diff --git a/actions/locomotion_primitives/P31/session_046/motions/smplx.npz b/actions/locomotion_primitives/P31/session_046/motions/smplx.npz index 72a0e8f334f8bb53ae89712974ffc4e79f136bc1..166a0952ae52b9466c968dd0d038d05ff30467e6 100644 --- a/actions/locomotion_primitives/P31/session_046/motions/smplx.npz +++ b/actions/locomotion_primitives/P31/session_046/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7680d8f7b56a90c68b8db39e5c61b30c2862a09f18f512cf0a70c1671d19d22a -size 6195717 +oid sha256:709edf33ae82f4f2a14322241c6ceeb634fb3343782afbd0c626e2bf4d846ebc +size 11554425 diff --git a/actions/locomotion_primitives/P31/session_047/meta.json b/actions/locomotion_primitives/P31/session_047/meta.json index 09fea6e724598cd8b30ad38aaed3b165beef5ee3..f039879427d6f738b0db3c5bb3f644179c6bec91 100644 --- a/actions/locomotion_primitives/P31/session_047/meta.json +++ b/actions/locomotion_primitives/P31/session_047/meta.json @@ -329,8 +329,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -393,12 +393,23 @@ "Q_rotvec": [ 2.99022, -0.44902, - -0.85238 + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 175.9, - "opposite_sign_bend_deg": 20.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.904, + "inlier_spread_deg": 8.36, + "marker_Q_to_gsi_deg": { + "1": 170.0, + "-1": 13.6 + } + }, + "wrist_bend_deg_median": 175.7, + "opposite_sign_bend_deg": 25.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.76, "hand_vs_marker_frame_deg": { "before": 179.62, @@ -409,15 +420,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 175.61, + "twist_moved_deg": -175.5, "wrist_twist_deg_after": { - "median": 0.34, + "median": -0.11, "iqr": [ - -2.1, - 2.1 + -1.8, + 1.2 ] }, - "wrist_total_deg_median_after": 25.5, + "wrist_total_deg_median_after": 20.9, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -428,19 +439,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -2.99225, + -0.43169, + -0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 15.1, - "opposite_sign_bend_deg": 178.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.954, + "inlier_spread_deg": 9.62, + "marker_Q_to_gsi_deg": { + "1": 176.7, + "-1": 14.2 + } + }, + "wrist_bend_deg_median": 178.0, + "opposite_sign_bend_deg": 15.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.63, "hand_vs_marker_frame_deg": { - "before": 0.63, + "before": 179.81, "after": 0.63 }, "markers_on_wrist": [ @@ -448,15 +470,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.01, + "twist_moved_deg": 177.88, "wrist_twist_deg_after": { - "median": 0.0, + "median": 0.22, "iqr": [ - -0.7, - 1.0 + -0.4, + 1.1 ] }, - "wrist_total_deg_median_after": 15.0, + "wrist_total_deg_median_after": 21.3, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -465,7 +487,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:18:45.864626+00:00", + "generated_at_utc": "2026-11-06T13:48:50.339314+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -509,6 +531,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.298744178891356 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 11.24, + "offset_rotvec": [ + 0.1687, + 0.0254, + 0.0969 + ], + "dev_deg": { + "median": 9.93, + "p90": 27.26 + }, + "samples": 3683, + "accepted": 3355, + "wrist_pos_err_mm_median": 61.9, + "per_camera": { + "head": { + "samples": 3683, + "accepted": 3355, + "gate_deg": 30.0, + "offset_deg": 11.24, + "tier": "primary", + "dev_deg_median": 9.93, + "wrist_pos_err_mm_median": 61.9 + } + }, + "frames_by_state": { + "ace_sample": 13512, + "interpolated": 1232, + "mean_hand": 740, + "no_body_fit": 0 + }, + "observed_fraction": 0.9522, + "observed_fraction_of_valid": 0.9522, + "palm_axis_vs_markers_deg": { + "gsi": 14.03, + "smplx": 0.66 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.1, + "p90": 9.9 + }, + "registered": { + "median": 6.5, + "p90": 9.3 + } + } + }, + "right": { + "offset_deg": 13.15, + "offset_rotvec": [ + -0.1219, + -0.0011, + 0.1944 + ], + "dev_deg": { + "median": 12.72, + "p90": 25.89 + }, + "samples": 3258, + "accepted": 3032, + "wrist_pos_err_mm_median": 263.7, + "per_camera": { + "head": { + "samples": 3258, + "accepted": 3032, + "gate_deg": 30.0, + "offset_deg": 13.15, + "tier": "primary", + "dev_deg_median": 12.72, + "wrist_pos_err_mm_median": 263.7 + } + }, + "frames_by_state": { + "ace_sample": 12340, + "interpolated": 2724, + "mean_hand": 420, + "no_body_fit": 0 + }, + "observed_fraction": 0.9729, + "observed_fraction_of_valid": 0.9729, + "palm_axis_vs_markers_deg": { + "gsi": 11.97, + "smplx": 0.32 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.9, + "p90": 13.2 + }, + "registered": { + "median": 7.9, + "p90": 10.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:53:52.043168+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/P31/session_047", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P31/session_047/motions/smplx.npz b/actions/locomotion_primitives/P31/session_047/motions/smplx.npz index c55984a469881282440749e8b754ea4c15317f33..ebcd07c758f8a7976b007f86169b463713a2ebfc 100644 --- a/actions/locomotion_primitives/P31/session_047/motions/smplx.npz +++ b/actions/locomotion_primitives/P31/session_047/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b00ee9ec3aaab19d9e3261ef8e37be84b4eb2a2ca84b3d0f594c5c7639662a4d -size 5971626 +oid sha256:1619a21e6ff63b8705e4346a8d8720f5905c0c7c52d4569bf685bc7c0dcaf772 +size 11028268 diff --git a/actions/locomotion_primitives/P31/session_048/meta.json b/actions/locomotion_primitives/P31/session_048/meta.json index 893dcd9bfbb73e7b563845048155d68f856f1e78..365110cfbeba852e25387100d361c73a95a4758f 100644 --- a/actions/locomotion_primitives/P31/session_048/meta.json +++ b/actions/locomotion_primitives/P31/session_048/meta.json @@ -329,8 +329,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -393,12 +393,23 @@ "Q_rotvec": [ 2.99022, -0.44902, - -0.85238 + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 175.1, - "opposite_sign_bend_deg": 27.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.987, + "inlier_spread_deg": 8.55, + "marker_Q_to_gsi_deg": { + "1": 170.7, + "-1": 10.4 + } + }, + "wrist_bend_deg_median": 175.2, + "opposite_sign_bend_deg": 21.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.66, "hand_vs_marker_frame_deg": { "before": 179.69, @@ -409,15 +420,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 174.92, + "twist_moved_deg": -174.87, "wrist_twist_deg_after": { - "median": 0.22, + "median": -0.05, "iqr": [ - -1.4, - 1.6 + -1.3, + 1.1 ] }, - "wrist_total_deg_median_after": 20.8, + "wrist_total_deg_median_after": 26.8, "markers_on_forearm": [ "LElbowIn", "LForearm", @@ -429,19 +440,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 2.99225, + 0.43169, + 0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 17.1, - "opposite_sign_bend_deg": 178.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.931, + "inlier_spread_deg": 10.19, + "marker_Q_to_gsi_deg": { + "1": 177.4, + "-1": 13.0 + } + }, + "wrist_bend_deg_median": 178.0, + "opposite_sign_bend_deg": 17.