 20.79, + "smplx": 1.33 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.3, + "p90": 11.4 + }, + "registered": { + "median": 8.0, + "p90": 10.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T23:05:40.170923+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P03/session_015", "family": "locomotion_primitives", "primitive": "P03", "source_session": "20260916/P03/20260916_051922_session80" + }, + "task": { + "primitive": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." } } diff --git a/actions/locomotion_primitives/P03/session_015/motions/hands_mano.npz b/actions/locomotion_primitives/P03/session_015/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..d0c00e09c26982a8f7f316ff605db8a10ffdfbdb --- /dev/null +++ b/actions/locomotion_primitives/P03/session_015/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01567017f60c5adafbfc2bc894aa338aa7404a504cd400c40677d193b17a6f09 +size 1833176 diff --git a/actions/locomotion_primitives/P03/session_015/motions/smplx.npz b/actions/locomotion_primitives/P03/session_015/motions/smplx.npz index b33d155e998d499b79b57d590cc84b987b0b1ac0..5a5640f4aeea9e78a028e100c96d03ebf3cf6e4b 100644 --- a/actions/locomotion_primitives/P03/session_015/motions/smplx.npz +++ b/actions/locomotion_primitives/P03/session_015/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:88e9e2f738d74b5deaecacb136f5418ab4cc597e697b13fc6ea914c2f0d5fbd9 -size 3419873 +oid sha256:1de74852144899a227e3902984a1b1e34a0795c55063ebc9091a054ac211489c +size 6072300 diff --git a/actions/locomotion_primitives/P03/session_016/annotations.json b/actions/locomotion_primitives/P03/session_016/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..bfb5af3a8f4f063750ad9a6b04c76ccd991f1f37 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_016/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 103.966667, + "video": "left_eye", + "video_t_start": 0.0387172247691101 + } + ], + "episodes": [ + { + "id": "b927b9c5-9ae5-437d-a8fe-3d6b44ed9873", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 4.088, + "end_s": 8.615, + "t_start": 4.1267, + "t_end": 8.6537, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "4cc0b136-f245-4936-a223-74f2fc15f46c", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 11.244, + "end_s": 17.052, + "t_start": 11.2827, + "t_end": 17.0907, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "344ad3ee-4989-4d23-9560-3cd36813baca", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 20.407, + "end_s": 26.118, + "t_start": 20.4457, + "t_end": 26.1567, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "f0302ded-b5b5-4849-9073-18fae7f61038", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 29.729, + "end_s": 36.19, + "t_start": 29.7677, + "t_end": 36.2287, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "5bd57dbe-30ae-406a-910c-63a674a38cd2", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 39.005, + "end_s": 45.555, + "t_start": 39.0437, + "t_end": 45.5937, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "7483881c-9c01-437e-a7a1-5099a8911c3c", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 49.134, + "end_s": 55.556, + "t_start": 49.1727, + "t_end": 55.5947, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "2dc2baa5-c158-46ed-884d-05320a17eac4", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 58.94, + "end_s": 64.898, + "t_start": 58.9787, + "t_end": 64.9367, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "91a23d83-b060-4c0d-ab23-94fdafceb37e", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 68.336, + "end_s": 74.287, + "t_start": 68.3747, + "t_end": 74.3257, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "58541a2a-ec70-497a-8ab0-383a0384c11a", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 77.774, + "end_s": 84.235, + "t_start": 77.8127, + "t_end": 84.2737, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "d6c29db3-1e50-4eeb-aa42-b2d2737ae4d0", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 88.338, + "end_s": 94.388, + "t_start": 88.3767, + "t_end": 94.4267, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P03/session_016/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P03/session_016/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..6313e93ca948c957baf32679fbb06a3883fccfb3 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_016/cameras/gsi_online_calibration.json @@ -0,0 +1,256 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 15, + "median_px": 0.375 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye", + "right" + ], + "delta_deg": 0.9718, + "gate_fail": [], + "held_out_px_after": 0.523, + "held_out_px_before": 4.268, + "inliers": 1973, + "position_fitted": false, + "rotvec_deg": [ + 0.4264, + -0.3367, + -0.8057 + ], + "split_deg": 0.0564, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.8973, + "gate_fail": [], + "held_out_px_after": 0.44, + "held_out_px_before": 5.965, + "inliers": 3181, + "position_fitted": true, + "position_mm": [ + 0.85, + -12.06, + 5.08 + ], + "position_sigma_mm": 0.319, + "position_split_mm": 4.253, + "rotvec_deg": [ + 0.1033, + 0.6549, + -1.7777 + ], + "split_deg": 0.1321, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye", + "left" + ], + "delta_deg": 1.2402, + "gate_fail": [], + "held_out_px_after": 0.568, + "held_out_px_before": 4.099, + "inliers": 1386, + "position_fitted": false, + "rotvec_deg": [ + 1.2194, + -0.2223, + -0.0429 + ], + "split_deg": 0.0777, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.6795, + "gate_fail": [], + "held_out_px_after": 0.39, + "held_out_px_before": 3.443, + "inliers": 3333, + "position_fitted": true, + "position_mm": [ + 7.96, + -12.16, + 4.11 + ], + "position_sigma_mm": 0.322, + "position_split_mm": 1.906, + "rotvec_deg": [ + 0.3012, + -0.4628, + -0.396 + ], + "split_deg": 0.1103, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.4137, + "gate_fail": [], + "held_out_px_after": 0.336, + "held_out_px_before": 5.079, + "inliers": 4012, + "position_fitted": false, + "rotvec_deg": [ + -0.463, + 0.0223, + -1.3356 + ], + "split_deg": 0.0126, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "e17c9efadb69e7b1", + "factory_root_name": "e17c9efadb69e7b1", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "d80ab4dee4cfb6d14101f5e058e08d99aacc612c10d677cd02ebbe838735c162", + "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "723e430eba9a3a664fd27ebb2fff584647207de6d72f022e1f64d3b7182daefa", + "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "b367ff857cc334144cc723fba561aa943ca6b4255a35403000edc8c54d2050e4", + "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "97992f4d0d795de12ecd490860eee145683762c86baeb07885425a3daa77186a", + "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d" + } + }, + "input_fingerprint": "892777ba70edfd5a", + "kind": "online_calibration", + "output_sha256": "6c27697d352b87b9791bb985bc3852661124f95b5f4fd711ac41e07bbe48aa20", + "overlap": { + "left-right": 0.501, + "left_eye-left": 0.707, + "left_eye-right": 0.671, + "left_front-left": 0.478, + "left_front-left_eye": 0.72, + "left_front-right": 0.448, + "left_front-right_eye": 0.732, + "left_front-right_front": 1.0, + "right_eye-left": 0.696, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.673, + "right_front-left": 0.464, + "right_front-left_eye": 0.723, + "right_front-right": 0.466, + "right_front-right_eye": 0.734 + }, + "picture_change": { + "left": 31.87, + "left_eye": 24.096, + "left_front": 34.613, + "right": 30.13, + "right_eye": 23.006, + "right_front": 33.206 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 2335469489666, + 2336469511888, + 2337469434111, + 2338469511888, + 2340469445222, + 2341469467444, + 2344469456333, + 2345469467444, + 2349469445222, + 2350469489666, + 2352469423000, + 2353469434111, + 2354469445222, + 2358469478555, + 2359469511888, + 2362469434111, + 2363469478555, + 2364469478555, + 2367469511888, + 2368469489666, + 2371469445222, + 2372469489666, + 2373469445222, + 2374469434111, + 2377469434111, + 2378469434111, + 2382469423000, + 2383469445222, + 2384469456333, + 2387469478555, + 2388469467444, + 2391469489666, + 2392469434111, + 2393469489666, + 2394469456333, + 2397469523000, + 2398469467444, + 2401469423000, + 2402469567444, + 2405469467444, + 2406469489666, + 2407469511888, + 2410469434111, + 2411469411888, + 2415469545222, + 2416469478555, + 2417469478555, + 2420469556333, + 2421469445222, + 2423469489666, + 2424469445222, + 2428469489666, + 2429469511888, + 2430469434111, + 2431469423000 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P03/session_016/cameras/slam.npz b/actions/locomotion_primitives/P03/session_016/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..17fc30dd5280074d47174821be2870c6143c5505 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_016/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de825d52ce9947619b9433dfeaf63f96962eddcf0389a62e6525e72bd75148dd +size 599642 diff --git a/actions/locomotion_primitives/P03/session_016/meta.json b/actions/locomotion_primitives/P03/session_016/meta.json index 13e9a898a6c1b03b2f8a9a75c25c05a20462e17a..34febdd39c22d042d41f67bfbf8cc8dc92a91bae 100644 --- a/actions/locomotion_primitives/P03/session_016/meta.json +++ b/actions/locomotion_primitives/P03/session_016/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -515,10 +515,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.6599558571377024 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 16.11, + "offset_rotvec": [ + 0.2761, + -0.0451, + 0.0276 + ], + "dev_deg": { + "median": 17.65, + "p90": 39.19 + }, + "samples": 1962, + "accepted": 1562, + "wrist_pos_err_mm_median": 92.5, + "per_camera": { + "head": { + "samples": 1962, + "accepted": 1562, + "gate_deg": 30.0, + "offset_deg": 16.11, + "tier": "primary", + "dev_deg_median": 17.65, + "wrist_pos_err_mm_median": 92.5 + } + }, + "frames_by_state": { + "ace_sample": 6527, + "interpolated": 5416, + "mean_hand": 533, + "no_body_fit": 8 + }, + "observed_fraction": 0.9567, + "observed_fraction_of_valid": 0.9573, + "palm_axis_vs_markers_deg": { + "gsi": 19.57, + "smplx": 0.82 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.9, + "p90": 24.8 + }, + "registered": { + "median": 14.8, + "p90": 23.9 + } + } + }, + "right": { + "offset_deg": 27.84, + "offset_rotvec": [ + 0.4455, + 0.082, + 0.176 + ], + "dev_deg": { + "median": 16.15, + "p90": 34.14 + }, + "samples": 2414, + "accepted": 2068, + "wrist_pos_err_mm_median": 75.1, + "per_camera": { + "head": { + "samples": 2414, + "accepted": 2068, + "gate_deg": 30.0, + "offset_deg": 27.84, + "tier": "primary", + "dev_deg_median": 16.15, + "wrist_pos_err_mm_median": 75.1 + } + }, + "frames_by_state": { + "ace_sample": 8539, + "interpolated": 3740, + "mean_hand": 197, + "no_body_fit": 8 + }, + "observed_fraction": 0.9836, + "observed_fraction_of_valid": 0.9842, + "palm_axis_vs_markers_deg": { + "gsi": 31.45, + "smplx": 0.47 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 15.1, + "p90": 25.9 + }, + "registered": { + "median": 14.7, + "p90": 24.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:56:19.816293+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P03/session_016", "family": "locomotion_primitives", "primitive": "P03", "source_session": "20260919/P03/20260919_011210_session3" + }, + "task": { + "primitive": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." } } diff --git a/actions/locomotion_primitives/P03/session_016/motions/hands_mano.npz b/actions/locomotion_primitives/P03/session_016/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..72fc15b19403a97c83db4ad1e609b39d8d7a32ff --- /dev/null +++ b/actions/locomotion_primitives/P03/session_016/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e4bc6ee64480801ec0b77d1608a65b63b9e09d1125fcb4a4fcdd6e31bd5bb8c +size 3023499 diff --git a/actions/locomotion_primitives/P03/session_016/motions/smplx.npz b/actions/locomotion_primitives/P03/session_016/motions/smplx.npz index 807ba179cf775f1eadfdd527b8f184036e8c84d2..043e69610e748568f9f9913fb6222600258e07a3 100644 --- a/actions/locomotion_primitives/P03/session_016/motions/smplx.npz +++ b/actions/locomotion_primitives/P03/session_016/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3ffc8b36f1f841e02aaa46a281605d3740e929767105022cd46e3ec252177c8d -size 4791996 +oid sha256:beea1886c787638598aa0ba81279fca2e8b78937135a47c958c4141220017e9c +size 8904284 diff --git a/actions/locomotion_primitives/P03/session_017/annotations.json b/actions/locomotion_primitives/P03/session_017/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..d984c69a052f681b07497eaae4d5d6ef1d2c3d31 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_017/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 48.966711, + "video": "left_eye", + "video_t_start": 0.03918489129973746 + } + ], + "episodes": [ + { + "id": "f3251aa2-0516-41f7-9d9e-63ba280c7ae2", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 0.752, + "end_s": 5.049, + "t_start": 0.7912, + "t_end": 5.0882, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "4d749d2d-b7ea-405d-a11c-14d3e02de551", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 5.049, + "end_s": 9.185, + "t_start": 5.0882, + "t_end": 9.2242, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "d4077da6-d98d-4986-bcca-033d52c2d3a6", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 9.185, + "end_s": 13.168, + "t_start": 9.2242, + "t_end": 13.2072, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "b291cf8e-a0d8-400f-a3af-fede9f79b1e1", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 13.168, + "end_s": 18.12, + "t_start": 13.2072, + "t_end": 18.1592, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "015e9bbd-6480-4282-99a5-8bff4db261a3", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 18.12, + "end_s": 22.04, + "t_start": 18.1592, + "t_end": 22.0792, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "abf1d9b4-5672-4589-a143-0a539ee5e3ba", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 22.04, + "end_s": 26.697, + "t_start": 22.0792, + "t_end": 26.7362, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "de9f840a-81b9-477f-ba32-9e9656aa6495", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 26.697, + "end_s": 30.71, + "t_start": 26.7362, + "t_end": 30.7492, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "180c185d-93eb-4824-a302-5c9ae9e24a06", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 30.71, + "end_s": 34.565, + "t_start": 30.7492, + "t_end": 34.6042, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "c33b26ac-b87b-475b-ba4b-5270db4a742f", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 34.565, + "end_s": 40.15, + "t_start": 34.6042, + "t_end": 40.1892, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "20305aba-4353-40fc-a63a-c58c0e914e1f", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 40.15, + "end_s": 43.805, + "t_start": 40.1892, + "t_end": 43.8442, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P03/session_017/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P03/session_017/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..4bc11a943d974c8ba3b536d194cb566eca4aaf27 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_017/cameras/gsi_online_calibration.json @@ -0,0 +1,244 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 14, + "median_px": 0.376 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 1.0421, + "gate_fail": [], + "held_out_px_after": 0.465, + "held_out_px_before": 4.307, + "inliers": 1843, + "position_fitted": false, + "rotvec_deg": [ + 0.405, + -0.3732, + -0.8847 + ], + "split_deg": 0.1148, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.9039, + "gate_fail": [], + "held_out_px_after": 0.405, + "held_out_px_before": 5.823, + "inliers": 2567, + "position_fitted": true, + "position_mm": [ + 0.56, + -13.03, + 7.43 + ], + "position_sigma_mm": 0.446, + "position_split_mm": 2.791, + "rotvec_deg": [ + 0.0818, + 0.582, + -1.8109 + ], + "split_deg": 0.1386, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 1.5966, + "gate_fail": [], + "held_out_px_after": 0.551, + "held_out_px_before": 4.357, + "inliers": 1086, + "position_fitted": false, + "rotvec_deg": [ + 1.4368, + -0.6866, + 0.1152 + ], + "split_deg": 0.0677, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.7417, + "gate_fail": [], + "held_out_px_after": 0.38, + "held_out_px_before": 3.667, + "inliers": 2595, + "position_fitted": true, + "position_mm": [ + 7.41, + -12.16, + 5.73 + ], + "position_sigma_mm": 0.422, + "position_split_mm": 1.146, + "rotvec_deg": [ + 0.3077, + -0.5262, + -0.4225 + ], + "split_deg": 0.0658, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.3975, + "gate_fail": [], + "held_out_px_after": 0.336, + "held_out_px_before": 4.984, + "inliers": 3410, + "position_fitted": false, + "rotvec_deg": [ + -0.4707, + -0.0428, + -1.3152 + ], + "split_deg": 0.0024, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "e17c9efadb69e7b1", + "factory_root_name": "e17c9efadb69e7b1", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "0bf9b166f4a32816e2c65ccd1409e7e26d465b87e55c0d354a579fdd3ac5c514", + "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "db52679e85c8c4b79c513e501c1234ee41a3b2a5663d60a084d89a71dc100a12", + "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "74920249545d0132a6aad4eb6c2e4570e64ba639e0f35f4edb26de5ee26cb21d", + "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "94912c722ea2dd57bcc2a9e4bca3ada28678ec47258d5cafa829cda223a67a68", + "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d" + } + }, + "input_fingerprint": "5ddc4a224a13f2ba", + "kind": "online_calibration", + "output_sha256": "451b18d17c2a1d291d6a719029358147422373d550d861e1ae01554b7488f72d", + "overlap": { + "left-right": 0.501, + "left_eye-left": 0.707, + "left_eye-right": 0.671, + "left_front-left": 0.478, + "left_front-left_eye": 0.72, + "left_front-right": 0.448, + "left_front-right_eye": 0.732, + "left_front-right_front": 1.0, + "right_eye-left": 0.696, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.673, + "right_front-left": 0.464, + "right_front-left_eye": 0.723, + "right_front-right": 0.466, + "right_front-right_eye": 0.734 + }, + "picture_change": { + "left": 38.406, + "left_eye": 27.929, + "left_front": 33.276, + "right": 34.638, + "right_eye": 24.282, + "right_front": 30.77 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 5315711056333, + 5316711045222, + 5317711056333, + 5318711167444, + 5319711045222, + 5320711034111, + 5321711056333, + 5322711034111, + 5323711056333, + 5324711034111, + 5325711045222, + 5326711034111, + 5327711178555, + 5328711034111, + 5329711100777, + 5330711034111, + 5331711045222, + 5332711100777, + 5333711045222, + 5334711100777, + 5335711123000, + 5336711089666, + 5337711045222, + 5338711067444, + 5339711034111, + 5340711089666, + 5341711111888, + 5342711100777, + 5343711034111, + 5344711067444, + 5345711056333, + 5346711034111, + 5347711034111, + 5348711067444, + 5349711045222, + 5350711089666, + 5351711100777, + 5352711034111, + 5353711034111, + 5354711045222, + 5355711045222, + 5356711034111, + 5357711034111, + 5358711034111, + 5359711034111 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P03/session_017/cameras/slam.npz b/actions/locomotion_primitives/P03/session_017/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..d3f13cf9820694b0110b0d36f6bd501e0ba8c162 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_017/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b586f1f3b7d1cc6a2dcc41a3efa183927ad9a06dbda104ff20ab79e97841a8c3 +size 284843 diff --git a/actions/locomotion_primitives/P03/session_017/meta.json b/actions/locomotion_primitives/P03/session_017/meta.json index 09b8db13c5ad831e85e94c56f9a7e74a183c4250..9f508a09f8902cadcd2ae276f089a952f4f74da5 100644 --- a/actions/locomotion_primitives/P03/session_017/meta.json +++ b/actions/locomotion_primitives/P03/session_017/meta.json @@ -337,8 +337,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": 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": 1.209388251574311 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 30.73, + "offset_rotvec": [ + 0.4245, + -0.2606, + -0.199 + ], + "dev_deg": { + "median": 11.56, + "p90": 32.15 + }, + "samples": 652, + "accepted": 576, + "wrist_pos_err_mm_median": 81.2, + "per_camera": { + "head": { + "samples": 652, + "accepted": 576, + "gate_deg": 30.0, + "offset_deg": 30.73, + "tier": "primary", + "dev_deg_median": 11.56, + "wrist_pos_err_mm_median": 81.2 + } + }, + "frames_by_state": { + "ace_sample": 2428, + "interpolated": 2916, + "mean_hand": 540, + "no_body_fit": 0 + }, + "observed_fraction": 0.9082, + "observed_fraction_of_valid": 0.9082, + "palm_axis_vs_markers_deg": { + "gsi": 34.89, + "smplx": 0.7 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.9, + "p90": 17.5 + }, + "registered": { + "median": 13.6, + "p90": 17.2 + } + } + }, + "right": { + "offset_deg": 34.29, + "offset_rotvec": [ + 0.49, + -0.0369, + 0.3417 + ], + "dev_deg": { + "median": 13.24, + "p90": 27.62 + }, + "samples": 645, + "accepted": 606, + "wrist_pos_err_mm_median": 85.0, + "per_camera": { + "head": { + "samples": 645, + "accepted": 606, + "gate_deg": 30.0, + "offset_deg": 34.29, + "tier": "primary", + "dev_deg_median": 13.24, + "wrist_pos_err_mm_median": 85.0 + } + }, + "frames_by_state": { + "ace_sample": 2528, + "interpolated": 2584, + "mean_hand": 772, + "no_body_fit": 0 + }, + "observed_fraction": 0.8688, + "observed_fraction_of_valid": 0.8688, + "palm_axis_vs_markers_deg": { + "gsi": 35.63, + "smplx": 0.57 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.5, + "p90": 26.0 + }, + "registered": { + "median": 13.2, + "p90": 25.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:56:17.537536+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P03/session_017", "family": "locomotion_primitives", "primitive": "P03", "source_session": "20260919/P03/20260919_115848_session207" + }, + "task": { + "primitive": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." } } diff --git a/actions/locomotion_primitives/P03/session_017/motions/hands_mano.npz b/actions/locomotion_primitives/P03/session_017/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..b858be3db29585ff8cf6d9b8ae7d5d01c746b753 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_017/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e431b32ae6963b0170d33f215e6bbec471019d46ca291347f48719d057eec093 +size 937282 diff --git a/actions/locomotion_primitives/P03/session_017/motions/smplx.npz b/actions/locomotion_primitives/P03/session_017/motions/smplx.npz index c2f39f4cfa1200dd6495aa7610d723a1d087807a..0cff31486a0155adfa433b83185fe9bb8c2f6e36 100644 --- a/actions/locomotion_primitives/P03/session_017/motions/smplx.npz +++ b/actions/locomotion_primitives/P03/session_017/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:09e8a979e31763f8ceb86a6b00d1bc33237d92022113bcb0cfb0111be73b067e -size 2277704 +oid sha256:871df07c99a2b5c4bb00ef74eb7bacadbe5b3ab6aac3287862ad6431ea970664 +size 4114545 diff --git a/actions/locomotion_primitives/P03/session_018/annotations.json b/actions/locomotion_primitives/P03/session_018/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..7cca237d0822d4f4739cd1753cf0e1335be41d0b --- /dev/null +++ b/actions/locomotion_primitives/P03/session_018/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 58.966656, + "video": "left_eye", + "video_t_start": 0.03920188924942858 + } + ], + "episodes": [ + { + "id": "d5555f07-b9e2-483e-9c36-3ed49febe4e9", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 0.804, + "end_s": 4.38, + "t_start": 0.8432, + "t_end": 4.4192, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "85e9237f-92b3-4dbc-83e8-9b633fba1f09", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 6.297, + "end_s": 9.343, + "t_start": 6.3362, + "t_end": 9.3822, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "667a4ee9-cad8-462d-a878-25fe44f5d670", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 11.109, + "end_s": 14.436, + "t_start": 11.1482, + "t_end": 14.4752, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "91154161-fd0e-4cf1-8583-6114e1edbf43", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 16, + "end_s": 18.802, + "t_start": 16.0392, + "t_end": 18.8412, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "63182963-e9d0-43d4-bf59-fe4171185653", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 20.91, + "end_s": 24.034, + "t_start": 20.9492, + "t_end": 24.0732, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "d66e1097-cde4-4023-b1e0-16254b3f8f77", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 25.056, + "end_s": 29.847, + "t_start": 25.0952, + "t_end": 29.8862, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "10425708-ebd9-4a38-b572-277b0ded8a50", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 30.749, + "end_s": 34.802, + "t_start": 30.7882, + "t_end": 34.8412, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "c4d6ba5b-cec6-4c83-987d-f75771f424aa", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 35.802, + "end_s": 39.802, + "t_start": 35.8412, + "t_end": 39.8412, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "955fdfc5-fcba-4037-9623-deb19cf455a9", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 40.913, + "end_s": 44.976, + "t_start": 40.9522, + "t_end": 45.0152, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "f36c89ab-25fc-402e-b033-a7cb0a39eb3c", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 45.976, + "end_s": 49.736, + "t_start": 46.0152, + "t_end": 49.7752, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P03/session_018/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P03/session_018/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..c54489e32ec54cd0a7ddb60fdaf95cff093bd940 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_018/cameras/gsi_online_calibration.json @@ -0,0 +1,247 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 14, + "median_px": 0.436 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.9711, + "gate_fail": [], + "held_out_px_after": 0.641, + "held_out_px_before": 4.452, + "inliers": 1268, + "position_fitted": false, + "rotvec_deg": [ + -0.2317, + -0.423, + -0.8428 + ], + "split_deg": 0.0628, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 2.25, + "gate_fail": [], + "held_out_px_after": 0.437, + "held_out_px_before": 5.966, + "inliers": 2072, + "position_fitted": true, + "position_mm": [ + 5.98, + -16.7, + 5.72 + ], + "position_sigma_mm": 0.312, + "position_split_mm": 1.103, + "rotvec_deg": [ + -0.1266, + 0.8595, + -2.0755 + ], + "split_deg": 0.0436, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 1.163, + "gate_fail": [], + "held_out_px_after": 0.547, + "held_out_px_before": 4.616, + "inliers": 1091, + "position_fitted": false, + "rotvec_deg": [ + 1.0821, + -0.3411, + -0.2551 + ], + "split_deg": 0.0587, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.7862, + "gate_fail": [], + "held_out_px_after": 0.396, + "held_out_px_before": 3.761, + "inliers": 2123, + "position_fitted": true, + "position_mm": [ + 7.28, + -18.79, + 6.29 + ], + "position_sigma_mm": 0.319, + "position_split_mm": 0.926, + "rotvec_deg": [ + -0.031, + -0.3565, + -0.7 + ], + "split_deg": 0.0549, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.9744, + "gate_fail": [], + "held_out_px_after": 0.431, + "held_out_px_before": 6.499, + "inliers": 2380, + "position_fitted": false, + "rotvec_deg": [ + -0.604, + 0.1604, + -1.8729 + ], + "split_deg": 0.0223, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "e17c9efadb69e7b1", + "factory_root_name": "e17c9efadb69e7b1", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "e28d9c668f82042cf234990620df3e759d49ddb946d632cf896867ed0e52e352", + "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "a58a219d716f3a9c3de38076ea0817929d8233677a5189028729666f81646e1f", + "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "9fa0ef3d8bf2c3a67c33c2cc657e10f2cfd66a0fcab25d0615637ebeef9e6901", + "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "e784d5fbc04fcf1221e918f7246f934d78441125f396f0e8964be27d578341a0", + "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d" + } + }, + "input_fingerprint": "789088839950c8bc", + "kind": "online_calibration", + "output_sha256": "9e573bf58a42104f9ea04b3363c1460898bff55687aaa3df18691c533e32de27", + "overlap": { + "left-right": 0.501, + "left_eye-left": 0.707, + "left_eye-right": 0.671, + "left_front-left": 0.478, + "left_front-left_eye": 0.72, + "left_front-right": 0.448, + "left_front-right_eye": 0.732, + "left_front-right_front": 1.0, + "right_eye-left": 0.696, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.673, + "right_front-left": 0.464, + "right_front-left_eye": 0.723, + "right_front-right": 0.466, + "right_front-right_eye": 0.734 + }, + "picture_change": { + "left": 36.124, + "left_eye": 23.287, + "left_front": 33.457, + "right": 34.743, + "right_eye": 24.268, + "right_front": 31.217 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 20735737630666, + 20736737786222, + 20738737652888, + 20739737708444, + 20740737652888, + 20742737652888, + 20743737652888, + 20744737641777, + 20745737664000, + 20746737664000, + 20747737641777, + 20748737664000, + 20749737664000, + 20750737630666, + 20751737664000, + 20752737652888, + 20753737730666, + 20754737775111, + 20756737786222, + 20757737652888, + 20758737641777, + 20759737630666, + 20760737630666, + 20761737641777, + 20763737652888, + 20764737775111, + 20765737641777, + 20766737652888, + 20767737664000, + 20768737664000, + 20769737641777, + 20770737630666, + 20772737797333, + 20773737675111, + 20774737652888, + 20775737652888, + 20776737664000, + 20777737664000, + 20778737641777, + 20779737630666, + 20780737630666, + 20781737641777, + 20782737652888, + 20783737630666, + 20784737786222, + 20786737641777, + 20787737630666, + 20788737619555 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P03/session_018/cameras/slam.npz b/actions/locomotion_primitives/P03/session_018/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..cb89047237343e03d6e81307a98a52544d3d746a --- /dev/null +++ b/actions/locomotion_primitives/P03/session_018/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0965de78813b86f3de06bfcf10e71cbb9751ab3bceefa9454cdd47b0fbce4c0a +size 341726 diff --git a/actions/locomotion_primitives/P03/session_018/meta.json b/actions/locomotion_primitives/P03/session_018/meta.json index 4ad06c92da19e376fe2a458e4911263469fe879b..a7eb97976af4f48f619fa6529ea8d98d92884158 100644 --- a/actions/locomotion_primitives/P03/session_018/meta.json +++ b/actions/locomotion_primitives/P03/session_018/meta.json @@ -327,8 +327,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -509,10 +509,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.7795753062680519 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 8.35, + "offset_rotvec": [ + 0.0465, + 0.068, + -0.1202 + ], + "dev_deg": { + "median": 7.31, + "p90": 19.02 + }, + "samples": 1463, + "accepted": 1427, + "wrist_pos_err_mm_median": 45.5, + "per_camera": { + "head": { + "samples": 1463, + "accepted": 1427, + "gate_deg": 30.0, + "offset_deg": 8.35, + "tier": "primary", + "dev_deg_median": 7.31, + "wrist_pos_err_mm_median": 45.5 + } + }, + "frames_by_state": { + "ace_sample": 5784, + "interpolated": 1288, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9983, + "observed_fraction_of_valid": 0.9983, + "palm_axis_vs_markers_deg": { + "gsi": 8.87, + "smplx": 0.58 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.5, + "p90": 12.5 + }, + "registered": { + "median": 9.9, + "p90": 10.9 + } + } + }, + "right": { + "offset_deg": 19.81, + "offset_rotvec": [ + 0.0832, + -0.1781, + 0.2845 + ], + "dev_deg": { + "median": 6.57, + "p90": 17.66 + }, + "samples": 1209, + "accepted": 1166, + "wrist_pos_err_mm_median": 35.7, + "per_camera": { + "head": { + "samples": 1209, + "accepted": 1166, + "gate_deg": 30.0, + "offset_deg": 19.81, + "tier": "primary", + "dev_deg_median": 6.57, + "wrist_pos_err_mm_median": 35.7 + } + }, + "frames_by_state": { + "ace_sample": 4758, + "interpolated": 1986, + "mean_hand": 340, + "no_body_fit": 0 + }, + "observed_fraction": 0.952, + "observed_fraction_of_valid": 0.952, + "palm_axis_vs_markers_deg": { + "gsi": 15.63, + "smplx": 0.64 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.7, + "p90": 26.9 + }, + "registered": { + "median": 7.6, + "p90": 25.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:47:04.976151+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P03/session_018", "family": "locomotion_primitives", "primitive": "P03", "source_session": "20260921/P03/20260921_060344_session116" + }, + "task": { + "primitive": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." } } diff --git a/actions/locomotion_primitives/P03/session_018/motions/hands_mano.npz b/actions/locomotion_primitives/P03/session_018/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..f15e0df763b33eeb236a5d1331e70ee9e679d8f0 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_018/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e06228c7da0807164466c46f359759313517fd51662dec0bedb1b8611777d62 +size 1841358 diff --git a/actions/locomotion_primitives/P03/session_018/motions/smplx.npz b/actions/locomotion_primitives/P03/session_018/motions/smplx.npz index a4356a20c61105909e5bb3ac52b7b7e1b58af739..36e1ca1cf996f774069f931db0c65dfa8d969ed5 100644 --- a/actions/locomotion_primitives/P03/session_018/motions/smplx.npz +++ b/actions/locomotion_primitives/P03/session_018/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1ae80cb08a8d84b2b47ed5bdb5d73abc41c0a609b17204817b065d69bdbb5c81 -size 2730687 +oid sha256:6d5ee84fcb11cbe3c55f093a549383f09b3aaa54ff657ce847ee7fd785658bca +size 5068746 diff --git a/actions/locomotion_primitives/P03/session_019/annotations.json b/actions/locomotion_primitives/P03/session_019/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..d92003107e757226800171c0fdfc3f50c6126520 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_019/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 68.966678, + "video": "left_eye", + "video_t_start": 0.03943530224723357 + } + ], + "episodes": [ + { + "id": "7ae3e08f-a541-4a4d-b65f-d218597af597", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 0, + "end_s": 6.158, + "t_start": 0.0394, + "t_end": 6.1974, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "01f70f63-5715-443f-ae54-bb9241aa533e", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 8.004, + "end_s": 12.286, + "t_start": 8.0434, + "t_end": 12.3254, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "b4a7c3a7-5f49-4368-970b-b017ca4a47af", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 13.768, + "end_s": 18.517, + "t_start": 13.8074, + "t_end": 18.5564, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "ec662344-040e-4ac4-8f82-09089d5f8200", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 19.759, + "end_s": 23.831, + "t_start": 19.7984, + "t_end": 23.8704, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "69d98284-f98b-4dfa-8a06-b29bb53427ef", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 25.688, + "end_s": 29.494, + "t_start": 25.7274, + "t_end": 29.5334, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "16a43ab6-7594-432e-b761-b34d23342fdc", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 31.694, + "end_s": 36.575, + "t_start": 31.7334, + "t_end": 36.6144, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "4b23c421-df22-4899-bafe-30318f9c7924", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 38.432, + "end_s": 42.822, + "t_start": 38.4714, + "t_end": 42.8614, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "b0017f93-d26d-48d5-b870-0ebcc61296e9", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 44.524, + "end_s": 49.145, + "t_start": 44.5634, + "t_end": 49.1844, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "dcad6e65-410c-4723-8b19-8821ecf82848", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 51.552, + "end_s": 56.957, + "t_start": 51.5914, + "t_end": 56.9964, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "b453bf78-a22a-4043-8736-c337980c81bc", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 58.77, + "end_s": 63.77, + "t_start": 58.8094, + "t_end": 63.8094, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P03/session_019/cameras/slam.npz b/actions/locomotion_primitives/P03/session_019/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..52218e6a8d6d11126818307d9155505d7c663cc5 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_019/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df3b1c0b49eecd8ffde785f83ceb4734e88d0a90f1b09d8ee2dd8d70e14e724b +size 400238 diff --git a/actions/locomotion_primitives/P03/session_019/meta.json b/actions/locomotion_primitives/P03/session_019/meta.json index 816d2f8867b8a597a7fd8e6a0b8db2103cd1a391..64e883ebf8da9f9c21e46a0c4cf77c04280ed3d6 100644 --- a/actions/locomotion_primitives/P03/session_019/meta.json +++ b/actions/locomotion_primitives/P03/session_019/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": { @@ -529,10 +529,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1296130800163235 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 18.03, + "offset_rotvec": [ + 0.2582, + -0.1677, + -0.0652 + ], + "dev_deg": { + "median": 14.39, + "p90": 35.72 + }, + "samples": 1140, + "accepted": 973, + "wrist_pos_err_mm_median": 144.7, + "per_camera": { + "head": { + "samples": 1140, + "accepted": 973, + "gate_deg": 30.0, + "offset_deg": 18.03, + "tier": "primary", + "dev_deg_median": 14.39, + "wrist_pos_err_mm_median": 144.7 + } + }, + "frames_by_state": { + "ace_sample": 4138, + "interpolated": 3798, + "mean_hand": 348, + "no_body_fit": 0 + }, + "observed_fraction": 0.958, + "observed_fraction_of_valid": 0.958, + "palm_axis_vs_markers_deg": { + "gsi": 24.74, + "smplx": 0.91 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.9, + "p90": 7.6 + }, + "registered": { + "median": 5.1, + "p90": 5.8 + } + } + }, + "right": { + "offset_deg": 19.38, + "offset_rotvec": [ + 0.1581, + 0.28, + 0.1048 + ], + "dev_deg": { + "median": 16.22, + "p90": 28.28 + }, + "samples": 1132, + "accepted": 1044, + "wrist_pos_err_mm_median": 123.5, + "per_camera": { + "head": { + "samples": 1132, + "accepted": 1044, + "gate_deg": 30.0, + "offset_deg": 19.38, + "tier": "primary", + "dev_deg_median": 16.22, + "wrist_pos_err_mm_median": 123.5 + } + }, + "frames_by_state": { + "ace_sample": 4408, + "interpolated": 3864, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9986, + "observed_fraction_of_valid": 0.9986, + "palm_axis_vs_markers_deg": { + "gsi": 21.13, + "smplx": 0.9 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.6, + "p90": 8.9 + }, + "registered": { + "median": 6.8, + "p90": 7.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:38:12.654520+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P03/session_019", "family": "locomotion_primitives", "primitive": "P03", "source_session": "20260923/P03/20260923_122045_session64" + }, + "task": { + "primitive": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." } } diff --git a/actions/locomotion_primitives/P03/session_019/motions/hands_mano.npz b/actions/locomotion_primitives/P03/session_019/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..b627a432c976d5be73f7f6e2923e54624bb72dfd --- /dev/null +++ b/actions/locomotion_primitives/P03/session_019/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f99ed88e56d2a775a2cd6fb95cf289d3209d4e7ec3c9d9cbdc1551bbd055956 +size 1609781 diff --git a/actions/locomotion_primitives/P03/session_019/motions/smplx.npz b/actions/locomotion_primitives/P03/session_019/motions/smplx.npz index f650f045ab1a044e41a51f35dffd9b9323568889..95fa415141d9bbfad792d0688824704b9e1793b0 100644 --- a/actions/locomotion_primitives/P03/session_019/motions/smplx.npz +++ b/actions/locomotion_primitives/P03/session_019/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c07981f5a76d8991a58953e4af15524d909f89b9187aa25d01f1253ab9b36980 -size 3199010 +oid sha256:48401bff86780066f6335e63be556ffb0a9b5e22c6abc964bade8a663867fe38 +size 5938260 diff --git a/actions/locomotion_primitives/P03/session_020/annotations.json b/actions/locomotion_primitives/P03/session_020/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..f028964394313b2e1c967f589af9026b142ae246 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_020/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 68.966578, + "video": "left_eye", + "video_t_start": 0.03892921609734823 + } + ], + "episodes": [ + { + "id": "df57eb5a-20e5-4f91-ae0f-b598e638bfc8", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 0.894, + "end_s": 5.124, + "t_start": 0.9329, + "t_end": 5.1629, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "67e926bf-7745-4c69-96a7-ba9d486a3c0e", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 7.018, + "end_s": 11.129, + "t_start": 7.0569, + "t_end": 11.1679, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "bbd8b78b-c9cc-4252-90b7-41cded76c46f", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 13.129, + "end_s": 17.833, + "t_start": 13.1679, + "t_end": 17.8719, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "ed94fe52-3d8c-4328-ac48-254ef7e9b528", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 20.833, + "end_s": 25.304, + "t_start": 20.8719, + "t_end": 25.3429, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "6b62fca8-7a31-4680-8988-c5fc1945801a", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 27.304, + "end_s": 30.805, + "t_start": 27.3429, + "t_end": 30.8439, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "193450b4-2bc5-459f-9c8e-b755bee5dfc1", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 33.805, + "end_s": 37.395, + "t_start": 33.8439, + "t_end": 37.4339, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "1c1a06a3-1a6e-4f71-a276-5510798daaf6", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 39.395, + "end_s": 44.651, + "t_start": 39.4339, + "t_end": 44.6899, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "dd25c602-5159-4418-b182-da4715fd6fca", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 44.651, + "end_s": 49.272, + "t_start": 44.6899, + "t_end": 49.3109, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "9e19f148-6777-4a0f-8aa7-bac707256516", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 52.272, + "end_s": 57.175, + "t_start": 52.3109, + "t_end": 57.2139, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "9c7dfb68-97c6-4317-a8b1-a52ad44dcc6d", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 58.175, + "end_s": 62.782, + "t_start": 58.2139, + "t_end": 62.8209, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P03/session_020/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P03/session_020/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..08bb157403e92f2786a2c796f75f74c105ed08ca --- /dev/null +++ b/actions/locomotion_primitives/P03/session_020/cameras/gsi_online_calibration.json @@ -0,0 +1,255 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 14, + "median_px": 0.398 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 1.0372, + "gate_fail": [], + "held_out_px_after": 0.56, + "held_out_px_before": 5.954, + "inliers": 1776, + "position_fitted": false, + "rotvec_deg": [ + -0.2861, + -0.4783, + -0.8747 + ], + "split_deg": 0.092, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 2.558, + "gate_fail": [], + "held_out_px_after": 0.444, + "held_out_px_before": 7.371, + "inliers": 2504, + "position_fitted": true, + "position_mm": [ + 2.45, + -11.78, + 6.36 + ], + "position_sigma_mm": 0.485, + "position_split_mm": 3.154, + "rotvec_deg": [ + -0.0514, + 0.8987, + -2.3944 + ], + "split_deg": 0.0565, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 1.487, + "gate_fail": [], + "held_out_px_after": 0.621, + "held_out_px_before": 5.296, + "inliers": 1224, + "position_fitted": false, + "rotvec_deg": [ + 1.3143, + -0.4266, + -0.5495 + ], + "split_deg": 0.1394, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 1.0402, + "gate_fail": [], + "held_out_px_after": 0.418, + "held_out_px_before": 3.102, + "inliers": 2736, + "position_fitted": true, + "position_mm": [ + 6.55, + -14.46, + 6.31 + ], + "position_sigma_mm": 0.438, + "position_split_mm": 3.718, + "rotvec_deg": [ + 0.2031, + -0.2894, + -0.9783 + ], + "split_deg": 0.0593, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.9978, + "gate_fail": [], + "held_out_px_after": 0.353, + "held_out_px_before": 7.308, + "inliers": 3453, + "position_fitted": false, + "rotvec_deg": [ + -0.2217, + 0.0072, + -1.9854 + ], + "split_deg": 0.0268, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "e17c9efadb69e7b1", + "factory_root_name": "e17c9efadb69e7b1", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "27c298f9b374e8277d3726585780b9654cf3a335f8cea2c341aa088ae89537bf", + "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "0e90484f851729c437ec7182790ebdb8b12c8a3716a549c9fdbd511524b29595", + "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "8af4cd5aafb1503714380d3a2afe009a0c6b9c653f0731c3c46ea26147bfa7be", + "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "2883208562241b0bc71ae1c1543e68eaf24bc6e0a053e53af8ed6c6d430ae29b", + "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d" + } + }, + "input_fingerprint": "cfc8e71746b3a692", + "kind": "online_calibration", + "output_sha256": "fb439e0e459b86baf31824efd8c076a7220deb2d8ca1a2de8d36ee72dc66f78a", + "overlap": { + "left-right": 0.501, + "left_eye-left": 0.707, + "left_eye-right": 0.671, + "left_front-left": 0.478, + "left_front-left_eye": 0.72, + "left_front-right": 0.448, + "left_front-right_eye": 0.732, + "left_front-right_front": 1.0, + "right_eye-left": 0.696, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.673, + "right_front-left": 0.464, + "right_front-left_eye": 0.723, + "right_front-right": 0.466, + "right_front-right_eye": 0.734 + }, + "picture_change": { + "left": 35.691, + "left_eye": 26.24, + "left_front": 27.527, + "right": 32.626, + "right_eye": 25.744, + "right_front": 29.807 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 8118462968666, + 8119463013111, + 8121462968666, + 8122462968666, + 8124463002000, + 8125462990888, + 8126463068666, + 8127463002000, + 8128463002000, + 8129463090888, + 8130463002000, + 8132463002000, + 8133463002000, + 8134462968666, + 8135463002000, + 8136462979777, + 8137463002000, + 8138463079777, + 8139463057555, + 8140462990888, + 8141462968666, + 8143463124222, + 8144462979777, + 8145463002000, + 8146463002000, + 8147462990888, + 8148462968666, + 8150463002000, + 8151462979777, + 8152463002000, + 8153462968666, + 8155463002000, + 8156463002000, + 8157462968666, + 8158463013111, + 8159462990888, + 8161462968666, + 8162463002000, + 8163463002000, + 8166462968666, + 8167462979777, + 8168463002000, + 8169463013111, + 8170463057555, + 8171463002000, + 8172463002000, + 8174463002000, + 8175462979777, + 8176463002000, + 8177462968666, + 8178462968666, + 8179463013111, + 8181463002000, + 8182463002000, + 8183463002000, + 8184463002000 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P03/session_020/cameras/slam.npz b/actions/locomotion_primitives/P03/session_020/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..f922fca7e06e6b7ee148c806e69a7a298b3bbd73 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_020/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12e1bd541912f4879c3232f2306d4274cece87762f97a2c8482c66d57d225eba +size 398853 diff --git a/actions/locomotion_primitives/P03/session_020/meta.json b/actions/locomotion_primitives/P03/session_020/meta.json index d41ca353b110c0f88c9252dcb31c94c1851a1c2f..f25111492af2db951e065dd846e4cdd8f3cd0649 100644 --- a/actions/locomotion_primitives/P03/session_020/meta.json +++ b/actions/locomotion_primitives/P03/session_020/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": { @@ -522,10 +522,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.4736619112515 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 39.37, + "offset_rotvec": [ + 0.5561, + -0.3873, + -0.1135 + ], + "dev_deg": { + "median": 14.33, + "p90": 29.15 + }, + "samples": 1696, + "accepted": 1549, + "wrist_pos_err_mm_median": 43.8, + "per_camera": { + "head": { + "samples": 1696, + "accepted": 1549, + "gate_deg": 30.0, + "offset_deg": 39.37, + "tier": "primary", + "dev_deg_median": 14.33, + "wrist_pos_err_mm_median": 43.8 + } + }, + "frames_by_state": { + "ace_sample": 6348, + "interpolated": 1776, + "mean_hand": 152, + "no_body_fit": 8 + }, + "observed_fraction": 0.9807, + "observed_fraction_of_valid": 0.9816, + "palm_axis_vs_markers_deg": { + "gsi": 43.0, + "smplx": 0.4 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.2, + "p90": 10.4 + }, + "registered": { + "median": 8.2, + "p90": 9.4 + } + } + }, + "right": { + "offset_deg": 11.22, + "offset_rotvec": [ + 0.1448, + -0.025, + 0.1295 + ], + "dev_deg": { + "median": 14.52, + "p90": 39.67 + }, + "samples": 1582, + "accepted": 1236, + "wrist_pos_err_mm_median": 301.2, + "per_camera": { + "head": { + "samples": 1582, + "accepted": 1236, + "gate_deg": 30.0, + "offset_deg": 11.22, + "tier": "primary", + "dev_deg_median": 14.52, + "wrist_pos_err_mm_median": 301.2 + } + }, + "frames_by_state": { + "ace_sample": 5068, + "interpolated": 2344, + "mean_hand": 864, + "no_body_fit": 8 + }, + "observed_fraction": 0.8947, + "observed_fraction_of_valid": 0.8956, + "palm_axis_vs_markers_deg": { + "gsi": 21.85, + "smplx": 0.35 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.3, + "p90": 11.7 + }, + "registered": { + "median": 7.9, + "p90": 10.