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.61, "hand_vs_marker_frame_deg": { - "before": 0.61, + "before": 179.84, "after": 0.61 }, "markers_on_wrist": [ @@ -449,15 +471,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 177.73, "wrist_twist_deg_after": { - "median": 0.0, + "median": 0.25, "iqr": [ - -0.9, - 1.0 + -0.6, + 1.1 ] }, - "wrist_total_deg_median_after": 17.1, + "wrist_total_deg_median_after": 19.5, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -466,7 +488,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:18:46.479675+00:00", + "generated_at_utc": "2026-11-06T13:48:49.635981+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -510,6 +532,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.274922334257159 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.7, + "offset_rotvec": [ + 0.1658, + 0.0128, + 0.0316 + ], + "dev_deg": { + "median": 8.76, + "p90": 17.97 + }, + "samples": 3857, + "accepted": 3805, + "wrist_pos_err_mm_median": 46.1, + "per_camera": { + "head": { + "samples": 3857, + "accepted": 3805, + "gate_deg": 30.0, + "offset_deg": 9.7, + "tier": "primary", + "dev_deg_median": 8.76, + "wrist_pos_err_mm_median": 46.1 + } + }, + "frames_by_state": { + "ace_sample": 15282, + "interpolated": 790, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9993, + "observed_fraction_of_valid": 0.9993, + "palm_axis_vs_markers_deg": { + "gsi": 12.5, + "smplx": 0.52 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.4, + "p90": 12.0 + }, + "registered": { + "median": 8.3, + "p90": 13.7 + } + } + }, + "right": { + "offset_deg": 12.06, + "offset_rotvec": [ + -0.113, + 0.0234, + 0.1761 + ], + "dev_deg": { + "median": 12.0, + "p90": 29.24 + }, + "samples": 3196, + "accepted": 2896, + "wrist_pos_err_mm_median": 199.0, + "per_camera": { + "head": { + "samples": 3196, + "accepted": 2896, + "gate_deg": 30.0, + "offset_deg": 12.06, + "tier": "primary", + "dev_deg_median": 12.0, + "wrist_pos_err_mm_median": 199.0 + } + }, + "frames_by_state": { + "ace_sample": 11862, + "interpolated": 3702, + "mean_hand": 520, + "no_body_fit": 0 + }, + "observed_fraction": 0.9677, + "observed_fraction_of_valid": 0.9677, + "palm_axis_vs_markers_deg": { + "gsi": 11.02, + "smplx": 0.31 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.3, + "p90": 11.3 + }, + "registered": { + "median": 8.5, + "p90": 9.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:53:51.436607+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/P31/session_048", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P31/session_048/motions/smplx.npz b/actions/locomotion_primitives/P31/session_048/motions/smplx.npz index e94152496be5744c5a6add7ab8172f1c44d2fad7..b80ff348136ba8baa7d990cca9fb4d66caf68edb 100644 --- a/actions/locomotion_primitives/P31/session_048/motions/smplx.npz +++ b/actions/locomotion_primitives/P31/session_048/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:86f78a68a8683ff7a0b91ee3735d81a635e53a95fded25fe90bc4265a860ea66 -size 6211544 +oid sha256:d1595582b25754899dc18c61421c63c717205f5d44d15c2d6dedc69c5ea51b41 +size 11516901 diff --git a/actions/locomotion_primitives/P31/session_049/meta.json b/actions/locomotion_primitives/P31/session_049/meta.json index 2291464d716047a4ccad975f464770795f640447..1ebcabd060132813f09d10750850df575e9c8a52 100644 --- a/actions/locomotion_primitives/P31/session_049/meta.json +++ b/actions/locomotion_primitives/P31/session_049/meta.json @@ -330,8 +330,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -392,14 +392,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 2.99022, - -0.44902, - -0.85238 + -2.99022, + 0.44902, + 0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 175.4, - "opposite_sign_bend_deg": 16.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.92, + "inlier_spread_deg": 12.12, + "marker_Q_to_gsi_deg": { + "1": 142.7, + "-1": 40.1 + } + }, + "wrist_bend_deg_median": 175.1, + "opposite_sign_bend_deg": 31.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.89, "hand_vs_marker_frame_deg": { "before": 179.52, @@ -410,15 +421,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 174.95, + "twist_moved_deg": -174.85, "wrist_twist_deg_after": { - "median": 0.53, + "median": -0.1, "iqr": [ - -1.4, - 2.4 + -1.5, + 1.3 ] }, - "wrist_total_deg_median_after": 31.6, + "wrist_total_deg_median_after": 16.5, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -431,11 +442,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, - -0.0, + 0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.842, + "inlier_spread_deg": 5.23, + "marker_Q_to_gsi_deg": { + "1": 10.8, + "-1": 179.3 + } + }, "wrist_bend_deg_median": 22.7, "opposite_sign_bend_deg": 176.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -451,7 +473,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -1.7, 0.9 @@ -466,7 +488,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:18:46.108543+00:00", + "generated_at_utc": "2026-11-06T13:48:57.257604+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -510,6 +532,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.417730584893512 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 39.17, + "offset_rotvec": [ + 0.6656, + -0.1452, + 0.0567 + ], + "dev_deg": { + "median": 13.08, + "p90": 28.58 + }, + "samples": 3913, + "accepted": 3590, + "wrist_pos_err_mm_median": 54.2, + "per_camera": { + "head": { + "samples": 3913, + "accepted": 3590, + "gate_deg": 30.0, + "offset_deg": 39.17, + "tier": "primary", + "dev_deg_median": 13.08, + "wrist_pos_err_mm_median": 54.2 + } + }, + "frames_by_state": { + "ace_sample": 14520, + "interpolated": 1392, + "mean_hand": 172, + "no_body_fit": 0 + }, + "observed_fraction": 0.9893, + "observed_fraction_of_valid": 0.9893, + "palm_axis_vs_markers_deg": { + "gsi": 38.49, + "smplx": 0.87 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.3, + "p90": 10.3 + }, + "registered": { + "median": 7.6, + "p90": 8.6 + } + } + }, + "right": { + "offset_deg": 10.88, + "offset_rotvec": [ + -0.067, + -0.0405, + 0.173 + ], + "dev_deg": { + "median": 5.76, + "p90": 165.26 + }, + "samples": 3674, + "accepted": 3085, + "wrist_pos_err_mm_median": 36.7, + "per_camera": { + "head": { + "samples": 3674, + "accepted": 3085, + "gate_deg": 30.0, + "offset_deg": 10.88, + "tier": "primary", + "dev_deg_median": 5.76, + "wrist_pos_err_mm_median": 36.7 + } + }, + "frames_by_state": { + "ace_sample": 12430, + "interpolated": 1470, + "mean_hand": 2184, + "no_body_fit": 0 + }, + "observed_fraction": 0.8642, + "observed_fraction_of_valid": 0.8642, + "palm_axis_vs_markers_deg": { + "gsi": 5.71, + "smplx": 2.44 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.3, + "p90": 6.9 + }, + "registered": { + "median": 5.3, + "p90": 7.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:53:52.241743+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/P31/session_049", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P31/session_049/motions/smplx.npz b/actions/locomotion_primitives/P31/session_049/motions/smplx.npz index c5f84a5c9e46f36e197716799d052279414d7cc9..5a55641fc976eb2f214bf37eb6f21f731b173c3a 100644 --- a/actions/locomotion_primitives/P31/session_049/motions/smplx.npz +++ b/actions/locomotion_primitives/P31/session_049/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:705be812f33fd47022923b396935604085339f15ae5eed48efe7a80b9dac39d2 -size 6209206 +oid sha256:833e8a73bfc427890acdd61942081d33963dd60328224f93c17219d7040af3df +size 11233715 diff --git a/actions/locomotion_primitives/P31/session_087/meta.json b/actions/locomotion_primitives/P31/session_087/meta.json index ebfc49095bbab2879258b6209c19d9daac72bb1e..96455482a4ea8a9a47fbc5a9b94fb7a5dbc8aea4 100644 --- a/actions/locomotion_primitives/P31/session_087/meta.json +++ b/actions/locomotion_primitives/P31/session_087/meta.json @@ -392,8 +392,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -462,19 +462,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - 3.03013, - -0.23151, - -0.79645 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 175.7, - "opposite_sign_bend_deg": 28.6, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2812, + "inlier_frac": 0.889, + "inlier_spread_deg": 17.6, + "marker_Q_to_gsi_deg": { + "1": 24.7, + "-1": 161.2 + } + }, + "wrist_bend_deg_median": 9.8, + "opposite_sign_bend_deg": 177.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.82, "hand_vs_marker_frame_deg": { - "before": 179.54, + "before": 0.83, "after": 0.82 }, "markers_on_wrist": [ @@ -482,12 +493,12 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -175.31, + "twist_moved_deg": -0.13, "wrist_twist_deg_after": { - "median": -0.13, + "median": -0.0, "iqr": [ - -1.5, - 1.4 + -1.4, + 1.5 ] }, "wrist_total_deg_median_after": 9.6, @@ -501,19 +512,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 3.02356, + 0.33123, + 0.78611 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 24.6, - "opposite_sign_bend_deg": 166.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.407, + "inlier_spread_deg": 11.52, + "marker_Q_to_gsi_deg": { + "1": 170.9, + "-1": 10.2 + } + }, + "wrist_bend_deg_median": 165.8, + "opposite_sign_bend_deg": 24.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.24, "hand_vs_marker_frame_deg": { - "before": 6.24, + "before": 177.88, "after": 6.24 }, "markers_on_wrist": [ @@ -523,23 +545,133 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.26, + "twist_moved_deg": 142.81, "wrist_twist_deg_after": { - "median": 0.0, + "median": 36.44, "iqr": [ - -33.9, - 3.2 + 5.2, + 39.4 ] }, - "wrist_total_deg_median_after": 24.3, + "wrist_total_deg_median_after": 37.0, "markers_on_forearm": [] }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:39:48.382467+00:00", + "generated_at_utc": "2026-11-06T14:04:20.295147+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 22.34, + "offset_rotvec": [ + 0.3173, + -0.1563, + 0.164 + ], + "dev_deg": { + "median": 18.67, + "p90": 32.93 + }, + "samples": 2812, + "accepted": 2406, + "wrist_pos_err_mm_median": 66.6, + "per_camera": { + "head": { + "samples": 2812, + "accepted": 2406, + "gate_deg": 30.0, + "offset_deg": 22.34, + "tier": "primary", + "dev_deg_median": 18.67, + "wrist_pos_err_mm_median": 66.6 + } + }, + "frames_by_state": { + "ace_sample": 10090, + "interpolated": 7902, + "mean_hand": 148, + "no_body_fit": 0 + }, + "observed_fraction": 0.9918, + "observed_fraction_of_valid": 0.9918, + "palm_axis_vs_markers_deg": { + "gsi": 26.6, + "smplx": 0.66 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.0, + "p90": 11.6 + }, + "registered": { + "median": 9.9, + "p90": 10.8 + } + } + }, + "right": { + "offset_deg": 63.34, + "offset_rotvec": [ + 1.0675, + 0.0583, + 0.2816 + ], + "dev_deg": { + "median": 67.92, + "p90": 148.03 + }, + "samples": 3991, + "accepted": 484, + "wrist_pos_err_mm_median": 73.1, + "per_camera": { + "head": { + "samples": 3991, + "accepted": 484, + "gate_deg": 30.0, + "offset_deg": 63.34, + "tier": "primary", + "dev_deg_median": 67.92, + "wrist_pos_err_mm_median": 73.1 + } + }, + "frames_by_state": { + "ace_sample": 1920, + "interpolated": 2000, + "mean_hand": 14220, + "no_body_fit": 0 + }, + "observed_fraction": 0.2161, + "observed_fraction_of_valid": 0.2161, + "palm_axis_vs_markers_deg": { + "gsi": 60.89, + "smplx": 6.7 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.2, + "p90": 17.4 + }, + "registered": { + "median": 10.4, + "p90": 18.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:25:55.437763+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/P31/session_087", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P31/session_087/motions/smplx.npz b/actions/locomotion_primitives/P31/session_087/motions/smplx.npz index 1af303cdfe9f4e29509f52ae69d877745117bdd2..a49eda2a2da784629ef6be2df845f6ff14bc5e0b 100644 --- a/actions/locomotion_primitives/P31/session_087/motions/smplx.npz +++ b/actions/locomotion_primitives/P31/session_087/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3dda5016b594d20a184416ca80fbad655f106917afade3e68c95ad31cd13ea1d -size 6988735 +oid sha256:4be60232cf7cf753193dc5bb83e29832ea98ff976bf705e7069bd9f903afa90c +size 10945626 diff --git a/actions/locomotion_primitives/P32/session_003/meta.json b/actions/locomotion_primitives/P32/session_003/meta.json index 2ee04a4a465b064489d5c0fdaa3dafc82ca360a8..8a5de43f8be664445730cbd48f9e0186347b2668 100644 --- a/actions/locomotion_primitives/P32/session_003/meta.json +++ b/actions/locomotion_primitives/P32/session_003/meta.json @@ -330,8 +330,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -400,20 +400,31 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 169.84, "Q_rotvec": [ - -3.02575, - 0.26943, - 0.80116 + -2.47676, + 0.13062, + -1.62336 ], "in_out_sign": 1, - "wrist_bend_deg_median": 164.3, - "opposite_sign_bend_deg": 101.8, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.948, + "inlier_spread_deg": 13.56, + "marker_Q_to_gsi_deg": { + "1": 169.8, + "-1": 96.4 + } + }, + "wrist_bend_deg_median": 177.5, + "opposite_sign_bend_deg": 167.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.61, "hand_vs_marker_frame_deg": { - "before": 179.65, - "after": 0.61 + "before": 0.61, + "after": 170.03 }, "markers_on_wrist": [ "LWristIn", @@ -422,15 +433,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -160.37, + "twist_moved_deg": -176.66, "wrist_twist_deg_after": { - "median": -0.1, + "median": -1.06, "iqr": [ - -1.9, - 1.9 + -2.6, + 0.3 ] }, - "wrist_total_deg_median_after": 74.0, + "wrist_total_deg_median_after": 15.4, "markers_on_forearm": [ "LForearm" ] @@ -442,16 +453,27 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - -0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.958, + "inlier_spread_deg": 7.21, + "marker_Q_to_gsi_deg": { + "1": 7.1, + "-1": 177.3 + } + }, "wrist_bend_deg_median": 12.7, "opposite_sign_bend_deg": 177.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.5, "hand_vs_marker_frame_deg": { - "before": 1.51, + "before": 1.5, "after": 1.5 }, "markers_on_wrist": [ @@ -461,7 +483,7 @@ "forearm_twist": { "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -1.2, 1.3 @@ -477,7 +499,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:09:17.450437+00:00", + "generated_at_utc": "2026-11-06T13:33:43.547864+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -521,6 +543,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.3237109974110166 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 2.67, + "offset_rotvec": [ + 0.0378, + -0.016, + 0.022 + ], + "dev_deg": { + "median": 14.83, + "p90": 23.56 + }, + "samples": 3340, + "accepted": 3198, + "wrist_pos_err_mm_median": 99.2, + "per_camera": { + "head": { + "samples": 3340, + "accepted": 3198, + "gate_deg": 30.0, + "offset_deg": 2.67, + "tier": "primary", + "dev_deg_median": 14.83, + "wrist_pos_err_mm_median": 99.2 + } + }, + "frames_by_state": { + "ace_sample": 12985, + "interpolated": 2842, + "mean_hand": 249, + "no_body_fit": 8 + }, + "observed_fraction": 0.984, + "observed_fraction_of_valid": 0.9845, + "palm_axis_vs_markers_deg": { + "gsi": 81.27, + "smplx": 83.89 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.0, + "p90": 7.6 + }, + "registered": { + "median": 6.7, + "p90": 7.4 + } + } + }, + "right": { + "offset_deg": 9.73, + "offset_rotvec": [ + -0.0005, + 0.1698, + -0.002 + ], + "dev_deg": { + "median": 9.79, + "p90": 18.07 + }, + "samples": 3805, + "accepted": 3663, + "wrist_pos_err_mm_median": 109.1, + "per_camera": { + "head": { + "samples": 3805, + "accepted": 3663, + "gate_deg": 30.0, + "offset_deg": 9.73, + "tier": "primary", + "dev_deg_median": 9.79, + "wrist_pos_err_mm_median": 109.1 + } + }, + "frames_by_state": { + "ace_sample": 14733, + "interpolated": 990, + "mean_hand": 353, + "no_body_fit": 8 + }, + "observed_fraction": 0.9776, + "observed_fraction_of_valid": 0.978, + "palm_axis_vs_markers_deg": { + "gsi": 7.58, + "smplx": 0.64 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.3, + "p90": 8.0 + }, + "registered": { + "median": 7.0, + "p90": 7.