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:26:20.692370+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P03/session_020", "family": "locomotion_primitives", "primitive": "P03", "source_session": "20260929/P03/20260929_023122_session43" + }, + "task": { + "primitive": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." } } diff --git a/actions/locomotion_primitives/P03/session_020/motions/hands_mano.npz b/actions/locomotion_primitives/P03/session_020/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..3b0d02548ad23cc459977a581306a4fbbf990b5c --- /dev/null +++ b/actions/locomotion_primitives/P03/session_020/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f21cfdd28896c9a72d8d81c84519dfe3f245866e26c8b9c71416c180e207db0f +size 2249957 diff --git a/actions/locomotion_primitives/P03/session_020/motions/smplx.npz b/actions/locomotion_primitives/P03/session_020/motions/smplx.npz index 1b5d2f38829434efa5509513148623e27da6bdd9..8313865b10e732ccf12377ccc39bae8b829c1d9a 100644 --- a/actions/locomotion_primitives/P03/session_020/motions/smplx.npz +++ b/actions/locomotion_primitives/P03/session_020/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:af2a8c8099a3f776b4fb0af716cd15569538ab5b6382ed576de245a232d7308e -size 3189037 +oid sha256:6bc19f9082e4321cff9ccf642fef13633a164e3b82e763d32a4b4c487286b603 +size 5868871 diff --git a/actions/locomotion_primitives/P03/session_021/annotations.json b/actions/locomotion_primitives/P03/session_021/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..560cb45857bb1268bee9aa88d7dc6e8e9578fafa --- /dev/null +++ b/actions/locomotion_primitives/P03/session_021/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 98.966656, + "video": "left_eye", + "video_t_start": 0.0394580562805511 + } + ], + "episodes": [ + { + "id": "d6e32627-90d2-449e-9ecf-7bf7390852f1", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 0.682, + "end_s": 5.545, + "t_start": 0.7215, + "t_end": 5.5845, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "a2361207-5cbb-4dba-ab5f-bfb5175c146f", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 9.545, + "end_s": 14.955, + "t_start": 9.5845, + "t_end": 14.9945, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "00a91708-88e0-466d-bd20-3c3114fea2e5", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 20.034, + "end_s": 25.648, + "t_start": 20.0735, + "t_end": 25.6875, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "5a9d849f-dc77-40fd-b13a-2655a95068a9", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 28.968, + "end_s": 34.558, + "t_start": 29.0075, + "t_end": 34.5975, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "59691e08-8cef-49c7-8dac-36aa70b6bcdd", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 38.715, + "end_s": 44.172, + "t_start": 38.7545, + "t_end": 44.2115, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "a354b791-80bc-433e-a70d-f3524ac574d0", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 47.381, + "end_s": 53.02, + "t_start": 47.4205, + "t_end": 53.0595, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "84108711-f626-49d7-9f22-27b0882ba368", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 56.45, + "end_s": 62.026, + "t_start": 56.4895, + "t_end": 62.0655, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "efea7da5-f9b2-4658-ab4c-06114b7c7638", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 65.651, + "end_s": 71.292, + "t_start": 65.6905, + "t_end": 71.3315, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "c619ef5d-1b73-434d-b6c8-2ebaf50b4554", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 74.849, + "end_s": 80.847, + "t_start": 74.8885, + "t_end": 80.8865, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "abe4fdea-7a9a-4c6e-9f5c-b86567d38b62", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 83.896, + "end_s": 89.6, + "t_start": 83.9355, + "t_end": 89.6395, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P03/session_021/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P03/session_021/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..29a08018da648fd99a86fd72bdbb4818283f790c --- /dev/null +++ b/actions/locomotion_primitives/P03/session_021/cameras/gsi_online_calibration.json @@ -0,0 +1,253 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 15, + "median_px": 0.353 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye", + "right" + ], + "delta_deg": 1.2011, + "gate_fail": [], + "held_out_px_after": 0.506, + "held_out_px_before": 5.955, + "inliers": 2182, + "position_fitted": false, + "rotvec_deg": [ + -0.1076, + -0.4769, + -1.0971 + ], + "split_deg": 0.1328, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 2.5597, + "gate_fail": [], + "held_out_px_after": 0.406, + "held_out_px_before": 6.879, + "inliers": 2877, + "position_fitted": true, + "position_mm": [ + 4.49, + -14.34, + 5.37 + ], + "position_sigma_mm": 0.329, + "position_split_mm": 3.287, + "rotvec_deg": [ + -0.0202, + 0.8652, + -2.4089 + ], + "split_deg": 0.1059, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye", + "left" + ], + "delta_deg": 1.5691, + "gate_fail": [], + "held_out_px_after": 0.681, + "held_out_px_before": 5.537, + "inliers": 1053, + "position_fitted": false, + "rotvec_deg": [ + 1.3978, + -0.5162, + -0.4918 + ], + "split_deg": 0.1597, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 1.089, + "gate_fail": [], + "held_out_px_after": 0.361, + "held_out_px_before": 3.654, + "inliers": 3111, + "position_fitted": true, + "position_mm": [ + 2.72, + -15.5, + 5.82 + ], + "position_sigma_mm": 0.332, + "position_split_mm": 3.056, + "rotvec_deg": [ + 0.2521, + -0.2757, + -1.0229 + ], + "split_deg": 0.1111, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 2.0291, + "gate_fail": [], + "held_out_px_after": 0.29, + "held_out_px_before": 7.274, + "inliers": 4054, + "position_fitted": false, + "rotvec_deg": [ + -0.2378, + 0.0083, + -2.0151 + ], + "split_deg": 0.0204, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "e17c9efadb69e7b1", + "factory_root_name": "e17c9efadb69e7b1", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "48989c1e675f1d45871e3a247cf06749600165bb42bbfb854677fcd295e8b822", + "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "df3bab703b24148fc44d6c05c1c1b58859563c27b5326e4aaea92ce6b43b93d6", + "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "bdde559059f2655d4b7b830ffe1fd62276616bc5ca337d8858fb3160ecc47dd6", + "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "c1ac02969919875cfc228fa85c3d1af1ff1843cbadc42857190e1266d431cd98", + "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d" + } + }, + "input_fingerprint": "f429f3286f5ae2d8", + "kind": "online_calibration", + "output_sha256": "f154b0760b084d5489dbcf0c8108363f2204593a17442cf70201599e11ac42d2", + "overlap": { + "left-right": 0.501, + "left_eye-left": 0.707, + "left_eye-right": 0.671, + "left_front-left": 0.478, + "left_front-left_eye": 0.72, + "left_front-right": 0.448, + "left_front-right_eye": 0.732, + "left_front-right_front": 1.0, + "right_eye-left": 0.696, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.673, + "right_front-left": 0.464, + "right_front-left_eye": 0.723, + "right_front-right": 0.466, + "right_front-right_eye": 0.734 + }, + "picture_change": { + "left": 34.882, + "left_eye": 29.069, + "left_front": 35.471, + "right": 33.477, + "right_eye": 23.152, + "right_front": 32.627 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 37078769995888, + 37079770118111, + 37082769973666, + 37083769995888, + 37087769995888, + 37088770007000, + 37090770007000, + 37091769973666, + 37092770118111, + 37093769973666, + 37094770062555, + 37095770062555, + 37100770118111, + 37101769984777, + 37102770007000, + 37106770007000, + 37107770007000, + 37110769962555, + 37111769995888, + 37112769973666, + 37114770118111, + 37115770140333, + 37119769973666, + 37120770029222, + 37121770118111, + 37123769984777, + 37124770007000, + 37129770129222, + 37130769973666, + 37131769984777, + 37133769984777, + 37134770062555, + 37138769995888, + 37139770118111, + 37142769984777, + 37143769995888, + 37144769962555, + 37148769962555, + 37149770118111, + 37151769962555, + 37152769973666, + 37153769973666, + 37157769962555, + 37158769995888, + 37161769962555, + 37162769995888, + 37163770007000, + 37166769973666, + 37167769995888, + 37170769984777, + 37171770007000, + 37172769984777 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P03/session_021/cameras/slam.npz b/actions/locomotion_primitives/P03/session_021/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..4867ead213d2d508d6456375b0d5a904431913f1 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_021/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b2e01e13de6f66d0581459541cdf1c4bdfed2e7ea2de97a3eff6d9920440976a +size 569930 diff --git a/actions/locomotion_primitives/P03/session_021/meta.json b/actions/locomotion_primitives/P03/session_021/meta.json index fbbc1e1553f15fe07b54bca108b21ceba6d0fce3..c81a0cef548bb2e771fa1744d332a8483dd515c5 100644 --- a/actions/locomotion_primitives/P03/session_021/meta.json +++ b/actions/locomotion_primitives/P03/session_021/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": { @@ -506,10 +506,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.2480468110280027 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 49.24, + "offset_rotvec": [ + 0.6463, + -0.5474, + 0.146 + ], + "dev_deg": { + "median": 14.34, + "p90": 27.29 + }, + "samples": 2596, + "accepted": 2412, + "wrist_pos_err_mm_median": 81.9, + "per_camera": { + "head": { + "samples": 2596, + "accepted": 2412, + "gate_deg": 30.0, + "offset_deg": 49.24, + "tier": "primary", + "dev_deg_median": 14.34, + "wrist_pos_err_mm_median": 81.9 + } + }, + "frames_by_state": { + "ace_sample": 9878, + "interpolated": 1994, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.999, + "observed_fraction_of_valid": 0.999, + "palm_axis_vs_markers_deg": { + "gsi": 50.23, + "smplx": 0.44 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.9, + "p90": 8.2 + }, + "registered": { + "median": 6.1, + "p90": 6.8 + } + } + }, + "right": { + "offset_deg": 24.37, + "offset_rotvec": [ + 0.3603, + 0.2065, + 0.0917 + ], + "dev_deg": { + "median": 17.38, + "p90": 39.17 + }, + "samples": 2363, + "accepted": 1916, + "wrist_pos_err_mm_median": 34.4, + "per_camera": { + "head": { + "samples": 2363, + "accepted": 1916, + "gate_deg": 30.0, + "offset_deg": 24.37, + "tier": "primary", + "dev_deg_median": 17.38, + "wrist_pos_err_mm_median": 34.4 + } + }, + "frames_by_state": { + "ace_sample": 7838, + "interpolated": 3678, + "mean_hand": 368, + "no_body_fit": 0 + }, + "observed_fraction": 0.969, + "observed_fraction_of_valid": 0.969, + "palm_axis_vs_markers_deg": { + "gsi": 24.72, + "smplx": 0.47 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.1, + "p90": 7.6 + }, + "registered": { + "median": 7.2, + "p90": 8.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:26:18.952721+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P03/session_021", "family": "locomotion_primitives", "primitive": "P03", "source_session": "20260929/P03/20260929_103403_session201" + }, + "task": { + "primitive": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." } } diff --git a/actions/locomotion_primitives/P03/session_021/motions/hands_mano.npz b/actions/locomotion_primitives/P03/session_021/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..f6ed1dd3fa94ddcdbeb3b7a1b8feb1c02502a150 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_021/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ead2d25705992d3fe309cbbd3a57ad88c5a779674d4131768a5efaa8dc0cf83 +size 3385116 diff --git a/actions/locomotion_primitives/P03/session_021/motions/smplx.npz b/actions/locomotion_primitives/P03/session_021/motions/smplx.npz index 15f6372205ea208e98f52028b03c85c54f8840ce..829d5951030a32a4bdfe50d998352d397cbdd85d 100644 --- a/actions/locomotion_primitives/P03/session_021/motions/smplx.npz +++ b/actions/locomotion_primitives/P03/session_021/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c744331dd269648562acceabcc0b7c703ac18bf6c57c947e863264fe083afea6 -size 4554764 +oid sha256:da70f910a046df77241f15f2ea42671ce78c45d2d63344122995b5ff6e6014dc +size 8510276 diff --git a/actions/locomotion_primitives/P03/session_022/annotations.json b/actions/locomotion_primitives/P03/session_022/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..cbb66f89acddbf8f5b758ee1b008e9031f5cda3f --- /dev/null +++ b/actions/locomotion_primitives/P03/session_022/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 83.9667, + "video": "left_eye", + "video_t_start": 0.0389260650651404 + } + ], + "episodes": [ + { + "id": "cfa0193d-1970-495d-9e4e-e76399858bc7", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 1, + "end_s": 6.842, + "t_start": 1.0389, + "t_end": 6.8809, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "7e88dbe9-216a-485e-bcdb-a73ae03ea029", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 7.842, + "end_s": 14.43, + "t_start": 7.8809, + "t_end": 14.4689, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "b99fd7ba-a794-4aa8-9356-dc6c89a97d44", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 15.43, + "end_s": 22.305, + "t_start": 15.4689, + "t_end": 22.3439, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "a587d229-7b89-4e6c-b7f1-2171ee9f547a", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 22.305, + "end_s": 28.297, + "t_start": 22.3439, + "t_end": 28.3359, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "70984aec-9779-4527-ab97-4b525e0335b2", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 29.297, + "end_s": 35.883, + "t_start": 29.3359, + "t_end": 35.9219, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "fa8b50b5-68af-4769-8fe8-8d67ca4f0b0c", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 36.883, + "end_s": 43.211, + "t_start": 36.9219, + "t_end": 43.2499, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "59672f0a-61f0-45ca-b9fa-7c0ce9ed083f", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 44.211, + "end_s": 50.76, + "t_start": 44.2499, + "t_end": 50.7989, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "65679b2b-78b5-40b9-b822-9cb520d823d3", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 51.76, + "end_s": 57.885, + "t_start": 51.7989, + "t_end": 57.9239, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "08e38e9a-7575-4fdf-a6d0-462b47e11cb5", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 59.885, + "end_s": 66.323, + "t_start": 59.9239, + "t_end": 66.3619, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "8949f3ef-fe7e-4aa2-903b-c1f00e3ecda6", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 67.323, + "end_s": 73.611, + "t_start": 67.3619, + "t_end": 73.6499, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P03/session_022/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P03/session_022/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..b82989b56ad2a18fc859eb4ad8d9e605274d191a --- /dev/null +++ b/actions/locomotion_primitives/P03/session_022/cameras/gsi_online_calibration.json @@ -0,0 +1,256 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 15, + "median_px": 0.353 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye", + "right" + ], + "delta_deg": 1.4077, + "gate_fail": [], + "held_out_px_after": 0.517, + "held_out_px_before": 6.058, + "inliers": 2168, + "position_fitted": false, + "rotvec_deg": [ + -0.0022, + -0.5953, + -1.2756 + ], + "split_deg": 0.0803, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 2.5462, + "gate_fail": [], + "held_out_px_after": 0.521, + "held_out_px_before": 7.003, + "inliers": 2761, + "position_fitted": false, + "position_rejected": { + "position_mm": [ + 0.98, + -12.57, + 10.65 + ], + "position_sigma_mm": 0.477, + "position_split_mm": 9.043 + }, + "rotvec_deg": [ + 0.2233, + 0.8813, + -2.3784 + ], + "split_deg": 0.1234, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye", + "left" + ], + "delta_deg": 1.7897, + "gate_fail": [], + "held_out_px_after": 0.703, + "held_out_px_before": 6.085, + "inliers": 1473, + "position_fitted": false, + "rotvec_deg": [ + 1.7467, + -0.3758, + -0.1033 + ], + "split_deg": 0.2032, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 1.1396, + "gate_fail": [], + "held_out_px_after": 0.4, + "held_out_px_before": 3.375, + "inliers": 3087, + "position_fitted": true, + "position_mm": [ + 12.24, + -1.04, + 2.7 + ], + "position_sigma_mm": 0.408, + "position_split_mm": 2.363, + "rotvec_deg": [ + 0.4422, + -0.2833, + -1.0114 + ], + "split_deg": 0.1057, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 2.0591, + "gate_fail": [], + "held_out_px_after": 0.279, + "held_out_px_before": 7.444, + "inliers": 4866, + "position_fitted": false, + "rotvec_deg": [ + -0.2327, + 0.0309, + -2.0457 + ], + "split_deg": 0.0291, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "e17c9efadb69e7b1", + "factory_root_name": "e17c9efadb69e7b1", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "0faa2b1cf19975dee17c1aeb005ef08b4a0cd469e84d85c5e765a0e763179299", + "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "1603e447e6d45827634106563d7ef43f3bd1166885e59122f280443c0acd8e23", + "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "c77d27488bc09780b449d01974bb450a398e584a89bde6031e98331fd7b7124f", + "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "ebad63bf7ed215f89a97a683f38726f46295f80fd52cfe77b732f97c2db3edd1", + "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d" + } + }, + "input_fingerprint": "191ddb794558afba", + "kind": "online_calibration", + "output_sha256": "e17b7cd7b2fb01d92ca2f284973da1f9148610d6adc32a8b3f0485a043e0b2f5", + "overlap": { + "left-right": 0.501, + "left_eye-left": 0.707, + "left_eye-right": 0.671, + "left_front-left": 0.478, + "left_front-left_eye": 0.72, + "left_front-right": 0.448, + "left_front-right_eye": 0.732, + "left_front-right_front": 1.0, + "right_eye-left": 0.696, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.673, + "right_front-left": 0.464, + "right_front-left_eye": 0.723, + "right_front-right": 0.466, + "right_front-right_eye": 0.734 + }, + "picture_change": { + "left": 31.28, + "left_eye": 27.58, + "left_front": 31.334, + "right": 27.648, + "right_eye": 26.333, + "right_front": 31.803 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 6355024341888, + 6356024241888, + 6358024241888, + 6359024341888, + 6360024275222, + 6361024308555, + 6364024253000, + 6365024241888, + 6366024308555, + 6367024253000, + 6368024253000, + 6369024253000, + 6370024253000, + 6371024297444, + 6374024253000, + 6375024286333, + 6376024353000, + 6380024241888, + 6381024475222, + 6382024264111, + 6383024264111, + 6384024297444, + 6387024253000, + 6388024253000, + 6389024264111, + 6391024253000, + 6392024253000, + 6394024297444, + 6395024297444, + 6396024308555, + 6397024253000, + 6399024253000, + 6400024297444, + 6403024297444, + 6404024341888, + 6405024308555, + 6408024253000, + 6409024241888, + 6410024253000, + 6411024330777, + 6413024241888, + 6414024253000, + 6415024341888, + 6418024297444, + 6419024375222, + 6420024275222, + 6424024297444, + 6425024241888, + 6426024241888, + 6427024241888, + 6429024264111, + 6430024330777, + 6431024308555 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P03/session_022/cameras/slam.npz b/actions/locomotion_primitives/P03/session_022/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..73fd22d6e3459bb46095c9f99a8096574d2693d1 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_022/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f68dc611b4b1e6108d47dcad06d2126cf04493c3298a392b8e720c7739281eb +size 478545 diff --git a/actions/locomotion_primitives/P03/session_022/meta.json b/actions/locomotion_primitives/P03/session_022/meta.json index 047eec7ccca1b75013b63f680c7b65618d86587d..94f0866dbba69d4ef5ee42a33380a4d4f7287ad1 100644 --- a/actions/locomotion_primitives/P03/session_022/meta.json +++ b/actions/locomotion_primitives/P03/session_022/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": { @@ -513,10 +513,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.492532231835704 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 37.55, + "offset_rotvec": [ + 0.5169, + -0.3916, + 0.0949 + ], + "dev_deg": { + "median": 16.07, + "p90": 35.05 + }, + "samples": 1336, + "accepted": 1129, + "wrist_pos_err_mm_median": 204.1, + "per_camera": { + "head": { + "samples": 1336, + "accepted": 1129, + "gate_deg": 30.0, + "offset_deg": 37.55, + "tier": "primary", + "dev_deg_median": 16.07, + "wrist_pos_err_mm_median": 204.1 + } + }, + "frames_by_state": { + "ace_sample": 4752, + "interpolated": 4460, + "mean_hand": 872, + "no_body_fit": 0 + }, + "observed_fraction": 0.9135, + "observed_fraction_of_valid": 0.9135, + "palm_axis_vs_markers_deg": { + "gsi": 34.9, + "smplx": 0.91 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.4, + "p90": 8.3 + }, + "registered": { + "median": 7.1, + "p90": 8.5 + } + } + }, + "right": { + "offset_deg": 22.56, + "offset_rotvec": [ + 0.2193, + 0.3187, + 0.0731 + ], + "dev_deg": { + "median": 18.32, + "p90": 35.77 + }, + "samples": 1306, + "accepted": 1089, + "wrist_pos_err_mm_median": 196.3, + "per_camera": { + "head": { + "samples": 1306, + "accepted": 1089, + "gate_deg": 30.0, + "offset_deg": 22.56, + "tier": "primary", + "dev_deg_median": 18.32, + "wrist_pos_err_mm_median": 196.3 + } + }, + "frames_by_state": { + "ace_sample": 4654, + "interpolated": 5142, + "mean_hand": 288, + "no_body_fit": 0 + }, + "observed_fraction": 0.9714, + "observed_fraction_of_valid": 0.9714, + "palm_axis_vs_markers_deg": { + "gsi": 29.95, + "smplx": 0.68 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.3, + "p90": 7.0 + }, + "registered": { + "median": 6.2, + "p90": 7.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:22:49.944162+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P03/session_022", "family": "locomotion_primitives", "primitive": "P03", "source_session": "20260930/P03/20260930_021948_session39" + }, + "task": { + "primitive": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." } } diff --git a/actions/locomotion_primitives/P03/session_022/motions/hands_mano.npz b/actions/locomotion_primitives/P03/session_022/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..1e05f26ea3975dcb510f749cb4e3d111186f894c --- /dev/null +++ b/actions/locomotion_primitives/P03/session_022/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85a28e977780340abb7ed08855a785c70422c134d2119be7e9f064095907a93c +size 1871374 diff --git a/actions/locomotion_primitives/P03/session_022/motions/smplx.npz b/actions/locomotion_primitives/P03/session_022/motions/smplx.npz index a19489dc5c8359c908a9d39b9c0c32ba2f2ddcc9..783cddb74aa5d68c3a3a52978d42df86d83ab144 100644 --- a/actions/locomotion_primitives/P03/session_022/motions/smplx.npz +++ b/actions/locomotion_primitives/P03/session_022/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:212cccb45cad56198fcc50200068b3d4fcf2b2b05524aaf8ca8826853cbbdfd8 -size 3877311 +oid sha256:d46ec54f4ac1a6799d6dc7bcd7a103e98a16ce13c3dbf1af99e216162b29777c +size 7124205 diff --git a/actions/locomotion_primitives/P03/session_023/annotations.json b/actions/locomotion_primitives/P03/session_023/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..81d064ce435cdbf6880cc4c1fe260ce5e972d493 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_023/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 58.966644, + "video": "left_eye", + "video_t_start": 0.03876493653304314 + } + ], + "episodes": [ + { + "id": "ff712dd8-0e80-4d7e-be9f-a313462cff5f", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 1, + "end_s": 6.062, + "t_start": 1.0388, + "t_end": 6.1008, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "c363ada2-6997-4b5d-8310-bf0bb1380df4", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 7.062, + "end_s": 10.476, + "t_start": 7.1008, + "t_end": 10.5148, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "2ff7b3d9-be7a-493c-8e91-d418e93e68cd", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 11.476, + "end_s": 15.89, + "t_start": 11.5148, + "t_end": 15.9288, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "4b893994-e32f-4c47-8714-a0d4fbb87548", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 17.354, + "end_s": 20.839, + "t_start": 17.3928, + "t_end": 20.8778, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "7718b979-9796-473c-b27c-98b35c1ebb14", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 22.093, + "end_s": 26.667, + "t_start": 22.1318, + "t_end": 26.7058, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "9ebf030d-d414-4e1f-9823-d04960d74cea", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 27.667, + "end_s": 31.265, + "t_start": 27.7058, + "t_end": 31.3038, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "3610f071-dfd4-4d4b-b36c-46d2dece24a0", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 33.265, + "end_s": 37.038, + "t_start": 33.3038, + "t_end": 37.0768, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "1645b4db-3ae8-41bd-ac59-90213ff5e7f3", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 38.038, + "end_s": 42.038, + "t_start": 38.0768, + "t_end": 42.0768, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "3972f2c2-2b93-4caa-91a4-fdd6c3db8144", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 43.383, + "end_s": 46.823, + "t_start": 43.4218, + "t_end": 46.8618, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "fd51069e-2ba0-4c4f-ba45-3d5ae523461b", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 47.823, + "end_s": 51.629, + "t_start": 47.8618, + "t_end": 51.6678, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P03/session_023/cameras/slam.npz b/actions/locomotion_primitives/P03/session_023/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..eb50e1b7989bf0c66a2304208a1030400f0c1b4d --- /dev/null +++ b/actions/locomotion_primitives/P03/session_023/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4a4c2f1d2389c26231274653aa4223272b5b6b4e9b4b7e83c5cb6a64b0115e5 +size 342350 diff --git a/actions/locomotion_primitives/P03/session_023/meta.json b/actions/locomotion_primitives/P03/session_023/meta.json index 3526a5df578fb830c4a9fb20811557937f5cb396..7ece292ff66b524e999a40b78e10c1cffdb154c2 100644 --- a/actions/locomotion_primitives/P03/session_023/meta.json +++ b/actions/locomotion_primitives/P03/session_023/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": { @@ -509,10 +509,124 @@ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 19.85, + "offset_rotvec": [ + -0.0215, + 0.0127, + 0.3456 + ], + "dev_deg": { + "median": 13.33, + "p90": 20.71 + }, + "samples": 1228, + "accepted": 1215, + "wrist_pos_err_mm_median": 180.6, + "per_camera": { + "head": { + "samples": 1228, + "accepted": 1215, + "gate_deg": 30.0, + "offset_deg": 19.85, + "tier": "primary", + "dev_deg_median": 13.33, + "wrist_pos_err_mm_median": 180.6 + } + }, + "frames_by_state": { + "ace_sample": 5021, + "interpolated": 2050, + "mean_hand": 5, + "no_body_fit": 8 + }, + "observed_fraction": 0.9982, + "observed_fraction_of_valid": 0.9993, + "palm_axis_vs_markers_deg": { + "gsi": 16.75, + "smplx": 0.57 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 15.8, + "p90": 17.4 + }, + "registered": { + "median": 13.9, + "p90": 16.4 + } + } + }, + "right": { + "offset_deg": 17.52, + "offset_rotvec": [ + 0.0511, + 0.2936, + -0.0683 + ], + "dev_deg": { + "median": 17.65, + "p90": 33.54 + }, + "samples": 1156, + "accepted": 1002, + "wrist_pos_err_mm_median": 138.1, + "per_camera": { + "head": { + "samples": 1156, + "accepted": 1002, + "gate_deg": 30.0, + "offset_deg": 17.52, + "tier": "primary", + "dev_deg_median": 17.65, + "wrist_pos_err_mm_median": 138.1 + } + }, + "frames_by_state": { + "ace_sample": 4224, + "interpolated": 2656, + "mean_hand": 196, + "no_body_fit": 8 + }, + "observed_fraction": 0.9712, + "observed_fraction_of_valid": 0.9723, + "palm_axis_vs_markers_deg": { + "gsi": 21.33, + "smplx": 0.41 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.4, + "p90": 10.9 + }, + "registered": { + "median": 8.4, + "p90": 11.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:07:47.443005+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P03/session_023", "family": "locomotion_primitives", "primitive": "P03", "source_session": "20261013/P03/20261013_073828_session120" + }, + "task": { + "primitive": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." } } diff --git a/actions/locomotion_primitives/P03/session_023/motions/hands_mano.npz b/actions/locomotion_primitives/P03/session_023/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..20e50f2578dc7f904828d60276e7d20cb7834ab9 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_023/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:700f8a663e1ae3d7e7d170769feadd580a31c5b757c6a6df32a32d6632dbfff2 +size 1663805 diff --git a/actions/locomotion_primitives/P03/session_023/motions/smplx.npz b/actions/locomotion_primitives/P03/session_023/motions/smplx.npz index 31534803aee9a61b36456597fceae7ef8bd8cb01..28780a7ae780796d7cce94561fc7c0970c90dbc7 100644 --- a/actions/locomotion_primitives/P03/session_023/motions/smplx.npz +++ b/actions/locomotion_primitives/P03/session_023/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f2cb924655207f47533d7b818b50c7e55d746de7b74b4219ecd2c2fa1cd75b46 -size 2725697 +oid sha256:c6d8e193d62c89d904a42c464db2fa4c8a31a67937e7a32c8c1f5c9041c8ebb5 +size 5084849 diff --git a/actions/locomotion_primitives/P03/session_024/annotations.json b/actions/locomotion_primitives/P03/session_024/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..54b6c4660384e1f5be61ce97be943e94cd3ac349 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_024/annotations.json @@ -0,0 +1,149 @@ +{ + "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": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 113.766578, + "video": "left_eye", + "video_t_start": 0.040776404034464975 + } + ], + "episodes": [ + { + "id": "32db75ea-32e0-4d01-b7c8-e2c8da869b18", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 1.495, + "end_s": 6.159, + "t_start": 1.5358, + "t_end": 6.1998, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "beb82d16-86ad-4007-a6cf-bd4d9da7a19e", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 10.805, + "end_s": 15.611, + "t_start": 10.8458, + "t_end": 15.6518, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "104f2478-ff06-42ac-b206-f9314af00cf0", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 21.611, + "end_s": 26.583, + "t_start": 21.6518, + "t_end": 26.6238, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "afffe7b4-832a-4159-88de-3b783418d25e", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 30.411, + "end_s": 35.413, + "t_start": 30.4518, + "t_end": 35.4538, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "8283b0f4-5e26-478b-b5b9-1b7c59df426c", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 40.478, + "end_s": 45.29, + "t_start": 40.5188, + "t_end": 45.3308, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "43e6e66f-79b5-4fd7-b319-f5a7309140f6", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 49.29, + "end_s": 53.882, + "t_start": 49.3308, + "t_end": 53.9228, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "7d998cb2-3277-43c7-a6a8-e7ed36dd4c65", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 57.882, + "end_s": 62.289, + "t_start": 57.9228, + "t_end": 62.3298, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "ec4c10f2-41c6-4a1b-bc8d-d0529d5c0756", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 65.924, + "end_s": 71.298, + "t_start": 65.9648, + "t_end": 71.3388, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "2cfe61fb-cf1e-4399-99c5-e888579e4b20", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 74.298, + "end_s": 79.694, + "t_start": 74.3388, + "t_end": 79.7348, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "83f654f7-244e-4f07-ba12-126406231852", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 83.614, + "end_s": 89.069, + "t_start": 83.6548, + "t_end": 89.1098, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "50f1427f-51a9-4aa2-9dc9-42b2ba1b3e5c", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 92.868, + "end_s": 97.93, + "t_start": 92.9088, + "t_end": 97.9708, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + }, + { + "id": "b0e47fc8-db9b-4f26-8b96-0d504a685672", + "segment": "segment1", + "action": "P03", + "quality": "valid", + "start_s": 100.826, + "end_s": 105.687, + "t_start": 100.8668, + "t_end": 105.7278, + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P03/session_024/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P03/session_024/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..2fe11dd28b659b66929e61e6e97c8035297c2e56 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_024/cameras/gsi_online_calibration.json @@ -0,0 +1,257 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 15, + "median_px": 0.357 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye", + "right" + ], + "delta_deg": 1.6003, + "gate_fail": [], + "held_out_px_after": 0.442, + "held_out_px_before": 21.855, + "inliers": 2499, + "position_fitted": false, + "rotvec_deg": [ + -1.3435, + -0.1583, + -0.8549 + ], + "split_deg": 0.0286, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 2.6943, + "gate_fail": [], + "held_out_px_after": 0.469, + "held_out_px_before": 9.851, + "inliers": 3266, + "position_fitted": true, + "position_mm": [ + 6.38, + -24.14, + -3.21 + ], + "position_sigma_mm": 0.395, + "position_split_mm": 3.347, + "rotvec_deg": [ + 1.7665, + -0.9165, + 1.8163 + ], + "split_deg": 0.0384, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye", + "left" + ], + "delta_deg": 3.43, + "gate_fail": [], + "held_out_px_after": 0.576, + "held_out_px_before": 11.837, + "inliers": 1005, + "position_fitted": false, + "rotvec_deg": [ + 1.4117, + -0.9788, + 2.9689 + ], + "split_deg": 0.3118, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 3.2299, + "gate_fail": [], + "held_out_px_after": 0.381, + "held_out_px_before": 4.975, + "inliers": 3508, + "position_fitted": true, + "position_mm": [ + 1.6, + -16.16, + -1.18 + ], + "position_sigma_mm": 0.329, + "position_split_mm": 0.977, + "rotvec_deg": [ + 1.9237, + -1.1483, + 2.3265 + ], + "split_deg": 0.0286, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 0.4665, + "gate_fail": [], + "held_out_px_after": 0.317, + "held_out_px_before": 2.639, + "inliers": 4610, + "position_fitted": false, + "rotvec_deg": [ + 0.2325, + -0.4026, + -0.0381 + ], + "split_deg": 0.017, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "c9205ac6e17d2d5c", + "factory_root_name": "c9205ac6e17d2d5c", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "4cf204b302aec2f6a2d4e0194838ddcffed5c723db9876c8be9b6d551deeeeee", + "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "b4dfb6db53cb2a9eed8d07bb0e4912c148f78cf7c0ee8193ba122ec8dbec2adc", + "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "9b6a6e0298ec49110403cbf79c58bab70c61cd4c832edccf2f4b0459a87e3fb7", + "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "c8f7afd7e32344aea73b03d5d74cdd3392891f546f9530b08320f6806ae88566", + "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3" + } + }, + "input_fingerprint": "02fc85a25fd0036f", + "kind": "online_calibration", + "output_sha256": "6fa0b67997a46b6ccad1a95180cad918448ae1a43cb86bae1aea2d38f0cbc7df", + "overlap": { + "left-right": 0.5, + "left_eye-left": 0.695, + "left_eye-right": 0.702, + "left_front-left": 0.506, + "left_front-left_eye": 0.692, + "left_front-right": 0.458, + "left_front-right_eye": 0.698, + "left_front-right_front": 1.0, + "right_eye-left": 0.699, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.706, + "right_front-left": 0.49, + "right_front-left_eye": 0.697, + "right_front-right": 0.464, + "right_front-right_eye": 0.704 + }, + "picture_change": { + "left": 36.328, + "left_eye": 36.561, + "left_front": 37.862, + "right": 36.602, + "right_eye": 36.966, + "right_front": 31.145 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 4935253975000, + 4936253986111, + 4937254075000, + 4938254119444, + 4941253986111, + 4942253986111, + 4947253986111, + 4948253963888, + 4951253975000, + 4952253986111, + 4954254086111, + 4955253975000, + 4958254130555, + 4959254019444, + 4961254008333, + 4962254108333, + 4966254008333, + 4967254008333, + 4968254008333, + 4972253986111, + 4973254152777, + 4976253975000, + 4977254052777, + 4980254019444, + 4981253975000, + 4984254052777, + 4985254052777, + 4988253997222, + 4989253975000, + 4990253975000, + 4994253986111, + 4995254008333, + 4998254119444, + 4999253997222, + 5002253986111, + 5003254008333, + 5006253986111, + 5007253963888, + 5010253986111, + 5011253997222, + 5014253975000, + 5015253986111, + 5016253963888, + 5020253986111, + 5021253986111, + 5024253986111, + 5025254052777, + 5027253986111, + 5028254097222, + 5032254041666, + 5033253963888, + 5034253986111, + 5039253963888, + 5040253975000, + 5041253963888, + 5042253986111 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P03/session_024/cameras/slam.npz b/actions/locomotion_primitives/P03/session_024/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..29892d8cf259d11248b6d73a019540a8631357c5 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_024/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0fd0d61c6c04ad781b92dd402c82829e8c41c487b90530096433c3a30224fd9f +size 655620 diff --git a/actions/locomotion_primitives/P03/session_024/meta.json b/actions/locomotion_primitives/P03/session_024/meta.json index 16a94e0644d234b39137fbecd59da8a033b54f43..edc56529a3888b7af27e5180ae58dbf1c470f9ee 100644 --- a/actions/locomotion_primitives/P03/session_024/meta.json +++ b/actions/locomotion_primitives/P03/session_024/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": { @@ -536,10 +536,124 @@ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 27.59, + "offset_rotvec": [ + 0.1127, + -0.4429, + 0.1519 + ], + "dev_deg": { + "median": 16.32, + "p90": 31.84 + }, + "samples": 2461, + "accepted": 2173, + "wrist_pos_err_mm_median": 57.3, + "per_camera": { + "head": { + "samples": 2461, + "accepted": 2173, + "gate_deg": 30.0, + "offset_deg": 27.59, + "tier": "primary", + "dev_deg_median": 16.32, + "wrist_pos_err_mm_median": 57.3 + } + }, + "frames_by_state": { + "ace_sample": 8917, + "interpolated": 4170, + "mean_hand": 565, + "no_body_fit": 8 + }, + "observed_fraction": 0.9581, + "observed_fraction_of_valid": 0.9586, + "palm_axis_vs_markers_deg": { + "gsi": 27.33, + "smplx": 0.74 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.0, + "p90": 12.7 + }, + "registered": { + "median": 8.9, + "p90": 13.0 + } + } + }, + "right": { + "offset_deg": 10.08, + "offset_rotvec": [ + 0.1513, + 0.0248, + 0.0865 + ], + "dev_deg": { + "median": 13.3, + "p90": 37.71 + }, + "samples": 2912, + "accepted": 2502, + "wrist_pos_err_mm_median": 42.2, + "per_camera": { + "head": { + "samples": 2912, + "accepted": 2502, + "gate_deg": 30.0, + "offset_deg": 10.08, + "tier": "primary", + "dev_deg_median": 13.3, + "wrist_pos_err_mm_median": 42.2 + } + }, + "frames_by_state": { + "ace_sample": 10167, + "interpolated": 3184, + "mean_hand": 301, + "no_body_fit": 8 + }, + "observed_fraction": 0.9774, + "observed_fraction_of_valid": 0.978, + "palm_axis_vs_markers_deg": { + "gsi": 10.64, + "smplx": 0.42 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.0, + "p90": 15.6 + }, + "registered": { + "median": 8.5, + "p90": 14.