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:21:03.537209+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/P32/session_003", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P32/session_003/motions/smplx.npz b/actions/locomotion_primitives/P32/session_003/motions/smplx.npz index c8ee037b9a551d64bbad1e7af1d237b140639767..2829dc9ad83e4330768c3b1eae9b8956c7dffab0 100644 --- a/actions/locomotion_primitives/P32/session_003/motions/smplx.npz +++ b/actions/locomotion_primitives/P32/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a34f269902e11b5b79d3e61d616a59c64fa6b6aeefa6d710529b41ad660e458b -size 6201766 +oid sha256:f5adbd6895db93f5ae9ce7478d02a575568af15aefad7797c0664fa7d662fcb2 +size 11531553 diff --git a/actions/locomotion_primitives/P32/session_004/meta.json b/actions/locomotion_primitives/P32/session_004/meta.json index 8935be8e013f27f035febcb737cef4590a5b06bc..eac6f8a172111de339ae7e7e9ee9c2d7bb562042 100644 --- a/actions/locomotion_primitives/P32/session_004/meta.json +++ b/actions/locomotion_primitives/P32/session_004/meta.json @@ -316,8 +316,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -386,20 +386,31 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 170.05, "Q_rotvec": [ - -3.02575, - 0.26943, - 0.80116 + -2.48469, + 0.13396, + -1.61786 ], "in_out_sign": 1, - "wrist_bend_deg_median": 165.1, - "opposite_sign_bend_deg": 100.7, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.963, + "inlier_spread_deg": 12.25, + "marker_Q_to_gsi_deg": { + "1": 170.1, + "-1": 96.1 + } + }, + "wrist_bend_deg_median": 177.8, + "opposite_sign_bend_deg": 168.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.47, "hand_vs_marker_frame_deg": { - "before": 179.78, - "after": 0.47 + "before": 0.47, + "after": 170.07 }, "markers_on_wrist": [ "LWristIn", @@ -408,15 +419,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -161.45, + "twist_moved_deg": -177.21, "wrist_twist_deg_after": { - "median": -0.01, + "median": -0.85, "iqr": [ - -2.1, - 2.1 + -2.3, + 0.3 ] }, - "wrist_total_deg_median_after": 72.8, + "wrist_total_deg_median_after": 15.6, "markers_on_forearm": [ "LForearm" ] @@ -427,11 +438,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, + 0.0, -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.963, + "inlier_spread_deg": 6.65, + "marker_Q_to_gsi_deg": { + "1": 8.0, + "-1": 174.9 + } + }, "wrist_bend_deg_median": 12.7, "opposite_sign_bend_deg": 177.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -445,7 +467,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -463,7 +485,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:09:17.851774+00:00", + "generated_at_utc": "2026-11-06T13:33:43.836400+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -507,6 +529,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.4367561111721336 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 1.84, + "offset_rotvec": [ + 0.0273, + -0.0076, + 0.0153 + ], + "dev_deg": { + "median": 13.2, + "p90": 22.02 + }, + "samples": 3301, + "accepted": 3190, + "wrist_pos_err_mm_median": 92.9, + "per_camera": { + "head": { + "samples": 3301, + "accepted": 3190, + "gate_deg": 30.0, + "offset_deg": 1.84, + "tier": "primary", + "dev_deg_median": 13.2, + "wrist_pos_err_mm_median": 92.9 + } + }, + "frames_by_state": { + "ace_sample": 12925, + "interpolated": 2414, + "mean_hand": 137, + "no_body_fit": 8 + }, + "observed_fraction": 0.9906, + "observed_fraction_of_valid": 0.9911, + "palm_axis_vs_markers_deg": { + "gsi": 81.91, + "smplx": 84.21 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.6, + "p90": 13.2 + }, + "registered": { + "median": 9.3, + "p90": 12.7 + } + } + }, + "right": { + "offset_deg": 8.41, + "offset_rotvec": [ + -0.0794, + 0.1228, + 0.0118 + ], + "dev_deg": { + "median": 7.67, + "p90": 17.47 + }, + "samples": 3667, + "accepted": 3541, + "wrist_pos_err_mm_median": 110.8, + "per_camera": { + "head": { + "samples": 3667, + "accepted": 3541, + "gate_deg": 30.0, + "offset_deg": 8.41, + "tier": "primary", + "dev_deg_median": 7.67, + "wrist_pos_err_mm_median": 110.8 + } + }, + "frames_by_state": { + "ace_sample": 14231, + "interpolated": 846, + "mean_hand": 399, + "no_body_fit": 8 + }, + "observed_fraction": 0.9737, + "observed_fraction_of_valid": 0.9742, + "palm_axis_vs_markers_deg": { + "gsi": 7.47, + "smplx": 0.73 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.2, + "p90": 7.4 + }, + "registered": { + "median": 6.9, + "p90": 7.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:21:05.137467+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/P32/session_004", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P32/session_004/motions/smplx.npz b/actions/locomotion_primitives/P32/session_004/motions/smplx.npz index 559082a2a4ae2b85f43aa3ffa1a4110a91cdfb3a..a587088ce80c21973c7a4a02cde8177b9f51cc8b 100644 --- a/actions/locomotion_primitives/P32/session_004/motions/smplx.npz +++ b/actions/locomotion_primitives/P32/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:34313bc5de578ce7ea239dfd1563b76c3e085215e46973380470ce02ba49963c -size 5980998 +oid sha256:f3b819ba11d9bb12079c2526090e92466ec5dcfa145acf389d078fb9600bec9e +size 11105833 diff --git a/actions/locomotion_primitives/P32/session_045/meta.json b/actions/locomotion_primitives/P32/session_045/meta.json index f44c5bee2c5d8f6139441756df6b8976506fbb14..fca49265767948b5c57e426a25c8605c8f987152 100644 --- a/actions/locomotion_primitives/P32/session_045/meta.json +++ b/actions/locomotion_primitives/P32/session_045/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": { @@ -395,14 +395,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 2.99022, - -0.44902, - -0.85238 + -2.99022, + 0.44902, + 0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 174.8, - "opposite_sign_bend_deg": 27.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1971, + "inlier_frac": 0.796, + "inlier_spread_deg": 14.06, + "marker_Q_to_gsi_deg": { + "1": 154.6, + "-1": 25.9 + } + }, + "wrist_bend_deg_median": 174.7, + "opposite_sign_bend_deg": 22.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.46, "hand_vs_marker_frame_deg": { "before": 179.08, @@ -414,15 +425,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 174.67, + "twist_moved_deg": -174.28, "wrist_twist_deg_after": { - "median": 0.34, + "median": -0.39, "iqr": [ - -1.3, - 2.0 + -2.4, + 1.4 ] }, - "wrist_total_deg_median_after": 22.1, + "wrist_total_deg_median_after": 26.8, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -439,6 +450,17 @@ 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.76, + "inlier_spread_deg": 11.11, + "marker_Q_to_gsi_deg": { + "1": 12.5, + "-1": 173.9 + } + }, "wrist_bend_deg_median": 19.8, "opposite_sign_bend_deg": 178.