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T21:25:56.682818+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P03/session_024", "family": "locomotion_primitives", "primitive": "P03", "source_session": "20261019/P03/20261019_020437_session19" + }, + "task": { + "primitive": "P03", + "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop." } } diff --git a/actions/locomotion_primitives/P03/session_024/motions/hands_mano.npz b/actions/locomotion_primitives/P03/session_024/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..cb659018d5d9ac969d92ec291690459cc3f65d49 --- /dev/null +++ b/actions/locomotion_primitives/P03/session_024/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab9b5a3e4761dbae3b6fbd8a382147ebbc2742d1c8db97b5d67672f9f05cbea6 +size 3677405 diff --git a/actions/locomotion_primitives/P03/session_024/motions/smplx.npz b/actions/locomotion_primitives/P03/session_024/motions/smplx.npz index db21f840050575d23716006d8f1ad621f1e8bc23..a9a0ea54ccd4a6a6b0a0542973cb833406d25dbf 100644 --- a/actions/locomotion_primitives/P03/session_024/motions/smplx.npz +++ b/actions/locomotion_primitives/P03/session_024/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:448965695633535e993690abdefe11574cf2811f4ffde9ed6e258b87ece9d3ba -size 5259279 +oid sha256:7c9b1992167e801a780950452a09fd1f3a8dd2833555d48f59892c24a14f15d1 +size 9755713 diff --git a/actions/locomotion_primitives/P04/session_001/annotations.json b/actions/locomotion_primitives/P04/session_001/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..7b7c0ffa10787926b071afc3f589b8271213461a --- /dev/null +++ b/actions/locomotion_primitives/P04/session_001/annotations.json @@ -0,0 +1,127 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 1, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "P04", + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 88.966567, + "video": "left_eye", + "video_t_start": 0.039307725265758764 + } + ], + "episodes": [ + { + "id": "34728490-0347-4a81-bf58-fc74ddbc688e", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 1.091, + "end_s": 7.157, + "t_start": 1.1303, + "t_end": 7.1963, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "fbf37f5b-a956-4e2f-a5de-976299206b1e", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 9.408, + "end_s": 14.422, + "t_start": 9.4473, + "t_end": 14.4613, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "59da2b20-10c0-42eb-a9a0-96004605be3f", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 17.097, + "end_s": 22.093, + "t_start": 17.1363, + "t_end": 22.1323, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "f2d35ef8-2e05-4f9a-92bf-d80f4ac7737f", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 24.753, + "end_s": 30.304, + "t_start": 24.7923, + "t_end": 30.3433, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "34a43626-ab2e-467e-8e03-5b4c803c2b25", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 33.899, + "end_s": 39.576, + "t_start": 33.9383, + "t_end": 39.6153, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "c24d8604-1ac9-4942-8910-6239e86acd14", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 42.594, + "end_s": 48.164, + "t_start": 42.6333, + "t_end": 48.2033, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "5e092ae9-4136-49da-bc8e-f8539302d229", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 50.705, + "end_s": 56.007, + "t_start": 50.7443, + "t_end": 56.0463, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "2718ce14-d7fc-4073-9f39-92fcd649ba27", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 58.877, + "end_s": 64.396, + "t_start": 58.9163, + "t_end": 64.4353, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "fc8c75b4-c734-4606-b86c-0970ec9b545b", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 67.485, + "end_s": 73.416, + "t_start": 67.5243, + "t_end": 73.4553, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "12dc5b5e-196a-4634-9695-9d1b8912183e", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 76.021, + "end_s": 80.908, + "t_start": 76.0603, + "t_end": 80.9473, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P04/session_001/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P04/session_001/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..b3c59435857f3907e79cff060de912d939d0c398 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_001/cameras/gsi_online_calibration.json @@ -0,0 +1,264 @@ +{ + "camera_fit": { + "groups_dropped": [ + { + "matches": 149, + "median_px": 18.1, + "pair": [ + "left", + "right" + ] + } + ], + "groups_used": 14, + "median_px": 0.345 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.9324, + "gate_fail": [], + "held_out_px_after": 0.525, + "held_out_px_before": 7.486, + "inliers": 1592, + "position_fitted": false, + "rotvec_deg": [ + 0.0178, + 0.8096, + 0.4621 + ], + "split_deg": 0.0176, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.0472, + "gate_fail": [], + "held_out_px_after": 0.391, + "held_out_px_before": 2.313, + "inliers": 2664, + "position_fitted": true, + "position_mm": [ + -8.83, + 14.2, + 10.61 + ], + "position_sigma_mm": 0.412, + "position_split_mm": 1.713, + "rotvec_deg": [ + 0.1953, + 0.6819, + -0.7704 + ], + "split_deg": 0.0694, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.4987, + "gate_fail": [], + "held_out_px_after": 0.498, + "held_out_px_before": 2.114, + "inliers": 1897, + "position_fitted": false, + "rotvec_deg": [ + 0.4785, + -0.0867, + -0.1106 + ], + "split_deg": 0.0725, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.8039, + "gate_fail": [], + "held_out_px_after": 0.356, + "held_out_px_before": 1.551, + "inliers": 2692, + "position_fitted": true, + "position_mm": [ + -13.52, + 13.27, + 8.82 + ], + "position_sigma_mm": 0.416, + "position_split_mm": 8.881, + "rotvec_deg": [ + 0.2811, + 0.3862, + -0.6467 + ], + "split_deg": 0.0792, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.7321, + "gate_fail": [], + "held_out_px_after": 0.306, + "held_out_px_before": 7.709, + "inliers": 4447, + "position_fitted": false, + "rotvec_deg": [ + -0.3381, + 0.4325, + -1.6428 + ], + "split_deg": 0.0165, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "850a0e6aafa85fdf", + "factory_root_name": "850a0e6aafa85fdf", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "8a197df3fd92f54ab433b1d322f0413318baf5713e3cc951e97aa43f18577f9b", + "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "0c2a57ac62af53ebe5bb041aab9ca17f316632be2b2b6f3e198768db7a97a91a", + "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "4cf24233a2fae4a99062db374fd63084afbcc41df5bfab7513f9285f402cb11f", + "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "c7769a540419cd23fce0e13edb8cdf44572309baa56195428db9f28f51456f2e", + "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3" + } + }, + "input_fingerprint": "90478340a6484ef7", + "kind": "online_calibration", + "output_sha256": "ae54b929d0c8831efa5522a7b5255ba3aff210b2d30a80c2c1f23be46dedad06", + "overlap": { + "left-right": 0.487, + "left_eye-left": 0.707, + "left_eye-right": 0.685, + "left_front-left": 0.484, + "left_front-left_eye": 0.709, + "left_front-right": 0.464, + "left_front-right_eye": 0.711, + "left_front-right_front": 1.0, + "right_eye-left": 0.708, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.668, + "right_front-left": 0.482, + "right_front-left_eye": 0.711, + "right_front-right": 0.463, + "right_front-right_eye": 0.724 + }, + "picture_change": { + "left": 36.535, + "left_eye": 32.836, + "left_front": 44.414, + "right": 32.503, + "right_eye": 33.706, + "right_front": 45.12 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 4465010991111, + 4466010991111, + 4468011002222, + 4469010980000, + 4473010991111, + 4474010991111, + 4476010980000, + 4477010980000, + 4478010991111, + 4479010991111, + 4481010991111, + 4482010980000, + 4483010980000, + 4486010980000, + 4487010980000, + 4489010991111, + 4490010991111, + 4491010991111, + 4492010991111, + 4494010980000, + 4495010991111, + 4497011002222, + 4498010991111, + 4499010980000, + 4500010980000, + 4503010968888, + 4504011002222, + 4507010980000, + 4508010980000, + 4509010980000, + 4511010980000, + 4512010980000, + 4514010968888, + 4515010980000, + 4516010980000, + 4517010980000, + 4520010991111, + 4521010991111, + 4523010980000, + 4524010991111, + 4525010980000, + 4528010980000, + 4529011002222, + 4531010980000, + 4532010991111, + 4533010991111, + 4534010991111, + 4537010980000, + 4538010980000, + 4540010980000, + 4541010991111, + 4542010980000, + 4545010991111, + 4546010968888, + 4548010980000, + 4549010980000 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P04/session_001/cameras/slam.npz b/actions/locomotion_primitives/P04/session_001/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..06721acdc15e4275a1718b7fa15f48f40e8879fc --- /dev/null +++ b/actions/locomotion_primitives/P04/session_001/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:acf1a353ab6e54f4148b0d41fe99490bfdfe0191b5b1edd6fd2e4c4299a5a18e +size 511508 diff --git a/actions/locomotion_primitives/P04/session_001/meta.json b/actions/locomotion_primitives/P04/session_001/meta.json index 3544582972c05a1f7c4b8a4fb3c621ac37e49f81..6e8d15723be2abb991a84a6aac4408ee51f08f7f 100644 --- a/actions/locomotion_primitives/P04/session_001/meta.json +++ b/actions/locomotion_primitives/P04/session_001/meta.json @@ -332,8 +332,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -514,10 +514,124 @@ "file": "derived/rig_tracker_provider/rig_tracker.json", "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.19, + "offset_rotvec": [ + -0.1144, + -0.2714, + -0.057 + ], + "dev_deg": { + "median": 8.75, + "p90": 20.33 + }, + "samples": 2391, + "accepted": 2330, + "wrist_pos_err_mm_median": 52.2, + "per_camera": { + "head": { + "samples": 2391, + "accepted": 2330, + "gate_deg": 30.0, + "offset_deg": 17.19, + "tier": "primary", + "dev_deg_median": 8.75, + "wrist_pos_err_mm_median": 52.2 + } + }, + "frames_by_state": { + "ace_sample": 9453, + "interpolated": 1218, + "mean_hand": 5, + "no_body_fit": 8 + }, + "observed_fraction": 0.9988, + "observed_fraction_of_valid": 0.9995, + "palm_axis_vs_markers_deg": { + "gsi": 14.18, + "smplx": 0.63 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.8, + "p90": 10.1 + }, + "registered": { + "median": 10.3, + "p90": 11.2 + } + } + }, + "right": { + "offset_deg": 8.5, + "offset_rotvec": [ + -0.0591, + -0.0063, + 0.1359 + ], + "dev_deg": { + "median": 8.28, + "p90": 20.32 + }, + "samples": 2385, + "accepted": 2297, + "wrist_pos_err_mm_median": 61.4, + "per_camera": { + "head": { + "samples": 2385, + "accepted": 2297, + "gate_deg": 30.0, + "offset_deg": 8.5, + "tier": "primary", + "dev_deg_median": 8.28, + "wrist_pos_err_mm_median": 61.4 + } + }, + "frames_by_state": { + "ace_sample": 9307, + "interpolated": 1364, + "mean_hand": 5, + "no_body_fit": 8 + }, + "observed_fraction": 0.9988, + "observed_fraction_of_valid": 0.9995, + "palm_axis_vs_markers_deg": { + "gsi": 8.53, + "smplx": 0.71 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.5, + "p90": 11.2 + }, + "registered": { + "median": 10.0, + "p90": 10.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T12:24:36.621851+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P04/session_001", "family": "locomotion_primitives", "primitive": "P04", "source_session": "20260828/P04/20260828_021518_session238" + }, + "task": { + "primitive": "P04", + "instruction": "Start still; gradually go slow \u2192 normal \u2192 fast; briefly maintain fast speed; stop." } } diff --git a/actions/locomotion_primitives/P04/session_001/motions/hands_mano.npz b/actions/locomotion_primitives/P04/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..cc25d982aebdf0bc63aaf64d023a4c09f7f37c8e --- /dev/null +++ b/actions/locomotion_primitives/P04/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e9139a880bd5443ee401a984cb3f1749fc39e34f92e6ee5e982b1809f3cc2d3 +size 3250661 diff --git a/actions/locomotion_primitives/P04/session_001/motions/smplx.npz b/actions/locomotion_primitives/P04/session_001/motions/smplx.npz index 3a453f0d0968fb10b9597febfa67df152e8cd222..18a0f9efb19454a2303746b8ecfef3aa2c12b0c8 100644 --- a/actions/locomotion_primitives/P04/session_001/motions/smplx.npz +++ b/actions/locomotion_primitives/P04/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a438fb4721f06e959250795ce34afbd8af79744a4711af8213ba59f3d7430de3 -size 4088765 +oid sha256:b12498daf3d4693f1a08ccbaa3feafc940410ca9d0f2d0c34650e3937de873b3 +size 7681006 diff --git a/actions/locomotion_primitives/P04/session_002/annotations.json b/actions/locomotion_primitives/P04/session_002/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..c7875175592090768319529840c029d604e1820d --- /dev/null +++ b/actions/locomotion_primitives/P04/session_002/annotations.json @@ -0,0 +1,127 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 1, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "P04", + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 98.966522, + "video": "left_eye", + "video_t_start": 0.03935223883341821 + } + ], + "episodes": [ + { + "id": "01b5244f-451b-4a71-b827-f353204974c7", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 2.022, + "end_s": 8.036, + "t_start": 2.0614, + "t_end": 8.0754, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "7f07387b-8e52-414b-b390-4db05850b691", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 9.878, + "end_s": 16.189, + "t_start": 9.9174, + "t_end": 16.2284, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "c1d32b9b-0b67-465d-bcd5-cdc4d4b7d2a2", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 18.577, + "end_s": 24.75, + "t_start": 18.6164, + "t_end": 24.7894, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "0b523802-c437-4431-be49-01c79f2d718e", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 27.323, + "end_s": 33.378, + "t_start": 27.3624, + "t_end": 33.4174, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "886bc4da-316e-42d2-99fa-398bb3ca3a0f", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 35.56, + "end_s": 41.723, + "t_start": 35.5994, + "t_end": 41.7624, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "22571742-7046-439c-b5bc-2292e7ba258d", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 44.349, + "end_s": 50.948, + "t_start": 44.3884, + "t_end": 50.9874, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "2b8a2805-4f49-4cd5-966c-ac7d41114d06", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 55.77, + "end_s": 62.325, + "t_start": 55.8094, + "t_end": 62.3644, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "fe3c721d-e0e4-4733-9ce3-8132c5fb413c", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 65.843, + "end_s": 72.433, + "t_start": 65.8824, + "t_end": 72.4724, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "a3299223-ae20-44cd-ad59-5f5ca7385383", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 74.652, + "end_s": 80.987, + "t_start": 74.6914, + "t_end": 81.0264, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "82a7e41d-f7bb-47f6-9ee4-1e2792a5e574", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 83.192, + "end_s": 89.506, + "t_start": 83.2314, + "t_end": 89.5454, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P04/session_002/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P04/session_002/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..d4d830ca06153486963749212fd6fc07e015980c --- /dev/null +++ b/actions/locomotion_primitives/P04/session_002/cameras/gsi_online_calibration.json @@ -0,0 +1,263 @@ +{ + "camera_fit": { + "groups_dropped": [ + { + "matches": 119, + "median_px": 25.45, + "pair": [ + "left", + "right" + ] + } + ], + "groups_used": 14, + "median_px": 0.39 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.9694, + "gate_fail": [], + "held_out_px_after": 0.596, + "held_out_px_before": 7.338, + "inliers": 1304, + "position_fitted": false, + "rotvec_deg": [ + -0.1989, + 0.7356, + 0.5992 + ], + "split_deg": 0.0399, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 0.98, + "gate_fail": [], + "held_out_px_after": 0.462, + "held_out_px_before": 2.083, + "inliers": 2693, + "position_fitted": true, + "position_mm": [ + -11.48, + 1.69, + 7.49 + ], + "position_sigma_mm": 0.288, + "position_split_mm": 1.78, + "rotvec_deg": [ + -0.1533, + 0.6233, + -0.7405 + ], + "split_deg": 0.1389, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.3006, + "gate_fail": [], + "held_out_px_after": 0.579, + "held_out_px_before": 2.318, + "inliers": 1926, + "position_fitted": false, + "rotvec_deg": [ + 0.1309, + -0.0071, + -0.2704 + ], + "split_deg": 0.1025, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.6149, + "gate_fail": [], + "held_out_px_after": 0.58, + "held_out_px_before": 1.788, + "inliers": 2773, + "position_fitted": false, + "position_rejected": { + "position_mm": [ + -17.04, + 9.41, + 9.79 + ], + "position_sigma_mm": 0.33, + "position_split_mm": 11.08 + }, + "rotvec_deg": [ + 0.0291, + 0.3124, + -0.5288 + ], + "split_deg": 0.2114, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.7331, + "gate_fail": [], + "held_out_px_after": 0.375, + "held_out_px_before": 7.555, + "inliers": 4303, + "position_fitted": false, + "rotvec_deg": [ + -0.3422, + 0.4356, + -1.6422 + ], + "split_deg": 0.0269, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "850a0e6aafa85fdf", + "factory_root_name": "850a0e6aafa85fdf", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "156a15ff8ed760b0932209839b995c0b28dc0dd2c0510f95c6bd2d1029175dd5", + "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "44c485cf52c49099f0236560e5440baeb2bfacc52eb0cd1c207408730312dae7", + "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "3336bbf0d217d6aff260dfccb47fc5abb1fa27336fcd94ea127a88a4ef5fd2e6", + "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "7de2a2498d6427abfb1058acbcdcb4f8cbece37dfc9512f8815d1427017569a1", + "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3" + } + }, + "input_fingerprint": "0882cd76b4e5d0cb", + "kind": "online_calibration", + "output_sha256": "bb35e52cc07f8b2dddf90a8e2ef6f0dd79231e094c1ea4edf25872d1ed0dbcd3", + "overlap": { + "left-right": 0.487, + "left_eye-left": 0.707, + "left_eye-right": 0.685, + "left_front-left": 0.484, + "left_front-left_eye": 0.709, + "left_front-right": 0.464, + "left_front-right_eye": 0.711, + "left_front-right_front": 1.0, + "right_eye-left": 0.708, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.668, + "right_front-left": 0.482, + "right_front-left_eye": 0.711, + "right_front-right": 0.463, + "right_front-right_eye": 0.724 + }, + "picture_change": { + "left": 36.945, + "left_eye": 33.305, + "left_front": 43.737, + "right": 38.209, + "right_eye": 34.719, + "right_front": 44.748 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 4737169020666, + 4738169009555, + 4743169009555, + 4744169020666, + 4746169042888, + 4747169131777, + 4748169031777, + 4751169009555, + 4752169020666, + 4755169020666, + 4756169031777, + 4757169009555, + 4760169020666, + 4761169020666, + 4762169009555, + 4763169031777, + 4768169009555, + 4769169009555, + 4771169009555, + 4772169020666, + 4773169020666, + 4777169009555, + 4778169020666, + 4780169020666, + 4781169009555, + 4782169031777, + 4786168987333, + 4787169009555, + 4788169020666, + 4791169020666, + 4792169020666, + 4793169009555, + 4794169020666, + 4797169009555, + 4798169020666, + 4801169009555, + 4802169020666, + 4803169020666, + 4804169009555, + 4807169020666, + 4808169020666, + 4811169020666, + 4812169020666, + 4813169009555, + 4816169154000, + 4817169020666, + 4820169020666, + 4821169031777, + 4822169020666, + 4825169020666, + 4826169009555, + 4827169020666, + 4828169020666 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P04/session_002/cameras/slam.npz b/actions/locomotion_primitives/P04/session_002/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..33a35fde78f3c0a6cf859614ba08ab6cd7af65fc --- /dev/null +++ b/actions/locomotion_primitives/P04/session_002/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6133ca01655dc5b0bcecab7ff80f01113e42be900c5cf1d61b659710e6a97aed +size 567847 diff --git a/actions/locomotion_primitives/P04/session_002/meta.json b/actions/locomotion_primitives/P04/session_002/meta.json index 6d57995ae1399e83dcd7eace87b5d6e9af65dc56..c99119e56a25c6d64e7e7adb7d6d5a2eec0f4595 100644 --- a/actions/locomotion_primitives/P04/session_002/meta.json +++ b/actions/locomotion_primitives/P04/session_002/meta.json @@ -335,8 +335,8 @@ "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": { @@ -516,10 +516,124 @@ "file": "derived/rig_tracker_provider/rig_tracker.json", "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 18.92, + "offset_rotvec": [ + -0.0456, + -0.3235, + -0.0477 + ], + "dev_deg": { + "median": 11.73, + "p90": 30.8 + }, + "samples": 2599, + "accepted": 2319, + "wrist_pos_err_mm_median": 52.0, + "per_camera": { + "head": { + "samples": 2599, + "accepted": 2319, + "gate_deg": 30.0, + "offset_deg": 18.92, + "tier": "primary", + "dev_deg_median": 11.73, + "wrist_pos_err_mm_median": 52.0 + } + }, + "frames_by_state": { + "ace_sample": 9458, + "interpolated": 2126, + "mean_hand": 300, + "no_body_fit": 0 + }, + "observed_fraction": 0.9748, + "observed_fraction_of_valid": 0.9748, + "palm_axis_vs_markers_deg": { + "gsi": 15.98, + "smplx": 1.54 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.4, + "p90": 11.2 + }, + "registered": { + "median": 12.2, + "p90": 13.1 + } + } + }, + "right": { + "offset_deg": 8.76, + "offset_rotvec": [ + -0.0264, + 0.0327, + 0.147 + ], + "dev_deg": { + "median": 17.18, + "p90": 122.74 + }, + "samples": 2605, + "accepted": 1912, + "wrist_pos_err_mm_median": 121.4, + "per_camera": { + "head": { + "samples": 2605, + "accepted": 1912, + "gate_deg": 30.0, + "offset_deg": 8.76, + "tier": "primary", + "dev_deg_median": 17.18, + "wrist_pos_err_mm_median": 121.4 + } + }, + "frames_by_state": { + "ace_sample": 7774, + "interpolated": 1378, + "mean_hand": 2732, + "no_body_fit": 0 + }, + "observed_fraction": 0.7701, + "observed_fraction_of_valid": 0.7701, + "palm_axis_vs_markers_deg": { + "gsi": 12.55, + "smplx": 1.38 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.2, + "p90": 11.8 + }, + "registered": { + "median": 9.0, + "p90": 11.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T12:24:38.427975+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P04/session_002", "family": "locomotion_primitives", "primitive": "P04", "source_session": "20260828/P04/20260828_021950_session240" + }, + "task": { + "primitive": "P04", + "instruction": "Start still; gradually go slow \u2192 normal \u2192 fast; briefly maintain fast speed; stop." } } diff --git a/actions/locomotion_primitives/P04/session_002/motions/hands_mano.npz b/actions/locomotion_primitives/P04/session_002/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..5fe12ad43d48913986216ae8043f8b89bcac4dfc --- /dev/null +++ b/actions/locomotion_primitives/P04/session_002/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3e581877436dd916613cbd7dddf03e694b7576e0dbdb51b45b3467fe7398ee79 +size 3556881 diff --git a/actions/locomotion_primitives/P04/session_002/motions/smplx.npz b/actions/locomotion_primitives/P04/session_002/motions/smplx.npz index 3be8248177c53708dcb7e789cf9cff954331c175..9c2999296686371947aa02da234f582b84d811dc 100644 --- a/actions/locomotion_primitives/P04/session_002/motions/smplx.npz +++ b/actions/locomotion_primitives/P04/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4364388fbe269ab95ff1668e320b367b42ff5171954ca767f301641a5cf1fc3d -size 4553454 +oid sha256:7237fbf8e5f2a28ef7b18a673d4ccfc90a60847da2f5448a8ad1c9652049383f +size 8124750 diff --git a/actions/locomotion_primitives/P04/session_003/annotations.json b/actions/locomotion_primitives/P04/session_003/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..05706ca7f250493b8456139decc4a8f313525478 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_003/annotations.json @@ -0,0 +1,237 @@ +{ + "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": "P04", + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 183.966656, + "video": "left_eye", + "video_t_start": 0.038571294666691625 + } + ], + "episodes": [ + { + "id": "3ca30ea2-f8fa-4656-9a52-9b9863cfc23b", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 1.589, + "end_s": 6.979, + "t_start": 1.6276, + "t_end": 7.0176, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "c2e289b6-13e6-4ed2-a67e-c39a743852a5", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 8.736, + "end_s": 13.997, + "t_start": 8.7746, + "t_end": 14.0356, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "ff1fbce9-dab7-4673-80a4-606a97f6d1f8", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 16.289, + "end_s": 22.154, + "t_start": 16.3276, + "t_end": 22.1926, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "6677f186-57a4-4793-8675-59e7dd06f09d", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 24.447, + "end_s": 30.452, + "t_start": 24.4856, + "t_end": 30.4906, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "75dde738-3d14-4155-bc97-543da44e5f01", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 33.047, + "end_s": 39.955, + "t_start": 33.0856, + "t_end": 39.9936, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "536ca9d4-0f4e-4a1a-9d85-bc831a2e26f8", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 42.393, + "end_s": 48.872, + "t_start": 42.4316, + "t_end": 48.9106, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "69886b6f-a76a-4207-b70b-ff2702f93e1e", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 51.01, + "end_s": 57.788, + "t_start": 51.0486, + "t_end": 57.8266, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "e087f4ff-5896-49e8-a798-7daf4f695ec8", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 60.352, + "end_s": 66.864, + "t_start": 60.3906, + "t_end": 66.9026, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "ea26eca4-f99b-4dc8-8182-216034dc1648", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 69.387, + "end_s": 74.932, + "t_start": 69.4256, + "t_end": 74.9706, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "4dfa834a-eb64-4fb2-a6dc-424ca31d0ce1", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 78.003, + "end_s": 83.796, + "t_start": 78.0416, + "t_end": 83.8346, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "342d8733-0226-4f66-84a9-fbf1f61ea62b", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 85.844, + "end_s": 92.092, + "t_start": 85.8826, + "t_end": 92.1306, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "9b4ec003-c5d8-43fa-80d0-cc960b11d02f", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 95.342, + "end_s": 101.31, + "t_start": 95.3806, + "t_end": 101.3486, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "b4afe551-9f82-4d0d-aea9-3cff96da455d", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 103.901, + "end_s": 110.298, + "t_start": 103.9396, + "t_end": 110.3366, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "5f3c728b-ae21-4b4a-b5ec-798cbe09825a", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 113.509, + "end_s": 120.118, + "t_start": 113.5476, + "t_end": 120.1566, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "97b7d3e1-aa57-46ea-ab6e-999cb81fdda6", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 122.452, + "end_s": 128.982, + "t_start": 122.4906, + "t_end": 129.0206, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "f990e05f-9d74-4b63-b92d-c42a7b62b4f0", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 132.02, + "end_s": 138.23, + "t_start": 132.0586, + "t_end": 138.2686, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "3c57e1e1-f15a-4725-b2e9-f48130865fe6", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 140.5, + "end_s": 147.217, + "t_start": 140.5386, + "t_end": 147.2556, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "248f94bb-2a1c-44e8-9876-a9f14046e53f", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 150.706, + "end_s": 157.677, + "t_start": 150.7446, + "t_end": 157.7156, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "d826d520-7395-4d7c-90a5-97885dfa3c2e", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 160.574, + "end_s": 167.488, + "t_start": 160.6126, + "t_end": 167.5266, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "f11a55fb-1e69-4c9f-a836-994d24ec1bf9", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 170.299, + "end_s": 176.822, + "t_start": 170.3376, + "t_end": 176.8606, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P04/session_003/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P04/session_003/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..e54476d5ea474f45cacbbee120e512d452d4f26f --- /dev/null +++ b/actions/locomotion_primitives/P04/session_003/cameras/gsi_online_calibration.json @@ -0,0 +1,268 @@ +{ + "camera_fit": { + "groups_dropped": [ + { + "matches": 154, + "median_px": 8.64, + "pair": [ + "left", + "right" + ] + } + ], + "groups_used": 14, + "median_px": 0.365 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.962, + "gate_fail": [], + "held_out_px_after": 0.516, + "held_out_px_before": 7.456, + "inliers": 1932, + "position_fitted": false, + "rotvec_deg": [ + -0.0389, + 0.8385, + 0.4701 + ], + "split_deg": 0.1469, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.2377, + "gate_fail": [], + "held_out_px_after": 0.35, + "held_out_px_before": 2.827, + "inliers": 2754, + "position_fitted": true, + "position_mm": [ + -11.91, + 15.19, + 8.39 + ], + "position_sigma_mm": 0.398, + "position_split_mm": 1.423, + "rotvec_deg": [ + 0.2486, + 0.8468, + -0.8677 + ], + "split_deg": 0.0259, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.4821, + "gate_fail": [], + "held_out_px_after": 0.523, + "held_out_px_before": 2.504, + "inliers": 1445, + "position_fitted": false, + "rotvec_deg": [ + 0.4751, + -0.0791, + 0.0193 + ], + "split_deg": 0.0154, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.8557, + "gate_fail": [], + "held_out_px_after": 0.386, + "held_out_px_before": 1.575, + "inliers": 3075, + "position_fitted": true, + "position_mm": [ + -12.82, + 13.47, + 7.52 + ], + "position_sigma_mm": 0.336, + "position_split_mm": 5.442, + "rotvec_deg": [ + 0.3122, + 0.4324, + -0.6691 + ], + "split_deg": 0.0709, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.876, + "gate_fail": [], + "held_out_px_after": 0.341, + "held_out_px_before": 7.506, + "inliers": 4530, + "position_fitted": false, + "rotvec_deg": [ + -0.3109, + 0.5562, + -1.7645 + ], + "split_deg": 0.028, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "850a0e6aafa85fdf", + "factory_root_name": "850a0e6aafa85fdf", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "c3e113e0f6151101706ed8c7871e67e012a383d39f723fcf7aa82dc56a816bbc", + "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "cba225aeb5dc7d4d81b41e8114b1ce8a92b1136e421e9ba5bf190c4123099744", + "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "5e3904efbfb94c0a5fcae08c9409d930362f7558887b77092c5f969c35629edd", + "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "714adeefda81596e9cddb12bd44658be0c95831ced67c90a9248576cb9c0ba05", + "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3" + } + }, + "input_fingerprint": "c294e6a29cb25a80", + "kind": "online_calibration", + "output_sha256": "63dbc1be6e5d38eb71a2b37c7b5028fb48e37e1fa768edec9cd0a85a156634d9", + "overlap": { + "left-right": 0.487, + "left_eye-left": 0.707, + "left_eye-right": 0.685, + "left_front-left": 0.484, + "left_front-left_eye": 0.709, + "left_front-right": 0.464, + "left_front-right_eye": 0.711, + "left_front-right_front": 1.0, + "right_eye-left": 0.708, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.668, + "right_front-left": 0.482, + "right_front-left_eye": 0.711, + "right_front-right": 0.463, + "right_front-right_eye": 0.724 + }, + "picture_change": { + "left": 42.226, + "left_eye": 39.2, + "left_front": 47.957, + "right": 37.035, + "right_eye": 41.652, + "right_front": 47.394 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 2373621958333, + 2374621791666, + 2379621813888, + 2380621825000, + 2388621813888, + 2389621836111, + 2393621825000, + 2394621791666, + 2401621825000, + 2402621813888, + 2407621825000, + 2408621813888, + 2410621780555, + 2411621813888, + 2420621825000, + 2421621813888, + 2425621836111, + 2426621780555, + 2432621880555, + 2433621825000, + 2438621825000, + 2439621813888, + 2442621836111, + 2443621825000, + 2446621825000, + 2447621813888, + 2454621858333, + 2455621825000, + 2460621825000, + 2461621813888, + 2467621825000, + 2468621813888, + 2472621813888, + 2473621825000, + 2476621825000, + 2477621813888, + 2486621813888, + 2487621813888, + 2491621825000, + 2492621791666, + 2495621825000, + 2496621813888, + 2500621825000, + 2501621836111, + 2509621825000, + 2510621847222, + 2513621825000, + 2514621791666, + 2519621825000, + 2520621791666, + 2523621813888, + 2524621958333, + 2529621825000, + 2530621813888, + 2539621813888, + 2540621825000, + 2543621825000, + 2544621791666, + 2547621825000, + 2548621780555 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P04/session_003/cameras/slam.npz b/actions/locomotion_primitives/P04/session_003/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..cd068680415c2d8518cf0ef5f198d9f1a710a343 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_003/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4dfdea9de58e1e21f5d47038d10c52d10c0026d3481de1cede9fa13ddaec5db +size 1055825 diff --git a/actions/locomotion_primitives/P04/session_003/meta.json b/actions/locomotion_primitives/P04/session_003/meta.json index 4505fdf4cb0371817171d5273c6227c8ed15b0f8..7de30b38aaeeb3753b30890f5d9ddc7231c49f33 100644 --- a/actions/locomotion_primitives/P04/session_003/meta.json +++ b/actions/locomotion_primitives/P04/session_003/meta.json @@ -336,8 +336,8 @@ "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 @@ "file": "derived/rig_tracker_provider/rig_tracker.json", "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.35, + "offset_rotvec": [ + -0.1263, + -0.2696, + -0.055 + ], + "dev_deg": { + "median": 8.09, + "p90": 18.48 + }, + "samples": 4972, + "accepted": 4841, + "wrist_pos_err_mm_median": 44.5, + "per_camera": { + "head": { + "samples": 4972, + "accepted": 4841, + "gate_deg": 30.0, + "offset_deg": 17.35, + "tier": "primary", + "dev_deg_median": 8.09, + "wrist_pos_err_mm_median": 44.5 + } + }, + "frames_by_state": { + "ace_sample": 19600, + "interpolated": 2288, + "mean_hand": 6, + "no_body_fit": 190 + }, + "observed_fraction": 0.9911, + "observed_fraction_of_valid": 0.9997, + "palm_axis_vs_markers_deg": { + "gsi": 14.5, + "smplx": 0.78 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.5, + "p90": 9.2 + }, + "registered": { + "median": 10.2, + "p90": 10.7 + } + } + }, + "right": { + "offset_deg": 9.1, + "offset_rotvec": [ + -0.1082, + -0.0021, + 0.1162 + ], + "dev_deg": { + "median": 9.79, + "p90": 23.13 + }, + "samples": 4778, + "accepted": 4513, + "wrist_pos_err_mm_median": 68.8, + "per_camera": { + "head": { + "samples": 4778, + "accepted": 4513, + "gate_deg": 30.0, + "offset_deg": 9.1, + "tier": "primary", + "dev_deg_median": 9.79, + "wrist_pos_err_mm_median": 68.8 + } + }, + "frames_by_state": { + "ace_sample": 18366, + "interpolated": 3522, + "mean_hand": 6, + "no_body_fit": 190 + }, + "observed_fraction": 0.9911, + "observed_fraction_of_valid": 0.9997, + "palm_axis_vs_markers_deg": { + "gsi": 9.87, + "smplx": 0.66 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.2, + "p90": 7.1 + }, + "registered": { + "median": 6.1, + "p90": 7.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T12:48:41.321816+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P04/session_003", "family": "locomotion_primitives", "primitive": "P04", "source_session": "20260831/P04/20260831_021448_session9" + }, + "task": { + "primitive": "P04", + "instruction": "Start still; gradually go slow \u2192 normal \u2192 fast; briefly maintain fast speed; stop." } } diff --git a/actions/locomotion_primitives/P04/session_003/motions/hands_mano.npz b/actions/locomotion_primitives/P04/session_003/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..c2ef29fe4cbc088f74ccec047b1f33e1ba936810 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_003/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24f2f0dd6f50bd56f8f520bacb993e49c7d85f9bf13505e1c8ed68ec44dace40 +size 6708318 diff --git a/actions/locomotion_primitives/P04/session_003/motions/smplx.npz b/actions/locomotion_primitives/P04/session_003/motions/smplx.npz index 991ed261d934a1a0ed68b7b0e40fa3d799fc39b2..1cb8a0c2e4fc5837d2b4fc9d65df2eaed7944041 100644 --- a/actions/locomotion_primitives/P04/session_003/motions/smplx.npz +++ b/actions/locomotion_primitives/P04/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:605ccbffefa7742183be09109054ddecd42853a0ea1670cd628c301ed5e523c4 -size 8435673 +oid sha256:e96ea692964e6cf58dc909c23e42ef005dbfac1d74ede1ebf7c69fe4c9eb8c5c +size 15796059 diff --git a/actions/locomotion_primitives/P04/session_004/annotations.json b/actions/locomotion_primitives/P04/session_004/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..77acc01fe83af6c451b91668d8e81dcdb9596263 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_004/annotations.json @@ -0,0 +1,237 @@ +{ + "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": "P04", + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 183.966522, + "video": "left_eye", + "video_t_start": 0.038363043717265066 + } + ], + "episodes": [ + { + "id": "e9537e1c-c899-4909-9b2c-6970549fc008", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 1.603, + "end_s": 7.058, + "t_start": 1.6414, + "t_end": 7.0964, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "00c522f5-9ac8-4480-8f89-0e721d58f042", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 9.315, + "end_s": 14.885, + "t_start": 9.3534, + "t_end": 14.9234, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "7c044c51-16a4-4396-99cc-e64ba4b3fddc", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 17.48, + "end_s": 23.411, + "t_start": 17.5184, + "t_end": 23.4494, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "05ee4620-1815-42d5-b845-4cd5f8f3e979", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 26.497, + "end_s": 32.45, + "t_start": 26.5354, + "t_end": 32.4884, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "d393854b-367b-4614-9ccc-29a938ef0b7a", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 35.068, + "end_s": 41.664, + "t_start": 35.1064, + "t_end": 41.7024, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "f763b89f-462f-473c-92d4-32d48ec7bf41", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 45.171, + "end_s": 51.175, + "t_start": 45.2094, + "t_end": 51.2134, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "bfbea9ce-e370-433a-9e22-e70809c5f9a3", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 54.263, + "end_s": 61.32, + "t_start": 54.3014, + "t_end": 61.3584, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "91282f24-c8a7-4d8c-b9c8-b5527626e37f", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 63.927, + "end_s": 70.194, + "t_start": 63.9654, + "t_end": 70.2324, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "7b776d52-b547-4b44-92de-c1c6788f9363", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 72.504, + "end_s": 78.782, + "t_start": 72.5424, + "t_end": 78.8204, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "a7d970e7-d342-4554-9296-044c82dd91e1", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 81.547, + "end_s": 87.824, + "t_start": 81.5854, + "t_end": 87.8624, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "f5806e4a-41f6-415c-be71-0172286da2e3", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 89.744, + "end_s": 96.071, + "t_start": 89.7824, + "t_end": 96.1094, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "44c34c28-530a-41ef-b3d6-4930ebdb4958", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 98.66, + "end_s": 104.475, + "t_start": 98.6984, + "t_end": 104.5134, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "c32db07d-d8ae-4dac-bc65-79227f11de25", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 106.938, + "end_s": 113.207, + "t_start": 106.9764, + "t_end": 113.2454, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "1dbbb168-d9e5-4277-9a72-98517aeda332", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 115.878, + "end_s": 121.51, + "t_start": 115.9164, + "t_end": 121.5484, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "dbe60e03-8e94-485c-81d8-5854b4ce9ac4", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 124.027, + "end_s": 130.792, + "t_start": 124.0654, + "t_end": 130.8304, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "ae5832c8-e9ab-45dd-b0b3-32dc6c63f6ae", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 133.477, + "end_s": 139.452, + "t_start": 133.5154, + "t_end": 139.4904, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "a3c088bf-1041-4e40-8e04-36dc62692d07", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 141.545, + "end_s": 148.298, + "t_start": 141.5834, + "t_end": 148.3364, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "af7c046c-d1a9-483d-ab62-ee52f8f724aa", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 150.444, + "end_s": 156.776, + "t_start": 150.4824, + "t_end": 156.8144, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "867ce7d2-5b62-4ab0-a3cd-a46344ac8d02", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 159.366, + "end_s": 166.354, + "t_start": 159.4044, + "t_end": 166.3924, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "fb1b0049-9a78-42e1-aabd-c1bc9626b999", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 169.58, + "end_s": 176.776, + "t_start": 169.6184, + "t_end": 176.8144, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P04/session_004/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P04/session_004/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..195e9f6cbb3b440553938a9723d8c0948a7314ba --- /dev/null +++ b/actions/locomotion_primitives/P04/session_004/cameras/gsi_online_calibration.json @@ -0,0 +1,268 @@ +{ + "camera_fit": { + "groups_dropped": [ + { + "matches": 156, + "median_px": 8.77, + "pair": [ + "left", + "right" + ] + } + ], + "groups_used": 14, + "median_px": 0.345 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.8976, + "gate_fail": [], + "held_out_px_after": 0.496, + "held_out_px_before": 7.76, + "inliers": 2059, + "position_fitted": false, + "rotvec_deg": [ + -0.1023, + 0.7586, + 0.4687 + ], + "split_deg": 0.0353, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.2272, + "gate_fail": [], + "held_out_px_after": 0.346, + "held_out_px_before": 3.686, + "inliers": 3143, + "position_fitted": true, + "position_mm": [ + -10.73, + 12.5, + 8.44 + ], + "position_sigma_mm": 0.374, + "position_split_mm": 1.224, + "rotvec_deg": [ + 0.1961, + 0.8312, + -0.8813 + ], + "split_deg": 0.06, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.4768, + "gate_fail": [], + "held_out_px_after": 0.549, + "held_out_px_before": 2.452, + "inliers": 1246, + "position_fitted": false, + "rotvec_deg": [ + 0.4469, + -0.1641, + -0.0255 + ], + "split_deg": 0.046, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.8784, + "gate_fail": [], + "held_out_px_after": 0.326, + "held_out_px_before": 1.589, + "inliers": 3518, + "position_fitted": true, + "position_mm": [ + -8.25, + 14.87, + 8.27 + ], + "position_sigma_mm": 0.396, + "position_split_mm": 0.889, + "rotvec_deg": [ + 0.3832, + 0.3714, + -0.6977 + ], + "split_deg": 0.059, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.8872, + "gate_fail": [], + "held_out_px_after": 0.324, + "held_out_px_before": 6.791, + "inliers": 4564, + "position_fitted": false, + "rotvec_deg": [ + -0.3116, + 0.5507, + -1.778 + ], + "split_deg": 0.0176, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "850a0e6aafa85fdf", + "factory_root_name": "850a0e6aafa85fdf", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "1887c74ed044a14828138f466fd2d5dadb8bd575556524db594787429a3c724b", + "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "e24a61234a98e752fb13abaacdded2c94ec5a8c538dc8650e422f22906fd959b", + "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "1b7ce7d7935fe860c9af514f083571643306cf3cd2622b356d8999f2271d0bdd", + "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "68d00365bc3b342207651a2e72aa3d96c52ba6f8c7a11bf6f3f364a750e6b542", + "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3" + } + }, + "input_fingerprint": "bc99d494b2f861c0", + "kind": "online_calibration", + "output_sha256": "9fca284b6fb776081beaab67528fe7ac025cf8528b1016112d0f4d691167cac1", + "overlap": { + "left-right": 0.487, + "left_eye-left": 0.707, + "left_eye-right": 0.685, + "left_front-left": 0.484, + "left_front-left_eye": 0.709, + "left_front-right": 0.464, + "left_front-right_eye": 0.711, + "left_front-right_front": 1.0, + "right_eye-left": 0.708, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.668, + "right_front-left": 0.482, + "right_front-left_eye": 0.711, + "right_front-right": 0.463, + "right_front-right_eye": 0.724 + }, + "picture_change": { + "left": 47.062, + "left_eye": 41.723, + "left_front": 47.968, + "right": 38.912, + "right_eye": 42.976, + "right_front": 47.005 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 2568462884666, + 2569462840222, + 2576462873555, + 2577462984666, + 2581462984666, + 2582462862444, + 2589462884666, + 2590462895777, + 2593462862444, + 2594462851333, + 2603462862444, + 2604462840222, + 2608462873555, + 2609462984666, + 2613462873555, + 2614462873555, + 2618462995777, + 2619462873555, + 2627462973555, + 2628462973555, + 2631462862444, + 2632462862444, + 2637462862444, + 2638462884666, + 2645462840222, + 2646462873555, + 2648462829111, + 2649462873555, + 2657462862444, + 2658462884666, + 2662462873555, + 2663462862444, + 2665462873555, + 2666462851333, + 2670462873555, + 2671462984666, + 2679462884666, + 2680462862444, + 2687462873555, + 2688462873555, + 2692462884666, + 2693462995777, + 2696462851333, + 2697462873555, + 2705462873555, + 2706462862444, + 2709462873555, + 2710462873555, + 2717463006888, + 2718462873555, + 2723462873555, + 2724462840222, + 2727462862444, + 2728462873555, + 2732462873555, + 2733462873555, + 2736462884666, + 2737462873555, + 2742462873555, + 2743462829111 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P04/session_004/cameras/slam.npz b/actions/locomotion_primitives/P04/session_004/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..08584519b454871e0af2a90073b769fa322c9a34 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_004/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:371fb4b29a4ec5a605b0b8f402df79d77964ae2c3121fccc7e149a81b33e35c1 +size 1055769 diff --git a/actions/locomotion_primitives/P04/session_004/meta.json b/actions/locomotion_primitives/P04/session_004/meta.json index 69b8ae1d4dfab78b1e002a00298483bb32cfaaad..e4c442925ca2f3526356fb4dfd1fcb6947c01c14 100644 --- a/actions/locomotion_primitives/P04/session_004/meta.json +++ b/actions/locomotion_primitives/P04/session_004/meta.json @@ -336,8 +336,8 @@ "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 @@ "file": "derived/rig_tracker_provider/rig_tracker.json", "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.21, + "offset_rotvec": [ + -0.127, + -0.2683, + -0.0454 + ], + "dev_deg": { + "median": 8.13, + "p90": 20.11 + }, + "samples": 4677, + "accepted": 4515, + "wrist_pos_err_mm_median": 47.9, + "per_camera": { + "head": { + "samples": 4677, + "accepted": 4515, + "gate_deg": 30.0, + "offset_deg": 17.21, + "tier": "primary", + "dev_deg_median": 8.13, + "wrist_pos_err_mm_median": 47.9 + } + }, + "frames_by_state": { + "ace_sample": 18366, + "interpolated": 3430, + "mean_hand": 5, + "no_body_fit": 283 + }, + "observed_fraction": 0.987, + "observed_fraction_of_valid": 0.9998, + "palm_axis_vs_markers_deg": { + "gsi": 14.86, + "smplx": 0.8 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.7, + "p90": 10.7 + }, + "registered": { + "median": 9.8, + "p90": 11.8 + } + } + }, + "right": { + "offset_deg": 8.59, + "offset_rotvec": [ + -0.0934, + -0.0016, + 0.1172 + ], + "dev_deg": { + "median": 10.99, + "p90": 26.2 + }, + "samples": 4520, + "accepted": 4214, + "wrist_pos_err_mm_median": 77.7, + "per_camera": { + "head": { + "samples": 4520, + "accepted": 4214, + "gate_deg": 30.0, + "offset_deg": 8.59, + "tier": "primary", + "dev_deg_median": 10.99, + "wrist_pos_err_mm_median": 77.7 + } + }, + "frames_by_state": { + "ace_sample": 17262, + "interpolated": 4534, + "mean_hand": 5, + "no_body_fit": 283 + }, + "observed_fraction": 0.987, + "observed_fraction_of_valid": 0.9998, + "palm_axis_vs_markers_deg": { + "gsi": 10.23, + "smplx": 0.91 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.9, + "p90": 7.5 + }, + "registered": { + "median": 6.9, + "p90": 8.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T12:48:40.620179+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P04/session_004", "family": "locomotion_primitives", "primitive": "P04", "source_session": "20260831/P04/20260831_021803_session10" + }, + "task": { + "primitive": "P04", + "instruction": "Start still; gradually go slow \u2192 normal \u2192 fast; briefly maintain fast speed; stop." } } diff --git a/actions/locomotion_primitives/P04/session_004/motions/hands_mano.npz b/actions/locomotion_primitives/P04/session_004/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..46646fb78bd2ebd0f166c69eeb0b5040b346fac6 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_004/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:926ca90aec153dfd95e57baf237737bc462d3626a1fa7e2dbfc2cc06721202cd +size 6376968 diff --git a/actions/locomotion_primitives/P04/session_004/motions/smplx.npz b/actions/locomotion_primitives/P04/session_004/motions/smplx.npz index ce12935c3d07c8fad709a03f75a9b55784f7458c..6069193be196516e29d72027e0a9e7e44f094a64 100644 --- a/actions/locomotion_primitives/P04/session_004/motions/smplx.npz +++ b/actions/locomotion_primitives/P04/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b722bd94c6b7b2057527d41d40414c067d31fa863916fa617c75e5548ebf28d7 -size 8389932 +oid sha256:2a4e1918b90b26563d0fe2c92ac3f8f0ebeed18e52d1162f1cee9f50f30c098b +size 15716971 diff --git a/actions/locomotion_primitives/P04/session_005/annotations.json b/actions/locomotion_primitives/P04/session_005/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..96ddf26f3ad36fd68ecf03de438d89ded710b190 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_005/annotations.json @@ -0,0 +1,149 @@ +{ + "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": "P04", + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 103.966656, + "video": "left_eye", + "video_t_start": 0.03791092724783751 + } + ], + "episodes": [ + { + "id": "6659ed88-d01a-4e16-8cbc-03defd995cd5", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 1.157, + "end_s": 7.145, + "t_start": 1.1949, + "t_end": 7.1829, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "991095bf-c675-417d-9185-b86967a265a2", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 8.796, + "end_s": 14.335, + "t_start": 8.8339, + "t_end": 14.3729, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "656dfd0b-a659-40f4-a1f4-e56b7411d2a5", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 16.267, + "end_s": 22.553, + "t_start": 16.3049, + "t_end": 22.5909, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "daacebb4-bdc9-4889-a5f4-12a6adf8aedc", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 24.666, + "end_s": 30.494, + "t_start": 24.7039, + "t_end": 30.5319, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "26b0e793-6a44-4a70-9a78-1d15fd464c72", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 32.385, + "end_s": 38.403, + "t_start": 32.4229, + "t_end": 38.4409, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "e120b492-b61f-415b-9ad9-288ac2e51064", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 40.967, + "end_s": 47.457, + "t_start": 41.0049, + "t_end": 47.4949, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "6ece2c35-bc76-4841-a6f0-873cbac2e454", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 49.427, + "end_s": 55.918, + "t_start": 49.4649, + "t_end": 55.9559, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "33d6617a-b4b0-4fd0-824e-7a888c92f03d", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 57.925, + "end_s": 64.223, + "t_start": 57.9629, + "t_end": 64.2609, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "aab66716-310d-4c12-800f-7581f15be991", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 66.376, + "end_s": 72.32, + "t_start": 66.4139, + "t_end": 72.3579, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "a31a1c0f-d3ca-491f-bb59-c7e03fc9d1d2", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 74.557, + "end_s": 79.946, + "t_start": 74.5949, + "t_end": 79.9839, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "92fdbaf3-6ad0-42d2-a4c3-35d7485aeec1", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 82.742, + "end_s": 88.982, + "t_start": 82.7799, + "t_end": 89.0199, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "2768cd08-9c01-472c-af90-bb955dd1c1dc", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 91.267, + "end_s": 96.923, + "t_start": 91.3049, + "t_end": 96.9609, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P04/session_005/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P04/session_005/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..cfe6845d08cdd6f490358ff6b3f584c007a6188f --- /dev/null +++ b/actions/locomotion_primitives/P04/session_005/cameras/gsi_online_calibration.json @@ -0,0 +1,263 @@ +{ + "camera_fit": { + "groups_dropped": [ + { + "matches": 165, + "median_px": 21.3, + "pair": [ + "left", + "right" + ] + } + ], + "groups_used": 14, + "median_px": 0.359 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.8817, + "gate_fail": [], + "held_out_px_after": 0.592, + "held_out_px_before": 6.649, + "inliers": 1625, + "position_fitted": false, + "rotvec_deg": [ + 0.0661, + 0.8376, + 0.2675 + ], + "split_deg": 0.1074, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.1147, + "gate_fail": [], + "held_out_px_after": 0.329, + "held_out_px_before": 3.252, + "inliers": 2679, + "position_fitted": true, + "position_mm": [ + -8.72, + 11.9, + 10.64 + ], + "position_sigma_mm": 0.396, + "position_split_mm": 2.16, + "rotvec_deg": [ + 0.2197, + 0.7365, + -0.8074 + ], + "split_deg": 0.0587, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.4531, + "gate_fail": [], + "held_out_px_after": 0.563, + "held_out_px_before": 2.992, + "inliers": 1301, + "position_fitted": false, + "rotvec_deg": [ + 0.4354, + -0.116, + 0.0472 + ], + "split_deg": 0.1212, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.7984, + "gate_fail": [], + "held_out_px_after": 0.362, + "held_out_px_before": 1.93, + "inliers": 2921, + "position_fitted": true, + "position_mm": [ + -8.34, + 11.32, + 9.49 + ], + "position_sigma_mm": 0.403, + "position_split_mm": 3.225, + "rotvec_deg": [ + 0.3181, + 0.3314, + -0.6531 + ], + "split_deg": 0.0587, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.8738, + "gate_fail": [], + "held_out_px_after": 0.405, + "held_out_px_before": 8.023, + "inliers": 3567, + "position_fitted": false, + "rotvec_deg": [ + -0.3316, + 0.5005, + -1.775 + ], + "split_deg": 0.0484, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "850a0e6aafa85fdf", + "factory_root_name": "850a0e6aafa85fdf", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "5dd7310b9a55a022cbf217782e68d566a2c6ddf332ccd0b519f3a3a760d0026e", + "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "c5ac3e8e66fd3160a9f521566f6b02b13ae0c49a18010408b9362de42fe9214c", + "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "2efb866f106ebb22ce116a86bb0067e0b6d0c8343ecb8d3bc53a97ac1c7715a0", + "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "209c3b9b08cc5857e5686e8a9abf8934dc2c302fb4ce1f971fc1f4bf11c0ed72", + "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3" + } + }, + "input_fingerprint": "cd8366939abf425c", + "kind": "online_calibration", + "output_sha256": "35c988793e9e0acaa37fb41143c40c6e88d1f97203f183aa2a383bf9cb728db3", + "overlap": { + "left-right": 0.487, + "left_eye-left": 0.707, + "left_eye-right": 0.685, + "left_front-left": 0.484, + "left_front-left_eye": 0.709, + "left_front-right": 0.464, + "left_front-right_eye": 0.711, + "left_front-right_front": 1.0, + "right_eye-left": 0.708, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.668, + "right_front-left": 0.482, + "right_front-left_eye": 0.711, + "right_front-right": 0.463, + "right_front-right_eye": 0.724 + }, + "picture_change": { + "left": 39.896, + "left_eye": 37.583, + "left_front": 43.07, + "right": 37.108, + "right_eye": 39.251, + "right_front": 42.366 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 10404722165111, + 10405722154000, + 10408722154000, + 10409722165111, + 10413722176222, + 10414722165111, + 10416722142888, + 10417722165111, + 10420722165111, + 10421722154000, + 10423722165111, + 10424722176222, + 10425722165111, + 10427722154000, + 10428722154000, + 10432722131777, + 10433722165111, + 10436722165111, + 10437722154000, + 10438722154000, + 10440722154000, + 10441722165111, + 10444722131777, + 10445722154000, + 10449722154000, + 10450722165111, + 10452722154000, + 10453722154000, + 10454722198444, + 10455722165111, + 10458722165111, + 10459722154000, + 10461722142888, + 10462722154000, + 10466722154000, + 10467722154000, + 10469722154000, + 10470722154000, + 10471722154000, + 10474722231777, + 10475722176222, + 10479722142888, + 10480722165111, + 10482722165111, + 10483722165111, + 10484722276222, + 10487722154000, + 10488722154000, + 10490722154000, + 10491722154000, + 10495722154000, + 10496722165111, + 10497722142888, + 10499722120666, + 10500722154000 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P04/session_005/cameras/slam.npz b/actions/locomotion_primitives/P04/session_005/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..eccae8d990f158a3c330953b88f2104b91ff4c87 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_005/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8fcd6cd36ba714f797aebfa097aefc581f787a53d5db4956a2e5cb924b8154ff +size 597712 diff --git a/actions/locomotion_primitives/P04/session_005/meta.json b/actions/locomotion_primitives/P04/session_005/meta.json index 23866d818102fc09d09a384466179147d987a4e6..225bcb7816b1f60e1a481ecf398967e11b48abba 100644 --- a/actions/locomotion_primitives/P04/session_005/meta.json +++ b/actions/locomotion_primitives/P04/session_005/meta.json @@ -332,8 +332,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -513,10 +513,124 @@ "file": "derived/rig_tracker_provider/rig_tracker.json", "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.47, + "offset_rotvec": [ + -0.1193, + -0.2802, + -0.0134 + ], + "dev_deg": { + "median": 9.8, + "p90": 22.27 + }, + "samples": 2733, + "accepted": 2611, + "wrist_pos_err_mm_median": 56.4, + "per_camera": { + "head": { + "samples": 2733, + "accepted": 2611, + "gate_deg": 30.0, + "offset_deg": 17.47, + "tier": "primary", + "dev_deg_median": 9.8, + "wrist_pos_err_mm_median": 56.4 + } + }, + "frames_by_state": { + "ace_sample": 10639, + "interpolated": 1832, + "mean_hand": 5, + "no_body_fit": 8 + }, + "observed_fraction": 0.999, + "observed_fraction_of_valid": 0.9996, + "palm_axis_vs_markers_deg": { + "gsi": 15.09, + "smplx": 1.04 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.8, + "p90": 7.6 + }, + "registered": { + "median": 6.5, + "p90": 7.1 + } + } + }, + "right": { + "offset_deg": 9.67, + "offset_rotvec": [ + -0.0527, + -0.0701, + 0.1442 + ], + "dev_deg": { + "median": 8.77, + "p90": 28.55 + }, + "samples": 2606, + "accepted": 2372, + "wrist_pos_err_mm_median": 64.5, + "per_camera": { + "head": { + "samples": 2606, + "accepted": 2372, + "gate_deg": 30.0, + "offset_deg": 9.67, + "tier": "primary", + "dev_deg_median": 8.77, + "wrist_pos_err_mm_median": 64.5 + } + }, + "frames_by_state": { + "ace_sample": 9695, + "interpolated": 2776, + "mean_hand": 5, + "no_body_fit": 8 + }, + "observed_fraction": 0.999, + "observed_fraction_of_valid": 0.9996, + "palm_axis_vs_markers_deg": { + "gsi": 11.55, + "smplx": 0.89 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.0, + "p90": 6.7 + }, + "registered": { + "median": 5.8, + "p90": 6.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T12:48:30.819699+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P04/session_005", "family": "locomotion_primitives", "primitive": "P04", "source_session": "20260831/P04/20260831_084112_session51" + }, + "task": { + "primitive": "P04", + "instruction": "Start still; gradually go slow \u2192 normal \u2192 fast; briefly maintain fast speed; stop." } } diff --git a/actions/locomotion_primitives/P04/session_005/motions/hands_mano.npz b/actions/locomotion_primitives/P04/session_005/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..92ff8c1c97e01f86233437afc9e371842d5db0bb --- /dev/null +++ b/actions/locomotion_primitives/P04/session_005/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06ef39b2ad2cc5491f715c10b0a99af1f4d7b93547a60212c0517dea2b93c401 +size 3651685 diff --git a/actions/locomotion_primitives/P04/session_005/motions/smplx.npz b/actions/locomotion_primitives/P04/session_005/motions/smplx.npz index 668a111587288e39e4da9264837754914dfa0bcb..bed6c8633fe41b9cf835e0d1e480cd6579b101a8 100644 --- a/actions/locomotion_primitives/P04/session_005/motions/smplx.npz +++ b/actions/locomotion_primitives/P04/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d677cb2eecbc2c8d939cc14258b020e751a3f74a24323b1e48149ebf38f6a6ef -size 4800061 +oid sha256:04bd8506f172e0f361a5af6b48a0fbbebb5fa84ca1f54208817619ccc4e31a0e +size 8993566 diff --git a/actions/locomotion_primitives/P04/session_006/annotations.json b/actions/locomotion_primitives/P04/session_006/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..b66de233b8f7ee55797282d7bd41f16d9304a537 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_006/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P04", + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 88.966644, + "video": "left_eye", + "video_t_start": 0.03871280877186267 + } + ], + "episodes": [ + { + "id": "eb092d3c-a466-428c-a814-656ca9b217ec", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 0.945, + "end_s": 7.134, + "t_start": 0.9837, + "t_end": 7.1727, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "fc98c907-9ef9-4c90-bc93-74384188a288", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 9.082, + "end_s": 14.619, + "t_start": 9.1207, + "t_end": 14.6577, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "0e0fddc8-e472-4aed-bcb6-0adb854973f2", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 16.249, + "end_s": 22.617, + "t_start": 16.2877, + "t_end": 22.6557, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "45b6fd6d-e96d-47f0-af55-f013dc747884", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 24.751, + "end_s": 30.174, + "t_start": 24.7897, + "t_end": 30.2127, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "61ce47c1-fc3a-4005-b6bc-2aeb7e255dba", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 32.719, + "end_s": 39.313, + "t_start": 32.7577, + "t_end": 39.3517, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "9cf895a8-004b-4874-9168-7b02367160c5", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 41.79, + "end_s": 47.806, + "t_start": 41.8287, + "t_end": 47.8447, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "0526f5cf-04ae-4e2a-a314-e78f8dc5d35a", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 50.009, + "end_s": 56.971, + "t_start": 50.0477, + "t_end": 57.0097, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "aee4fae5-bfa7-444d-9915-22d5b6403212", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 60.214, + "end_s": 66.214, + "t_start": 60.2527, + "t_end": 66.2527, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "416f7b65-0499-443a-84cc-8ed5270dff63", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 68.325, + "end_s": 74.879, + "t_start": 68.3637, + "t_end": 74.9177, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "da0e8722-fc1b-4965-bdb9-f327d28cdbb1", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 77.84, + "end_s": 83.673, + "t_start": 77.8787, + "t_end": 83.7117, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P04/session_006/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P04/session_006/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..740f6543bd3afd231f764f77d64a4049a2d7c7fb --- /dev/null +++ b/actions/locomotion_primitives/P04/session_006/cameras/gsi_online_calibration.json @@ -0,0 +1,262 @@ +{ + "camera_fit": { + "groups_dropped": [ + { + "matches": 141, + "median_px": 623.04, + "pair": [ + "left", + "right" + ] + } + ], + "groups_used": 14, + "median_px": 0.381 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.8535, + "gate_fail": [], + "held_out_px_after": 0.648, + "held_out_px_before": 6.3, + "inliers": 1556, + "position_fitted": false, + "rotvec_deg": [ + 0.029, + 0.7982, + 0.3009 + ], + "split_deg": 0.1441, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.113, + "gate_fail": [], + "held_out_px_after": 0.369, + "held_out_px_before": 2.697, + "inliers": 2759, + "position_fitted": true, + "position_mm": [ + -11.96, + 7.55, + 12.88 + ], + "position_sigma_mm": 0.323, + "position_split_mm": 5.724, + "rotvec_deg": [ + 0.002, + 0.7411, + -0.8305 + ], + "split_deg": 0.1478, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.433, + "gate_fail": [], + "held_out_px_after": 0.671, + "held_out_px_before": 3.164, + "inliers": 1499, + "position_fitted": false, + "rotvec_deg": [ + 0.42, + -0.1029, + 0.0234 + ], + "split_deg": 0.2568, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.7596, + "gate_fail": [], + "held_out_px_after": 0.404, + "held_out_px_before": 2.216, + "inliers": 2939, + "position_fitted": true, + "position_mm": [ + -9.94, + 7.37, + 9.55 + ], + "position_sigma_mm": 0.342, + "position_split_mm": 5.542, + "rotvec_deg": [ + 0.1603, + 0.3546, + -0.6524 + ], + "split_deg": 0.1835, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.8825, + "gate_fail": [], + "held_out_px_after": 0.372, + "held_out_px_before": 7.172, + "inliers": 3630, + "position_fitted": false, + "rotvec_deg": [ + -0.3409, + 0.49, + -1.7853 + ], + "split_deg": 0.0769, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "850a0e6aafa85fdf", + "factory_root_name": "850a0e6aafa85fdf", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "bdaf4364a285071495cad25ec24811fe6286e60f5fa9984d2217e5815dcefc21", + "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "b4b5718ed6bd6c3dd0f67a3b928d3f92b83a1ff7cccbbd8b226281596b36bb65", + "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "3adc939b6f456054d7bfce0793cd69d1441e502269c5e214eab21b9dc5b56d89", + "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "19690b5bedc4b0ef39a546929abfc8aa283bddbc866e4e813e4bbe84a95a64e7", + "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3" + } + }, + "input_fingerprint": "9f5e57c279adef1f", + "kind": "online_calibration", + "output_sha256": "76e060185708b8951207b94c4f387ae02ea0cac6294c4cd35ecde30b2bb1603f", + "overlap": { + "left-right": 0.487, + "left_eye-left": 0.707, + "left_eye-right": 0.685, + "left_front-left": 0.484, + "left_front-left_eye": 0.709, + "left_front-right": 0.464, + "left_front-right_eye": 0.711, + "left_front-right_front": 1.0, + "right_eye-left": 0.708, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.668, + "right_front-left": 0.482, + "right_front-left_eye": 0.711, + "right_front-right": 0.463, + "right_front-right_eye": 0.724 + }, + "picture_change": { + "left": 44.055, + "left_eye": 38.446, + "left_front": 44.939, + "right": 40.96, + "right_eye": 40.045, + "right_front": 44.703 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 10517813454777, + 10518813465888, + 10522813465888, + 10523813454777, + 10525813465888, + 10526813443666, + 10527813454777, + 10529813454777, + 10530813454777, + 10533813477000, + 10534813477000, + 10537813454777, + 10538813465888, + 10539813454777, + 10541813465888, + 10542813465888, + 10544813465888, + 10545813477000, + 10546813465888, + 10547813443666, + 10549813465888, + 10550813454777, + 10554813510333, + 10555813465888, + 10557813465888, + 10558813465888, + 10559813454777, + 10561813465888, + 10562813454777, + 10563813477000, + 10564813432555, + 10567813454777, + 10568813465888, + 10570813454777, + 10571813454777, + 10572813588111, + 10573813454777, + 10576813454777, + 10577813454777, + 10580813421444, + 10581813465888, + 10582813454777, + 10585813465888, + 10586813454777, + 10587813454777, + 10590813465888, + 10591813465888, + 10594813454777, + 10595813477000, + 10597813454777, + 10598813454777, + 10599813465888, + 10601813454777, + 10602813465888 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P04/session_006/cameras/slam.npz b/actions/locomotion_primitives/P04/session_006/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..b2841e129acee6e86b10a98c6096a8a087780bb0 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_006/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cec5f5d63afe23660fdadff29bde4f7b95bbe28fc3849c20c47ab7ac586a034d +size 511483 diff --git a/actions/locomotion_primitives/P04/session_006/meta.json b/actions/locomotion_primitives/P04/session_006/meta.json index 16c034d3f6159b8e2fd37ec5cc2cf93e2fdf8dc3..915a1486bd8d95479a32d9319fd6ab94855eb475 100644 --- a/actions/locomotion_primitives/P04/session_006/meta.json +++ b/actions/locomotion_primitives/P04/session_006/meta.json @@ -333,8 +333,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -514,10 +514,124 @@ "file": "derived/rig_tracker_provider/rig_tracker.json", "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.39, + "offset_rotvec": [ + -0.1254, + -0.2753, + -0.0241 + ], + "dev_deg": { + "median": 9.47, + "p90": 22.11 + }, + "samples": 2206, + "accepted": 2101, + "wrist_pos_err_mm_median": 54.4, + "per_camera": { + "head": { + "samples": 2206, + "accepted": 2101, + "gate_deg": 30.0, + "offset_deg": 17.39, + "tier": "primary", + "dev_deg_median": 9.47, + "wrist_pos_err_mm_median": 54.4 + } + }, + "frames_by_state": { + "ace_sample": 8568, + "interpolated": 2104, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9989, + "observed_fraction_of_valid": 0.9989, + "palm_axis_vs_markers_deg": { + "gsi": 14.76, + "smplx": 1.09 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.8, + "p90": 7.0 + }, + "registered": { + "median": 6.5, + "p90": 7.3 + } + } + }, + "right": { + "offset_deg": 9.4, + "offset_rotvec": [ + -0.0589, + -0.067, + 0.1376 + ], + "dev_deg": { + "median": 9.48, + "p90": 26.8 + }, + "samples": 2195, + "accepted": 2028, + "wrist_pos_err_mm_median": 80.8, + "per_camera": { + "head": { + "samples": 2195, + "accepted": 2028, + "gate_deg": 30.0, + "offset_deg": 9.4, + "tier": "primary", + "dev_deg_median": 9.48, + "wrist_pos_err_mm_median": 80.8 + } + }, + "frames_by_state": { + "ace_sample": 8268, + "interpolated": 2136, + "mean_hand": 280, + "no_body_fit": 0 + }, + "observed_fraction": 0.9738, + "observed_fraction_of_valid": 0.9738, + "palm_axis_vs_markers_deg": { + "gsi": 11.89, + "smplx": 0.72 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.8, + "p90": 7.3 + }, + "registered": { + "median": 6.0, + "p90": 7.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T12:48:39.325851+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P04/session_006", "family": "locomotion_primitives", "primitive": "P04", "source_session": "20260831/P04/20260831_084305_session52" + }, + "task": { + "primitive": "P04", + "instruction": "Start still; gradually go slow \u2192 normal \u2192 fast; briefly maintain fast speed; stop." } } diff --git a/actions/locomotion_primitives/P04/session_006/motions/hands_mano.npz b/actions/locomotion_primitives/P04/session_006/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..e503ab305bdae2ae511a3aa72546c2d7990ff7cb --- /dev/null +++ b/actions/locomotion_primitives/P04/session_006/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d16b16678989ad545d6d63fd4a962fc2f561a4f80644808fff4c730e8f0a028b +size 3019867 diff --git a/actions/locomotion_primitives/P04/session_006/motions/smplx.npz b/actions/locomotion_primitives/P04/session_006/motions/smplx.npz index ca19a57a0e4ec75952e64597ad1f2fb385ed0e13..a1ffb18f79afa4e2fe42ab0681ed3cb1f5dc3ac9 100644 --- a/actions/locomotion_primitives/P04/session_006/motions/smplx.npz +++ b/actions/locomotion_primitives/P04/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:531a15a22acc460fd4cb1b0ebb99bec087acf506db2824e114a0c8083ea26a07 -size 4111426 +oid sha256:aa4969243fb0090760595b9c47ec33b4579c2c2c61f45efdfa113a452cd6cef7 +size 7677204 diff --git a/actions/locomotion_primitives/P04/session_007/annotations.json b/actions/locomotion_primitives/P04/session_007/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..0003f06d5899fc35a2a6bd20b3ddd682c0f10330 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_007/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P04", + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 93.966656, + "video": "left_eye", + "video_t_start": 0.037754203424333665 + } + ], + "episodes": [ + { + "id": "5fdc1602-66d6-409e-a8f2-c9617c07383f", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 0.788, + "end_s": 6.836, + "t_start": 0.8258, + "t_end": 6.8738, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "9218d134-87ec-45fb-a446-37054eb35c5a", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 9.318, + "end_s": 16.191, + "t_start": 9.3558, + "t_end": 16.2288, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "4a4d047a-a171-48e8-bbba-e5dd4a342c05", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 18.371, + "end_s": 25.33, + "t_start": 18.4088, + "t_end": 25.3678, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "c76756ce-d42d-4bcb-b37d-279e7bd44768", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 27.554, + "end_s": 33.724, + "t_start": 27.5918, + "t_end": 33.7618, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "a8888577-ee69-457b-9231-39301974ba80", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 36.359, + "end_s": 42.854, + "t_start": 36.3968, + "t_end": 42.8918, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "3e5c49b6-da73-4855-a546-bcffb1466b6f", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 45.252, + "end_s": 51.099, + "t_start": 45.2898, + "t_end": 51.1368, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "c1b2bb67-2e72-40ac-b9c8-35d0e7666bd4", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 53.031, + "end_s": 60.136, + "t_start": 53.0688, + "t_end": 60.1738, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "91b35a94-d1cf-46f6-b22a-da9c16ad3805", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 62.913, + "end_s": 69.448, + "t_start": 62.9508, + "t_end": 69.4858, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "d6019514-1d00-4683-96bd-30b0ca6efe0b", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 71.525, + "end_s": 78.295, + "t_start": 71.5628, + "t_end": 78.3328, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "d84eb8b8-518b-4be5-9c4d-72c442d140ed", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 81.961, + "end_s": 88.005, + "t_start": 81.9988, + "t_end": 88.0428, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P04/session_007/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P04/session_007/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..49b662e8b96b9cd9aec332e56218f5f35de85037 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_007/cameras/gsi_online_calibration.json @@ -0,0 +1,261 @@ +{ + "camera_fit": { + "groups_dropped": [ + { + "matches": 123, + "median_px": 25.17, + "pair": [ + "left", + "right" + ] + } + ], + "groups_used": 14, + "median_px": 0.364 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.9693, + "gate_fail": [], + "held_out_px_after": 0.618, + "held_out_px_before": 5.851, + "inliers": 1514, + "position_fitted": false, + "rotvec_deg": [ + 0.1727, + 0.9247, + 0.2336 + ], + "split_deg": 0.0759, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.1429, + "gate_fail": [], + "held_out_px_after": 0.387, + "held_out_px_before": 2.822, + "inliers": 2757, + "position_fitted": true, + "position_mm": [ + -10.16, + 12.82, + 10.35 + ], + "position_sigma_mm": 0.398, + "position_split_mm": 7.069, + "rotvec_deg": [ + 0.2365, + 0.7394, + -0.8387 + ], + "split_deg": 0.1132, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.5734, + "gate_fail": [], + "held_out_px_after": 0.57, + "held_out_px_before": 3.23, + "inliers": 1541, + "position_fitted": false, + "rotvec_deg": [ + 0.5432, + -0.1474, + 0.1093 + ], + "split_deg": 0.2155, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.8058, + "gate_fail": [], + "held_out_px_after": 0.407, + "held_out_px_before": 2.264, + "inliers": 2935, + "position_fitted": true, + "position_mm": [ + -14.77, + 11.04, + 7.73 + ], + "position_sigma_mm": 0.395, + "position_split_mm": 7.198, + "rotvec_deg": [ + 0.329, + 0.3562, + -0.6435 + ], + "split_deg": 0.1456, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.8884, + "gate_fail": [], + "held_out_px_after": 0.376, + "held_out_px_before": 6.884, + "inliers": 3903, + "position_fitted": false, + "rotvec_deg": [ + -0.3345, + 0.444, + -1.8047 + ], + "split_deg": 0.0668, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "850a0e6aafa85fdf", + "factory_root_name": "850a0e6aafa85fdf", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "a4880fad58c386fa6ad0ae9e5fd09f7193073121badb703997ea9ea2c3a3c483", + "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "334c38337eb40f83f6098dc9f69f6a0f3b3382e59d58d001ec232654fb7a4eba", + "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "710f66414221d7f90df501939ac1e93a7e9be9cc0ef64dcaeeaf2e102419654e", + "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "52a142ec95af5cfbbfb1c867ecda6a601505cc7388fc2aaf10a0e7443260e5a5", + "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3" + } + }, + "input_fingerprint": "f5a98cb642ef31c3", + "kind": "online_calibration", + "output_sha256": "ec7c71cefe0bd81f4c11c9a5a8fb57751ca0a0a65c6e42f7b9210ccff61d7b3f", + "overlap": { + "left-right": 0.487, + "left_eye-left": 0.707, + "left_eye-right": 0.685, + "left_front-left": 0.484, + "left_front-left_eye": 0.709, + "left_front-right": 0.464, + "left_front-right_eye": 0.711, + "left_front-right_front": 1.0, + "right_eye-left": 0.708, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.668, + "right_front-left": 0.482, + "right_front-left_eye": 0.711, + "right_front-right": 0.463, + "right_front-right_eye": 0.724 + }, + "picture_change": { + "left": 39.944, + "left_eye": 36.317, + "left_front": 43.108, + "right": 36.602, + "right_eye": 38.397, + "right_front": 43.323 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 10616213185888, + 10617213174777, + 10620213174777, + 10621213174777, + 10624213152555, + 10625213185888, + 10626213185888, + 10630213174777, + 10631213174777, + 10633213174777, + 10634213197000, + 10635213174777, + 10639213185888, + 10640213185888, + 10642213174777, + 10643213185888, + 10644213197000, + 10648213174777, + 10649213174777, + 10651213174777, + 10652213285888, + 10653213197000, + 10656213174777, + 10657213185888, + 10660213185888, + 10661213174777, + 10663213185888, + 10664213197000, + 10665213185888, + 10666213174777, + 10669213174777, + 10670213174777, + 10671213174777, + 10672213185888, + 10674213152555, + 10675213185888, + 10678213174777, + 10679213185888, + 10680213185888, + 10683213174777, + 10684213197000, + 10687213185888, + 10688213163666, + 10690213185888, + 10691213174777, + 10693213185888, + 10694213185888, + 10696213285888, + 10697213297000, + 10698213174777, + 10702213185888, + 10703213185888, + 10704213152555 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P04/session_007/cameras/slam.npz b/actions/locomotion_primitives/P04/session_007/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..b4d5369be25918a0c1a5951d179a3138859e0179 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_007/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:179ea81b289eaba538371b69814288a2233dc3b531960a20d561b2ed7e7d75ac +size 540085 diff --git a/actions/locomotion_primitives/P04/session_007/meta.json b/actions/locomotion_primitives/P04/session_007/meta.json index eb0f0cabca0afe571598531cfd7f2428aecf79cb..a07ea7e11760fe440282323cef8b89305a9f532a 100644 --- a/actions/locomotion_primitives/P04/session_007/meta.json +++ b/actions/locomotion_primitives/P04/session_007/meta.json @@ -332,8 +332,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -514,10 +514,124 @@ "file": "derived/rig_tracker_provider/rig_tracker.json", "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.33, + "offset_rotvec": [ + -0.1517, + -0.259, + -0.0375 + ], + "dev_deg": { + "median": 8.64, + "p90": 20.29 + }, + "samples": 2478, + "accepted": 2405, + "wrist_pos_err_mm_median": 54.6, + "per_camera": { + "head": { + "samples": 2478, + "accepted": 2405, + "gate_deg": 30.0, + "offset_deg": 17.33, + "tier": "primary", + "dev_deg_median": 8.64, + "wrist_pos_err_mm_median": 54.6 + } + }, + "frames_by_state": { + "ace_sample": 9766, + "interpolated": 1506, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9989, + "observed_fraction_of_valid": 0.9989, + "palm_axis_vs_markers_deg": { + "gsi": 14.57, + "smplx": 1.13 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.4, + "p90": 7.0 + }, + "registered": { + "median": 6.0, + "p90": 6.7 + } + } + }, + "right": { + "offset_deg": 10.8, + "offset_rotvec": [ + -0.0793, + -0.1023, + 0.1371 + ], + "dev_deg": { + "median": 7.31, + "p90": 24.31 + }, + "samples": 2364, + "accepted": 2221, + "wrist_pos_err_mm_median": 73.9, + "per_camera": { + "head": { + "samples": 2364, + "accepted": 2221, + "gate_deg": 30.0, + "offset_deg": 10.8, + "tier": "primary", + "dev_deg_median": 7.31, + "wrist_pos_err_mm_median": 73.9 + } + }, + "frames_by_state": { + "ace_sample": 9044, + "interpolated": 2228, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9989, + "observed_fraction_of_valid": 0.9989, + "palm_axis_vs_markers_deg": { + "gsi": 11.89, + "smplx": 0.73 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.0, + "p90": 6.0 + }, + "registered": { + "median": 4.8, + "p90": 5.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T12:48:30.627880+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P04/session_007", "family": "locomotion_primitives", "primitive": "P04", "source_session": "20260831/P04/20260831_084443_session53" + }, + "task": { + "primitive": "P04", + "instruction": "Start still; gradually go slow \u2192 normal \u2192 fast; briefly maintain fast speed; stop." } } diff --git a/actions/locomotion_primitives/P04/session_007/motions/hands_mano.npz b/actions/locomotion_primitives/P04/session_007/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..3ef69ba14c27a670a5d681e46cf6bea1092d2e46 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_007/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84d7fe7ad628adc20f039f5216a5c0f706dabf26c89a34017744e6bf13cb3ebe +size 3310640 diff --git a/actions/locomotion_primitives/P04/session_007/motions/smplx.npz b/actions/locomotion_primitives/P04/session_007/motions/smplx.npz index 112e7340e5e9ae2ead8abffd2b52070b6656f5e5..3ab7dcb427fa65acbf2ea84678179a63d9c2b660 100644 --- a/actions/locomotion_primitives/P04/session_007/motions/smplx.npz +++ b/actions/locomotion_primitives/P04/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4af7cbc5d34b36c51b1ad01fde1455f39164641951d75e6f4bb2fe845e0d3783 -size 4338983 +oid sha256:40b691d1d01946cce63656af315f3a682d76f5f0b2c070af246d321ca3aadf46 +size 8131624 diff --git a/actions/locomotion_primitives/P04/session_008/annotations.json b/actions/locomotion_primitives/P04/session_008/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..4e35e15abbe35ced93d790c5b233a54fe7ac97c5 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_008/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P04", + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 98.966656, + "video": "left_eye", + "video_t_start": 0.038078515367996335 + } + ], + "episodes": [ + { + "id": "8c3018d1-a21c-4953-918c-393336560349", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 1.417, + "end_s": 8.287, + "t_start": 1.4551, + "t_end": 8.3251, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "a5a0c7f8-772e-40d8-b610-d7dd9e825753", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 10.362, + "end_s": 16.306, + "t_start": 10.4001, + "t_end": 16.3441, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "495c6639-509d-4a97-86d7-d3049a5037b6", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 18.393, + "end_s": 24.847, + "t_start": 18.4311, + "t_end": 24.8851, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "4ac2a499-2e1f-4fca-8e9d-66a724e55099", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 27.747, + "end_s": 33.89, + "t_start": 27.7851, + "t_end": 33.9281, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "27bd6abe-5d08-4c4b-a219-628b101da09c", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 36.765, + "end_s": 43.086, + "t_start": 36.8031, + "t_end": 43.1241, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "7c11bba4-00ff-477f-900a-204cdd410db1", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 46.118, + "end_s": 53.078, + "t_start": 46.1561, + "t_end": 53.1161, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "cd39ed9f-8673-4569-b5d1-e6e142d547e1", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 55.595, + "end_s": 62.482, + "t_start": 55.6331, + "t_end": 62.5201, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "21801287-e4fe-416a-9d1e-3d3500151207", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 65.559, + "end_s": 72.355, + "t_start": 65.5971, + "t_end": 72.3931, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "083417e3-1786-4c3d-b260-e7c2931a9146", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 75.202, + "end_s": 82.393, + "t_start": 75.2401, + "t_end": 82.4311, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "2f2a8a83-7353-4ffb-b590-305c98e58df6", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 85.942, + "end_s": 93.807, + "t_start": 85.9801, + "t_end": 93.8451, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P04/session_008/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P04/session_008/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..aea8c2af374170ddd7b2c6251682c65bab721e25 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_008/cameras/gsi_online_calibration.json @@ -0,0 +1,260 @@ +{ + "camera_fit": { + "groups_dropped": [ + { + "matches": 170, + "median_px": 624.93, + "pair": [ + "left", + "right" + ] + } + ], + "groups_used": 14, + "median_px": 0.34 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.9488, + "gate_fail": [], + "held_out_px_after": 0.969, + "held_out_px_before": 5.954, + "inliers": 1369, + "position_fitted": false, + "rotvec_deg": [ + 0.0987, + 0.9001, + 0.2835 + ], + "split_deg": 0.2894, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.0729, + "gate_fail": [], + "held_out_px_after": 0.428, + "held_out_px_before": 2.607, + "inliers": 2442, + "position_fitted": true, + "position_mm": [ + -9.15, + 10.66, + 13.37 + ], + "position_sigma_mm": 0.349, + "position_split_mm": 5.638, + "rotvec_deg": [ + 0.0992, + 0.6978, + -0.8089 + ], + "split_deg": 0.1111, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.512, + "gate_fail": [], + "held_out_px_after": 0.544, + "held_out_px_before": 3.098, + "inliers": 1576, + "position_fitted": false, + "rotvec_deg": [ + 0.4826, + -0.1615, + 0.056 + ], + "split_deg": 0.2876, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.7108, + "gate_fail": [], + "held_out_px_after": 0.47, + "held_out_px_before": 2.588, + "inliers": 2546, + "position_fitted": true, + "position_mm": [ + -7.95, + 9.46, + 11.18 + ], + "position_sigma_mm": 0.356, + "position_split_mm": 4.717, + "rotvec_deg": [ + 0.199, + 0.3219, + -0.6017 + ], + "split_deg": 0.1331, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.8993, + "gate_fail": [], + "held_out_px_after": 0.38, + "held_out_px_before": 8.425, + "inliers": 3679, + "position_fitted": false, + "rotvec_deg": [ + -0.3485, + 0.4579, + -1.8101 + ], + "split_deg": 0.0515, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "850a0e6aafa85fdf", + "factory_root_name": "850a0e6aafa85fdf", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "e561615bcc2f02e3d44c155fe6309536624656a803e05f697ed5981a032f3501", + "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "a01ba0e44176c34dc7b1971acefd453c4e510470f19c7fd03bf966371db9f618", + "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "e348af67728dc93e9ad0f165f7cce0d455c25778b21ce2b1a07da73cc5bae57e", + "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "ed50cdf8ab86db8412b71ff8d6266b426f0fcbee46c87e6440c5a76fb3d9c802", + "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3" + } + }, + "input_fingerprint": "e0011824546fba2c", + "kind": "online_calibration", + "output_sha256": "cd6a045f70d0def9b541c66b57f0b8f19b31eca873f32c4a4e4c0f583795537a", + "overlap": { + "left-right": 0.487, + "left_eye-left": 0.707, + "left_eye-right": 0.685, + "left_front-left": 0.484, + "left_front-left_eye": 0.709, + "left_front-right": 0.464, + "left_front-right_eye": 0.711, + "left_front-right_front": 1.0, + "right_eye-left": 0.708, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.668, + "right_front-left": 0.482, + "right_front-left_eye": 0.711, + "right_front-right": 0.463, + "right_front-right_eye": 0.724 + }, + "picture_change": { + "left": 40.011, + "left_eye": 36.137, + "left_front": 43.268, + "right": 38.474, + "right_eye": 37.653, + "right_front": 42.683 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 10720037111222, + 10721037089000, + 10726037077888, + 10727037077888, + 10729037089000, + 10730037089000, + 10731037077888, + 10734037077888, + 10735037089000, + 10739037089000, + 10740037077888, + 10741037077888, + 10743037222333, + 10744037089000, + 10747037077888, + 10748037077888, + 10752037100111, + 10753037089000, + 10755037089000, + 10756037077888, + 10757037077888, + 10761037100111, + 10762037077888, + 10763037089000, + 10765037100111, + 10766037100111, + 10771037222333, + 10772037111222, + 10773037077888, + 10775037089000, + 10776037089000, + 10780037089000, + 10781037089000, + 10782037089000, + 10785037089000, + 10786037089000, + 10790037089000, + 10791037089000, + 10792037044555, + 10795037077888, + 10796037077888, + 10800037077888, + 10801037100111, + 10802037089000, + 10806037077888, + 10807037089000, + 10809037089000, + 10810037089000, + 10812037089000, + 10813037089000, + 10815037100111, + 10816037089000 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P04/session_008/cameras/slam.npz b/actions/locomotion_primitives/P04/session_008/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..cdb2c0f860304eb3c997aa5b9798eadbc85d7ec4 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_008/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e7c695bb171ca956ecb6002203cb973df3e52629761a6650218ff8fb0fb3979 +size 568955 diff --git a/actions/locomotion_primitives/P04/session_008/meta.json b/actions/locomotion_primitives/P04/session_008/meta.json index b3384c276f89bdfc9dee3d110b677e7c030c53ad..6cf9e2b6e3265d934b8621597ba2a19692267c11 100644 --- a/actions/locomotion_primitives/P04/session_008/meta.json +++ b/actions/locomotion_primitives/P04/session_008/meta.json @@ -332,8 +332,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -513,10 +513,124 @@ "file": "derived/rig_tracker_provider/rig_tracker.json", "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 18.28, + "offset_rotvec": [ + -0.1457, + -0.2836, + -0.0119 + ], + "dev_deg": { + "median": 9.11, + "p90": 21.71 + }, + "samples": 2536, + "accepted": 2430, + "wrist_pos_err_mm_median": 51.7, + "per_camera": { + "head": { + "samples": 2536, + "accepted": 2430, + "gate_deg": 30.0, + "offset_deg": 18.28, + "tier": "primary", + "dev_deg_median": 9.11, + "wrist_pos_err_mm_median": 51.7 + } + }, + "frames_by_state": { + "ace_sample": 9912, + "interpolated": 1960, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.999, + "observed_fraction_of_valid": 0.999, + "palm_axis_vs_markers_deg": { + "gsi": 16.3, + "smplx": 0.93 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.9, + "p90": 7.6 + }, + "registered": { + "median": 6.4, + "p90": 6.9 + } + } + }, + "right": { + "offset_deg": 10.24, + "offset_rotvec": [ + -0.0827, + -0.0658, + 0.144 + ], + "dev_deg": { + "median": 8.87, + "p90": 27.02 + }, + "samples": 2516, + "accepted": 2318, + "wrist_pos_err_mm_median": 71.4, + "per_camera": { + "head": { + "samples": 2516, + "accepted": 2318, + "gate_deg": 30.0, + "offset_deg": 10.24, + "tier": "primary", + "dev_deg_median": 8.87, + "wrist_pos_err_mm_median": 71.4 + } + }, + "frames_by_state": { + "ace_sample": 9458, + "interpolated": 2202, + "mean_hand": 224, + "no_body_fit": 0 + }, + "observed_fraction": 0.9812, + "observed_fraction_of_valid": 0.9812, + "palm_axis_vs_markers_deg": { + "gsi": 11.08, + "smplx": 0.71 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.8, + "p90": 6.2 + }, + "registered": { + "median": 4.8, + "p90": 6.