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -454,7 +476,7 @@ "forearm_twist": { "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -1.0, 0.9 @@ -469,7 +491,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:18:52.627866+00:00", + "generated_at_utc": "2026-11-06T13:48:55.736276+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -513,6 +535,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9825343018468947 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 22.79, + "offset_rotvec": [ + 0.3769, + -0.1168, + -0.0503 + ], + "dev_deg": { + "median": 17.23, + "p90": 45.74 + }, + "samples": 1971, + "accepted": 1577, + "wrist_pos_err_mm_median": 88.7, + "per_camera": { + "head": { + "samples": 1971, + "accepted": 1577, + "gate_deg": 30.0, + "offset_deg": 22.79, + "tier": "primary", + "dev_deg_median": 17.23, + "wrist_pos_err_mm_median": 88.7 + } + }, + "frames_by_state": { + "ace_sample": 6396, + "interpolated": 1700, + "mean_hand": 7387, + "no_body_fit": 0 + }, + "observed_fraction": 0.5229, + "observed_fraction_of_valid": 0.5229, + "palm_axis_vs_markers_deg": { + "gsi": 31.1, + "smplx": 0.99 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.8, + "p90": 11.6 + }, + "registered": { + "median": 10.5, + "p90": 11.7 + } + } + }, + "right": { + "offset_deg": 9.79, + "offset_rotvec": [ + -0.1022, + -0.0284, + 0.1338 + ], + "dev_deg": { + "median": 16.93, + "p90": 58.3 + }, + "samples": 3409, + "accepted": 2394, + "wrist_pos_err_mm_median": 316.2, + "per_camera": { + "head": { + "samples": 3409, + "accepted": 2394, + "gate_deg": 30.0, + "offset_deg": 9.79, + "tier": "primary", + "dev_deg_median": 16.93, + "wrist_pos_err_mm_median": 316.2 + } + }, + "frames_by_state": { + "ace_sample": 9742, + "interpolated": 4226, + "mean_hand": 1515, + "no_body_fit": 0 + }, + "observed_fraction": 0.9022, + "observed_fraction_of_valid": 0.9022, + "palm_axis_vs_markers_deg": { + "gsi": 15.58, + "smplx": 0.35 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.3, + "p90": 6.9 + }, + "registered": { + "median": 5.5, + "p90": 7.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:53:52.141253+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/P32/session_045", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P32/session_045/motions/smplx.npz b/actions/locomotion_primitives/P32/session_045/motions/smplx.npz index 9dafa19561622c8e47e4041f42a43fbab442ea66..38132d785024f5ef657d50998257c77fe8d4d38c 100644 --- a/actions/locomotion_primitives/P32/session_045/motions/smplx.npz +++ b/actions/locomotion_primitives/P32/session_045/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:32ce3d8d51c5caa9e5e19d2dadc534112d5ed55e546f0d265432b7c094ca63dd -size 5980350 +oid sha256:435ac1b4a8343636fd58bb8ecd63c4bbb761de649e1cfc760229b1a1ff142906 +size 9873605 diff --git a/actions/locomotion_primitives/P32/session_046/meta.json b/actions/locomotion_primitives/P32/session_046/meta.json index a4afaa8ac3489894739faef8613019db9166e365..46cd1a88727ab6dc544c1d01754d1dd93b9806dc 100644 --- a/actions/locomotion_primitives/P32/session_046/meta.json +++ b/actions/locomotion_primitives/P32/session_046/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": { @@ -392,12 +392,23 @@ "Q_rotvec": [ 2.99022, -0.44902, - -0.85238 + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 176.7, - "opposite_sign_bend_deg": 18.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1816, + "inlier_frac": 0.864, + "inlier_spread_deg": 16.42, + "marker_Q_to_gsi_deg": { + "1": 153.0, + "-1": 28.6 + } + }, + "wrist_bend_deg_median": 176.2, + "opposite_sign_bend_deg": 25.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.81, "hand_vs_marker_frame_deg": { "before": 179.6, @@ -408,15 +419,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 176.22, + "twist_moved_deg": -175.99, "wrist_twist_deg_after": { - "median": 0.23, + "median": -0.23, "iqr": [ - -1.9, - 1.4 + -1.7, + 0.9 ] }, - "wrist_total_deg_median_after": 25.8, + "wrist_total_deg_median_after": 18.8, "markers_on_forearm": [ "LElbow", "LForearm", @@ -435,6 +446,17 @@ 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.701, + "inlier_spread_deg": 13.3, + "marker_Q_to_gsi_deg": { + "1": 9.7, + "-1": 176.6 + } + }, "wrist_bend_deg_median": 19.7, "opposite_sign_bend_deg": 178.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -450,7 +472,7 @@ "forearm_twist": { "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -0.9, 0.8 @@ -465,7 +487,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:18:53.612397+00:00", + "generated_at_utc": "2026-11-06T13:48:59.963113+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -509,6 +531,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1208033473835939 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 27.08, + "offset_rotvec": [ + 0.4356, + -0.1831, + -0.0054 + ], + "dev_deg": { + "median": 18.11, + "p90": 30.9 + }, + "samples": 1816, + "accepted": 1604, + "wrist_pos_err_mm_median": 89.0, + "per_camera": { + "head": { + "samples": 1816, + "accepted": 1604, + "gate_deg": 30.0, + "offset_deg": 27.08, + "tier": "primary", + "dev_deg_median": 18.11, + "wrist_pos_err_mm_median": 89.0 + } + }, + "frames_by_state": { + "ace_sample": 6534, + "interpolated": 2190, + "mean_hand": 6760, + "no_body_fit": 0 + }, + "observed_fraction": 0.5634, + "observed_fraction_of_valid": 0.5634, + "palm_axis_vs_markers_deg": { + "gsi": 30.25, + "smplx": 0.67 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.4, + "p90": 10.3 + }, + "registered": { + "median": 7.6, + "p90": 10.1 + } + } + }, + "right": { + "offset_deg": 10.36, + "offset_rotvec": [ + -0.1453, + -0.0231, + 0.1052 + ], + "dev_deg": { + "median": 21.0, + "p90": 64.27 + }, + "samples": 3323, + "accepted": 2069, + "wrist_pos_err_mm_median": 306.8, + "per_camera": { + "head": { + "samples": 3323, + "accepted": 2069, + "gate_deg": 30.0, + "offset_deg": 10.36, + "tier": "primary", + "dev_deg_median": 21.0, + "wrist_pos_err_mm_median": 306.8 + } + }, + "frames_by_state": { + "ace_sample": 8444, + "interpolated": 4744, + "mean_hand": 2296, + "no_body_fit": 0 + }, + "observed_fraction": 0.8517, + "observed_fraction_of_valid": 0.8517, + "palm_axis_vs_markers_deg": { + "gsi": 16.72, + "smplx": 0.33 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.0, + "p90": 7.2 + }, + "registered": { + "median": 6.1, + "p90": 7.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:53:47.744511+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/P32/session_046", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P32/session_046/motions/smplx.npz b/actions/locomotion_primitives/P32/session_046/motions/smplx.npz index 80b36c9285378d243f63c8cce771aa322ac844cb..d5c0bff3ea33cb1f26719c715a992b459969d1e4 100644 --- a/actions/locomotion_primitives/P32/session_046/motions/smplx.npz +++ b/actions/locomotion_primitives/P32/session_046/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8e4cc4b9cf1deb8ed110e2ea8854f113c8947e90374cb0cf5f36b98f5e54a9a8 -size 5983728 +oid sha256:9b799d0a34a671070d8e25e654ec404151d2b7e965ba504eb429f047f1056035 +size 9871808 diff --git a/actions/locomotion_primitives/P32/session_047/meta.json b/actions/locomotion_primitives/P32/session_047/meta.json index 1d7cecef244f94e2c70fa7db5568b604fff5a5ea..86c0d7ac2c1a38a8cdabdbe32ffa708ee9d8072f 100644 --- a/actions/locomotion_primitives/P32/session_047/meta.json +++ b/actions/locomotion_primitives/P32/session_047/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": { @@ -406,12 +406,23 @@ "Q_rotvec": [ 2.99022, -0.44902, - -0.85238 + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 174.0, - "opposite_sign_bend_deg": 23.