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T12:48:24.226370+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P04/session_008", "family": "locomotion_primitives", "primitive": "P04", "source_session": "20260831/P04/20260831_084627_session54" + }, + "task": { + "primitive": "P04", + "instruction": "Start still; gradually go slow \u2192 normal \u2192 fast; briefly maintain fast speed; stop." } } diff --git a/actions/locomotion_primitives/P04/session_008/motions/hands_mano.npz b/actions/locomotion_primitives/P04/session_008/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..44c28fd512bb7e5efa3f650f545247c8c79e82f5 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_008/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f70c2ee3220cdd38eb910f2fcc6a007e0d5e53e73890b5a3977966e7d408f96f +size 3454180 diff --git a/actions/locomotion_primitives/P04/session_008/motions/smplx.npz b/actions/locomotion_primitives/P04/session_008/motions/smplx.npz index 6d19195353ff1b95a6173ed607387bdc91aec911..a245b2199ff9f0e3cf7c0189be151593b1ccf4ab 100644 --- a/actions/locomotion_primitives/P04/session_008/motions/smplx.npz +++ b/actions/locomotion_primitives/P04/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c0a879742c09b27dd9e227bf7654812d203f11a8398e1c682bc73b1b0d50ed0d -size 4569369 +oid sha256:b7c8da77294ecbfbec96ed56beeccee08f8f4d0ea36c091a8dc907307bf432f4 +size 8539100 diff --git a/actions/locomotion_primitives/P04/session_009/annotations.json b/actions/locomotion_primitives/P04/session_009/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..7dfef09aaf76ee15b389c49bafc24766956324d8 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_009/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P04", + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 93.966678, + "video": "left_eye", + "video_t_start": 0.038586709615660464 + } + ], + "episodes": [ + { + "id": "1d7c2d49-9b6e-46f8-aee9-8ac0df1a3e95", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 1.043, + "end_s": 7.744, + "t_start": 1.0816, + "t_end": 7.7826, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "dabd0a90-0ecc-42ef-999d-cd3ec24f6206", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 9.854, + "end_s": 15.503, + "t_start": 9.8926, + "t_end": 15.5416, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "2697dd9b-d1a2-44ec-b706-53ea4e78dbbe", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 17.545, + "end_s": 23.995, + "t_start": 17.5836, + "t_end": 24.0336, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "7ecc478f-939e-4fd7-a669-c62640fa7758", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 26.098, + "end_s": 32.203, + "t_start": 26.1366, + "t_end": 32.2416, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "6f62094c-add6-47c5-ab7b-414b789edc41", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 34.122, + "end_s": 39.968, + "t_start": 34.1606, + "t_end": 40.0066, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "25198e24-c586-420e-a2a3-c2e7861a3fac", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 43.046, + "end_s": 49.19, + "t_start": 43.0846, + "t_end": 49.2286, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "52833d4a-44e2-4996-ad8e-4689d2912b5a", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 51.756, + "end_s": 58.636, + "t_start": 51.7946, + "t_end": 58.6746, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "e675339a-7597-4f3b-90d6-edbbf99b700b", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 61.519, + "end_s": 67.668, + "t_start": 61.5576, + "t_end": 67.7066, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "bbe8ce27-c168-40cc-a6fb-ed6461eaf801", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 71.101, + "end_s": 77.277, + "t_start": 71.1396, + "t_end": 77.3156, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "eeec3299-89b4-4b64-baf6-4bbdf21b964b", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 80.526, + "end_s": 87.679, + "t_start": 80.5646, + "t_end": 87.7176, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P04/session_009/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P04/session_009/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..0d8de0f763ab9af616287788998b9575125e5a0f --- /dev/null +++ b/actions/locomotion_primitives/P04/session_009/cameras/gsi_online_calibration.json @@ -0,0 +1,261 @@ +{ + "camera_fit": { + "groups_dropped": [ + { + "matches": 165, + "median_px": 15.83, + "pair": [ + "left", + "right" + ] + } + ], + "groups_used": 14, + "median_px": 0.359 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.8666, + "gate_fail": [], + "held_out_px_after": 0.571, + "held_out_px_before": 6.469, + "inliers": 1685, + "position_fitted": false, + "rotvec_deg": [ + 0.1436, + 0.818, + 0.2476 + ], + "split_deg": 0.0902, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.0983, + "gate_fail": [], + "held_out_px_after": 0.328, + "held_out_px_before": 2.606, + "inliers": 2755, + "position_fitted": true, + "position_mm": [ + -8.35, + 9.47, + 13.65 + ], + "position_sigma_mm": 0.323, + "position_split_mm": 5.75, + "rotvec_deg": [ + 0.1032, + 0.7033, + -0.8373 + ], + "split_deg": 0.1688, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.5383, + "gate_fail": [], + "held_out_px_after": 0.675, + "held_out_px_before": 3.111, + "inliers": 1316, + "position_fitted": false, + "rotvec_deg": [ + 0.491, + -0.2201, + 0.0132 + ], + "split_deg": 0.1692, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.8103, + "gate_fail": [], + "held_out_px_after": 0.353, + "held_out_px_before": 1.956, + "inliers": 3090, + "position_fitted": true, + "position_mm": [ + -10.06, + 9.4, + 9.48 + ], + "position_sigma_mm": 0.339, + "position_split_mm": 4.951, + "rotvec_deg": [ + 0.2734, + 0.3398, + -0.683 + ], + "split_deg": 0.1333, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.8895, + "gate_fail": [], + "held_out_px_after": 0.414, + "held_out_px_before": 7.931, + "inliers": 3631, + "position_fitted": false, + "rotvec_deg": [ + -0.3396, + 0.4895, + -1.7931 + ], + "split_deg": 0.0423, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "850a0e6aafa85fdf", + "factory_root_name": "850a0e6aafa85fdf", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "7fa7d1c185cff369df862b087ed44350391cdc50de03c8fa20f8d2c48bf0528d", + "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "aa96fdbecfb026fb23650ad0c2b67377f546b4ae02aebb73816167d293dd6dce", + "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "12ea60a877e5afe0482bdc1d1568a6b337d62817b1688a7cc4a8f6109d73e832", + "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "5e28c3bbd6ae272042aa5fa3c79cd0cc48fbd76bab67184683af9c13a91fb516", + "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3" + } + }, + "input_fingerprint": "cd0e13845ae3961c", + "kind": "online_calibration", + "output_sha256": "9c2276401e48221d05eebdf79b79c6c1f4015babc913113be26c50a62521aecd", + "overlap": { + "left-right": 0.487, + "left_eye-left": 0.707, + "left_eye-right": 0.685, + "left_front-left": 0.484, + "left_front-left_eye": 0.709, + "left_front-right": 0.464, + "left_front-right_eye": 0.711, + "left_front-right_front": 1.0, + "right_eye-left": 0.708, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.668, + "right_front-left": 0.482, + "right_front-left_eye": 0.711, + "right_front-right": 0.463, + "right_front-right_eye": 0.724 + }, + "picture_change": { + "left": 40.348, + "left_eye": 36.775, + "left_front": 42.641, + "right": 37.69, + "right_eye": 39.069, + "right_front": 42.495 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 10833119081000, + 10834119058777, + 10838119069888, + 10839119092111, + 10840119069888, + 10843119225444, + 10844119047666, + 10846119181000, + 10847119092111, + 10850119081000, + 10851119225444, + 10854119047666, + 10855119081000, + 10856119081000, + 10859119069888, + 10860119092111, + 10861119069888, + 10866119069888, + 10867119069888, + 10868119069888, + 10871119081000, + 10872119069888, + 10874119058777, + 10875119081000, + 10876119092111, + 10880119081000, + 10881119069888, + 10884119047666, + 10885119081000, + 10886119036555, + 10889119081000, + 10890119092111, + 10891119081000, + 10893119081000, + 10894119047666, + 10897119069888, + 10898119092111, + 10899119081000, + 10900119081000, + 10903119069888, + 10904119047666, + 10906119069888, + 10907119081000, + 10908119081000, + 10909119092111, + 10912119092111, + 10913119081000, + 10915119081000, + 10916119069888, + 10918119069888, + 10919119081000, + 10921119069888, + 10922119081000 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P04/session_009/cameras/slam.npz b/actions/locomotion_primitives/P04/session_009/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..672ccea956b4d4e1692fbb3e5a72b946133ac2f1 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_009/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48ca7d243dc3226fae1486e3e2bedcaf0229f9fc5b6491c091ba20a23c4f6b9e +size 540521 diff --git a/actions/locomotion_primitives/P04/session_009/meta.json b/actions/locomotion_primitives/P04/session_009/meta.json index a04bc8690009722edb15f0b3b71c496de707e2fe..2a0d917fa14a3c5829cfce2f667633f11b874d7f 100644 --- a/actions/locomotion_primitives/P04/session_009/meta.json +++ b/actions/locomotion_primitives/P04/session_009/meta.json @@ -332,8 +332,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -513,10 +513,124 @@ "file": "derived/rig_tracker_provider/rig_tracker.json", "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.87, + "offset_rotvec": [ + -0.1437, + -0.2763, + -0.0152 + ], + "dev_deg": { + "median": 9.3, + "p90": 22.06 + }, + "samples": 2452, + "accepted": 2358, + "wrist_pos_err_mm_median": 58.1, + "per_camera": { + "head": { + "samples": 2452, + "accepted": 2358, + "gate_deg": 30.0, + "offset_deg": 17.87, + "tier": "primary", + "dev_deg_median": 9.3, + "wrist_pos_err_mm_median": 58.1 + } + }, + "frames_by_state": { + "ace_sample": 9586, + "interpolated": 1686, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9989, + "observed_fraction_of_valid": 0.9989, + "palm_axis_vs_markers_deg": { + "gsi": 15.42, + "smplx": 1.04 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.8, + "p90": 7.4 + }, + "registered": { + "median": 6.5, + "p90": 7.1 + } + } + }, + "right": { + "offset_deg": 10.87, + "offset_rotvec": [ + -0.0796, + -0.1091, + 0.1333 + ], + "dev_deg": { + "median": 8.11, + "p90": 26.35 + }, + "samples": 2401, + "accepted": 2232, + "wrist_pos_err_mm_median": 78.2, + "per_camera": { + "head": { + "samples": 2401, + "accepted": 2232, + "gate_deg": 30.0, + "offset_deg": 10.87, + "tier": "primary", + "dev_deg_median": 8.11, + "wrist_pos_err_mm_median": 78.2 + } + }, + "frames_by_state": { + "ace_sample": 9094, + "interpolated": 2178, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9989, + "observed_fraction_of_valid": 0.9989, + "palm_axis_vs_markers_deg": { + "gsi": 12.3, + "smplx": 0.67 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.7, + "p90": 8.1 + }, + "registered": { + "median": 6.7, + "p90": 8.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T12:48:24.519450+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P04/session_009", "family": "locomotion_primitives", "primitive": "P04", "source_session": "20260831/P04/20260831_084820_session55" + }, + "task": { + "primitive": "P04", + "instruction": "Start still; gradually go slow \u2192 normal \u2192 fast; briefly maintain fast speed; stop." } } diff --git a/actions/locomotion_primitives/P04/session_009/motions/hands_mano.npz b/actions/locomotion_primitives/P04/session_009/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..8015704cfe2975216719de2bf3ce0ebd1184627f --- /dev/null +++ b/actions/locomotion_primitives/P04/session_009/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:890de3ecffc64cfeb3b09f344c9fa42a11a8210e627d35938ba531232811e3a9 +size 3318632 diff --git a/actions/locomotion_primitives/P04/session_009/motions/smplx.npz b/actions/locomotion_primitives/P04/session_009/motions/smplx.npz index 74f8c9c4cd66aaa5bd9e4ebfb2d9e68962f4f66e..32a3ad670dc965a6845f75a2119f42093cfdcfb4 100644 --- a/actions/locomotion_primitives/P04/session_009/motions/smplx.npz +++ b/actions/locomotion_primitives/P04/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e64a4e8099205d9049d92af5a745891ea05f71c2365221afc97e26315f3424d8 -size 4343241 +oid sha256:58e316ac1bc9ba5bb73dcfd9c69287c51f54e453594ebd5e53c390fd59ad56a4 +size 8136669 diff --git a/actions/locomotion_primitives/P04/session_010/annotations.json b/actions/locomotion_primitives/P04/session_010/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..f912d6b8e47bead447311d8393e4da5203d17edb --- /dev/null +++ b/actions/locomotion_primitives/P04/session_010/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P04", + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 103.966656, + "video": "left_eye", + "video_t_start": 0.0432552449090078 + } + ], + "episodes": [ + { + "id": "b84a3d01-c48b-4fa8-a26c-5d01e5db7f16", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 1.249, + "end_s": 7.353, + "t_start": 1.2923, + "t_end": 7.3963, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "64eba97b-84f2-49be-82d1-1adc384c2e1e", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 9.524, + "end_s": 15.696, + "t_start": 9.5673, + "t_end": 15.7393, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "9342cfaf-b3b2-4b2c-a72c-9d0fd2bf28b3", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 18.842, + "end_s": 26.359, + "t_start": 18.8853, + "t_end": 26.4023, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "db53a541-e00d-486c-a991-d771520a851e", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 29.475, + "end_s": 36.745, + "t_start": 29.5183, + "t_end": 36.7883, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "b6203b8b-1da3-4ded-a41d-6829018d1284", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 39.58, + "end_s": 47.033, + "t_start": 39.6233, + "t_end": 47.0763, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "b48a6606-dd2e-48fa-a424-016872cf4c0a", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 49.941, + "end_s": 57.805, + "t_start": 49.9843, + "t_end": 57.8483, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "951c26ca-1559-464d-ba56-a0295c1b3e2e", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 60.278, + "end_s": 67.72, + "t_start": 60.3213, + "t_end": 67.7633, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "cdfb94a0-723d-47ef-ad15-b18ac7c39fe6", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 70.605, + "end_s": 77.083, + "t_start": 70.6483, + "t_end": 77.1263, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "976b62db-0b74-45a8-b72a-681737a1dc21", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 79.691, + "end_s": 86.672, + "t_start": 79.7343, + "t_end": 86.7153, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "8d85dbac-3867-4809-8018-f9caf41a420f", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 89.506, + "end_s": 97.104, + "t_start": 89.5493, + "t_end": 97.1473, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P04/session_010/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P04/session_010/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..9a30c69e55af7f06c41df1f2e2d26808a328b91c --- /dev/null +++ b/actions/locomotion_primitives/P04/session_010/cameras/gsi_online_calibration.json @@ -0,0 +1,263 @@ +{ + "camera_fit": { + "groups_dropped": [ + { + "matches": 170, + "median_px": 18.62, + "pair": [ + "left", + "right" + ] + } + ], + "groups_used": 14, + "median_px": 0.415 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.8089, + "gate_fail": [], + "held_out_px_after": 0.681, + "held_out_px_before": 5.797, + "inliers": 1430, + "position_fitted": false, + "rotvec_deg": [ + -0.1451, + 0.6732, + 0.4243 + ], + "split_deg": 0.0961, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.0394, + "gate_fail": [], + "held_out_px_after": 0.51, + "held_out_px_before": 2.524, + "inliers": 2494, + "position_fitted": true, + "position_mm": [ + -12.82, + 4.28, + 5.1 + ], + "position_sigma_mm": 0.338, + "position_split_mm": 3.225, + "rotvec_deg": [ + -0.1385, + 0.6845, + -0.7699 + ], + "split_deg": 0.2069, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.1159, + "gate_fail": [], + "held_out_px_after": 0.76, + "held_out_px_before": 3.024, + "inliers": 1442, + "position_fitted": false, + "rotvec_deg": [ + 0.0725, + 0.0504, + -0.075 + ], + "split_deg": 0.1121, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.6063, + "gate_fail": [], + "held_out_px_after": 0.554, + "held_out_px_before": 2.396, + "inliers": 2616, + "position_fitted": false, + "position_rejected": { + "position_mm": [ + -9.95, + 8.37, + 11.86 + ], + "position_sigma_mm": 0.499, + "position_split_mm": 15.861 + }, + "rotvec_deg": [ + -0.051, + 0.288, + -0.5311 + ], + "split_deg": 0.2078, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.8909, + "gate_fail": [], + "held_out_px_after": 0.408, + "held_out_px_before": 7.432, + "inliers": 3600, + "position_fitted": false, + "rotvec_deg": [ + -0.354, + 0.4893, + -1.7918 + ], + "split_deg": 0.0409, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "850a0e6aafa85fdf", + "factory_root_name": "850a0e6aafa85fdf", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "f9e4b14e874c33ae8ec9ac935c1b705b68b3467b56af502a8095bdb488a33156", + "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "e5bc4ccd2aae5692cf98721b93031e4219ba4235c9b3cc567620dc2edfb61a28", + "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "b5507571c9180386c663d75db8fe832e5fa613eb0f7f79bf5ea27614fac93b3a", + "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "a9d6ec15e1912277767ae91cf58525adf15b1e23f7de49e7c4d793c1a7133daf", + "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3" + } + }, + "input_fingerprint": "d5ee34d86da14ba9", + "kind": "online_calibration", + "output_sha256": "0b2a2896e966907d8fb4c61895602c59d67d4500b0d2b7707ea9588cff669ca6", + "overlap": { + "left-right": 0.487, + "left_eye-left": 0.707, + "left_eye-right": 0.685, + "left_front-left": 0.484, + "left_front-left_eye": 0.709, + "left_front-right": 0.464, + "left_front-right_eye": 0.711, + "left_front-right_front": 1.0, + "right_eye-left": 0.708, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.668, + "right_front-left": 0.482, + "right_front-left_eye": 0.711, + "right_front-right": 0.463, + "right_front-right_eye": 0.724 + }, + "picture_change": { + "left": 39.337, + "left_eye": 36.319, + "left_front": 44.083, + "right": 36.359, + "right_eye": 38.341, + "right_front": 43.189 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 10936272838000, + 10937272838000, + 10941272826888, + 10942272826888, + 10944272804666, + 10945272826888, + 10949272838000, + 10950272826888, + 10951272838000, + 10954272971333, + 10955272838000, + 10959272838000, + 10960272826888, + 10961272826888, + 10964272849111, + 10965272838000, + 10969272826888, + 10970272838000, + 10971272838000, + 10974272804666, + 10975272849111, + 10977272826888, + 10978272838000, + 10980272826888, + 10981272826888, + 10985272838000, + 10986272826888, + 10989272826888, + 10990272926888, + 10991272804666, + 10995272838000, + 10996272838000, + 10997272826888, + 11001272815777, + 11002272826888, + 11005272838000, + 11006272826888, + 11007272826888, + 11011272838000, + 11012272838000, + 11014272838000, + 11015272838000, + 11019272838000, + 11020272838000, + 11021272826888, + 11022272826888, + 11025272838000, + 11026272838000, + 11027272838000, + 11031272838000, + 11032272838000, + 11034272971333, + 11035272849111 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P04/session_010/cameras/slam.npz b/actions/locomotion_primitives/P04/session_010/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..30f393d66842ba1bb234f84ed0e584c9a30995b0 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_010/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7cb0f03d7c3adc2a4fb1339864d275e09a9204dd45aa4c84d7ffe191bd3593cc +size 609170 diff --git a/actions/locomotion_primitives/P04/session_010/meta.json b/actions/locomotion_primitives/P04/session_010/meta.json index 8eb9262271feea764d196c5b1ade8bfed1831c8f..5c481affa342122475124e1c989d14f335525958 100644 --- a/actions/locomotion_primitives/P04/session_010/meta.json +++ b/actions/locomotion_primitives/P04/session_010/meta.json @@ -335,8 +335,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -517,10 +517,124 @@ "file": "derived/rig_tracker_provider/rig_tracker.json", "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.19, + "offset_rotvec": [ + -0.1275, + -0.2713, + -0.0137 + ], + "dev_deg": { + "median": 8.55, + "p90": 21.08 + }, + "samples": 2637, + "accepted": 2542, + "wrist_pos_err_mm_median": 77.1, + "per_camera": { + "head": { + "samples": 2637, + "accepted": 2542, + "gate_deg": 30.0, + "offset_deg": 17.19, + "tier": "primary", + "dev_deg_median": 8.55, + "wrist_pos_err_mm_median": 77.1 + } + }, + "frames_by_state": { + "ace_sample": 10364, + "interpolated": 2106, + "mean_hand": 14, + "no_body_fit": 0 + }, + "observed_fraction": 0.9989, + "observed_fraction_of_valid": 0.9989, + "palm_axis_vs_markers_deg": { + "gsi": 15.99, + "smplx": 0.82 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.4, + "p90": 10.7 + }, + "registered": { + "median": 9.5, + "p90": 12.1 + } + } + }, + "right": { + "offset_deg": 9.43, + "offset_rotvec": [ + -0.0985, + -0.0557, + 0.1195 + ], + "dev_deg": { + "median": 9.66, + "p90": 28.24 + }, + "samples": 2506, + "accepted": 2295, + "wrist_pos_err_mm_median": 102.2, + "per_camera": { + "head": { + "samples": 2506, + "accepted": 2295, + "gate_deg": 30.0, + "offset_deg": 9.43, + "tier": "primary", + "dev_deg_median": 9.66, + "wrist_pos_err_mm_median": 102.2 + } + }, + "frames_by_state": { + "ace_sample": 9392, + "interpolated": 2834, + "mean_hand": 258, + "no_body_fit": 0 + }, + "observed_fraction": 0.9793, + "observed_fraction_of_valid": 0.9793, + "palm_axis_vs_markers_deg": { + "gsi": 11.89, + "smplx": 0.7 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.0, + "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": "2026-11-03T12:48:28.021279+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P04/session_010", "family": "locomotion_primitives", "primitive": "P04", "source_session": "20260831/P04/20260831_085003_session56" + }, + "task": { + "primitive": "P04", + "instruction": "Start still; gradually go slow \u2192 normal \u2192 fast; briefly maintain fast speed; stop." } } diff --git a/actions/locomotion_primitives/P04/session_010/motions/hands_mano.npz b/actions/locomotion_primitives/P04/session_010/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..0eeef272b1502e33dbcbd79bcad5b5db88818b17 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_010/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7df33aaf0da4fbea1528054c77643b5b12262415871945383a8a0bb704f798ca +size 3538522 diff --git a/actions/locomotion_primitives/P04/session_010/motions/smplx.npz b/actions/locomotion_primitives/P04/session_010/motions/smplx.npz index 8fb283da0ffeaf387f620c4e152a286a9bfe4da7..0115b6feff991703cc2bf759d3b603d278682aae 100644 --- a/actions/locomotion_primitives/P04/session_010/motions/smplx.npz +++ b/actions/locomotion_primitives/P04/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:263bf93fa2941140171b4e3bec8121ee57aaa23c750adc23c699109af608a3f2 -size 4792066 +oid sha256:6995c48fc2288e1e294847bb53effed3fafd7187b60d748f19610dd44774b0ce +size 8954830 diff --git a/actions/locomotion_primitives/P04/session_011/annotations.json b/actions/locomotion_primitives/P04/session_011/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..f78ae07fb1381ac14c413e68e85f24b97f477939 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_011/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P04", + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 93.966644, + "video": "left_eye", + "video_t_start": 0.04033656997149704 + } + ], + "episodes": [ + { + "id": "34cb285a-6591-47b1-9a88-1eb729c8deec", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 0.693, + "end_s": 7.079, + "t_start": 0.7333, + "t_end": 7.1193, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "86610ed4-d6c1-476a-8bae-e1b3db4c1f60", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 9.345, + "end_s": 15.155, + "t_start": 9.3853, + "t_end": 15.1953, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "c745a154-1c33-41d7-9483-29d89a796ee3", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 17.726, + "end_s": 23.58, + "t_start": 17.7663, + "t_end": 23.6203, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "c57edf47-4507-4aaf-bbbb-56129b3e7ef7", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 26.32, + "end_s": 32.174, + "t_start": 26.3603, + "t_end": 32.2143, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "eae91fde-acc2-4200-a95d-cf7693a9de22", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 34.67, + "end_s": 40.891, + "t_start": 34.7103, + "t_end": 40.9313, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "e906de7e-a0ab-4865-8795-60a398c86baa", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 43.963, + "end_s": 49.733, + "t_start": 44.0033, + "t_end": 49.7733, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "819dc365-90d5-4418-83ae-c4a537fa314e", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 53, + "end_s": 59.731, + "t_start": 53.0403, + "t_end": 59.7713, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "b528c0c2-931c-4f5c-941b-5a9274bb01e8", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 62.281, + "end_s": 68.88, + "t_start": 62.3213, + "t_end": 68.9203, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "d4912f56-c278-4ff7-b654-f1ae0b87d3b3", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 71.816, + "end_s": 78.005, + "t_start": 71.8563, + "t_end": 78.0453, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "e800704b-6f72-43d1-9ede-42d12c35ad4e", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 81.416, + "end_s": 87.721, + "t_start": 81.4563, + "t_end": 87.7613, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P04/session_011/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P04/session_011/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..b48c08ee8b2add7f66ba3389b77d6c03d809cb71 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_011/cameras/gsi_online_calibration.json @@ -0,0 +1,259 @@ +{ + "camera_fit": { + "groups_dropped": [ + { + "matches": 114, + "median_px": 35.87, + "pair": [ + "left", + "right" + ] + } + ], + "groups_used": 14, + "median_px": 0.342 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.8756, + "gate_fail": [], + "held_out_px_after": 0.443, + "held_out_px_before": 7.499, + "inliers": 2366, + "position_fitted": false, + "rotvec_deg": [ + 0.1502, + 0.8034, + 0.314 + ], + "split_deg": 0.087, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.0925, + "gate_fail": [], + "held_out_px_after": 0.338, + "held_out_px_before": 2.844, + "inliers": 3275, + "position_fitted": true, + "position_mm": [ + -8.91, + 9.91, + 12.2 + ], + "position_sigma_mm": 0.357, + "position_split_mm": 1.099, + "rotvec_deg": [ + 0.1171, + 0.7552, + -0.7808 + ], + "split_deg": 0.0357, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.4192, + "gate_fail": [], + "held_out_px_after": 0.543, + "held_out_px_before": 3.221, + "inliers": 1777, + "position_fitted": false, + "rotvec_deg": [ + 0.3933, + -0.1436, + -0.0206 + ], + "split_deg": 0.0829, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.748, + "gate_fail": [], + "held_out_px_after": 0.361, + "held_out_px_before": 2.315, + "inliers": 3967, + "position_fitted": true, + "position_mm": [ + -15.39, + 11.34, + 11.97 + ], + "position_sigma_mm": 0.392, + "position_split_mm": 1.191, + "rotvec_deg": [ + 0.2608, + 0.3104, + -0.6286 + ], + "split_deg": 0.0396, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 2.001, + "gate_fail": [], + "held_out_px_after": 0.31, + "held_out_px_before": 10.402, + "inliers": 4681, + "position_fitted": false, + "rotvec_deg": [ + -0.3548, + 0.4841, + -1.9088 + ], + "split_deg": 0.0168, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "850a0e6aafa85fdf", + "factory_root_name": "850a0e6aafa85fdf", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "5febd49d689516647fc6b940f4d7e5f5cf46f47c875788eaaab0546b54471df7", + "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "fa3efccc6a1a8e336f6c44800771bd1654d32fcdfcf317905928590c63345b5c", + "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "097115b1924d8ef1875b0f6bd305633678ea21b8a2cac29b491eabec9b69bb66", + "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "8571e783439c84d86451408f6617cee65b3fe0cebbad58cb14773499a9974d6b", + "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3" + } + }, + "input_fingerprint": "4cdea3862704feae", + "kind": "online_calibration", + "output_sha256": "bf8eca598070e047b5b66a9bc5d5a86947ccd6c2603b3a83017824ef6f13d151", + "overlap": { + "left-right": 0.487, + "left_eye-left": 0.707, + "left_eye-right": 0.685, + "left_front-left": 0.484, + "left_front-left_eye": 0.709, + "left_front-right": 0.464, + "left_front-right_eye": 0.711, + "left_front-right_front": 1.0, + "right_eye-left": 0.708, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.668, + "right_front-left": 0.482, + "right_front-left_eye": 0.711, + "right_front-right": 0.463, + "right_front-right_eye": 0.724 + }, + "picture_change": { + "left": 36.24, + "left_eye": 33.731, + "left_front": 37.705, + "right": 40.55, + "right_eye": 35.163, + "right_front": 37.125 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 4444517940000, + 4445517928888, + 4449517928888, + 4450517917777, + 4452517906666, + 4453518073333, + 4454518062222, + 4457517951111, + 4458517928888, + 4462517906666, + 4463517928888, + 4465517928888, + 4466517895555, + 4467517917777, + 4469517928888, + 4470517928888, + 4474517928888, + 4475517928888, + 4477517917777, + 4478517917777, + 4479517940000, + 4482518073333, + 4483517940000, + 4484517940000, + 4487517940000, + 4488517940000, + 4492517906666, + 4493517940000, + 4494517940000, + 4496517940000, + 4497517940000, + 4500517928888, + 4501517951111, + 4502517962222, + 4505517940000, + 4506517928888, + 4510517895555, + 4511517928888, + 4512517906666, + 4514517928888, + 4515517940000, + 4519517928888, + 4520517928888, + 4521517928888, + 4525517928888, + 4526517917777, + 4527517928888, + 4530517928888, + 4531517928888, + 4532517962222, + 4533517928888 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P04/session_011/cameras/slam.npz b/actions/locomotion_primitives/P04/session_011/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..fd3009aa46e3f9d98d38a60ac52f7c1ee7abf130 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_011/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ffb911886d628a54bbf5b34dc1574d279ddcf26872d47c83e1147339ac02cc8e +size 540928 diff --git a/actions/locomotion_primitives/P04/session_011/meta.json b/actions/locomotion_primitives/P04/session_011/meta.json index b01a87d51bf5f23176777214df23ebf7b95bbc3d..6bd7f133cc0e59e2c3f20a0d570c65d2777f47f4 100644 --- a/actions/locomotion_primitives/P04/session_011/meta.json +++ b/actions/locomotion_primitives/P04/session_011/meta.json @@ -348,8 +348,8 @@ "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": { @@ -520,10 +520,124 @@ "file": "derived/rig_tracker_provider/rig_tracker.json", "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 12.77, + "offset_rotvec": [ + -0.1282, + -0.148, + -0.1066 + ], + "dev_deg": { + "median": 7.0, + "p90": 20.94 + }, + "samples": 2208, + "accepted": 2089, + "wrist_pos_err_mm_median": 41.6, + "per_camera": { + "head": { + "samples": 2208, + "accepted": 2089, + "gate_deg": 30.0, + "offset_deg": 12.77, + "tier": "primary", + "dev_deg_median": 7.0, + "wrist_pos_err_mm_median": 41.6 + } + }, + "frames_by_state": { + "ace_sample": 8580, + "interpolated": 2128, + "mean_hand": 533, + "no_body_fit": 43 + }, + "observed_fraction": 0.949, + "observed_fraction_of_valid": 0.9526, + "palm_axis_vs_markers_deg": { + "gsi": 7.9, + "smplx": 1.22 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.0, + "p90": 12.2 + }, + "registered": { + "median": 13.1, + "p90": 14.3 + } + } + }, + "right": { + "offset_deg": 13.57, + "offset_rotvec": [ + -0.1259, + -0.1502, + 0.133 + ], + "dev_deg": { + "median": 5.89, + "p90": 21.43 + }, + "samples": 2268, + "accepted": 2134, + "wrist_pos_err_mm_median": 55.9, + "per_camera": { + "head": { + "samples": 2268, + "accepted": 2134, + "gate_deg": 30.0, + "offset_deg": 13.57, + "tier": "primary", + "dev_deg_median": 5.89, + "wrist_pos_err_mm_median": 55.9 + } + }, + "frames_by_state": { + "ace_sample": 8745, + "interpolated": 1991, + "mean_hand": 505, + "no_body_fit": 43 + }, + "observed_fraction": 0.9514, + "observed_fraction_of_valid": 0.9551, + "palm_axis_vs_markers_deg": { + "gsi": 13.51, + "smplx": 1.41 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.6, + "p90": 12.5 + }, + "registered": { + "median": 11.3, + "p90": 12.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T13:45:33.320343+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P04/session_011", "family": "locomotion_primitives", "primitive": "P04", "source_session": "20260904/P04/20260904_021643_session8" + }, + "task": { + "primitive": "P04", + "instruction": "Start still; gradually go slow \u2192 normal \u2192 fast; briefly maintain fast speed; stop." } } diff --git a/actions/locomotion_primitives/P04/session_011/motions/hands_mano.npz b/actions/locomotion_primitives/P04/session_011/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..15e3f9d815ad490d59b8dce19747ac2be350c63d --- /dev/null +++ b/actions/locomotion_primitives/P04/session_011/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0d4c6b0dbf6f456033a073d53d03cc74660b3cdd1733cdb4db81ca130d4ede1 +size 3158139 diff --git a/actions/locomotion_primitives/P04/session_011/motions/smplx.npz b/actions/locomotion_primitives/P04/session_011/motions/smplx.npz index 5a6f1259d68b8f05ce0c8cd5098412ac2a2b6435..049ba39cdb293f0b17cabf841cd31880698e9281 100644 --- a/actions/locomotion_primitives/P04/session_011/motions/smplx.npz +++ b/actions/locomotion_primitives/P04/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:11a5542359d3534cd4f302f804b04ef0a889020c9cf258500dd779171d27b9e1 -size 4328702 +oid sha256:87dd5927af3c17ff48f95992f417e2eb4cf8d983d0f884890aae2b4e9dcbe42a +size 7974152 diff --git a/actions/locomotion_primitives/P04/session_012/annotations.json b/actions/locomotion_primitives/P04/session_012/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..9c0f905564ddfcbca54cdefe21583fd084c6acf1 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_012/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P04", + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 73.966722, + "video": "left_eye", + "video_t_start": 0.03923564288561798 + } + ], + "episodes": [ + { + "id": "23f9a997-1000-4638-ac2e-f62bb7a8e2b3", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 0, + "end_s": 6.881, + "t_start": 0.0392, + "t_end": 6.9202, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "f2258d67-dcf3-49cd-afe6-41ec4d160707", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 8.843, + "end_s": 14.28, + "t_start": 8.8822, + "t_end": 14.3192, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "289c94f1-00b5-4aa6-93f9-1172b4f422a0", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 16.592, + "end_s": 20.522, + "t_start": 16.6312, + "t_end": 20.5612, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "c73b8753-280c-4035-a8b2-2f7fcf31a653", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 22.348, + "end_s": 27.356, + "t_start": 22.3872, + "t_end": 27.3952, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "c3ef6052-9bba-43a1-bf50-e553e7fa8bb7", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 29.231, + "end_s": 33.747, + "t_start": 29.2702, + "t_end": 33.7862, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "c2edf83c-20f1-467c-9d61-a6c6da9d6114", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 35.355, + "end_s": 39.765, + "t_start": 35.3942, + "t_end": 39.8042, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "1d5f6156-6263-48f4-ae39-76b7cca103b5", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 42.179, + "end_s": 46.651, + "t_start": 42.2182, + "t_end": 46.6902, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "a3c94290-4a83-43e0-9598-540c0681c608", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 48.648, + "end_s": 52.934, + "t_start": 48.6872, + "t_end": 52.9732, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "37aa04d0-ba84-4eee-a433-98facf9e9b95", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 54.986, + "end_s": 59.212, + "t_start": 55.0252, + "t_end": 59.2512, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "4dd44655-305e-4e27-ba58-04d172679adc", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 61.178, + "end_s": 66.585, + "t_start": 61.2172, + "t_end": 66.6242, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P04/session_012/cameras/slam.npz b/actions/locomotion_primitives/P04/session_012/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..81e1f2254fb17e08cb644c6cf8cec0110cae3723 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_012/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:27098461229a1d3e41f6e199ffa2017a244340f213a89b562e54cd3cbad9677e +size 421899 diff --git a/actions/locomotion_primitives/P04/session_012/meta.json b/actions/locomotion_primitives/P04/session_012/meta.json index 508fb7f7ed7d67840f32f35be252fff3bb2f9f44..fbf66b8d6263dbc94110478fdbc1296660b48ec0 100644 --- a/actions/locomotion_primitives/P04/session_012/meta.json +++ b/actions/locomotion_primitives/P04/session_012/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": { @@ -524,10 +524,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8187922029742536 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 20.09, + "offset_rotvec": [ + 0.1735, + -0.197, + 0.2324 + ], + "dev_deg": { + "median": 12.09, + "p90": 21.42 + }, + "samples": 2130, + "accepted": 2059, + "wrist_pos_err_mm_median": 93.3, + "per_camera": { + "head": { + "samples": 2130, + "accepted": 2059, + "gate_deg": 30.0, + "offset_deg": 20.09, + "tier": "primary", + "dev_deg_median": 12.09, + "wrist_pos_err_mm_median": 93.3 + } + }, + "frames_by_state": { + "ace_sample": 8262, + "interpolated": 318, + "mean_hand": 304, + "no_body_fit": 0 + }, + "observed_fraction": 0.9658, + "observed_fraction_of_valid": 0.9658, + "palm_axis_vs_markers_deg": { + "gsi": 14.45, + "smplx": 0.57 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.9, + "p90": 8.4 + }, + "registered": { + "median": 6.7, + "p90": 7.8 + } + } + }, + "right": { + "offset_deg": 8.85, + "offset_rotvec": [ + -0.082, + 0.1309, + -0.0016 + ], + "dev_deg": { + "median": 6.78, + "p90": 14.14 + }, + "samples": 2126, + "accepted": 2116, + "wrist_pos_err_mm_median": 108.9, + "per_camera": { + "head": { + "samples": 2126, + "accepted": 2116, + "gate_deg": 30.0, + "offset_deg": 8.85, + "tier": "primary", + "dev_deg_median": 6.78, + "wrist_pos_err_mm_median": 108.9 + } + }, + "frames_by_state": { + "ace_sample": 8470, + "interpolated": 86, + "mean_hand": 328, + "no_body_fit": 0 + }, + "observed_fraction": 0.9631, + "observed_fraction_of_valid": 0.9631, + "palm_axis_vs_markers_deg": { + "gsi": 7.08, + "smplx": 0.68 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.0, + "p90": 7.0 + }, + "registered": { + "median": 6.5, + "p90": 8.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T14:54:38.430313+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P04/session_012", "family": "locomotion_primitives", "primitive": "P04", "source_session": "20260908/P04/20260908_052933_session28" + }, + "task": { + "primitive": "P04", + "instruction": "Start still; gradually go slow \u2192 normal \u2192 fast; briefly maintain fast speed; stop." } } diff --git a/actions/locomotion_primitives/P04/session_012/motions/hands_mano.npz b/actions/locomotion_primitives/P04/session_012/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..db36701e5b3eca63f4802ebcf12b079902aa09ee --- /dev/null +++ b/actions/locomotion_primitives/P04/session_012/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d585f38d1e615673b26e483bd3d60bb71acfd705220ce54459feee3b4ebc7f72 +size 2885374 diff --git a/actions/locomotion_primitives/P04/session_012/motions/smplx.npz b/actions/locomotion_primitives/P04/session_012/motions/smplx.npz index bfdd189e069d4cb699d96145f96f51d9c9b826ba..bc322cbf865ec711941c70fb16b3c70d02bd0e21 100644 --- a/actions/locomotion_primitives/P04/session_012/motions/smplx.npz +++ b/actions/locomotion_primitives/P04/session_012/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:de36b24e4eb0266dcf01c61b2a4c298cbf0ab0c63c1bfbddce3b829b89b59bd2 -size 3421068 +oid sha256:c39a1adae7482ffe92f2366db474904b373a80075098196e357cf8e0422de25c +size 6329577 diff --git a/actions/locomotion_primitives/P04/session_013/annotations.json b/actions/locomotion_primitives/P04/session_013/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..c6015d9dcc7f7d2264ad54c6684428f10f35611e --- /dev/null +++ b/actions/locomotion_primitives/P04/session_013/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P04", + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 58.966667, + "video": "left_eye", + "video_t_start": 0.038586532641057936 + } + ], + "episodes": [ + { + "id": "d6b45cdd-ef4d-46e3-8ae1-1230c4f844f1", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 0.662, + "end_s": 5.823, + "t_start": 0.7006, + "t_end": 5.8616, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "28d793a2-7265-4a8b-a4a0-b6ef3d26cdf9", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 7.919, + "end_s": 11.997, + "t_start": 7.9576, + "t_end": 12.0356, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "7185d417-2daa-4ea6-98c8-7931bbdb3905", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 13.396, + "end_s": 18.193, + "t_start": 13.4346, + "t_end": 18.2316, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "0f93ba41-758e-4a9b-a18f-3324c1012ca7", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 19.919, + "end_s": 23.684, + "t_start": 19.9576, + "t_end": 23.7226, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "04d1941d-7d9f-40a4-bdac-6860ea099f99", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 25.355, + "end_s": 28.929, + "t_start": 25.3936, + "t_end": 28.9676, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "68541423-66e0-4396-87a2-2becbd4b53af", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 30.833, + "end_s": 34.746, + "t_start": 30.8716, + "t_end": 34.7846, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "4f925377-23fa-43d5-b94e-cb4b4e49257c", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 36.407, + "end_s": 40.045, + "t_start": 36.4456, + "t_end": 40.0836, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "6e662e4e-9fe0-474c-a5d6-64802675abbf", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 41.822, + "end_s": 45.25, + "t_start": 41.8606, + "t_end": 45.2886, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "4320b5e8-e039-4d72-a1fc-a216ae58de7b", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 46.897, + "end_s": 50.248, + "t_start": 46.9356, + "t_end": 50.2866, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "6f5d5ab4-2a59-49c9-b433-573205cdf999", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 52.004, + "end_s": 55.844, + "t_start": 52.0426, + "t_end": 55.8826, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P04/session_013/cameras/slam.npz b/actions/locomotion_primitives/P04/session_013/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..b4296f65cbf3ea33692bf28554c92ea11fd3bc22 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_013/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b02cff02c6d05fb4ecddf33970418dafc6a93a16738ed3faf1228b1e8e9b9c63 +size 341348 diff --git a/actions/locomotion_primitives/P04/session_013/meta.json b/actions/locomotion_primitives/P04/session_013/meta.json index 6e38854705923c7c3de06d1a7316a16cc5ff4f1f..b98e17183048d0bdb0679dcbb6120805cc603791 100644 --- a/actions/locomotion_primitives/P04/session_013/meta.json +++ b/actions/locomotion_primitives/P04/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": { @@ -512,10 +512,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.7511657093311508 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 16.83, + "offset_rotvec": [ + 0.1685, + -0.2062, + -0.124 + ], + "dev_deg": { + "median": 15.54, + "p90": 25.53 + }, + "samples": 1023, + "accepted": 982, + "wrist_pos_err_mm_median": 204.7, + "per_camera": { + "head": { + "samples": 1023, + "accepted": 982, + "gate_deg": 30.0, + "offset_deg": 16.83, + "tier": "primary", + "dev_deg_median": 15.54, + "wrist_pos_err_mm_median": 204.7 + } + }, + "frames_by_state": { + "ace_sample": 4116, + "interpolated": 2956, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9983, + "observed_fraction_of_valid": 0.9983, + "palm_axis_vs_markers_deg": { + "gsi": 18.13, + "smplx": 0.53 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.8, + "p90": 6.1 + }, + "registered": { + "median": 4.5, + "p90": 6.2 + } + } + }, + "right": { + "offset_deg": 16.09, + "offset_rotvec": [ + 0.0232, + 0.2604, + 0.1026 + ], + "dev_deg": { + "median": 13.35, + "p90": 25.26 + }, + "samples": 1272, + "accepted": 1192, + "wrist_pos_err_mm_median": 143.7, + "per_camera": { + "head": { + "samples": 1272, + "accepted": 1192, + "gate_deg": 30.0, + "offset_deg": 16.09, + "tier": "primary", + "dev_deg_median": 13.35, + "wrist_pos_err_mm_median": 143.7 + } + }, + "frames_by_state": { + "ace_sample": 4900, + "interpolated": 1992, + "mean_hand": 192, + "no_body_fit": 0 + }, + "observed_fraction": 0.9729, + "observed_fraction_of_valid": 0.9729, + "palm_axis_vs_markers_deg": { + "gsi": 13.7, + "smplx": 0.5 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.1, + "p90": 9.3 + }, + "registered": { + "median": 7.1, + "p90": 10.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T15:39:05.130416+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P04/session_013", "family": "locomotion_primitives", "primitive": "P04", "source_session": "20260909/P04/20260909_033903_session57" + }, + "task": { + "primitive": "P04", + "instruction": "Start still; gradually go slow \u2192 normal \u2192 fast; briefly maintain fast speed; stop." } } diff --git a/actions/locomotion_primitives/P04/session_013/motions/hands_mano.npz b/actions/locomotion_primitives/P04/session_013/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..d6ef9116431064f5d6e6121ba8258e9fd896d34a --- /dev/null +++ b/actions/locomotion_primitives/P04/session_013/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01105f63113ca5c822b2973eb79e016cfa75b2d2ee1715b75d5743d42558300a +size 1602339 diff --git a/actions/locomotion_primitives/P04/session_013/motions/smplx.npz b/actions/locomotion_primitives/P04/session_013/motions/smplx.npz index 23da0d17ca70f57f8edd3961354a95636b6b1e18..6fe328bd41bbd2fb9ff87bc2cb2ab2318c4e1966 100644 --- a/actions/locomotion_primitives/P04/session_013/motions/smplx.npz +++ b/actions/locomotion_primitives/P04/session_013/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:93c6939b9335a4f9a417efa995bc1637c18b522b0d09a7a60ffb72d233dc0286 -size 2737910 +oid sha256:c91e3655e2d4d7905266d55c3312e773c8bc94fc2d3a4e7f5bb704be86b4ea0a +size 5095989 diff --git a/actions/locomotion_primitives/P04/session_014/annotations.json b/actions/locomotion_primitives/P04/session_014/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..1226be9aba9f3a56bff61f16f8bd45dd6276ac8e --- /dev/null +++ b/actions/locomotion_primitives/P04/session_014/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P04", + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 88.9667, + "video": "left_eye", + "video_t_start": 0.039036879664387625 + } + ], + "episodes": [ + { + "id": "56c420ad-f461-4331-aba7-64c0e5c126f4", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 0, + "end_s": 5.98, + "t_start": 0.039, + "t_end": 6.019, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "f5b04251-e772-41fc-b37d-87af32012cca", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 10.287, + "end_s": 15.703, + "t_start": 10.326, + "t_end": 15.742, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "557e0860-504a-4fcf-9cc0-533078eaff6f", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 17.916, + "end_s": 24.074, + "t_start": 17.955, + "t_end": 24.113, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "f832b474-9a86-4a7d-87a1-8f2a0534988f", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 27.243, + "end_s": 31.863, + "t_start": 27.282, + "t_end": 31.902, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "fa52dddf-13fa-42cb-ad1a-a90e8b914a61", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 35.504, + "end_s": 40.395, + "t_start": 35.543, + "t_end": 40.434, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "015f0d24-79e6-4ce5-809a-527ce0612e9f", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 43.249, + "end_s": 48.739, + "t_start": 43.288, + "t_end": 48.778, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "96095c62-08a1-4be1-b6d6-bafb5a73d209", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 51.635, + "end_s": 56.91, + "t_start": 51.674, + "t_end": 56.949, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "ffb7f449-6c63-4b2f-92db-6c0a1cc4b960", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 60.066, + "end_s": 65.979, + "t_start": 60.105, + "t_end": 66.018, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "7cfd2f08-7844-487d-b630-a19f9f9dc957", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 69.433, + "end_s": 74.483, + "t_start": 69.472, + "t_end": 74.522, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "3bcdaf6b-075c-4487-8f52-2efcd40afb08", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 78.047, + "end_s": 82.634, + "t_start": 78.086, + "t_end": 82.673, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P04/session_014/cameras/slam.npz b/actions/locomotion_primitives/P04/session_014/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..cfd6e35ca40c96b8a40d39b266c825ff09f533f3 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_014/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f6ab8db4ac6b198f3b46eb359ba7aeb9f822551079f3f28e26b58a4832a4ac7 +size 514561 diff --git a/actions/locomotion_primitives/P04/session_014/meta.json b/actions/locomotion_primitives/P04/session_014/meta.json index 656a3a7c93153af25de7c80475120bd9f3f6ac98..4239cd5998e3c79bdd0d66335fda190f256ddc63 100644 --- a/actions/locomotion_primitives/P04/session_014/meta.json +++ b/actions/locomotion_primitives/P04/session_014/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": { @@ -510,10 +510,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.6925850410087547 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.0, + "offset_rotvec": [ + 0.1224, + 0.0826, + -0.093 + ], + "dev_deg": { + "median": 14.87, + "p90": 28.19 + }, + "samples": 1702, + "accepted": 1564, + "wrist_pos_err_mm_median": 91.6, + "per_camera": { + "head": { + "samples": 1702, + "accepted": 1564, + "gate_deg": 30.0, + "offset_deg": 10.0, + "tier": "primary", + "dev_deg_median": 14.87, + "wrist_pos_err_mm_median": 91.6 + } + }, + "frames_by_state": { + "ace_sample": 6418, + "interpolated": 3522, + "mean_hand": 715, + "no_body_fit": 29 + }, + "observed_fraction": 0.9304, + "observed_fraction_of_valid": 0.9329, + "palm_axis_vs_markers_deg": { + "gsi": 17.6, + "smplx": 1.18 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.4, + "p90": 17.3 + }, + "registered": { + "median": 9.4, + "p90": 16.4 + } + } + }, + "right": { + "offset_deg": 12.33, + "offset_rotvec": [ + -0.1885, + -0.0725, + 0.0743 + ], + "dev_deg": { + "median": 14.89, + "p90": 37.47 + }, + "samples": 1273, + "accepted": 1028, + "wrist_pos_err_mm_median": 122.3, + "per_camera": { + "head": { + "samples": 1273, + "accepted": 1028, + "gate_deg": 30.0, + "offset_deg": 12.33, + "tier": "primary", + "dev_deg_median": 14.89, + "wrist_pos_err_mm_median": 122.3 + } + }, + "frames_by_state": { + "ace_sample": 4262, + "interpolated": 3794, + "mean_hand": 2599, + "no_body_fit": 29 + }, + "observed_fraction": 0.754, + "observed_fraction_of_valid": 0.7561, + "palm_axis_vs_markers_deg": { + "gsi": 16.58, + "smplx": 1.0 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.3, + "p90": 9.4 + }, + "registered": { + "median": 8.9, + "p90": 9.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T19:23:01.558105+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P04/session_014", "family": "locomotion_primitives", "primitive": "P04", "source_session": "20260914/P04/20260914_082419_session39" + }, + "task": { + "primitive": "P04", + "instruction": "Start still; gradually go slow \u2192 normal \u2192 fast; briefly maintain fast speed; stop." } } diff --git a/actions/locomotion_primitives/P04/session_014/motions/hands_mano.npz b/actions/locomotion_primitives/P04/session_014/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..e45fe78fe8095aba595971bc06ee6ce50a668221 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_014/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:567ce02978bc92698a41401a227fbf654915b4b8fc9baf95f8eb3ac09ea48f16 +size 2110659 diff --git a/actions/locomotion_primitives/P04/session_014/motions/smplx.npz b/actions/locomotion_primitives/P04/session_014/motions/smplx.npz index f6ceb6cdf9a6c8f4ccf8a967e8edffcb6a5eb114..b4e153877338fc753aaf608fda7bafa6cbb601e4 100644 --- a/actions/locomotion_primitives/P04/session_014/motions/smplx.npz +++ b/actions/locomotion_primitives/P04/session_014/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4b6ee0ce4aebe0c07a71f544209d8aec09c7468fdfcb35d70f31afd58fc049e3 -size 4093963 +oid sha256:d930d2a6e3a704bdbf689db7805707896dad17ab2aaf57a4de90a76d655b63cf +size 7242313 diff --git a/actions/locomotion_primitives/P04/session_015/annotations.json b/actions/locomotion_primitives/P04/session_015/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..d03099c448bc3de2ef137c6a3533f7e3a550bdae --- /dev/null +++ b/actions/locomotion_primitives/P04/session_015/annotations.json @@ -0,0 +1,149 @@ +{ + "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": "P04", + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 108.966656, + "video": "left_eye", + "video_t_start": 0.03886878937055238 + } + ], + "episodes": [ + { + "id": "aaad01e6-8b5e-4599-9480-c2ecc17d98ae", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 1.334, + "end_s": 6.877, + "t_start": 1.3729, + "t_end": 6.9159, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "5c23a3e4-bcbe-4203-886b-716cc1ad85bd", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 9.219, + "end_s": 14.602, + "t_start": 9.2579, + "t_end": 14.6409, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "8a61a457-ebb8-4121-a8bf-a6444270fa45", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 16.52, + "end_s": 22.566, + "t_start": 16.5589, + "t_end": 22.6049, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "dc8a439f-8fa4-452b-aed2-8d225574c18c", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 24.772, + "end_s": 30.725, + "t_start": 24.8109, + "t_end": 30.7639, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "01507f4e-94b5-4595-8e98-48916e48eea7", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 33.012, + "end_s": 39.01, + "t_start": 33.0509, + "t_end": 39.0489, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "4b4dc64d-00f5-4112-a22c-2ff173f1770d", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 42.176, + "end_s": 48.255, + "t_start": 42.2149, + "t_end": 48.2939, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "4b3f022e-2148-4cbd-8f6c-da37eb8b4423", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 50.588, + "end_s": 57.979, + "t_start": 50.6269, + "t_end": 58.0179, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "fd039017-14b9-482a-8369-430192e17309", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 61.433, + "end_s": 67.143, + "t_start": 61.4719, + "t_end": 67.1819, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "c093027f-2e2c-442d-aefe-8cf8605d06cc", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 69.813, + "end_s": 76.644, + "t_start": 69.8519, + "t_end": 76.6829, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "1ab20fd4-ae2f-4d65-b2f7-3199690e4c08", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 78.915, + "end_s": 85.05, + "t_start": 78.9539, + "t_end": 85.0889, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "bfcdb89a-44e4-4f4c-81d6-996f5859e1a4", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 88.168, + "end_s": 94.439, + "t_start": 88.2069, + "t_end": 94.4779, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "5a4f7397-2f5e-4658-95e2-aa91378ddea9", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 96.728, + "end_s": 102.295, + "t_start": 96.7669, + "t_end": 102.3339, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P04/session_015/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P04/session_015/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..d2bdccfaa8802e855bc36268dd5724072f78f784 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_015/cameras/gsi_online_calibration.json @@ -0,0 +1,260 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 15, + "median_px": 0.346 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye", + "right" + ], + "delta_deg": 0.9949, + "gate_fail": [], + "held_out_px_after": 0.475, + "held_out_px_before": 4.293, + "inliers": 2430, + "position_fitted": false, + "rotvec_deg": [ + 0.4222, + -0.3771, + -0.8181 + ], + "split_deg": 0.0573, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.9399, + "gate_fail": [], + "held_out_px_after": 0.394, + "held_out_px_before": 6.512, + "inliers": 3407, + "position_fitted": true, + "position_mm": [ + 0.34, + -11.54, + 5.72 + ], + "position_sigma_mm": 0.336, + "position_split_mm": 3.467, + "rotvec_deg": [ + 0.0881, + 0.6084, + -1.8399 + ], + "split_deg": 0.0246, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye", + "left" + ], + "delta_deg": 1.3093, + "gate_fail": [], + "held_out_px_after": 0.571, + "held_out_px_before": 3.623, + "inliers": 1227, + "position_fitted": false, + "rotvec_deg": [ + 1.2745, + -0.2896, + -0.0775 + ], + "split_deg": 0.0578, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.7615, + "gate_fail": [], + "held_out_px_after": 0.355, + "held_out_px_before": 3.654, + "inliers": 3324, + "position_fitted": true, + "position_mm": [ + 7.6, + -11.68, + 6.37 + ], + "position_sigma_mm": 0.343, + "position_split_mm": 3.76, + "rotvec_deg": [ + 0.3179, + -0.5005, + -0.4777 + ], + "split_deg": 0.0557, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.359, + "gate_fail": [], + "held_out_px_after": 0.314, + "held_out_px_before": 5.636, + "inliers": 4964, + "position_fitted": false, + "rotvec_deg": [ + -0.4306, + -0.026, + -1.2887 + ], + "split_deg": 0.0224, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "e17c9efadb69e7b1", + "factory_root_name": "e17c9efadb69e7b1", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "67512261fbd746dbce6dfafa31823ab02bd13858f5a8f134f88b6131cafaefb3", + "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "025d334c509c84df3a0b0ab5281dd659c450fdbd3f9f4da01753713725998beb", + "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "86a781c5bf7c42d57066b8f1a4181f80ae602a3f284a9958c34efcd701e3a70b", + "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "dce842d4083c07a84174459ab3d2e07c4f9e58db1b4ebf94604ec55d99391587", + "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d" + } + }, + "input_fingerprint": "d29d2a3ed653b286", + "kind": "online_calibration", + "output_sha256": "4b2252b09260de34b430ba4e29b060fa63dcc60c5055257e560ca1d6380facbf", + "overlap": { + "left-right": 0.501, + "left_eye-left": 0.707, + "left_eye-right": 0.671, + "left_front-left": 0.478, + "left_front-left_eye": 0.72, + "left_front-right": 0.448, + "left_front-right_eye": 0.732, + "left_front-right_front": 1.0, + "right_eye-left": 0.696, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.673, + "right_front-left": 0.464, + "right_front-left_eye": 0.723, + "right_front-right": 0.466, + "right_front-right_eye": 0.734 + }, + "picture_change": { + "left": 36.069, + "left_eye": 25.507, + "left_front": 33.728, + "right": 38.28, + "right_eye": 21.555, + "right_front": 33.561 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 18239987382666, + 18240987427111, + 18244987393777, + 18245987382666, + 18247987527111, + 18248987382666, + 18250987582666, + 18251987404888, + 18254987404888, + 18255987382666, + 18259987404888, + 18260987371555, + 18263987393777, + 18264987404888, + 18266987404888, + 18267987416000, + 18269987416000, + 18270987404888, + 18271987382666, + 18272987404888, + 18274987404888, + 18275987404888, + 18280987382666, + 18281987404888, + 18282987416000, + 18283987538222, + 18285987382666, + 18286987460444, + 18289987382666, + 18290987371555, + 18295987382666, + 18296987416000, + 18298987382666, + 18299987404888, + 18300987404888, + 18301987404888, + 18302987416000, + 18303987404888, + 18308987382666, + 18309987427111, + 18311987416000, + 18312987382666, + 18313987404888, + 18314987371555, + 18317987460444, + 18318987416000, + 18321987371555, + 18322987427111, + 18326987404888, + 18327987382666, + 18328987416000, + 18331987404888, + 18332987371555, + 18334987382666, + 18335987382666, + 18337987404888, + 18338987382666, + 18342987393777, + 18343987416000 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P04/session_015/cameras/slam.npz b/actions/locomotion_primitives/P04/session_015/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..03df9ad544e87254265f0225e00b52f8f9935cdc --- /dev/null +++ b/actions/locomotion_primitives/P04/session_015/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d405d4aadeb953344956cb65a3c4e9836f664412330e0e7e2e4ff3b951ca3ba +size 627474 diff --git a/actions/locomotion_primitives/P04/session_015/meta.json b/actions/locomotion_primitives/P04/session_015/meta.json index 08bcde900ceb0bf8955c916e7b2df20226a68825..db18158b872ce3100c03a8c55b75198383513ae7 100644 --- a/actions/locomotion_primitives/P04/session_015/meta.json +++ b/actions/locomotion_primitives/P04/session_015/meta.json @@ -517,5 +517,9 @@ "family": "locomotion_primitives", "primitive": "P04", "source_session": "20260916/P04/20260916_052133_session81" + }, + "task": { + "primitive": "P04", + "instruction": "Start still; gradually go slow \u2192 normal \u2192 fast; briefly maintain fast speed; stop." } } diff --git a/actions/locomotion_primitives/P04/session_015/motions/hands_mano.npz b/actions/locomotion_primitives/P04/session_015/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..cc6b91c273aadf82c2ec770c3ccc7ef62a318ca5 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_015/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2e5db9caadf5de3dbe20b1035dca0bbec495d31a924c17e51ed735b601c0bb5 +size 2960477 diff --git a/actions/locomotion_primitives/P04/session_016/annotations.json b/actions/locomotion_primitives/P04/session_016/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..b6f0515b0ac073ecd8ee59e0c642b5b70dda094a --- /dev/null +++ b/actions/locomotion_primitives/P04/session_016/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P04", + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 118.966811, + "video": "left_eye", + "video_t_start": 0.03912122943006624 + } + ], + "episodes": [ + { + "id": "46dd3c11-b6ab-4477-83d7-b85e5da7a746", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 2, + "end_s": 8.422, + "t_start": 2.0391, + "t_end": 8.4611, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "1f06015b-7c42-4249-96ca-8edf0d72b610", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 11.236, + "end_s": 18.185, + "t_start": 11.2751, + "t_end": 18.2241, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "a230dac4-e9be-46ac-a8ef-fa9852018409", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 22.185, + "end_s": 30.006, + "t_start": 22.2241, + "t_end": 30.0451, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "037a94f6-13b8-4009-bb6c-091143b5afee", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 34.742, + "end_s": 43.475, + "t_start": 34.7811, + "t_end": 43.5141, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "81e632e0-f8df-40f8-9e88-8882d96d6faf", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 45.475, + "end_s": 53.221, + "t_start": 45.5141, + "t_end": 53.2601, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "b892698e-2fb4-42a5-8a0a-403cc802ebd0", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 56.221, + "end_s": 64.666, + "t_start": 56.2601, + "t_end": 64.7051, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "2b76c59f-7c3d-4a4c-b3d6-a3ba1e420cce", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 66.666, + "end_s": 74.727, + "t_start": 66.7051, + "t_end": 74.7661, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "8581b2d5-d819-4fe9-a1bb-f23306385059", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 77.244, + "end_s": 84.681, + "t_start": 77.2831, + "t_end": 84.7201, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "0a40027b-e268-4d84-ab2f-90972324d332", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 86.681, + "end_s": 95.505, + "t_start": 86.7201, + "t_end": 95.5441, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "be7be854-69e3-436a-8fda-6deda70a8af7", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 99.42, + "end_s": 107.313, + "t_start": 99.4591, + "t_end": 107.3521, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P04/session_016/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P04/session_016/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..ca5deb183e8ed302fe106e42b8deb9953b9c4d37 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_016/cameras/gsi_online_calibration.json @@ -0,0 +1,255 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 14, + "median_px": 0.348 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 1.0084, + "gate_fail": [], + "held_out_px_after": 0.45, + "held_out_px_before": 4.19, + "inliers": 2012, + "position_fitted": false, + "rotvec_deg": [ + 0.4492, + -0.3522, + -0.8313 + ], + "split_deg": 0.0372, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.9484, + "gate_fail": [], + "held_out_px_after": 0.37, + "held_out_px_before": 6.07, + "inliers": 3240, + "position_fitted": true, + "position_mm": [ + 1.29, + -13.24, + 3.64 + ], + "position_sigma_mm": 0.278, + "position_split_mm": 1.874, + "rotvec_deg": [ + 0.1132, + 0.6702, + -1.826 + ], + "split_deg": 0.0746, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 1.2332, + "gate_fail": [], + "held_out_px_after": 0.533, + "held_out_px_before": 3.95, + "inliers": 1358, + "position_fitted": false, + "rotvec_deg": [ + 1.2084, + -0.2153, + -0.1196 + ], + "split_deg": 0.0259, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.7022, + "gate_fail": [], + "held_out_px_after": 0.343, + "held_out_px_before": 3.441, + "inliers": 3159, + "position_fitted": true, + "position_mm": [ + 7.49, + -13.28, + 4.21 + ], + "position_sigma_mm": 0.276, + "position_split_mm": 1.164, + "rotvec_deg": [ + 0.31, + -0.4483, + -0.4428 + ], + "split_deg": 0.0434, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.4031, + "gate_fail": [], + "held_out_px_after": 0.302, + "held_out_px_before": 5.665, + "inliers": 4108, + "position_fitted": false, + "rotvec_deg": [ + -0.4658, + 0.0281, + -1.3232 + ], + "split_deg": 0.0079, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "e17c9efadb69e7b1", + "factory_root_name": "e17c9efadb69e7b1", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "9be43ea9f2bd738d4da00073121a70f2da282e5169857d4e3bf121859f786fb2", + "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "57ed46e85987f7d359de8938add2169cdbfb5e6d6d3a75be784d2bcb16b0b487", + "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "13d87e992632b9385557bbd84d1287b015acae05867199ac99733fefd388b224", + "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "a330cd680c5253beb5867741b5694338ebfbe11dc6992a0f14e6a85341c17a4d", + "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d" + } + }, + "input_fingerprint": "5f84029a8956ac84", + "kind": "online_calibration", + "output_sha256": "b12322db4f81344a03b23b56ae94167c5f4bddd3ad614567ed556d4a1f834b9c", + "overlap": { + "left-right": 0.501, + "left_eye-left": 0.707, + "left_eye-right": 0.671, + "left_front-left": 0.478, + "left_front-left_eye": 0.72, + "left_front-right": 0.448, + "left_front-right_eye": 0.732, + "left_front-right_front": 1.0, + "right_eye-left": 0.696, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.673, + "right_front-left": 0.464, + "right_front-left_eye": 0.723, + "right_front-right": 0.466, + "right_front-right_eye": 0.734 + }, + "picture_change": { + "left": 35.58, + "left_eye": 27.407, + "left_front": 36.228, + "right": 37.115, + "right_eye": 27.447, + "right_front": 34.024 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 2554518263888, + 2555518163888, + 2561518219444, + 2562518163888, + 2565518163888, + 2566518197222, + 2568518263888, + 2569518186111, + 2571518275000, + 2572518208333, + 2576518152777, + 2577518152777, + 2578518186111, + 2583518186111, + 2584518163888, + 2585518230555, + 2589518152777, + 2590518319444, + 2592518152777, + 2593518163888, + 2598518175000, + 2599518163888, + 2600518175000, + 2604518152777, + 2605518163888, + 2610518152777, + 2611518152777, + 2612518230555, + 2614518241666, + 2615518163888, + 2621518163888, + 2622518163888, + 2623518252777, + 2624518241666, + 2627518152777, + 2628518219444, + 2631518152777, + 2632518175000, + 2633518208333, + 2634518208333, + 2637518208333, + 2638518219444, + 2641518163888, + 2642518208333, + 2645518219444, + 2646518152777, + 2648518230555, + 2649518163888, + 2652518175000, + 2653518241666, + 2655518219444, + 2656518219444, + 2660518163888, + 2661518430555, + 2664518163888, + 2665518152777 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P04/session_016/cameras/slam.npz b/actions/locomotion_primitives/P04/session_016/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..63a6b0f94284c3195cb983111f64b238a92b3bce --- /dev/null +++ b/actions/locomotion_primitives/P04/session_016/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ea0230a6a6cf9d539fa42838cedfb500d1cd5575eb9e5aa339c22fee578e428 +size 685740 diff --git a/actions/locomotion_primitives/P04/session_016/meta.json b/actions/locomotion_primitives/P04/session_016/meta.json index d76806152dae4beec8e9e1e89f932e76b3fa9185..200f9b7437331871731f06ec9f7b99caa5eb3766 100644 --- a/actions/locomotion_primitives/P04/session_016/meta.json +++ b/actions/locomotion_primitives/P04/session_016/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -515,10 +515,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.7703653905065538 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 15.93, + "offset_rotvec": [ + 0.278, + 0.0004, + -0.0067 + ], + "dev_deg": { + "median": 16.88, + "p90": 37.07 + }, + "samples": 2587, + "accepted": 2199, + "wrist_pos_err_mm_median": 77.0, + "per_camera": { + "head": { + "samples": 2587, + "accepted": 2199, + "gate_deg": 30.0, + "offset_deg": 15.93, + "tier": "primary", + "dev_deg_median": 16.88, + "wrist_pos_err_mm_median": 77.0 + } + }, + "frames_by_state": { + "ace_sample": 9079, + "interpolated": 4372, + "mean_hand": 825, + "no_body_fit": 8 + }, + "observed_fraction": 0.9417, + "observed_fraction_of_valid": 0.9422, + "palm_axis_vs_markers_deg": { + "gsi": 16.7, + "smplx": 0.69 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.5, + "p90": 24.7 + }, + "registered": { + "median": 14.3, + "p90": 23.8 + } + } + }, + "right": { + "offset_deg": 20.43, + "offset_rotvec": [ + 0.315, + -0.0144, + 0.1666 + ], + "dev_deg": { + "median": 11.9, + "p90": 28.44 + }, + "samples": 3039, + "accepted": 2769, + "wrist_pos_err_mm_median": 65.2, + "per_camera": { + "head": { + "samples": 3039, + "accepted": 2769, + "gate_deg": 30.0, + "offset_deg": 20.43, + "tier": "primary", + "dev_deg_median": 11.9, + "wrist_pos_err_mm_median": 65.2 + } + }, + "frames_by_state": { + "ace_sample": 11283, + "interpolated": 2768, + "mean_hand": 225, + "no_body_fit": 8 + }, + "observed_fraction": 0.9837, + "observed_fraction_of_valid": 0.9842, + "palm_axis_vs_markers_deg": { + "gsi": 21.32, + "smplx": 0.45 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 17.8, + "p90": 26.2 + }, + "registered": { + "median": 17.6, + "p90": 25.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:56:21.019306+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P04/session_016", "family": "locomotion_primitives", "primitive": "P04", "source_session": "20260919/P04/20260919_011551_session5" + }, + "task": { + "primitive": "P04", + "instruction": "Start still; gradually go slow \u2192 normal \u2192 fast; briefly maintain fast speed; stop." } } diff --git a/actions/locomotion_primitives/P04/session_016/motions/hands_mano.npz b/actions/locomotion_primitives/P04/session_016/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..4573db223584b03d340d05b9064bffacf1e421f0 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_016/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c02f8dbda6ee1007408141e186483598f22e2365173aa35bbab3a270ff82881c +size 3853417 diff --git a/actions/locomotion_primitives/P04/session_016/motions/smplx.npz b/actions/locomotion_primitives/P04/session_016/motions/smplx.npz index 24b31cbca245719014bbcc31a46757e6061827d7..c4ab8231d22e11734c1a82e92d36a59a0b8eab4e 100644 --- a/actions/locomotion_primitives/P04/session_016/motions/smplx.npz +++ b/actions/locomotion_primitives/P04/session_016/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f26c7f2c8b6728090b3fc2b4af304839a855936109207a67013e22b778e970c5 -size 5480678 +oid sha256:8087bfba783d1a4895d25e6401bafa1996ccb7657693e22ff016dd20cb697aee +size 10155802 diff --git a/actions/locomotion_primitives/P04/session_017/annotations.json b/actions/locomotion_primitives/P04/session_017/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..3f1561a7102b24aa8384ffb3e77fa84b3d68dff5 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_017/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P04", + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 68.966656, + "video": "left_eye", + "video_t_start": 0.039059107386063774 + } + ], + "episodes": [ + { + "id": "0c94c9ee-1c1d-4601-8b6d-34049e15c090", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 3.444, + "end_s": 8.468, + "t_start": 3.4831, + "t_end": 8.5071, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "92c5068a-50b6-4304-8d6d-7296f00f70a8", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 9.468, + "end_s": 14.792, + "t_start": 9.5071, + "t_end": 14.8311, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "4d151947-ad4a-4a52-9e76-b766fb48cae4", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 15.516, + "end_s": 21.22, + "t_start": 15.5551, + "t_end": 21.2591, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "583724a4-a5d5-4b81-9619-729464319880", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 22.033, + "end_s": 27.503, + "t_start": 22.0721, + "t_end": 27.5421, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "17e1140a-916d-4576-a846-0ed7d3cc82ef", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 28.401, + "end_s": 34.039, + "t_start": 28.4401, + "t_end": 34.0781, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "893e73a3-0c4d-4f77-af6d-b00e5c2c0185", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 34.71, + "end_s": 40.666, + "t_start": 34.7491, + "t_end": 40.7051, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "b55a5e78-673b-43c8-926e-fd40ffcff319", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 41.666, + "end_s": 47.279, + "t_start": 41.7051, + "t_end": 47.3181, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "5a94f0c2-1616-43c2-8b3a-c4d37f9db38f", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 47.992, + "end_s": 53.294, + "t_start": 48.0311, + "t_end": 53.3331, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "e8b481a4-4016-4eb3-965d-15b266ba592b", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 53.874, + "end_s": 59.281, + "t_start": 53.9131, + "t_end": 59.3201, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "74e97f31-ee38-46d3-b473-719127bbd4bf", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 59.332, + "end_s": 64.755, + "t_start": 59.3711, + "t_end": 64.7941, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P04/session_017/cameras/slam.npz b/actions/locomotion_primitives/P04/session_017/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..915394a8a80b4eecc05a3cc2077f144a6e7e2762 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_017/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e145a440e881d6fc0d61f70a1585899970bf5c4a9ede1bab32ae1813d5b19913 +size 399981 diff --git a/actions/locomotion_primitives/P04/session_017/meta.json b/actions/locomotion_primitives/P04/session_017/meta.json index 1abb2546efcfc4c276c63f3a9fcf7a4761e4e13f..edc91c0f98823619f687d8db8628fa6d09d147c4 100644 --- a/actions/locomotion_primitives/P04/session_017/meta.json +++ b/actions/locomotion_primitives/P04/session_017/meta.json @@ -325,8 +325,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -517,10 +517,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.7665838087416168 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 25.47, + "offset_rotvec": [ + 0.3789, + -0.0851, + -0.2164 + ], + "dev_deg": { + "median": 20.67, + "p90": 42.95 + }, + "samples": 974, + "accepted": 715, + "wrist_pos_err_mm_median": 183.4, + "per_camera": { + "head": { + "samples": 974, + "accepted": 715, + "gate_deg": 30.0, + "offset_deg": 25.47, + "tier": "primary", + "dev_deg_median": 20.67, + "wrist_pos_err_mm_median": 183.4 + } + }, + "frames_by_state": { + "ace_sample": 3100, + "interpolated": 4696, + "mean_hand": 488, + "no_body_fit": 0 + }, + "observed_fraction": 0.9411, + "observed_fraction_of_valid": 0.9411, + "palm_axis_vs_markers_deg": { + "gsi": 37.88, + "smplx": 0.71 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.3, + "p90": 19.4 + }, + "registered": { + "median": 11.8, + "p90": 18.9 + } + } + }, + "right": { + "offset_deg": 44.24, + "offset_rotvec": [ + 0.5816, + 0.0809, + 0.5015 + ], + "dev_deg": { + "median": 17.35, + "p90": 31.05 + }, + "samples": 1201, + "accepted": 1042, + "wrist_pos_err_mm_median": 192.8, + "per_camera": { + "head": { + "samples": 1201, + "accepted": 1042, + "gate_deg": 30.0, + "offset_deg": 44.24, + "tier": "primary", + "dev_deg_median": 17.35, + "wrist_pos_err_mm_median": 192.8 + } + }, + "frames_by_state": { + "ace_sample": 4402, + "interpolated": 3742, + "mean_hand": 140, + "no_body_fit": 0 + }, + "observed_fraction": 0.9831, + "observed_fraction_of_valid": 0.9831, + "palm_axis_vs_markers_deg": { + "gsi": 40.06, + "smplx": 0.39 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 17.2, + "p90": 27.2 + }, + "registered": { + "median": 17.1, + "p90": 26.