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2573, + "inlier_frac": 0.717, + "inlier_spread_deg": 13.89, + "marker_Q_to_gsi_deg": { + "1": 172.4, + "-1": 10.6 + } + }, + "wrist_bend_deg_median": 172.6, + "opposite_sign_bend_deg": 28.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.98, "hand_vs_marker_frame_deg": { "before": 179.48, @@ -422,15 +433,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 172.28, + "twist_moved_deg": -171.95, "wrist_twist_deg_after": { - "median": 3.27, + "median": -0.33, "iqr": [ - -0.8, - 6.0 + -2.4, + 2.5 ] }, - "wrist_total_deg_median_after": 28.4, + "wrist_total_deg_median_after": 24.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -443,11 +454,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, + 0.0, -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1806, + "inlier_frac": 0.543, + "inlier_spread_deg": 10.84, + "marker_Q_to_gsi_deg": { + "1": 13.8, + "-1": 172.4 + } + }, "wrist_bend_deg_median": 37.7, "opposite_sign_bend_deg": 166.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -461,9 +483,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.01, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -104.7, 5.1 @@ -478,7 +500,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:18:54.309712+00:00", + "generated_at_utc": "2026-11-06T13:48:58.537847+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -558,6 +580,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.3416367160050742 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 11.62, + "offset_rotvec": [ + 0.1788, + -0.0308, + 0.0905 + ], + "dev_deg": { + "median": 17.23, + "p90": 159.38 + }, + "samples": 2573, + "accepted": 1870, + "wrist_pos_err_mm_median": 56.1, + "per_camera": { + "head": { + "samples": 2573, + "accepted": 1870, + "gate_deg": 30.0, + "offset_deg": 11.62, + "tier": "primary", + "dev_deg_median": 17.23, + "wrist_pos_err_mm_median": 56.1 + } + }, + "frames_by_state": { + "ace_sample": 7510, + "interpolated": 1134, + "mean_hand": 6836, + "no_body_fit": 4 + }, + "observed_fraction": 0.5583, + "observed_fraction_of_valid": 0.5584, + "palm_axis_vs_markers_deg": { + "gsi": 18.9, + "smplx": 1.13 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.7, + "p90": 11.1 + }, + "registered": { + "median": 7.5, + "p90": 12.0 + } + } + }, + "right": { + "offset_deg": 27.06, + "offset_rotvec": [ + 0.4096, + -0.0835, + 0.2197 + ], + "dev_deg": { + "median": 28.24, + "p90": 157.68 + }, + "samples": 1806, + "accepted": 997, + "wrist_pos_err_mm_median": 50.4, + "per_camera": { + "head": { + "samples": 1806, + "accepted": 997, + "gate_deg": 30.0, + "offset_deg": 27.06, + "tier": "primary", + "dev_deg_median": 28.24, + "wrist_pos_err_mm_median": 50.4 + } + }, + "frames_by_state": { + "ace_sample": 4058, + "interpolated": 1314, + "mean_hand": 10108, + "no_body_fit": 4 + }, + "observed_fraction": 0.3469, + "observed_fraction_of_valid": 0.347, + "palm_axis_vs_markers_deg": { + "gsi": 24.1, + "smplx": 9.3 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.3, + "p90": 11.6 + }, + "registered": { + "median": 9.4, + "p90": 13.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:53:40.343027+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/P32/session_047", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P32/session_047/motions/smplx.npz b/actions/locomotion_primitives/P32/session_047/motions/smplx.npz index 846cb781eeda22dd3aa4e91ab3d3d0a5edbd5d30..a98c19415b36dcb885a3801a78f9c2ee150e5de8 100644 --- a/actions/locomotion_primitives/P32/session_047/motions/smplx.npz +++ b/actions/locomotion_primitives/P32/session_047/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f0837689ea538055b2975e5e2e79d4bc5b9a06bbdb976ff4be8cbd4e7880af2c -size 5982554 +oid sha256:63e3ad7cde51b493818ca7849adb55cab5df011d4a5c001b3438249bc15d28f6 +size 8639002 diff --git a/actions/locomotion_primitives/P32/session_048/meta.json b/actions/locomotion_primitives/P32/session_048/meta.json index b98f4a4f5209b834e3f5fdf3a5cc51c66b82e86a..6dbc3c3940c5aa7d4e98754b6b958234c8e50f6d 100644 --- a/actions/locomotion_primitives/P32/session_048/meta.json +++ b/actions/locomotion_primitives/P32/session_048/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": { @@ -395,14 +395,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 2.99022, - -0.44902, - -0.85238 + -2.99022, + 0.44902, + 0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 169.0, - "opposite_sign_bend_deg": 15.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2342, + "inlier_frac": 0.464, + "inlier_spread_deg": 16.95, + "marker_Q_to_gsi_deg": { + "1": 165.8, + "-1": 18.9 + } + }, + "wrist_bend_deg_median": 149.4, + "opposite_sign_bend_deg": 50.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.3, "hand_vs_marker_frame_deg": { "before": 177.77, @@ -414,15 +425,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 149.7, + "twist_moved_deg": -146.28, "wrist_twist_deg_after": { - "median": 24.42, + "median": -3.42, "iqr": [ - -5.4, - 29.9 + -11.7, + 1.5 ] }, - "wrist_total_deg_median_after": 48.3, + "wrist_total_deg_median_after": 15.9, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -435,10 +446,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2078, + "inlier_frac": 0.513, + "inlier_spread_deg": 13.19, + "marker_Q_to_gsi_deg": { + "1": 11.9, + "-1": 171.6 + } + }, "wrist_bend_deg_median": 27.4, "opposite_sign_bend_deg": 172.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -452,9 +474,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -86.8, 3.4 @@ -469,7 +491,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:18:53.059344+00:00", + "generated_at_utc": "2026-11-06T13:49:08.635680+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -513,6 +535,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.4895253400827413 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 32.82, + "offset_rotvec": [ + 0.5032, + 0.2681, + 0.0554 + ], + "dev_deg": { + "median": 42.79, + "p90": 154.67 + }, + "samples": 2342, + "accepted": 688, + "wrist_pos_err_mm_median": 67.4, + "per_camera": { + "head": { + "samples": 2342, + "accepted": 688, + "gate_deg": 30.0, + "offset_deg": 32.82, + "tier": "primary", + "dev_deg_median": 42.79, + "wrist_pos_err_mm_median": 67.4 + } + }, + "frames_by_state": { + "ace_sample": 2780, + "interpolated": 1624, + "mean_hand": 11680, + "no_body_fit": 0 + }, + "observed_fraction": 0.2738, + "observed_fraction_of_valid": 0.2738, + "palm_axis_vs_markers_deg": { + "gsi": 43.75, + "smplx": 1.77 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 18.2, + "p90": 27.2 + }, + "registered": { + "median": 18.3, + "p90": 25.5 + } + } + }, + "right": { + "offset_deg": 15.39, + "offset_rotvec": [ + 0.2062, + -0.0264, + 0.1701 + ], + "dev_deg": { + "median": 25.4, + "p90": 171.17 + }, + "samples": 2078, + "accepted": 1144, + "wrist_pos_err_mm_median": 72.4, + "per_camera": { + "head": { + "samples": 2078, + "accepted": 1144, + "gate_deg": 30.0, + "offset_deg": 15.39, + "tier": "primary", + "dev_deg_median": 25.4, + "wrist_pos_err_mm_median": 72.4 + } + }, + "frames_by_state": { + "ace_sample": 4624, + "interpolated": 1460, + "mean_hand": 10000, + "no_body_fit": 0 + }, + "observed_fraction": 0.3783, + "observed_fraction_of_valid": 0.3783, + "palm_axis_vs_markers_deg": { + "gsi": 30.61, + "smplx": 6.38 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.7, + "p90": 11.0 + }, + "registered": { + "median": 8.9, + "p90": 12.