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:56:17.919996+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P04/session_017", "family": "locomotion_primitives", "primitive": "P04", "source_session": "20260919/P04/20260919_074319_session122" + }, + "task": { + "primitive": "P04", + "instruction": "Start still; gradually go slow \u2192 normal \u2192 fast; briefly maintain fast speed; stop." } } diff --git a/actions/locomotion_primitives/P04/session_017/motions/hands_mano.npz b/actions/locomotion_primitives/P04/session_017/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..80d66cd183be776e07f690af1848683e31577501 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_017/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b68363d726b33551d113be4e9940709fd5baeec42fe4573af5c7b040790a45ca +size 1543504 diff --git a/actions/locomotion_primitives/P04/session_017/motions/smplx.npz b/actions/locomotion_primitives/P04/session_017/motions/smplx.npz index 923a29ee2169f39259fb95ce03816518271f40fe..b062a4172297ce3e79a753ce9c086073faf844bf 100644 --- a/actions/locomotion_primitives/P04/session_017/motions/smplx.npz +++ b/actions/locomotion_primitives/P04/session_017/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:51cb08621fdeff70bd1dccf42799c49303eec67368170a52ac8d598091d5d51a -size 3191877 +oid sha256:40a5b941f568dd43e7177a9c8ae834040a5c36eb91ddbb177192ca2ddd96da7c +size 5915452 diff --git a/actions/locomotion_primitives/P04/session_018/annotations.json b/actions/locomotion_primitives/P04/session_018/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..3c39fe34597506b7cef49ffa805ab89b4045851d --- /dev/null +++ b/actions/locomotion_primitives/P04/session_018/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P04", + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 63.966567, + "video": "left_eye", + "video_t_start": 0.038999095225070946 + } + ], + "episodes": [ + { + "id": "52c7fccb-c008-4e02-b652-d7fcf7687fe9", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 1.462, + "end_s": 5.595, + "t_start": 1.501, + "t_end": 5.634, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "f261d67f-ae5c-492a-9714-760555d9a6d0", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 8.018, + "end_s": 12.297, + "t_start": 8.057, + "t_end": 12.336, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "a841d237-0d6b-460b-86d4-6f57404db021", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 14.297, + "end_s": 18.861, + "t_start": 14.336, + "t_end": 18.9, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "da4c59be-7d79-4cee-8b4b-247294ca9a87", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 19.914, + "end_s": 24.283, + "t_start": 19.953, + "t_end": 24.322, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "14ab1069-866e-479d-a29b-8a4ebcfd7da6", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 25.784, + "end_s": 30.239, + "t_start": 25.823, + "t_end": 30.278, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "caacc2ab-290e-4bcf-a26f-4d70fb87af0b", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 31.462, + "end_s": 35.554, + "t_start": 31.501, + "t_end": 35.593, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "88b5c558-1800-419b-bf19-c56d837d5b28", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 37.088, + "end_s": 41.438, + "t_start": 37.127, + "t_end": 41.477, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "69bee6eb-afa9-4773-b5de-2b02a6c078cb", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 42.746, + "end_s": 47.062, + "t_start": 42.785, + "t_end": 47.101, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "77253c2f-aca9-406d-99c5-a1ba32c950f3", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 48.159, + "end_s": 51.291, + "t_start": 48.198, + "t_end": 51.33, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "41a87d10-d53f-49aa-8023-cc816c6a4d91", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 53.826, + "end_s": 57.786, + "t_start": 53.865, + "t_end": 57.825, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P04/session_018/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P04/session_018/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..02ad10bba597b09dcdc0e8710e24b563975adc65 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_018/cameras/gsi_online_calibration.json @@ -0,0 +1,253 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 14, + "median_px": 0.376 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 1.0009, + "gate_fail": [], + "held_out_px_after": 0.55, + "held_out_px_before": 4.159, + "inliers": 1089, + "position_fitted": false, + "rotvec_deg": [ + -0.307, + -0.4937, + -0.8148 + ], + "split_deg": 0.2123, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 2.2709, + "gate_fail": [], + "held_out_px_after": 0.421, + "held_out_px_before": 6.451, + "inliers": 1984, + "position_fitted": true, + "position_mm": [ + 5.43, + -16.28, + 5.15 + ], + "position_sigma_mm": 0.335, + "position_split_mm": 1.931, + "rotvec_deg": [ + -0.1489, + 0.8609, + -2.0961 + ], + "split_deg": 0.1298, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 1.1837, + "gate_fail": [], + "held_out_px_after": 0.506, + "held_out_px_before": 4.549, + "inliers": 953, + "position_fitted": false, + "rotvec_deg": [ + 1.1038, + -0.3282, + -0.2743 + ], + "split_deg": 0.1333, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.8066, + "gate_fail": [], + "held_out_px_after": 0.355, + "held_out_px_before": 3.673, + "inliers": 2146, + "position_fitted": true, + "position_mm": [ + 7.69, + -18.04, + 5.34 + ], + "position_sigma_mm": 0.311, + "position_split_mm": 2.17, + "rotvec_deg": [ + 0.0072, + -0.3816, + -0.7106 + ], + "split_deg": 0.0919, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 2.0098, + "gate_fail": [], + "held_out_px_after": 0.353, + "held_out_px_before": 6.518, + "inliers": 2126, + "position_fitted": false, + "rotvec_deg": [ + -0.5865, + 0.1594, + -1.9157 + ], + "split_deg": 0.0226, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "e17c9efadb69e7b1", + "factory_root_name": "e17c9efadb69e7b1", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "0502a79cde1e692ab84a1b35fcf7aab10a316308daee310e325ce15ff9775b26", + "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "6dcf1decede4f21a28e99801f10cdb02e4ca7eae28bb3af30f4a1d859b30eac2", + "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "531460a2ab9729df1d76c41d2fdd64c10e344d7248f0d0ab35d7e51bd2aafdd7", + "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "8e8af96a99bc71a14cdb4696f1f250eb4af9c125864ed9d00d81aca4ff558fdb", + "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d" + } + }, + "input_fingerprint": "007e40571506628e", + "kind": "online_calibration", + "output_sha256": "6d8a635acca6bac61d2f0795fc13037dffccc16fc91941883916ced5072faeb4", + "overlap": { + "left-right": 0.501, + "left_eye-left": 0.707, + "left_eye-right": 0.671, + "left_front-left": 0.478, + "left_front-left_eye": 0.72, + "left_front-right": 0.448, + "left_front-right_eye": 0.732, + "left_front-right_front": 1.0, + "right_eye-left": 0.696, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.673, + "right_front-left": 0.464, + "right_front-left_eye": 0.723, + "right_front-right": 0.466, + "right_front-right_eye": 0.734 + }, + "picture_change": { + "left": 37.16, + "left_eye": 23.218, + "left_front": 32.936, + "right": 34.768, + "right_eye": 25.138, + "right_front": 31.046 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 20826104855666, + 20827104889000, + 20828104889000, + 20829104877888, + 20830104889000, + 20831104889000, + 20832104889000, + 20833104866777, + 20835104866777, + 20836104900111, + 20837104855666, + 20838104889000, + 20839104866777, + 20840105022333, + 20842104855666, + 20843104866777, + 20844104866777, + 20845104889000, + 20848104855666, + 20849104900111, + 20850104855666, + 20851104855666, + 20852104889000, + 20853104955666, + 20854104877888, + 20855104855666, + 20856105011222, + 20857104855666, + 20858104933444, + 20859104866777, + 20860104889000, + 20861104866777, + 20862104889000, + 20863104866777, + 20865104855666, + 20866104866777, + 20867104889000, + 20868104889000, + 20869104866777, + 20871104877888, + 20872104889000, + 20873104911222, + 20874104866777, + 20875105011222, + 20876104866777, + 20877104877888, + 20878104866777, + 20879104855666, + 20881105011222, + 20882104855666, + 20883104866777, + 20884104889000, + 20885104855666, + 20886104855666 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P04/session_018/cameras/slam.npz b/actions/locomotion_primitives/P04/session_018/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..f7591fe198198b9e8af5a07bef45a1479cc9c189 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_018/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6479f9294b63ecd24f747ade9f42c744fb48edcf73e320c37e3297ca23bcd904 +size 369799 diff --git a/actions/locomotion_primitives/P04/session_018/meta.json b/actions/locomotion_primitives/P04/session_018/meta.json index be04ba18af3331de33b0c6a917f78b5e0e77a3dd..0ddec5b4f23e0f3f9422452333a6a7a86765f366 100644 --- a/actions/locomotion_primitives/P04/session_018/meta.json +++ b/actions/locomotion_primitives/P04/session_018/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": { @@ -514,10 +514,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9099950252964291 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 7.55, + "offset_rotvec": [ + 0.0281, + 0.0653, + -0.1109 + ], + "dev_deg": { + "median": 7.01, + "p90": 16.42 + }, + "samples": 1670, + "accepted": 1643, + "wrist_pos_err_mm_median": 53.6, + "per_camera": { + "head": { + "samples": 1670, + "accepted": 1643, + "gate_deg": 30.0, + "offset_deg": 7.55, + "tier": "primary", + "dev_deg_median": 7.01, + "wrist_pos_err_mm_median": 53.6 + } + }, + "frames_by_state": { + "ace_sample": 6646, + "interpolated": 1026, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9984, + "observed_fraction_of_valid": 0.9984, + "palm_axis_vs_markers_deg": { + "gsi": 8.46, + "smplx": 0.52 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.9, + "p90": 12.0 + }, + "registered": { + "median": 9.2, + "p90": 9.9 + } + } + }, + "right": { + "offset_deg": 20.13, + "offset_rotvec": [ + 0.0626, + -0.1878, + 0.2903 + ], + "dev_deg": { + "median": 4.88, + "p90": 14.4 + }, + "samples": 1511, + "accepted": 1450, + "wrist_pos_err_mm_median": 37.4, + "per_camera": { + "head": { + "samples": 1511, + "accepted": 1450, + "gate_deg": 30.0, + "offset_deg": 20.13, + "tier": "primary", + "dev_deg_median": 4.88, + "wrist_pos_err_mm_median": 37.4 + } + }, + "frames_by_state": { + "ace_sample": 5874, + "interpolated": 1550, + "mean_hand": 260, + "no_body_fit": 0 + }, + "observed_fraction": 0.9662, + "observed_fraction_of_valid": 0.9662, + "palm_axis_vs_markers_deg": { + "gsi": 15.38, + "smplx": 0.53 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.3, + "p90": 28.6 + }, + "registered": { + "median": 13.0, + "p90": 27.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:47:05.205944+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P04/session_018", "family": "locomotion_primitives", "primitive": "P04", "source_session": "20260921/P04/20260921_060515_session117" + }, + "task": { + "primitive": "P04", + "instruction": "Start still; gradually go slow \u2192 normal \u2192 fast; briefly maintain fast speed; stop." } } diff --git a/actions/locomotion_primitives/P04/session_018/motions/hands_mano.npz b/actions/locomotion_primitives/P04/session_018/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..22483ee4a4041b439380abed2b358bf052444be1 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_018/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c89eac90623ed5906e1ed65ddbd7011e163fe8e7b292fc654906278ef6ce9e28 +size 2173728 diff --git a/actions/locomotion_primitives/P04/session_018/motions/smplx.npz b/actions/locomotion_primitives/P04/session_018/motions/smplx.npz index 56a270c5df5f3f49f6679e12efca81827bf77304..015ccd6db2b287bd417eed74b077b6d6980bd8b8 100644 --- a/actions/locomotion_primitives/P04/session_018/motions/smplx.npz +++ b/actions/locomotion_primitives/P04/session_018/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:13083f6288fd42b336608505a396ceece9745f530aca5cc5a7260dd0c6465235 -size 2959630 +oid sha256:accbe2d274bc4ae7231a6d0a1e9ccffe825f9fd38cfaf63d7b77d4f34bdf7fec +size 5518310 diff --git a/actions/locomotion_primitives/P04/session_019/annotations.json b/actions/locomotion_primitives/P04/session_019/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..9bdffd06761c7995b04858603b34294852e8d1b1 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_019/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P04", + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 78.966656, + "video": "left_eye", + "video_t_start": 0.03848721004085265 + } + ], + "episodes": [ + { + "id": "9a771d68-f252-49a0-bec9-596b9c032585", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 1, + "end_s": 5.111, + "t_start": 1.0385, + "t_end": 5.1495, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "2b4ea644-02d9-425e-8694-f95ccad6d538", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 6.703, + "end_s": 11.703, + "t_start": 6.7415, + "t_end": 11.7415, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "3f6526a6-1aa1-4181-b19c-571468000883", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 13.703, + "end_s": 18.896, + "t_start": 13.7415, + "t_end": 18.9345, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "bc5b4945-cb7e-4b4f-b225-34989e3c8882", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 20.896, + "end_s": 26.471, + "t_start": 20.9345, + "t_end": 26.5095, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "c9359bc4-0a2d-4622-bc70-d855b86a3c36", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 29.471, + "end_s": 33.908, + "t_start": 29.5095, + "t_end": 33.9465, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "119118d1-733b-4260-8c25-d41e23a802cd", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 37.292, + "end_s": 42.267, + "t_start": 37.3305, + "t_end": 42.3055, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "d79d4fa2-4886-4fec-a8c3-cc1e9341d5ce", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 43.776, + "end_s": 50.656, + "t_start": 43.8145, + "t_end": 50.6945, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "1c19d59d-3987-4646-8ef9-5521034d72bd", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 52.335, + "end_s": 57.453, + "t_start": 52.3735, + "t_end": 57.4915, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "3c553fde-3535-4796-b9bd-5eb6693f0c2e", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 59.955, + "end_s": 65.739, + "t_start": 59.9935, + "t_end": 65.7775, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "891b6d99-e910-40ee-8dec-030556ca2967", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 67.739, + "end_s": 71.481, + "t_start": 67.7775, + "t_end": 71.5195, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P04/session_019/cameras/slam.npz b/actions/locomotion_primitives/P04/session_019/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..676eb733d227396f9bfd75fe2a562916d7ae6be0 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_019/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d1e0f1b6f3f8d8db5ec09efa1fb53f9db941412d00691f7c6b857b662508214 +size 456647 diff --git a/actions/locomotion_primitives/P04/session_019/meta.json b/actions/locomotion_primitives/P04/session_019/meta.json index ba0bc8b04c658751bd08b78a25198ab454d2ee73..13fb7c223a2e1a229201c652fd077961a0e4d0ff 100644 --- a/actions/locomotion_primitives/P04/session_019/meta.json +++ b/actions/locomotion_primitives/P04/session_019/meta.json @@ -323,8 +323,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -513,10 +513,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.090914389675889 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 42.6, + "offset_rotvec": [ + 0.6372, + -0.3457, + -0.1654 + ], + "dev_deg": { + "median": 10.35, + "p90": 20.19 + }, + "samples": 2280, + "accepted": 2213, + "wrist_pos_err_mm_median": 115.1, + "per_camera": { + "head": { + "samples": 2280, + "accepted": 2213, + "gate_deg": 30.0, + "offset_deg": 42.6, + "tier": "primary", + "dev_deg_median": 10.35, + "wrist_pos_err_mm_median": 115.1 + } + }, + "frames_by_state": { + "ace_sample": 8924, + "interpolated": 536, + "mean_hand": 16, + "no_body_fit": 8 + }, + "observed_fraction": 0.9975, + "observed_fraction_of_valid": 0.9983, + "palm_axis_vs_markers_deg": { + "gsi": 44.19, + "smplx": 0.33 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.3, + "p90": 6.6 + }, + "registered": { + "median": 4.3, + "p90": 5.0 + } + } + }, + "right": { + "offset_deg": 26.12, + "offset_rotvec": [ + 0.4078, + 0.0713, + 0.1907 + ], + "dev_deg": { + "median": 15.03, + "p90": 28.8 + }, + "samples": 1745, + "accepted": 1596, + "wrist_pos_err_mm_median": 167.0, + "per_camera": { + "head": { + "samples": 1745, + "accepted": 1596, + "gate_deg": 30.0, + "offset_deg": 26.12, + "tier": "primary", + "dev_deg_median": 15.03, + "wrist_pos_err_mm_median": 167.0 + } + }, + "frames_by_state": { + "ace_sample": 6570, + "interpolated": 2670, + "mean_hand": 236, + "no_body_fit": 8 + }, + "observed_fraction": 0.9743, + "observed_fraction_of_valid": 0.9751, + "palm_axis_vs_markers_deg": { + "gsi": 27.1, + "smplx": 0.34 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.2, + "p90": 15.2 + }, + "registered": { + "median": 9.5, + "p90": 14.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:26:15.692220+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P04/session_019", "family": "locomotion_primitives", "primitive": "P04", "source_session": "20260929/P04/20260929_060238_session110" + }, + "task": { + "primitive": "P04", + "instruction": "Start still; gradually go slow \u2192 normal \u2192 fast; briefly maintain fast speed; stop." } } diff --git a/actions/locomotion_primitives/P04/session_019/motions/hands_mano.npz b/actions/locomotion_primitives/P04/session_019/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..613a8e00f59c74aea602355e4b23558225ef60df --- /dev/null +++ b/actions/locomotion_primitives/P04/session_019/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72e818a82648a37b1e3dceb32eca8f23a76a2848299967db5a1e9b70ea6de7b4 +size 2752495 diff --git a/actions/locomotion_primitives/P04/session_019/motions/smplx.npz b/actions/locomotion_primitives/P04/session_019/motions/smplx.npz index 5d7796dc8f37579f8481ad69e1e980ec6bab20fb..190e2406d915ef7a0ede89ab7b9cf25438d568ab 100644 --- a/actions/locomotion_primitives/P04/session_019/motions/smplx.npz +++ b/actions/locomotion_primitives/P04/session_019/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b8679673ff41bbbbfac1c695eb784272fe6ad657087a5323214e4227c98b3d03 -size 3643520 +oid sha256:ddbe9fb8c83edb30a6ba1cac31a407dea86772625f80463c29bda0c4cbd11272 +size 6798991 diff --git a/actions/locomotion_primitives/P04/session_020/annotations.json b/actions/locomotion_primitives/P04/session_020/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..d9ee3079bc15be1f0f659ff01e855d7e25b6456c --- /dev/null +++ b/actions/locomotion_primitives/P04/session_020/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P04", + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 103.966533, + "video": "left_eye", + "video_t_start": 0.039218559684572885 + } + ], + "episodes": [ + { + "id": "061006c5-62f6-421a-83b6-12dafca96076", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 0.51, + "end_s": 5.685, + "t_start": 0.5492, + "t_end": 5.7242, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "e0f5b707-26da-46be-ba9e-4eb0d4377b49", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 7.685, + "end_s": 13.483, + "t_start": 7.7242, + "t_end": 13.5222, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "a30c6ccf-49fb-4607-ab3e-3c1ad9100e43", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 17.723, + "end_s": 23.698, + "t_start": 17.7622, + "t_end": 23.7372, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "45d673ef-14b0-4169-9c08-d69f68540cb7", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 26.818, + "end_s": 32.647, + "t_start": 26.8572, + "t_end": 32.6862, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "30727e11-791f-4fb9-8053-6efc069b194c", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 36.705, + "end_s": 42.116, + "t_start": 36.7442, + "t_end": 42.1552, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "e810ebaa-817c-4202-9cc1-023227744d21", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 45.741, + "end_s": 51.559, + "t_start": 45.7802, + "t_end": 51.5982, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "c54ff724-f15f-4aa5-bba3-e470eee48997", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 55.7, + "end_s": 61.713, + "t_start": 55.7392, + "t_end": 61.7522, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "3692278f-c83a-469c-b848-6c6413fb4fdf", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 65.57, + "end_s": 71.559, + "t_start": 65.6092, + "t_end": 71.5982, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "fddbfcfd-d75e-4e58-a167-29bd824256a4", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 75.246, + "end_s": 81.467, + "t_start": 75.2852, + "t_end": 81.5062, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "20624ff7-ee16-4811-8fe0-d9a1d3644084", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 85.467, + "end_s": 91.036, + "t_start": 85.5062, + "t_end": 91.0752, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P04/session_020/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P04/session_020/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..b47348299d918cb266247b07475656a5075978cc --- /dev/null +++ b/actions/locomotion_primitives/P04/session_020/cameras/gsi_online_calibration.json @@ -0,0 +1,257 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 15, + "median_px": 0.381 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye", + "right" + ], + "delta_deg": 1.1862, + "gate_fail": [], + "held_out_px_after": 0.512, + "held_out_px_before": 5.652, + "inliers": 2265, + "position_fitted": false, + "rotvec_deg": [ + -0.1734, + -0.4928, + -1.065 + ], + "split_deg": 0.1226, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 2.5092, + "gate_fail": [], + "held_out_px_after": 0.433, + "held_out_px_before": 6.416, + "inliers": 3235, + "position_fitted": true, + "position_mm": [ + 4.8, + -13.2, + 5.08 + ], + "position_sigma_mm": 0.352, + "position_split_mm": 1.418, + "rotvec_deg": [ + -0.0657, + 0.8628, + -2.3553 + ], + "split_deg": 0.0962, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye", + "left" + ], + "delta_deg": 1.6215, + "gate_fail": [], + "held_out_px_after": 0.585, + "held_out_px_before": 5.287, + "inliers": 1363, + "position_fitted": false, + "rotvec_deg": [ + 1.4833, + -0.4962, + -0.4277 + ], + "split_deg": 0.086, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 1.0484, + "gate_fail": [], + "held_out_px_after": 0.388, + "held_out_px_before": 3.457, + "inliers": 3381, + "position_fitted": true, + "position_mm": [ + 6.54, + -15.1, + 5.24 + ], + "position_sigma_mm": 0.348, + "position_split_mm": 4.05, + "rotvec_deg": [ + 0.2028, + -0.2678, + -0.9931 + ], + "split_deg": 0.1155, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 2.0359, + "gate_fail": [], + "held_out_px_after": 0.336, + "held_out_px_before": 6.702, + "inliers": 3896, + "position_fitted": false, + "rotvec_deg": [ + -0.2254, + 0.0187, + -2.0233 + ], + "split_deg": 0.0155, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "e17c9efadb69e7b1", + "factory_root_name": "e17c9efadb69e7b1", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "44479e9d619b4b9176e47999005ac9db12f57665124e3c1e720babdad9d3c3e3", + "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "72f637c219cdd81bfb8663f3b4a2bca5d6a66724db287a8ca99febdbf93f4943", + "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "b61c82b2be333639b6fac051c9bdbba62eddb89774bbb10260b47a8e93050666", + "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "fd2b5fabf0f309e88cdbb5ff0280f6fd6f8c5f010d4e99582f4f7bed4def1a97", + "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d" + } + }, + "input_fingerprint": "6c3d021ac4006bc6", + "kind": "online_calibration", + "output_sha256": "f3950e73abfc778ae870c28f6b74c8d7164894da77a0104dac7645ef1511cf8f", + "overlap": { + "left-right": 0.501, + "left_eye-left": 0.707, + "left_eye-right": 0.671, + "left_front-left": 0.478, + "left_front-left_eye": 0.72, + "left_front-right": 0.448, + "left_front-right_eye": 0.732, + "left_front-right_front": 1.0, + "right_eye-left": 0.696, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.673, + "right_front-left": 0.464, + "right_front-left_eye": 0.723, + "right_front-right": 0.466, + "right_front-right_eye": 0.734 + }, + "picture_change": { + "left": 33.044, + "left_eye": 24.072, + "left_front": 32.059, + "right": 34.179, + "right_eye": 21.845, + "right_front": 30.8 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 37194643152000, + 37195643274222, + 37199643163111, + 37200643140888, + 37203643140888, + 37204643307555, + 37206643118666, + 37207643152000, + 37210643163111, + 37211643152000, + 37212643285333, + 37216643152000, + 37217643129777, + 37219643152000, + 37220643140888, + 37223643140888, + 37224643140888, + 37225643152000, + 37226643296444, + 37228643163111, + 37229643274222, + 37232643152000, + 37233643118666, + 37235643296444, + 37236643129777, + 37238643129777, + 37239643152000, + 37243643152000, + 37244643152000, + 37246643129777, + 37247643163111, + 37248643163111, + 37249643163111, + 37253643296444, + 37254643129777, + 37255643152000, + 37259643163111, + 37260643229777, + 37263643163111, + 37264643163111, + 37265643129777, + 37268643274222, + 37269643163111, + 37273643129777, + 37274643152000, + 37276643140888, + 37277643174222, + 37278643152000, + 37283643152000, + 37284643140888, + 37286643152000, + 37287643152000, + 37289643163111, + 37290643152000, + 37292643263111, + 37293643163111 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P04/session_020/cameras/slam.npz b/actions/locomotion_primitives/P04/session_020/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..8fec00ea13d12e78316fa55d3e42067c279e41d4 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_020/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7fd6f4751f090374e1a4d7d545bbcab1e36cd133368b9dbc167d8b17d0971125 +size 598257 diff --git a/actions/locomotion_primitives/P04/session_020/meta.json b/actions/locomotion_primitives/P04/session_020/meta.json index f11799af45e240455b0a4020925eb138cce230b8..956b3dc9b809e2be234b839b8a774796cee1622e 100644 --- a/actions/locomotion_primitives/P04/session_020/meta.json +++ b/actions/locomotion_primitives/P04/session_020/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": { @@ -510,10 +510,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.2621913524535826 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 49.33, + "offset_rotvec": [ + 0.654, + -0.5493, + 0.1088 + ], + "dev_deg": { + "median": 13.28, + "p90": 26.17 + }, + "samples": 2628, + "accepted": 2462, + "wrist_pos_err_mm_median": 63.1, + "per_camera": { + "head": { + "samples": 2628, + "accepted": 2462, + "gate_deg": 30.0, + "offset_deg": 49.33, + "tier": "primary", + "dev_deg_median": 13.28, + "wrist_pos_err_mm_median": 63.1 + } + }, + "frames_by_state": { + "ace_sample": 10078, + "interpolated": 2326, + "mean_hand": 74, + "no_body_fit": 6 + }, + "observed_fraction": 0.9936, + "observed_fraction_of_valid": 0.9941, + "palm_axis_vs_markers_deg": { + "gsi": 48.78, + "smplx": 0.5 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.6, + "p90": 9.0 + }, + "registered": { + "median": 6.4, + "p90": 7.1 + } + } + }, + "right": { + "offset_deg": 27.59, + "offset_rotvec": [ + 0.4024, + 0.2442, + 0.1016 + ], + "dev_deg": { + "median": 20.0, + "p90": 40.53 + }, + "samples": 2381, + "accepted": 1832, + "wrist_pos_err_mm_median": 38.0, + "per_camera": { + "head": { + "samples": 2381, + "accepted": 1832, + "gate_deg": 30.0, + "offset_deg": 27.59, + "tier": "primary", + "dev_deg_median": 20.0, + "wrist_pos_err_mm_median": 38.0 + } + }, + "frames_by_state": { + "ace_sample": 7558, + "interpolated": 4222, + "mean_hand": 698, + "no_body_fit": 6 + }, + "observed_fraction": 0.9436, + "observed_fraction_of_valid": 0.9441, + "palm_axis_vs_markers_deg": { + "gsi": 31.27, + "smplx": 0.68 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.9, + "p90": 7.4 + }, + "registered": { + "median": 7.2, + "p90": 8.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:26:18.938633+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P04/session_020", "family": "locomotion_primitives", "primitive": "P04", "source_session": "20260929/P04/20260929_103559_session202" + }, + "task": { + "primitive": "P04", + "instruction": "Start still; gradually go slow \u2192 normal \u2192 fast; briefly maintain fast speed; stop." } } diff --git a/actions/locomotion_primitives/P04/session_020/motions/hands_mano.npz b/actions/locomotion_primitives/P04/session_020/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..a15580993cd617d76f9a006efb7a3b8d8522d092 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_020/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f3b11660377d6617c28f1b392957fca6f557a8433857b5b760543e6b780f434 +size 3431784 diff --git a/actions/locomotion_primitives/P04/session_020/motions/smplx.npz b/actions/locomotion_primitives/P04/session_020/motions/smplx.npz index 225ec6017aa26b818361b573eb87b89cdf202b73..463c09c201733de3144e978c35553064f964545f 100644 --- a/actions/locomotion_primitives/P04/session_020/motions/smplx.npz +++ b/actions/locomotion_primitives/P04/session_020/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d829eb8e788cc90b63479ff4ebf580b9e5d2e0192075995a4723997f7bd6665b -size 4788822 +oid sha256:0dfacfa80f08baaad476c43daa86beafb7b2868e482d1c3d6f6942be5bce659a +size 8910355 diff --git a/actions/locomotion_primitives/P04/session_021/annotations.json b/actions/locomotion_primitives/P04/session_021/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..62b2c09f4d2554873215844e0e9e656705ae5129 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_021/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P04", + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 93.966633, + "video": "left_eye", + "video_t_start": 0.03902047617883486 + } + ], + "episodes": [ + { + "id": "717a5a2e-3b09-460e-83c4-78fea0f870d5", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 0.784, + "end_s": 5.919, + "t_start": 0.823, + "t_end": 5.958, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "60e319ef-961b-4ecd-b568-14098badaa7c", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 7.919, + "end_s": 13.622, + "t_start": 7.958, + "t_end": 13.661, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "8127a08f-f01e-4204-8b7e-17c79affe7e2", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 17.622, + "end_s": 22.667, + "t_start": 17.661, + "t_end": 22.706, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "660d0cd3-02a5-4ac5-8ac1-bc9227b73524", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 25.667, + "end_s": 30.729, + "t_start": 25.706, + "t_end": 30.768, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "04d96fe7-8236-442c-aaae-2bb5077f85f6", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 34.729, + "end_s": 39.43, + "t_start": 34.768, + "t_end": 39.469, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "c64a1c3e-2b8b-4e28-80a5-45f4e3bcc1c9", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 42.43, + "end_s": 47.149, + "t_start": 42.469, + "t_end": 47.188, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "9ab032fa-7b24-454a-bb50-90ef34136e29", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 49.149, + "end_s": 54.689, + "t_start": 49.188, + "t_end": 54.728, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "bfbc7839-6130-4a15-8e7b-2de3c0fb42f7", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 57.689, + "end_s": 63.461, + "t_start": 57.728, + "t_end": 63.5, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "4a416f95-428b-4af1-a0a5-5a960f1223a7", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 66.461, + "end_s": 72.029, + "t_start": 66.5, + "t_end": 72.068, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "267bfb63-7acd-4dce-9a00-13e582ff8e31", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 75.029, + "end_s": 80.383, + "t_start": 75.068, + "t_end": 80.422, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P04/session_021/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P04/session_021/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..f621b3d3c3859f8e6eac1b0e77eee1d82cee797b --- /dev/null +++ b/actions/locomotion_primitives/P04/session_021/cameras/gsi_online_calibration.json @@ -0,0 +1,259 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 15, + "median_px": 0.352 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye", + "right" + ], + "delta_deg": 1.2585, + "gate_fail": [], + "held_out_px_after": 0.513, + "held_out_px_before": 5.856, + "inliers": 2494, + "position_fitted": false, + "rotvec_deg": [ + -0.2199, + -0.5542, + -1.1083 + ], + "split_deg": 0.0814, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 2.462, + "gate_fail": [], + "held_out_px_after": 0.444, + "held_out_px_before": 6.883, + "inliers": 3524, + "position_fitted": true, + "position_mm": [ + 1.35, + -14.84, + 8.22 + ], + "position_sigma_mm": 0.419, + "position_split_mm": 1.703, + "rotvec_deg": [ + -0.124, + 0.8578, + -2.3044 + ], + "split_deg": 0.047, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye", + "left" + ], + "delta_deg": 1.6955, + "gate_fail": [], + "held_out_px_after": 0.485, + "held_out_px_before": 5.68, + "inliers": 1586, + "position_fitted": false, + "rotvec_deg": [ + 1.6177, + -0.4835, + -0.1555 + ], + "split_deg": 0.0584, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 1.0315, + "gate_fail": [], + "held_out_px_after": 0.351, + "held_out_px_before": 3.361, + "inliers": 3862, + "position_fitted": true, + "position_mm": [ + 10.12, + -13.29, + 8.57 + ], + "position_sigma_mm": 0.417, + "position_split_mm": 1.642, + "rotvec_deg": [ + 0.1754, + -0.3108, + -0.9678 + ], + "split_deg": 0.0183, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.9995, + "gate_fail": [], + "held_out_px_after": 0.296, + "held_out_px_before": 6.745, + "inliers": 5441, + "position_fitted": false, + "rotvec_deg": [ + -0.2199, + 0.023, + -1.9873 + ], + "split_deg": 0.0073, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "e17c9efadb69e7b1", + "factory_root_name": "e17c9efadb69e7b1", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "4e7e9c132ad8251ce9128e347e08c189c3927bcb2a0aa435cafa93fc0de05a6f", + "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "b025c4449e625b8172bd5735e1f2b580e94ce0a2106f54a90d0e7acbc91c6bc7", + "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "199e0b94731b0159e1908b44b44a3bde151c1a8f6b2e45a028426ff0f893dc75", + "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "1f98965473bfff2ce7360067c27f22544d2ca8ed5479c484e812434dd868b5c4", + "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d" + } + }, + "input_fingerprint": "6dd274e76d6aed15", + "kind": "online_calibration", + "output_sha256": "3ee15a5b8f06ae56a1b04eacbf315d4e2d4ad8aeac06fdddf0df305306691e77", + "overlap": { + "left-right": 0.501, + "left_eye-left": 0.707, + "left_eye-right": 0.671, + "left_front-left": 0.478, + "left_front-left_eye": 0.72, + "left_front-right": 0.448, + "left_front-right_eye": 0.732, + "left_front-right_front": 1.0, + "right_eye-left": 0.696, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.673, + "right_front-left": 0.464, + "right_front-left_eye": 0.723, + "right_front-right": 0.466, + "right_front-right_eye": 0.734 + }, + "picture_change": { + "left": 35.811, + "left_eye": 29.078, + "left_front": 33.87, + "right": 32.711, + "right_eye": 25.769, + "right_front": 33.916 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 6982359343444, + 6983359343444, + 6986359387888, + 6987359387888, + 6988359387888, + 6989359343444, + 6991359476777, + 6992359399000, + 6994359387888, + 6995359343444, + 6998359343444, + 6999359543444, + 7001359410111, + 7002359354555, + 7005359343444, + 7006359399000, + 7007359343444, + 7008359387888, + 7011359421222, + 7012359399000, + 7014359354555, + 7015359343444, + 7016359399000, + 7020359376777, + 7021359343444, + 7022359399000, + 7023359354555, + 7024359365666, + 7025359354555, + 7027359343444, + 7028359354555, + 7030359365666, + 7031359354555, + 7032359387888, + 7033359399000, + 7035359343444, + 7036359354555, + 7038359365666, + 7039359365666, + 7043359354555, + 7044359387888, + 7046359387888, + 7047359399000, + 7048359421222, + 7052359354555, + 7053359399000, + 7054359343444, + 7055359343444, + 7056359421222, + 7057359387888, + 7059359343444, + 7060359354555, + 7063359365666, + 7064359343444, + 7065359354555, + 7066359399000, + 7068359354555, + 7069359421222 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P04/session_021/cameras/slam.npz b/actions/locomotion_primitives/P04/session_021/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..9a369a792d57b972985153772de94a3cb4647091 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_021/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6a53b1234ebfae9c6eeb5d8726a59ce7a75a854352cf5393b9cb163262da24b +size 542228 diff --git a/actions/locomotion_primitives/P04/session_021/meta.json b/actions/locomotion_primitives/P04/session_021/meta.json index 41321d2f70fceba3acd89455ceff75b4a4c03a18..8ab777453d9c1b2c3f473204387af5c247a9c854 100644 --- a/actions/locomotion_primitives/P04/session_021/meta.json +++ b/actions/locomotion_primitives/P04/session_021/meta.json @@ -325,8 +325,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -512,10 +512,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.4538230158800618 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 38.36, + "offset_rotvec": [ + 0.5155, + -0.4121, + 0.1121 + ], + "dev_deg": { + "median": 17.41, + "p90": 33.95 + }, + "samples": 1565, + "accepted": 1345, + "wrist_pos_err_mm_median": 103.3, + "per_camera": { + "head": { + "samples": 1565, + "accepted": 1345, + "gate_deg": 30.0, + "offset_deg": 38.36, + "tier": "primary", + "dev_deg_median": 17.41, + "wrist_pos_err_mm_median": 103.3 + } + }, + "frames_by_state": { + "ace_sample": 5658, + "interpolated": 5166, + "mean_hand": 460, + "no_body_fit": 0 + }, + "observed_fraction": 0.9592, + "observed_fraction_of_valid": 0.9592, + "palm_axis_vs_markers_deg": { + "gsi": 41.82, + "smplx": 0.77 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.1, + "p90": 8.0 + }, + "registered": { + "median": 5.7, + "p90": 7.1 + } + } + }, + "right": { + "offset_deg": 33.73, + "offset_rotvec": [ + 0.4135, + 0.4188, + -0.0117 + ], + "dev_deg": { + "median": 21.49, + "p90": 35.07 + }, + "samples": 1479, + "accepted": 1200, + "wrist_pos_err_mm_median": 415.1, + "per_camera": { + "head": { + "samples": 1479, + "accepted": 1200, + "gate_deg": 30.0, + "offset_deg": 33.73, + "tier": "primary", + "dev_deg_median": 21.49, + "wrist_pos_err_mm_median": 415.1 + } + }, + "frames_by_state": { + "ace_sample": 5106, + "interpolated": 5506, + "mean_hand": 672, + "no_body_fit": 0 + }, + "observed_fraction": 0.9404, + "observed_fraction_of_valid": 0.9404, + "palm_axis_vs_markers_deg": { + "gsi": 38.72, + "smplx": 0.52 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.8, + "p90": 11.8 + }, + "registered": { + "median": 7.5, + "p90": 13.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:22:29.065797+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P04/session_021", "family": "locomotion_primitives", "primitive": "P04", "source_session": "20260930/P04/20260930_023017_session40" + }, + "task": { + "primitive": "P04", + "instruction": "Start still; gradually go slow \u2192 normal \u2192 fast; briefly maintain fast speed; stop." } } diff --git a/actions/locomotion_primitives/P04/session_021/motions/hands_mano.npz b/actions/locomotion_primitives/P04/session_021/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..2803c386d4c0010967a675bd792a1c4ba8d1382a --- /dev/null +++ b/actions/locomotion_primitives/P04/session_021/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2bc76cf523774e9eefeb7a6526c25f82b0cd9addf7b5d796d506e5191c5895bb +size 2154884 diff --git a/actions/locomotion_primitives/P04/session_021/motions/smplx.npz b/actions/locomotion_primitives/P04/session_021/motions/smplx.npz index 884c9b497221fb3984f88d7ae818db271aff7249..c4adf95112449d142625d58819f760d0c745bc8f 100644 --- a/actions/locomotion_primitives/P04/session_021/motions/smplx.npz +++ b/actions/locomotion_primitives/P04/session_021/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d22a70c0efec9db38381a8b4c3110c5e5b75480aeaade5652c61b0c0a6445230 -size 4348856 +oid sha256:75bca9e7744bf15015509ad0d8aed3e60d53e3387304cca9cbb71acfa7904233 +size 7972491 diff --git a/actions/locomotion_primitives/P04/session_022/annotations.json b/actions/locomotion_primitives/P04/session_022/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..cff3a031c80ad8e83420bf46fc56d6abbc182f66 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_022/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P04", + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 78.966656, + "video": "left_eye", + "video_t_start": 0.038882716988248855 + } + ], + "episodes": [ + { + "id": "e641d53b-0043-42d1-b834-d9d72269afc9", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 1, + "end_s": 6.487, + "t_start": 1.0389, + "t_end": 6.5259, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "583b8138-dc5c-4c7b-b6cb-9b80360e6ec9", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 8.134, + "end_s": 12.447, + "t_start": 8.1729, + "t_end": 12.4859, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "e2b3982c-d305-4036-828c-bb7983179aaf", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 13.878, + "end_s": 19.616, + "t_start": 13.9169, + "t_end": 19.6549, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "1b97d390-a35b-45d7-ac4c-80ff07f93157", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 21.616, + "end_s": 26.494, + "t_start": 21.6549, + "t_end": 26.5329, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "f3a61a31-391d-4177-9327-4c00cb773445", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 28.494, + "end_s": 33.86, + "t_start": 28.5329, + "t_end": 33.8989, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "c57fb8a6-2db1-40fe-b02b-aa45d9d44825", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 35.86, + "end_s": 41.572, + "t_start": 35.8989, + "t_end": 41.6109, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "d161ef11-74b8-4e67-b977-360355b6f33e", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 43.572, + "end_s": 49.571, + "t_start": 43.6109, + "t_end": 49.6099, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "d6dec40c-4d34-4271-95e3-5e4cc0c49213", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 51.571, + "end_s": 56.826, + "t_start": 51.6099, + "t_end": 56.8649, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "17e848e3-1cd5-4ede-a84d-0345adf731be", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 58.826, + "end_s": 64.531, + "t_start": 58.8649, + "t_end": 64.5699, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "c70c7328-e9d1-4847-a220-6c3e1b547535", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 66.531, + "end_s": 72.962, + "t_start": 66.5699, + "t_end": 73.0009, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P04/session_022/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P04/session_022/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..eec3d68d5894a6b854244af1988510906fff6683 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_022/cameras/gsi_online_calibration.json @@ -0,0 +1,253 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 14, + "median_px": 0.359 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 1.1888, + "gate_fail": [], + "held_out_px_after": 0.526, + "held_out_px_before": 5.845, + "inliers": 1921, + "position_fitted": false, + "rotvec_deg": [ + -0.2549, + -0.495, + -1.0504 + ], + "split_deg": 0.0415, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 2.3865, + "gate_fail": [], + "held_out_px_after": 0.402, + "held_out_px_before": 6.082, + "inliers": 2453, + "position_fitted": true, + "position_mm": [ + 3.04, + -11.08, + 9.51 + ], + "position_sigma_mm": 0.407, + "position_split_mm": 2.125, + "rotvec_deg": [ + -0.1504, + 0.8132, + -2.2386 + ], + "split_deg": 0.0231, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 1.4687, + "gate_fail": [], + "held_out_px_after": 0.505, + "held_out_px_before": 5.359, + "inliers": 1539, + "position_fitted": false, + "rotvec_deg": [ + 1.3343, + -0.4461, + -0.4216 + ], + "split_deg": 0.0774, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 1.0316, + "gate_fail": [], + "held_out_px_after": 0.353, + "held_out_px_before": 3.37, + "inliers": 2557, + "position_fitted": true, + "position_mm": [ + 9.49, + -11.37, + 6.84 + ], + "position_sigma_mm": 0.403, + "position_split_mm": 0.984, + "rotvec_deg": [ + 0.2614, + -0.3031, + -0.9508 + ], + "split_deg": 0.0151, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 2.0307, + "gate_fail": [], + "held_out_px_after": 0.307, + "held_out_px_before": 7.592, + "inliers": 4009, + "position_fitted": false, + "rotvec_deg": [ + -0.2285, + 0.0079, + -2.0178 + ], + "split_deg": 0.0107, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "e17c9efadb69e7b1", + "factory_root_name": "e17c9efadb69e7b1", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "3c32544097f38a190d4e486018c83a7113a6aa6ec94d78343829344f0c60c854", + "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "89aaf11adc3b100b34add215a86a8c1dfd1739fde071d99bfba1dd4bae909a22", + "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "07e7bebc40b8120b4d00d97497bb2d3ba36f6a2fb0c04ffc4ab4dbf81794f3ad", + "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "719f1ac42d8cd71c7c97b237d5b55a0cc58fa163f31ac8f62620d834643384d7", + "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d" + } + }, + "input_fingerprint": "21cfbe30eee59257", + "kind": "online_calibration", + "output_sha256": "645b8c1242c11bc62de918453e9dc063f7d7228504aadea3dc79157b71cf4f46", + "overlap": { + "left-right": 0.501, + "left_eye-left": 0.707, + "left_eye-right": 0.671, + "left_front-left": 0.478, + "left_front-left_eye": 0.72, + "left_front-right": 0.448, + "left_front-right_eye": 0.732, + "left_front-right_front": 1.0, + "right_eye-left": 0.696, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.673, + "right_front-left": 0.464, + "right_front-left_eye": 0.723, + "right_front-right": 0.466, + "right_front-right_eye": 0.734 + }, + "picture_change": { + "left": 34.527, + "left_eye": 24.402, + "left_front": 35.664, + "right": 33.925, + "right_eye": 25.015, + "right_front": 32.731 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 14512666556777, + 14513666623444, + 14517666567888, + 14518666579000, + 14519666545666, + 14520666645666, + 14522666579000, + 14523666567888, + 14524666567888, + 14525666579000, + 14526666545666, + 14529666545666, + 14530666567888, + 14531666567888, + 14533666545666, + 14534666545666, + 14537666545666, + 14538666567888, + 14539666579000, + 14540666545666, + 14541666545666, + 14544666567888, + 14545666579000, + 14547666590111, + 14548666567888, + 14549666567888, + 14550666579000, + 14552666567888, + 14553666645666, + 14554666545666, + 14556666590111, + 14557666567888, + 14559666556777, + 14560666579000, + 14561666701222, + 14562666579000, + 14564666545666, + 14565666567888, + 14566666556777, + 14567666623444, + 14569666567888, + 14570666534555, + 14571666567888, + 14572666545666, + 14574666567888, + 14575666690111, + 14577666645666, + 14578666545666, + 14580666545666, + 14581666545666, + 14582666556777, + 14585666545666, + 14586666579000, + 14587666567888 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P04/session_022/cameras/slam.npz b/actions/locomotion_primitives/P04/session_022/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..883e27f6df57d4efa6e2faa944ba87946e3dde5f --- /dev/null +++ b/actions/locomotion_primitives/P04/session_022/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c7e384c3312e397ed7c0a7228f11171170d3939f1cd2a0434b902762ccc371c +size 455934 diff --git a/actions/locomotion_primitives/P04/session_022/meta.json b/actions/locomotion_primitives/P04/session_022/meta.json index 3564e8edc9b7efafd5dc148ff1374e10c23ef19a..3828a33fb96e0d5418a637ebe71e12ca16a1ff63 100644 --- a/actions/locomotion_primitives/P04/session_022/meta.json +++ b/actions/locomotion_primitives/P04/session_022/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": 1.496630278690691 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 36.22, + "offset_rotvec": [ + 0.5561, + -0.2887, + 0.0839 + ], + "dev_deg": { + "median": 12.2, + "p90": 29.87 + }, + "samples": 1751, + "accepted": 1577, + "wrist_pos_err_mm_median": 65.7, + "per_camera": { + "head": { + "samples": 1751, + "accepted": 1577, + "gate_deg": 30.0, + "offset_deg": 36.22, + "tier": "primary", + "dev_deg_median": 12.2, + "wrist_pos_err_mm_median": 65.7 + } + }, + "frames_by_state": { + "ace_sample": 6485, + "interpolated": 2710, + "mean_hand": 281, + "no_body_fit": 8 + }, + "observed_fraction": 0.9695, + "observed_fraction_of_valid": 0.9703, + "palm_axis_vs_markers_deg": { + "gsi": 36.02, + "smplx": 0.74 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.7, + "p90": 6.1 + }, + "registered": { + "median": 5.2, + "p90": 6.8 + } + } + }, + "right": { + "offset_deg": 35.28, + "offset_rotvec": [ + 0.6059, + 0.0912, + 0.0613 + ], + "dev_deg": { + "median": 12.28, + "p90": 23.85 + }, + "samples": 1569, + "accepted": 1496, + "wrist_pos_err_mm_median": 71.7, + "per_camera": { + "head": { + "samples": 1569, + "accepted": 1496, + "gate_deg": 30.0, + "offset_deg": 35.28, + "tier": "primary", + "dev_deg_median": 12.28, + "wrist_pos_err_mm_median": 71.7 + } + }, + "frames_by_state": { + "ace_sample": 6230, + "interpolated": 3186, + "mean_hand": 60, + "no_body_fit": 8 + }, + "observed_fraction": 0.9928, + "observed_fraction_of_valid": 0.9937, + "palm_axis_vs_markers_deg": { + "gsi": 34.71, + "smplx": 0.89 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.0, + "p90": 8.2 + }, + "registered": { + "median": 6.7, + "p90": 9.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:22:30.603373+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P04/session_022", "family": "locomotion_primitives", "primitive": "P04", "source_session": "20260930/P04/20260930_071534_session70" + }, + "task": { + "primitive": "P04", + "instruction": "Start still; gradually go slow \u2192 normal \u2192 fast; briefly maintain fast speed; stop." } } diff --git a/actions/locomotion_primitives/P04/session_022/motions/hands_mano.npz b/actions/locomotion_primitives/P04/session_022/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..4e9b0ae4c6e942393ee5ef6c2c88643e28aa06a6 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_022/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0418c08609801adb5be4aaf67659f5408b0c683db5de7c381e641892be661e6b +size 2303512 diff --git a/actions/locomotion_primitives/P04/session_022/motions/smplx.npz b/actions/locomotion_primitives/P04/session_022/motions/smplx.npz index acd4cc84e607e53ca73441b8988859f45878a74a..28399143204fe45aed4c5cc6ea24e5b30f0365ce 100644 --- a/actions/locomotion_primitives/P04/session_022/motions/smplx.npz +++ b/actions/locomotion_primitives/P04/session_022/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:699c74943526770e87d5c652fc1ad8c8f493a2856bfca36394e4e8865f799439 -size 3656931 +oid sha256:a4698b6639902df3ecef139ec06280529dd2cb88ab7aa1dd1ef9f39890cdec99 +size 6803905 diff --git a/actions/locomotion_primitives/P04/session_023/annotations.json b/actions/locomotion_primitives/P04/session_023/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..2c338227dec6a2455faa6c96e5e95f1a49d40d63 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_023/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P04", + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 68.966556, + "video": "left_eye", + "video_t_start": 0.03886232763027042 + } + ], + "episodes": [ + { + "id": "f19c0cc8-a141-48e2-9b58-becd84f040ea", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 1, + "end_s": 5.456, + "t_start": 1.0389, + "t_end": 5.4949, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "a168d324-8cb8-43ec-ab78-2e6b2b55b7a6", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 7.389, + "end_s": 12.019, + "t_start": 7.4279, + "t_end": 12.0579, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "c8ed9bac-e549-4ab0-af9f-f696c9e9a1fc", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 13.411, + "end_s": 17.957, + "t_start": 13.4499, + "t_end": 17.9959, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "2442490e-44fd-4546-8883-2eea102e2dc4", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 19.81, + "end_s": 24.289, + "t_start": 19.8489, + "t_end": 24.3279, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "f1a95f6c-813c-4d0f-9786-69ebc4a663f5", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 26.289, + "end_s": 31.296, + "t_start": 26.3279, + "t_end": 31.3349, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "ae0b0a10-51c9-48e1-8117-aeaf0214fd1a", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 33.349, + "end_s": 37.536, + "t_start": 33.3879, + "t_end": 37.5749, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "39fcdee6-c5ac-457a-b587-5c9cc3098b5e", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 38.536, + "end_s": 44.006, + "t_start": 38.5749, + "t_end": 44.0449, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "a61b5c74-11dd-4df5-a983-731d6b66bfd8", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 45.901, + "end_s": 50.528, + "t_start": 45.9399, + "t_end": 50.5669, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "b4eec2b0-b9f3-41f3-b7f9-2bbf00463fdc", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 52.528, + "end_s": 57.438, + "t_start": 52.5669, + "t_end": 57.4769, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "edc8b503-7df5-409f-bd81-2951a4abe786", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 58.94, + "end_s": 64.048, + "t_start": 58.9789, + "t_end": 64.0869, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P04/session_023/cameras/slam.npz b/actions/locomotion_primitives/P04/session_023/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..6811ef29e8a248fae30452aad9a8e7f0acdcbd7b --- /dev/null +++ b/actions/locomotion_primitives/P04/session_023/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:27bd8421917bdb64aa28678a9f0ff20a5484b8075b24533772e23a8343624d1f +size 399409 diff --git a/actions/locomotion_primitives/P04/session_023/meta.json b/actions/locomotion_primitives/P04/session_023/meta.json index b13c8d2c7860594e7e41375d563c38592593a9bd..fb1b394fe62661378683509362bbe9a3b6c2e883 100644 --- a/actions/locomotion_primitives/P04/session_023/meta.json +++ b/actions/locomotion_primitives/P04/session_023/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": { @@ -509,10 +509,124 @@ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 25.63, + "offset_rotvec": [ + -0.1515, + 0.0717, + 0.4147 + ], + "dev_deg": { + "median": 10.43, + "p90": 19.55 + }, + "samples": 1542, + "accepted": 1520, + "wrist_pos_err_mm_median": 158.4, + "per_camera": { + "head": { + "samples": 1542, + "accepted": 1520, + "gate_deg": 30.0, + "offset_deg": 25.63, + "tier": "primary", + "dev_deg_median": 10.43, + "wrist_pos_err_mm_median": 158.4 + } + }, + "frames_by_state": { + "ace_sample": 6238, + "interpolated": 2034, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9986, + "observed_fraction_of_valid": 0.9986, + "palm_axis_vs_markers_deg": { + "gsi": 16.34, + "smplx": 0.57 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.3, + "p90": 15.6 + }, + "registered": { + "median": 11.6, + "p90": 14.1 + } + } + }, + "right": { + "offset_deg": 18.6, + "offset_rotvec": [ + 0.0478, + 0.3133, + -0.0703 + ], + "dev_deg": { + "median": 18.24, + "p90": 33.77 + }, + "samples": 1326, + "accepted": 1127, + "wrist_pos_err_mm_median": 133.4, + "per_camera": { + "head": { + "samples": 1326, + "accepted": 1127, + "gate_deg": 30.0, + "offset_deg": 18.6, + "tier": "primary", + "dev_deg_median": 18.24, + "wrist_pos_err_mm_median": 133.4 + } + }, + "frames_by_state": { + "ace_sample": 4782, + "interpolated": 3250, + "mean_hand": 252, + "no_body_fit": 0 + }, + "observed_fraction": 0.9696, + "observed_fraction_of_valid": 0.9696, + "palm_axis_vs_markers_deg": { + "gsi": 21.29, + "smplx": 0.39 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.4, + "p90": 12.7 + }, + "registered": { + "median": 8.4, + "p90": 12.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:07:47.782828+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P04/session_023", "family": "locomotion_primitives", "primitive": "P04", "source_session": "20261013/P04/20261013_074001_session121" + }, + "task": { + "primitive": "P04", + "instruction": "Start still; gradually go slow \u2192 normal \u2192 fast; briefly maintain fast speed; stop." } } diff --git a/actions/locomotion_primitives/P04/session_023/motions/hands_mano.npz b/actions/locomotion_primitives/P04/session_023/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..66d4e4fbbbe9a13b17ec03a285e297be4d0e33d9 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_023/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:116b12d477e7ce2474309875c059196eec63930b5c597337216ea99e6069be8e +size 1995729 diff --git a/actions/locomotion_primitives/P04/session_023/motions/smplx.npz b/actions/locomotion_primitives/P04/session_023/motions/smplx.npz index d02962ae1a31bcf4dc2f3544b982d473f1dc7dc3..31ebc1d4f5527fb530013a407ecb91692b560d4a 100644 --- a/actions/locomotion_primitives/P04/session_023/motions/smplx.npz +++ b/actions/locomotion_primitives/P04/session_023/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e2fe362153cfc93ee4c0b8b97c7f6af091d9b897968ad2913f17ca040537829e -size 3187238 +oid sha256:a1b90904c8eab000dd6006b484200f772b73e8b4629c3bab4920fca74b932f79 +size 5938980 diff --git a/actions/locomotion_primitives/P04/session_024/annotations.json b/actions/locomotion_primitives/P04/session_024/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..ffcd229badfba233ac773563c4ba869123476af9 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_024/annotations.json @@ -0,0 +1,127 @@ +{ + "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": "P04", + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 103.533378, + "video": "left_eye", + "video_t_start": 0.04030460802477459 + } + ], + "episodes": [ + { + "id": "7793dfc3-27ef-4ff2-89b6-f344333d5e42", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 1.212, + "end_s": 6.306, + "t_start": 1.2523, + "t_end": 6.3463, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "69222f26-8712-46bb-8c8c-39f6de4be28b", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 10.626, + "end_s": 15.99, + "t_start": 10.6663, + "t_end": 16.0303, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "d31bb0eb-a0e8-4087-8b41-56a87fa38f65", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 20.41, + "end_s": 25.465, + "t_start": 20.4503, + "t_end": 25.5053, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "7bcc0086-d553-4710-a846-ddf6a43bfa12", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 29.903, + "end_s": 34.813, + "t_start": 29.9433, + "t_end": 34.8533, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "aa11605f-9930-406d-8868-dbd7be780f2d", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 38.923, + "end_s": 44.304, + "t_start": 38.9633, + "t_end": 44.3443, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "4278516b-c189-431c-9b6f-777a070e4cfa", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 48.304, + "end_s": 53.843, + "t_start": 48.3443, + "t_end": 53.8833, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "a2e8f43b-426b-455f-8803-e132d21c178c", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 58.567, + "end_s": 63.925, + "t_start": 58.6073, + "t_end": 63.9653, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "359fb8cc-1d67-4981-b086-34f275cd9b58", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 68.925, + "end_s": 74.254, + "t_start": 68.9653, + "t_end": 74.2943, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "9460120c-354e-4834-8a06-ad4d065d6c39", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 79.301, + "end_s": 84.612, + "t_start": 79.3413, + "t_end": 84.6523, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + }, + { + "id": "ffd303f8-6538-42af-90ba-1727c4463210", + "segment": "segment1", + "action": "P04", + "quality": "valid", + "start_s": 89.466, + "end_s": 94.824, + "t_start": 89.5063, + "t_end": 94.8643, + "instruction": "Start still; gradually go slow → normal → fast; briefly maintain fast speed; stop." + } + ] +} diff --git a/actions/locomotion_primitives/P04/session_024/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P04/session_024/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..cf425f63763d3226300eb23160720ab088aa9659 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_024/cameras/gsi_online_calibration.json @@ -0,0 +1,251 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 14, + "median_px": 0.39 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 1.68, + "gate_fail": [], + "held_out_px_after": 0.474, + "held_out_px_before": 22.123, + "inliers": 2113, + "position_fitted": false, + "rotvec_deg": [ + -1.4368, + -0.1815, + -0.8515 + ], + "split_deg": 0.0711, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 2.5014, + "gate_fail": [], + "held_out_px_after": 0.735, + "held_out_px_before": 9.227, + "inliers": 2701, + "position_fitted": true, + "position_mm": [ + 7.18, + -45.48, + 3.22 + ], + "position_sigma_mm": 0.673, + "position_split_mm": 8.303, + "rotvec_deg": [ + 1.5023, + -0.8859, + 1.7932 + ], + "split_deg": 0.1975, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 3.4537, + "gate_fail": [], + "held_out_px_after": 0.546, + "held_out_px_before": 12.84, + "inliers": 889, + "position_fitted": false, + "rotvec_deg": [ + 1.4592, + -1.1885, + 2.8959 + ], + "split_deg": 0.3843, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 3.196, + "gate_fail": [], + "held_out_px_after": 0.45, + "held_out_px_before": 5.031, + "inliers": 3012, + "position_fitted": true, + "position_mm": [ + 1.99, + -18.11, + -5.01 + ], + "position_sigma_mm": 0.442, + "position_split_mm": 6.17, + "rotvec_deg": [ + 1.9124, + -1.1271, + 2.2993 + ], + "split_deg": 0.0682, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 0.4643, + "gate_fail": [], + "held_out_px_after": 0.341, + "held_out_px_before": 3.323, + "inliers": 3960, + "position_fitted": false, + "rotvec_deg": [ + 0.2304, + -0.4023, + -0.0256 + ], + "split_deg": 0.0144, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "c9205ac6e17d2d5c", + "factory_root_name": "c9205ac6e17d2d5c", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "3b75b4d75ae92fc6e737e695f5239c6ecbbe9f074e8fbccf969000c5f37ec2f3", + "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "2479c469ebf39ba054b90b7854afd1ec02b1a2d23c5f5ff56c8106d64935da30", + "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "1169033f1629f4bd18ef58df11d0d83398f2b369c4cc8c44af82215e3b03c592", + "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "09baf9f1a51f68e93eef1f2102b00edbf95385d3344c892d08740bc9038c5667", + "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3" + } + }, + "input_fingerprint": "9c5b86a742db0893", + "kind": "online_calibration", + "output_sha256": "981875cf182dfe1dcf9c653e52791cb6fc16256849fd9f2f91231ecb2a290b98", + "overlap": { + "left-right": 0.5, + "left_eye-left": 0.695, + "left_eye-right": 0.702, + "left_front-left": 0.506, + "left_front-left_eye": 0.692, + "left_front-right": 0.458, + "left_front-right_eye": 0.698, + "left_front-right_front": 1.0, + "right_eye-left": 0.699, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.706, + "right_front-left": 0.49, + "right_front-left_eye": 0.697, + "right_front-right": 0.464, + "right_front-right_eye": 0.704 + }, + "picture_change": { + "left": 41.933, + "left_eye": 39.886, + "left_front": 32.243, + "right": 42.954, + "right_eye": 38.203, + "right_front": 31.388 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 5074600316000, + 5075600316000, + 5076600316000, + 5078600338222, + 5079600316000, + 5083600460444, + 5084600316000, + 5087600316000, + 5088600327111, + 5089600338222, + 5094600338222, + 5095600338222, + 5097600338222, + 5098600449333, + 5099600316000, + 5102600327111, + 5103600449333, + 5106600449333, + 5107600393777, + 5108600338222, + 5109600327111, + 5112600338222, + 5113600338222, + 5117600338222, + 5118600338222, + 5119600338222, + 5122600338222, + 5123600338222, + 5127600349333, + 5128600338222, + 5129600349333, + 5132600338222, + 5133600316000, + 5137600316000, + 5138600316000, + 5141600327111, + 5143600349333, + 5144600338222, + 5146600338222, + 5147600316000, + 5148600382666, + 5149600338222, + 5152600338222, + 5153600338222, + 5157600316000, + 5158600338222, + 5159600404888, + 5161600338222, + 5162600338222, + 5167600338222, + 5168600449333, + 5169600327111 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P04/session_024/cameras/slam.npz b/actions/locomotion_primitives/P04/session_024/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..1257341d65bde21d58a5de519cdb759b8e9a8eef --- /dev/null +++ b/actions/locomotion_primitives/P04/session_024/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c8cd25a8acea6a12f007a7d5f49806766fc88ba54be23ba52c11fd14de525996 +size 595285 diff --git a/actions/locomotion_primitives/P04/session_024/meta.json b/actions/locomotion_primitives/P04/session_024/meta.json index 732345c16c065e479b5277d631e911f71a65452a..7c5f32735049e3e34be016c2e94e4849e5ba7fbc 100644 --- a/actions/locomotion_primitives/P04/session_024/meta.json +++ b/actions/locomotion_primitives/P04/session_024/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": { @@ -527,10 +527,124 @@ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 32.95, + "offset_rotvec": [ + 0.2856, + -0.4582, + 0.1983 + ], + "dev_deg": { + "median": 14.6, + "p90": 28.44 + }, + "samples": 2235, + "accepted": 2077, + "wrist_pos_err_mm_median": 46.4, + "per_camera": { + "head": { + "samples": 2235, + "accepted": 2077, + "gate_deg": 30.0, + "offset_deg": 32.95, + "tier": "primary", + "dev_deg_median": 14.6, + "wrist_pos_err_mm_median": 46.4 + } + }, + "frames_by_state": { + "ace_sample": 8610, + "interpolated": 3358, + "mean_hand": 464, + "no_body_fit": 0 + }, + "observed_fraction": 0.9627, + "observed_fraction_of_valid": 0.9627, + "palm_axis_vs_markers_deg": { + "gsi": 30.16, + "smplx": 0.55 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.6, + "p90": 8.1 + }, + "registered": { + "median": 7.0, + "p90": 7.7 + } + } + }, + "right": { + "offset_deg": 15.96, + "offset_rotvec": [ + 0.2518, + 0.0472, + 0.1095 + ], + "dev_deg": { + "median": 17.45, + "p90": 32.45 + }, + "samples": 2752, + "accepted": 2404, + "wrist_pos_err_mm_median": 43.2, + "per_camera": { + "head": { + "samples": 2752, + "accepted": 2404, + "gate_deg": 30.0, + "offset_deg": 15.96, + "tier": "primary", + "dev_deg_median": 17.45, + "wrist_pos_err_mm_median": 43.2 + } + }, + "frames_by_state": { + "ace_sample": 9832, + "interpolated": 2140, + "mean_hand": 460, + "no_body_fit": 0 + }, + "observed_fraction": 0.963, + "observed_fraction_of_valid": 0.963, + "palm_axis_vs_markers_deg": { + "gsi": 16.27, + "smplx": 0.3 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.0, + "p90": 16.5 + }, + "registered": { + "median": 9.4, + "p90": 14.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T21:26:13.816582+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P04/session_024", "family": "locomotion_primitives", "primitive": "P04", "source_session": "20261019/P04/20261019_020654_session20" + }, + "task": { + "primitive": "P04", + "instruction": "Start still; gradually go slow \u2192 normal \u2192 fast; briefly maintain fast speed; stop." } } diff --git a/actions/locomotion_primitives/P04/session_024/motions/hands_mano.npz b/actions/locomotion_primitives/P04/session_024/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..cf396b55ed68e7242a94aea307f7f55f4d197386 --- /dev/null +++ b/actions/locomotion_primitives/P04/session_024/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:98a2f47332b25eca50ff46d478222af5af5ddd51c2656673d0f7b3e6210cc9b7 +size 3395249 diff --git a/actions/locomotion_primitives/P04/session_024/motions/smplx.npz b/actions/locomotion_primitives/P04/session_024/motions/smplx.npz index 49d6ac1ca0b3ef8e477c224f34799635ba3c8c41..cb2311a34a4822ef70fff2d03d185d8ebc0fcd45 100644 --- a/actions/locomotion_primitives/P04/session_024/motions/smplx.npz +++ b/actions/locomotion_primitives/P04/session_024/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:21531279f1b74a42fdc3cca586fabc04cca44d899113548a7aa8f3eb15916f5e -size 4773761 +oid sha256:acd04db149b309e036a27819f16a960cead59928b39925e6c56facd3c76d9391 +size 8869386 diff --git a/actions/locomotion_primitives/P05/session_001/annotations.json b/actions/locomotion_primitives/P05/session_001/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..b9802c7fabe95f3adb2ba7983040a2539773d50e --- /dev/null +++ b/actions/locomotion_primitives/P05/session_001/annotations.json @@ -0,0 +1,127 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 1, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "P05", + "instruction": "Start at normal speed; gradually slow over several steps; stop gently.", + "segments": [ + { + "id": "segment1", + "duration_s": 103.966644, + "video": "left_eye", + "video_t_start": 0.03822391057669172 + } + ], + "episodes": [ + { + "id": "f13d8d62-3826-46d3-9f50-8ff647aecb39", + "segment": "segment1", + "action": "P05", + "quality": "valid", + "start_s": 2.034, + "end_s": 8.438, + "t_start": 2.0722, + "t_end": 8.4762, + "instruction": "Start at normal speed; gradually slow over several steps; stop gently." + }, + { + "id": "5eff7e0f-69de-4ddb-be70-3664b31682b7", + "segment": "segment1", + "action": "P05", + "quality": "valid", + "start_s": 10.807, + "end_s": 17.297, + "t_start": 10.8452, + "t_end": 17.3352, + "instruction": "Start at normal speed; gradually slow over several steps; stop gently." + }, + { + "id": "8964570f-5c93-4209-8522-3bbb13086c82", + "segment": "segment1", + "action": "P05", + "quality": "valid", + "start_s": 20.51, + "end_s": 27.821, + "t_start": 20.5482, + "t_end": 27.8592, + "instruction": "Start at normal speed; gradually slow over several steps; stop gently." + }, + { + "id": "ff28fd19-1f50-4a00-8e64-a8a85f7b3f8d", + "segment": "segment1", + "action": "P05", + "quality": "valid", + "start_s": 30.683, + "end_s": 38.561, + "t_start": 30.7212, + "t_end": 38.5992, + "instruction": "Start at normal speed; gradually slow over several steps; stop gently." + }, + { + "id": "3dcf52f5-80bb-4499-9c03-1defe4331af3", + "segment": "segment1", + "action": "P05", + "quality": "valid", + "start_s": 41.257, + "end_s": 49.012, + "t_start": 41.2952, + "t_end": 49.0502, + "instruction": "Start at normal speed; gradually slow over several steps; stop gently." + }, + { + "id": "ec253a9d-0fc8-4bf3-a01c-53cf364d5508", + "segment": "segment1", + "action": "P05", + "quality": "valid", + "start_s": 51.188, + "end_s": 57.73, + "t_start": 51.2262, + "t_end": 57.7682, + "instruction": "Start at normal speed; gradually slow over several steps; stop gently." + }, + { + "id": "d66f208f-c4f5-42ae-a850-87b835a71f80", + "segment": "segment1", + "action": "P05", + "quality": "valid", + "start_s": 60.178, + "end_s": 67.515, + "t_start": 60.2162, + "t_end": 67.5532, + "instruction": "Start at normal speed; gradually slow over several steps; stop gently." + }, + { + "id": "a339f152-e7d5-48f8-8e82-b44428810009", + "segment": "segment1", + "action": "P05", + "quality": "valid", + "start_s": 70.219, + "end_s": 77.001, + "t_start": 70.2572, + "t_end": 77.0392, + "instruction": "Start at normal speed; gradually slow over several steps; stop gently." + }, + { + "id": "55ac74e7-3453-4d42-9b5a-47ddf08724ac", + "segment": "segment1", + "action": "P05", + "quality": "valid", + "start_s": 79.971, + "end_s": 87.816, + "t_start": 80.0092, + "t_end": 87.8542, + "instruction": "Start at normal speed; gradually slow over several steps; stop gently." + }, + { + "id": "321cd657-5733-4056-819c-150883ecd5cb", + "segment": "segment1", + "action": "P05", + "quality": "valid", + "start_s": 91.171, + "end_s": 97.999, + "t_start": 91.2092, + "t_end": 98.0372, + "instruction": "Start at normal speed; gradually slow over several steps; stop gently." + } + ] +} diff --git a/actions/locomotion_primitives/P05/session_001/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P05/session_001/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..05fb630bb7d44f1214a8d6cc98149b9f9be8d7df --- /dev/null +++ b/actions/locomotion_primitives/P05/session_001/cameras/gsi_online_calibration.json @@ -0,0 +1,264 @@ +{ + "camera_fit": { + "groups_dropped": [ + { + "matches": 241, + "median_px": 21.39, + "pair": [ + "left", + "right" + ] + } + ], + "groups_used": 14, + "median_px": 0.428 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 1.0078, + "gate_fail": [], + "held_out_px_after": 0.534, + "held_out_px_before": 7.4, + "inliers": 1696, + "position_fitted": false, + "rotvec_deg": [ + -0.3594, + 0.7052, + 0.6238 + ], + "split_deg": 0.058, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.0912, + "gate_fail": [], + "held_out_px_after": 0.539, + "held_out_px_before": 2.328, + "inliers": 2796, + "position_fitted": true, + "position_mm": [ + -13.94, + 3.38, + 6.27 + ], + "position_sigma_mm": 0.366, + "position_split_mm": 5.717, + "rotvec_deg": [ + -0.1124, + 0.7596, + -0.7753 + ], + "split_deg": 0.1079, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.2585, + "gate_fail": [], + "held_out_px_after": 0.716, + "held_out_px_before": 2.23, + "inliers": 1749, + "position_fitted": false, + "rotvec_deg": [ + -0.0523, + 0.067, + -0.2441 + ], + "split_deg": 0.1019, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.7453, + "gate_fail": [], + "held_out_px_after": 0.534, + "held_out_px_before": 1.456, + "inliers": 3054, + "position_fitted": false, + "position_rejected": { + "position_mm": [ + -11.66, + 12.41, + 7.73 + ], + "position_sigma_mm": 0.442, + "position_split_mm": 9.509 + }, + "rotvec_deg": [ + -0.0576, + 0.4425, + -0.5969 + ], + "split_deg": 0.0696, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.9067, + "gate_fail": [], + "held_out_px_after": 0.376, + "held_out_px_before": 7.209, + "inliers": 3970, + "position_fitted": false, + "rotvec_deg": [ + -0.3412, + 0.5467, + -1.7945 + ], + "split_deg": 0.0219, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "850a0e6aafa85fdf", + "factory_root_name": "850a0e6aafa85fdf", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "b5af821a884c979f1c34f143a71fa046ce041a853e6cf283d1b8daa9c7960065", + "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "39a556749eae8f2359dcd5ff09b0f5fb463a2b398243197a7e9ce1bc3ed72a92", + "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "ce98eea96e959e40ff6dd2412de6597dc575b307753dbc4d904c616e1ce2fbd4", + "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "4a302d722b48e559b0b79dd67ab54760463060630fe6df3ed465f0bfd4deeeb1", + "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3" + } + }, + "input_fingerprint": "cb2b47b551de4225", + "kind": "online_calibration", + "output_sha256": "b9c671a3487caafba963d252f755bcbeef124237b5b32142fddffda73f58658a", + "overlap": { + "left-right": 0.487, + "left_eye-left": 0.707, + "left_eye-right": 0.685, + "left_front-left": 0.484, + "left_front-left_eye": 0.709, + "left_front-right": 0.464, + "left_front-right_eye": 0.711, + "left_front-right_front": 1.0, + "right_eye-left": 0.708, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.668, + "right_front-left": 0.482, + "right_front-left_eye": 0.711, + "right_front-right": 0.463, + "right_front-right_eye": 0.724 + }, + "picture_change": { + "left": 45.447, + "left_eye": 39.688, + "left_front": 42.474, + "right": 42.428, + "right_eye": 40.186, + "right_front": 43.348 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 745981652666, + 746981630444, + 751981652666, + 752981663777, + 753981652666, + 758981652666, + 759981663777, + 760981663777, + 761981663777, + 762981663777, + 763981663777, + 765981674888, + 766981663777, + 771981652666, + 772981674888, + 774981663777, + 775981663777, + 776981663777, + 781981663777, + 782981663777, + 783981663777, + 786981663777, + 787981674888, + 791981663777, + 792981663777, + 793981674888, + 795981663777, + 796981663777, + 801981652666, + 802981663777, + 804981663777, + 805981674888, + 807981652666, + 808981630444, + 811981663777, + 812981652666, + 814981663777, + 815981663777, + 817981652666, + 818981663777, + 821981663777, + 822981674888, + 824981663777, + 825981663777, + 826981686000, + 831981663777, + 832981663777, + 833981652666, + 835981774888, + 836981663777, + 840981663777, + 841981663777, + 842981652666, + 843981797111 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P05/session_001/cameras/slam.npz b/actions/locomotion_primitives/P05/session_001/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..44f50ad5396f715cfd2424bf31302cd5fab1120e --- /dev/null +++ b/actions/locomotion_primitives/P05/session_001/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eed1c2ec0f7cde291fc9d58629848cf0ee1dac81264f0d1112bd22db4619d698 +size 597474 diff --git a/actions/locomotion_primitives/P05/session_001/meta.json b/actions/locomotion_primitives/P05/session_001/meta.json index 6e03f924ec5e0812930895fb81c5b061e3ead1a9..3c2ce5447021385dcbcd2a3620a2e9bfeea85f32 100644 --- a/actions/locomotion_primitives/P05/session_001/meta.json +++ b/actions/locomotion_primitives/P05/session_001/meta.json @@ -332,8 +332,8 @@ "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": { @@ -524,10 +524,124 @@ "file": "derived/rig_tracker_provider/rig_tracker.json", "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.7, + "offset_rotvec": [ + -0.2038, + -0.2303, + -0.0297 + ], + "dev_deg": { + "median": 7.3, + "p90": 17.84 + }, + "samples": 2855, + "accepted": 2776, + "wrist_pos_err_mm_median": 66.5, + "per_camera": { + "head": { + "samples": 2855, + "accepted": 2776, + "gate_deg": 30.0, + "offset_deg": 17.7, + "tier": "primary", + "dev_deg_median": 7.3, + "wrist_pos_err_mm_median": 66.5 + } + }, + "frames_by_state": { + "ace_sample": 11213, + "interpolated": 1258, + "mean_hand": 5, + "no_body_fit": 8 + }, + "observed_fraction": 0.999, + "observed_fraction_of_valid": 0.9996, + "palm_axis_vs_markers_deg": { + "gsi": 16.13, + "smplx": 0.76 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.9, + "p90": 9.6 + }, + "registered": { + "median": 9.9, + "p90": 11.4 + } + } + }, + "right": { + "offset_deg": 9.51, + "offset_rotvec": [ + -0.0816, + 0.0432, + 0.138 + ], + "dev_deg": { + "median": 8.85, + "p90": 20.75 + }, + "samples": 2888, + "accepted": 2736, + "wrist_pos_err_mm_median": 121.4, + "per_camera": { + "head": { + "samples": 2888, + "accepted": 2736, + "gate_deg": 30.0, + "offset_deg": 9.51, + "tier": "primary", + "dev_deg_median": 8.85, + "wrist_pos_err_mm_median": 121.4 + } + }, + "frames_by_state": { + "ace_sample": 11053, + "interpolated": 1242, + "mean_hand": 181, + "no_body_fit": 8 + }, + "observed_fraction": 0.9849, + "observed_fraction_of_valid": 0.9855, + "palm_axis_vs_markers_deg": { + "gsi": 7.59, + "smplx": 0.86 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.5, + "p90": 5.7 + }, + "registered": { + "median": 5.6, + "p90": 6.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T12:24:40.325412+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P05/session_001", "family": "locomotion_primitives", "primitive": "P05", "source_session": "20260828/P05/20260828_054602_session7" + }, + "task": { + "primitive": "P05", + "instruction": "Start at normal speed; gradually slow over several steps; stop gently." } } diff --git a/actions/locomotion_primitives/P05/session_001/motions/hands_mano.npz b/actions/locomotion_primitives/P05/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..d1168dd1beb1d50c7bed20e9accc4c20f0b872e8 --- /dev/null +++ b/actions/locomotion_primitives/P05/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bcc70a932584d0e2d7adf5f8d8e4548babc972f948e8a74e8aefd9e9535a2ccb +size 3895972 diff --git a/actions/locomotion_primitives/P05/session_001/motions/smplx.npz b/actions/locomotion_primitives/P05/session_001/motions/smplx.npz index 468654ec95147bbc4785621b2ef8c19d4767e348..702bf885a0057106f1e1dd05fcb9967cc6f6c49d 100644 --- a/actions/locomotion_primitives/P05/session_001/motions/smplx.npz +++ b/actions/locomotion_primitives/P05/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a50582114b92c5e186b7c329e5621fab9a9494c1cfe027c78688ee339cc6d42b -size 4779649 +oid sha256:0b4c15394657971173038e34c8eaa1ecbd2b7a8302a5f55ab2aed17ce0776fa0 +size 8953050 diff --git a/actions/locomotion_primitives/P05/session_002/annotations.json b/actions/locomotion_primitives/P05/session_002/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..5cce8a374295806be63fe1afbc3ce4f5f09c36f0 --- /dev/null +++ b/actions/locomotion_primitives/P05/session_002/annotations.json @@ -0,0 +1,149 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 1, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "P05", + "instruction": "Start at normal speed; gradually slow over several steps; stop gently.", + "segments": [ + { + "id": "segment1", + "duration_s": 118.966511, + "video": "left_eye", + "video_t_start": 0.038634830903224504 + } + ], + "episodes": [ + { + "id": "291fafe0-eaa3-493f-9bf8-79a4948480f5", + "segment": "segment1", + "action": "P05", + "quality": "valid", + "start_s": 1.135, + "end_s": 7.866, + "t_start": 1.1736, + "t_end": 7.9046, + "instruction": "Start at normal speed; gradually slow over several steps; stop gently." + }, + { + "id": "ac1efc09-1886-4dcb-aa72-319f29aede43", + "segment": "segment1", + "action": "P05", + "quality": "valid", + "start_s": 10.133, + "end_s": 16.998, + "t_start": 10.1716, + "t_end": 17.0366, + "instruction": "Start at normal speed; gradually slow over several steps; stop gently." + }, + { + "id": "4290362e-1f4b-4aad-a447-65082ae23fac", + "segment": "segment1", + "action": "P05", + "quality": "valid", + "start_s": 20.019, + "end_s": 27.458, + "t_start": 20.0576, + "t_end": 27.4966, + "instruction": "Start at normal speed; gradually slow over several steps; stop gently." + }, + { + "id": "b2185ab1-11cd-411d-983f-3db0d3ea8720", + "segment": "segment1", + "action": "P05", + "quality": "valid", + "start_s": 30.214, + "end_s": 36.823, + "t_start": 30.2526, + "t_end": 36.8616, + "instruction": "Start at normal speed; gradually slow over several steps; stop gently." + }, + { + "id": "d3f44f6e-b0d4-4948-bf6c-efa239a10184", + "segment": "segment1", + "action": "P05", + "quality": "valid", + "start_s": 39.814, + "end_s": 47.007, + "t_start": 39.8526, + "t_end": 47.0456, + "instruction": "Start at normal speed; gradually slow over several steps; stop gently." + }, + { + "id": "1fa612a7-53b9-4aa3-bffc-0186c210158f", + "segment": "segment1", + "action": "P05", + "quality": "valid", + "start_s": 49.048, + "end_s": 55.38, + "t_start": 49.0866, + "t_end": 55.4186, + "instruction": "Start at normal speed; gradually slow over several steps; stop gently." + }, + { + "id": "12239b78-0f25-44c3-a02d-5a67714635e6", + "segment": "segment1", + "action": "P05", + "quality": "valid", + "start_s": 58.333, + "end_s": 64.769, + "t_start": 58.3716, + "t_end": 64.8076, + "instruction": "Start at normal speed; gradually slow over several steps; stop gently." + }, + { + "id": "06b0f55a-6da2-4d5d-b3fd-2d478d0853dd", + "segment": "segment1", + "action": "P05", + "quality": "valid", + "start_s": 68.194, + "end_s": 74.055, + "t_start": 68.2326, + "t_end": 74.0936, + "instruction": "Start at normal speed; gradually slow over several steps; stop gently." + }, + { + "id": "17c40ae1-8e2f-434d-9c31-225d1354fbdf", + "segment": "segment1", + "action": "P05", + "quality": "valid", + "start_s": 76.864, + "end_s": 83.841, + "t_start": 76.9026, + "t_end": 83.8796, + "instruction": "Start at normal speed; gradually slow over several steps; stop gently." + }, + { + "id": "167403d6-5e23-4aad-9138-3fe794522227", + "segment": "segment1", + "action": "P05", + "quality": "valid", + "start_s": 85.788, + "end_s": 92.614, + "t_start": 85.8266, + "t_end": 92.6526, + "instruction": "Start at normal speed; gradually slow over several steps; stop gently." + }, + { + "id": "0cbb1897-1619-4098-982f-8eecf2a395d9", + "segment": "segment1", + "action": "P05", + "quality": "valid", + "start_s": 95.742, + "end_s": 102.041, + "t_start": 95.7806, + "t_end": 102.0796, + "instruction": "Start at normal speed; gradually slow over several steps; stop gently." + }, + { + "id": "17fedf86-68e9-416b-a8a8-d69108d4074c", + "segment": "segment1", + "action": "P05", + "quality": "valid", + "start_s": 105.411, + "end_s": 110.894, + "t_start": 105.4496, + "t_end": 110.9326, + "instruction": "Start at normal speed; gradually slow over several steps; stop gently." + } + ] +} diff --git a/actions/locomotion_primitives/P05/session_002/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P05/session_002/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..e411ee1141b539a886317da73af8a2e09e0f9bdc --- /dev/null +++ b/actions/locomotion_primitives/P05/session_002/cameras/gsi_online_calibration.json @@ -0,0 +1,266 @@ +{ + "camera_fit": { + "groups_dropped": [ + { + "matches": 189, + "median_px": 28.44, + "pair": [ + "left", + "right" + ] + } + ], + "groups_used": 14, + "median_px": 0.359 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.9024, + "gate_fail": [], + "held_out_px_after": 0.53, + "held_out_px_before": 7.05, + "inliers": 1843, + "position_fitted": false, + "rotvec_deg": [ + -0.103, + 0.7362, + 0.5116 + ], + "split_deg": 0.0281, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.1048, + "gate_fail": [], + "held_out_px_after": 0.383, + "held_out_px_before": 2.635, + "inliers": 2761, + "position_fitted": true, + "position_mm": [ + -10.47, + 6.9, + 10.9 + ], + "position_sigma_mm": 0.323, + "position_split_mm": 2.66, + "rotvec_deg": [ + 0.1255, + 0.7254, + -0.8237 + ], + "split_deg": 0.0865, + "usable": true + }, + "left_front": { + "role": "rig origin" + }, + "right": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.359, + "gate_fail": [], + "held_out_px_after": 0.571, + "held_out_px_before": 2.042, + "inliers": 1636, + "position_fitted": false, + "rotvec_deg": [ + 0.303, + -0.1354, + -0.137 + ], + "split_deg": 0.0598, + "usable": true + }, + "right_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "left", + "right" + ], + "delta_deg": 0.7895, + "gate_fail": [], + "held_out_px_after": 0.412, + "held_out_px_before": 1.848, + "inliers": 3095, + "position_fitted": true, + "position_mm": [ + -9.05, + 8.58, + 10.14 + ], + "position_sigma_mm": 0.356, + "position_split_mm": 4.168, + "rotvec_deg": [ + 0.2535, + 0.3401, + -0.6659 + ], + "split_deg": 0.0631, + "usable": true + }, + "right_front": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye", + "left", + "right" + ], + "delta_deg": 1.9069, + "gate_fail": [], + "held_out_px_after": 0.319, + "held_out_px_before": 8.992, + "inliers": 4209, + "position_fitted": false, + "rotvec_deg": [ + -0.3303, + 0.5496, + -1.7958 + ], + "split_deg": 0.0175, + "usable": true + } + }, + "code_fingerprint": "711ecf5b3dd408f8", + "device_id": "850a0e6aafa85fdf", + "factory_root_name": "850a0e6aafa85fdf", + "files": { + "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": { + "sha256": "52824e4e61f68faeb5524fb1648eea30484a429428ce668303da1d7d68288cd5", + "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2" + }, + "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": { + "sha256": "9f9ad9d1a24072574626413caffb9e96f57c8000ca5ed97cfd20f0a5ed2c61af", + "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf" + }, + "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": { + "sha256": "575d72f732abc9ca787a86355407bc42e729d18da547eeaf4cac3a31d57e8668", + "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a" + }, + "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": { + "sha256": "658d05911200279e3955aa8de01a390302770a0972cfd7a23eaedf6155e00405", + "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3" + } + }, + "input_fingerprint": "dea27f5caeaf3f4c", + "kind": "online_calibration", + "output_sha256": "b0d622dacd2786aa2b32af93dc1c569469bc44f178572b9ab52f775c7fbb86a6", + "overlap": { + "left-right": 0.487, + "left_eye-left": 0.707, + "left_eye-right": 0.685, + "left_front-left": 0.484, + "left_front-left_eye": 0.709, + "left_front-right": 0.464, + "left_front-right_eye": 0.711, + "left_front-right_front": 1.0, + "right_eye-left": 0.708, + "right_eye-left_eye": 1.0, + "right_eye-right": 0.668, + "right_front-left": 0.482, + "right_front-left_eye": 0.711, + "right_front-right": 0.463, + "right_front-right_eye": 0.724 + }, + "picture_change": { + "left": 43.7, + "left_eye": 42.329, + "left_front": 46.114, + "right": 42.909, + "right_eye": 44.914, + "right_front": 47.46 + }, + "runtime": { + "numpy": "2.4.6", + "opencv": "5.0.0", + "scipy": "1.17.1" + }, + "segment": 1, + "selection": { + "overlap_captures": [ + 1218945791444, + 1219945802555, + 1223945802555, + 1224945802555, + 1227945802555, + 1228945813666, + 1233945791444, + 1234945802555, + 1235945802555, + 1237945791444, + 1238945802555, + 1244945791444, + 1245945802555, + 1247945791444, + 1248945802555, + 1251945791444, + 1252945802555, + 1254945835888, + 1255945791444, + 1259945780333, + 1260945802555, + 1263945791444, + 1264945802555, + 1266945802555, + 1267945935888, + 1269945802555, + 1270945791444, + 1272945791444, + 1273945791444, + 1276945791444, + 1277945791444, + 1281945791444, + 1282945802555, + 1283945780333, + 1284945791444, + 1289945791444, + 1290945802555, + 1291945780333, + 1294945791444, + 1295945791444, + 1298945791444, + 1299945791444, + 1303945791444, + 1304945802555, + 1307945791444, + 1308945802555, + 1309945791444, + 1310945802555, + 1313945791444, + 1314945813666, + 1319945791444, + 1320945802555, + 1323945802555, + 1324945902555, + 1327945791444, + 1328945791444, + 1330945791444, + 1331945780333 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomotion_primitives/P05/session_002/cameras/slam.npz b/actions/locomotion_primitives/P05/session_002/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..6617d040632503d7ad02072ec980402519082317 --- /dev/null +++ b/actions/locomotion_primitives/P05/session_002/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eda3b4054ed519e4906638349b8d9d657eb6d3f04875a62640ba161e4947bbb7 +size 681517 diff --git a/actions/locomotion_primitives/P05/session_002/meta.json b/actions/locomotion_primitives/P05/session_002/meta.json index ad9e924076e97d64c71ce01397de2ddbde78a31c..6adeb74a1e7eab09a2ead5904262b90930bd0784 100644 --- a/actions/locomotion_primitives/P05/session_002/meta.json +++ b/actions/locomotion_primitives/P05/session_002/meta.json @@ -332,8 +332,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -519,10 +519,124 @@ "file": "derived/rig_tracker_provider/rig_tracker.json", "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 16.46, + "offset_rotvec": [ + -0.1672, + -0.2241, + -0.0658 + ], + "dev_deg": { + "median": 7.53, + "p90": 17.59 + }, + "samples": 3362, + "accepted": 3271, + "wrist_pos_err_mm_median": 44.5, + "per_camera": { + "head": { + "samples": 3362, + "accepted": 3271, + "gate_deg": 30.0, + "offset_deg": 16.46, + "tier": "primary", + "dev_deg_median": 7.53, + "wrist_pos_err_mm_median": 44.5 + } + }, + "frames_by_state": { + "ace_sample": 13212, + "interpolated": 1060, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9992, + "observed_fraction_of_valid": 0.9992, + "palm_axis_vs_markers_deg": { + "gsi": 13.46, + "smplx": 0.86 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.3, + "p90": 9.9 + }, + "registered": { + "median": 11.3, + "p90": 11.9 + } + } + }, + "right": { + "offset_deg": 10.29, + "offset_rotvec": [ + -0.1116, + -0.0106, + 0.1404 + ], + "dev_deg": { + "median": 7.9, + "p90": 20.33 + }, + "samples": 3321, + "accepted": 3175, + "wrist_pos_err_mm_median": 57.7, + "per_camera": { + "head": { + "samples": 3321, + "accepted": 3175, + "gate_deg": 30.0, + "offset_deg": 10.29, + "tier": "primary", + "dev_deg_median": 7.9, + "wrist_pos_err_mm_median": 57.7 + } + }, + "frames_by_state": { + "ace_sample": 12854, + "interpolated": 1418, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9992, + "observed_fraction_of_valid": 0.9992, + "palm_axis_vs_markers_deg": { + "gsi": 8.72, + "smplx": 1.04 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.3, + "p90": 6.4 + }, + "registered": { + "median": 6.2, + "p90": 7.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T12:24:55.225232+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P05/session_002", "family": "locomotion_primitives", "primitive": "P05", "source_session": "20260828/P05/20260828_055355_session9" + }, + "task": { + "primitive": "P05", + "instruction": "Start at normal speed; gradually slow over several steps; stop gently." } }