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:53:36.736355+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/P32/session_048", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P32/session_048/motions/smplx.npz b/actions/locomotion_primitives/P32/session_048/motions/smplx.npz index 34f83df777773c445c0eae69f128ce28e393ae0c..a0558b926a971cfa2103120443d9a7735e40e78d 100644 --- a/actions/locomotion_primitives/P32/session_048/motions/smplx.npz +++ b/actions/locomotion_primitives/P32/session_048/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c28c5da3e210addbe6e94c53155525ad63a3536b206b8cf5e1512d168e6d3ff3 -size 6225642 +oid sha256:b0f64d9b73df9c9e13b57a5a506e1bbaa8c5553f3000765f2f0e6fc60a63edb6 +size 8313716 diff --git a/actions/locomotion_primitives/P32/session_049/meta.json b/actions/locomotion_primitives/P32/session_049/meta.json index 626b46f6f02416632ae459f3442b5cf5032e3b9f..955127b455e238a2b3e4b3eeb483deb8b12bcc1d 100644 --- a/actions/locomotion_primitives/P32/session_049/meta.json +++ b/actions/locomotion_primitives/P32/session_049/meta.json @@ -329,8 +329,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -393,12 +393,23 @@ "Q_rotvec": [ 2.99022, -0.44902, - -0.85238 + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 174.5, - "opposite_sign_bend_deg": 15.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2977, + "inlier_frac": 0.619, + "inlier_spread_deg": 12.92, + "marker_Q_to_gsi_deg": { + "1": 173.0, + "-1": 11.1 + } + }, + "wrist_bend_deg_median": 171.8, + "opposite_sign_bend_deg": 29.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.06, "hand_vs_marker_frame_deg": { "before": 177.91, @@ -409,15 +420,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 171.64, + "twist_moved_deg": -171.18, "wrist_twist_deg_after": { - "median": 6.17, + "median": -0.46, "iqr": [ - 1.9, - 9.5 + -3.4, + 3.1 ] }, - "wrist_total_deg_median_after": 29.6, + "wrist_total_deg_median_after": 16.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -430,11 +441,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, - -0.0, + 0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2135, + "inlier_frac": 0.619, + "inlier_spread_deg": 12.48, + "marker_Q_to_gsi_deg": { + "1": 7.8, + "-1": 173.9 + } + }, "wrist_bend_deg_median": 25.3, "opposite_sign_bend_deg": 175.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -465,7 +487,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:18:53.727322+00:00", + "generated_at_utc": "2026-11-06T13:49:18.364418+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -509,6 +531,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.497918560741715 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.69, + "offset_rotvec": [ + 0.294, + -0.0215, + 0.0919 + ], + "dev_deg": { + "median": 21.77, + "p90": 165.21 + }, + "samples": 2977, + "accepted": 2041, + "wrist_pos_err_mm_median": 53.7, + "per_camera": { + "head": { + "samples": 2977, + "accepted": 2041, + "gate_deg": 30.0, + "offset_deg": 17.69, + "tier": "primary", + "dev_deg_median": 21.77, + "wrist_pos_err_mm_median": 53.7 + } + }, + "frames_by_state": { + "ace_sample": 8194, + "interpolated": 1586, + "mean_hand": 6304, + "no_body_fit": 0 + }, + "observed_fraction": 0.6081, + "observed_fraction_of_valid": 0.6081, + "palm_axis_vs_markers_deg": { + "gsi": 21.82, + "smplx": 2.1 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.0, + "p90": 10.5 + }, + "registered": { + "median": 6.9, + "p90": 10.2 + } + } + }, + "right": { + "offset_deg": 4.94, + "offset_rotvec": [ + 0.0521, + 0.0058, + 0.0685 + ], + "dev_deg": { + "median": 18.76, + "p90": 166.46 + }, + "samples": 2135, + "accepted": 1300, + "wrist_pos_err_mm_median": 80.3, + "per_camera": { + "head": { + "samples": 2135, + "accepted": 1300, + "gate_deg": 30.0, + "offset_deg": 4.94, + "tier": "primary", + "dev_deg_median": 18.76, + "wrist_pos_err_mm_median": 80.3 + } + }, + "frames_by_state": { + "ace_sample": 5236, + "interpolated": 2312, + "mean_hand": 8536, + "no_body_fit": 0 + }, + "observed_fraction": 0.4693, + "observed_fraction_of_valid": 0.4693, + "palm_axis_vs_markers_deg": { + "gsi": 18.54, + "smplx": 2.51 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.3, + "p90": 6.2 + }, + "registered": { + "median": 4.7, + "p90": 6.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:53:46.438104+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/P32/session_049", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P32/session_049/motions/smplx.npz b/actions/locomotion_primitives/P32/session_049/motions/smplx.npz index 53044efe420b303d9fb4f7595430ded8ef862db2..187ab4d515ab0bcb3ab557d6f62625b1a5cf2dee 100644 --- a/actions/locomotion_primitives/P32/session_049/motions/smplx.npz +++ b/actions/locomotion_primitives/P32/session_049/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:90c8e5de421f181414fae350a7cc819cba0b77dd21a77aaef1ff78ac3adeed64 -size 6230764 +oid sha256:160f2cc02d7497aa1bc7fcb7186f0cef7394bada4f9042bb1da91a657b1263ba +size 9552624 diff --git a/actions/locomotion_primitives/P32/session_050/meta.json b/actions/locomotion_primitives/P32/session_050/meta.json index 78754080ab65a8da10a44b83f858d964ab72fa46..c16e80372129522ab60c7ba3d8afd13de73aad98 100644 --- a/actions/locomotion_primitives/P32/session_050/meta.json +++ b/actions/locomotion_primitives/P32/session_050/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": { @@ -406,12 +406,23 @@ "Q_rotvec": [ 2.99022, -0.44902, - -0.85238 + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 173.8, - "opposite_sign_bend_deg": 16.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2483, + "inlier_frac": 0.56, + "inlier_spread_deg": 12.53, + "marker_Q_to_gsi_deg": { + "1": 171.4, + "-1": 12.1 + } + }, + "wrist_bend_deg_median": 171.9, + "opposite_sign_bend_deg": 31.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.8, "hand_vs_marker_frame_deg": { "before": 177.02, @@ -422,15 +433,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 171.9, + "twist_moved_deg": -170.76, "wrist_twist_deg_after": { - "median": 5.34, + "median": -1.14, "iqr": [ - 2.9, - 115.9 + -3.3, + 104.6 ] }, - "wrist_total_deg_median_after": 31.6, + "wrist_total_deg_median_after": 16.8, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -443,13 +454,24 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1798, + "inlier_frac": 0.643, + "inlier_spread_deg": 11.5, + "marker_Q_to_gsi_deg": { + "1": 7.6, + "-1": 175.2 + } + }, "wrist_bend_deg_median": 28.2, - "opposite_sign_bend_deg": 172.7, + "opposite_sign_bend_deg": 172.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.01, "hand_vs_marker_frame_deg": { @@ -461,9 +483,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.06, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -23.8, 3.6 @@ -478,7 +500,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:18:54.983157+00:00", + "generated_at_utc": "2026-11-06T13:49:25.735665+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -522,6 +544,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.2529504145629313 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 13.71, + "offset_rotvec": [ + 0.219, + -0.0033, + 0.0965 + ], + "dev_deg": { + "median": 22.45, + "p90": 169.44 + }, + "samples": 2483, + "accepted": 1441, + "wrist_pos_err_mm_median": 50.4, + "per_camera": { + "head": { + "samples": 2483, + "accepted": 1441, + "gate_deg": 30.0, + "offset_deg": 13.71, + "tier": "primary", + "dev_deg_median": 22.45, + "wrist_pos_err_mm_median": 50.4 + } + }, + "frames_by_state": { + "ace_sample": 5792, + "interpolated": 1182, + "mean_hand": 8510, + "no_body_fit": 0 + }, + "observed_fraction": 0.4504, + "observed_fraction_of_valid": 0.4504, + "palm_axis_vs_markers_deg": { + "gsi": 26.8, + "smplx": 2.94 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.6, + "p90": 10.9 + }, + "registered": { + "median": 7.6, + "p90": 10.4 + } + } + }, + "right": { + "offset_deg": 7.0, + "offset_rotvec": [ + 0.0127, + -0.0402, + 0.1146 + ], + "dev_deg": { + "median": 17.64, + "p90": 171.93 + }, + "samples": 1798, + "accepted": 1132, + "wrist_pos_err_mm_median": 59.2, + "per_camera": { + "head": { + "samples": 1798, + "accepted": 1132, + "gate_deg": 30.0, + "offset_deg": 7.0, + "tier": "primary", + "dev_deg_median": 17.64, + "wrist_pos_err_mm_median": 59.2 + } + }, + "frames_by_state": { + "ace_sample": 4570, + "interpolated": 1624, + "mean_hand": 9290, + "no_body_fit": 0 + }, + "observed_fraction": 0.4, + "observed_fraction_of_valid": 0.4, + "palm_axis_vs_markers_deg": { + "gsi": 15.91, + "smplx": 4.66 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.1, + "p90": 8.8 + }, + "registered": { + "median": 6.7, + "p90": 9.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:55:54.447288+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/P32/session_050", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P32/session_050/motions/smplx.npz b/actions/locomotion_primitives/P32/session_050/motions/smplx.npz index e9e82ed97d19857d4368338b84d3d60be06d9f5f..842ea5bfe4da1138d68c3172f0cc36bc6b59212b 100644 --- a/actions/locomotion_primitives/P32/session_050/motions/smplx.npz +++ b/actions/locomotion_primitives/P32/session_050/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:640775c27374673c4b017e940e994cf58c0892e3f2b342eec4ab35f95a001a44 -size 5995664 +oid sha256:05d88db02695c2ff867ad171fdc423e625d8d8a7236fb7d6fd6958d875ea34e4 +size 8536301 diff --git a/actions/locomotion_primitives/P32/session_051/meta.json b/actions/locomotion_primitives/P32/session_051/meta.json index 4bcc0595b5c45322f3b4541c53b198a738cf74ec..27872ed02c4d567d27a2dcaffab4f5161416917d 100644 --- a/actions/locomotion_primitives/P32/session_051/meta.json +++ b/actions/locomotion_primitives/P32/session_051/meta.json @@ -408,10 +408,21 @@ -0.44902, -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 164.9, - "opposite_sign_bend_deg": 39.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2382, + "inlier_frac": 0.513, + "inlier_spread_deg": 7.87, + "marker_Q_to_gsi_deg": { + "1": 160.8, + "-1": 22.5 + } + }, + "wrist_bend_deg_median": 165.3, + "opposite_sign_bend_deg": 24.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.09, "hand_vs_marker_frame_deg": { "before": 178.36, @@ -422,15 +433,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 164.57, + "twist_moved_deg": -164.56, "wrist_twist_deg_after": { - "median": 9.4, + "median": -0.01, "iqr": [ - 3.9, - 131.0 + -5.9, + 112.8 ] }, - "wrist_total_deg_median_after": 24.5, + "wrist_total_deg_median_after": 39.6, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -441,19 +452,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + 2.99225, + 0.43169, + 0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 16.5, - "opposite_sign_bend_deg": 174.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1719, + "inlier_frac": 0.614, + "inlier_spread_deg": 10.44, + "marker_Q_to_gsi_deg": { + "1": 177.2, + "-1": 12.5 + } + }, + "wrist_bend_deg_median": 173.9, + "opposite_sign_bend_deg": 16.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.4, "hand_vs_marker_frame_deg": { - "before": 5.4, + "before": 178.45, "after": 5.4 }, "markers_on_wrist": [ @@ -461,15 +483,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 2.39, + "twist_moved_deg": 116.15, "wrist_twist_deg_after": { - "median": 0.0, + "median": 60.03, "iqr": [ - -9.3, - 4.7 + 48.2, + 65.3 ] }, - "wrist_total_deg_median_after": 16.2, + "wrist_total_deg_median_after": 68.9, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -478,7 +500,7 @@ }, "frames_used": 1248 }, - "generated_at_utc": "2026-10-28T06:18:55.723833+00:00", + "generated_at_utc": "2026-11-06T13:49:36.059284+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/locomotion_primitives/P32/session_051/motions/smplx.npz b/actions/locomotion_primitives/P32/session_051/motions/smplx.npz index f9866aff59239e0fb1c30601418f04fe3bbf6de8..24d92bcd6bd00fe79c33dc4d1f1721641e1d7829 100644 --- a/actions/locomotion_primitives/P32/session_051/motions/smplx.npz +++ b/actions/locomotion_primitives/P32/session_051/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ba27c475b559beb2891edab6ea0945c0b43a7251ff06b0f04576e077d9a18ec8 -size 4810080 +oid sha256:1832cdbb6263e608b0e56970c96a2ea0a79426110625c1468ae7ada06af7fda1 +size 4805169 diff --git a/actions/locomotion_primitives/P37/session_002/meta.json b/actions/locomotion_primitives/P37/session_002/meta.json index bf65f284b2c3554bbf6cb39f352a36e3d25eef55..d237b85a18ecfdd557f0aeef363ac105195fc5df 100644 --- a/actions/locomotion_primitives/P37/session_002/meta.json +++ b/actions/locomotion_primitives/P37/session_002/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -388,19 +388,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - 2.98498, - -0.43373, - -0.87829 + 0.0, + -0.0, + -0.0 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 172.0, - "opposite_sign_bend_deg": 15.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1091, + "inlier_frac": 0.676, + "inlier_spread_deg": 12.41, + "marker_Q_to_gsi_deg": { + "1": 174.5, + "-1": 14.6 + } + }, + "wrist_bend_deg_median": 16.1, + "opposite_sign_bend_deg": 170.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.83, "hand_vs_marker_frame_deg": { - "before": 178.19, + "before": 2.83, "after": 2.83 }, "markers_on_wrist": [ @@ -408,15 +419,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 163.85, + "twist_moved_deg": -1.64, "wrist_twist_deg_after": { - "median": 13.83, + "median": 0.0, "iqr": [ - 6.9, - 22.7 + -6.4, + 7.8 ] }, - "wrist_total_deg_median_after": 34.1, + "wrist_total_deg_median_after": 15.6, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -430,10 +441,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1202, + "inlier_frac": 0.874, + "inlier_spread_deg": 9.92, + "marker_Q_to_gsi_deg": { + "1": 18.9, + "-1": 164.8 + } + }, "wrist_bend_deg_median": 21.7, "opposite_sign_bend_deg": 169.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -465,7 +487,7 @@ }, "frames_used": 769 }, - "generated_at_utc": "2026-10-28T06:07:40.310570+00:00", + "generated_at_utc": "2026-11-06T13:33:28.436305+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -509,6 +531,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.052106933162535 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 49.64, + "offset_rotvec": [ + 0.7937, + -0.3436, + -0.0493 + ], + "dev_deg": { + "median": 47.75, + "p90": 136.6 + }, + "samples": 1091, + "accepted": 125, + "wrist_pos_err_mm_median": 171.5, + "per_camera": { + "head": { + "samples": 1091, + "accepted": 125, + "gate_deg": 30.0, + "offset_deg": 49.64, + "tier": "primary", + "dev_deg_median": 47.75, + "wrist_pos_err_mm_median": 171.5 + } + }, + "frames_by_state": { + "ace_sample": 466, + "interpolated": 1376, + "mean_hand": 5842, + "no_body_fit": 0 + }, + "observed_fraction": 0.2397, + "observed_fraction_of_valid": 0.2397, + "palm_axis_vs_markers_deg": { + "gsi": 18.61, + "smplx": 1.77 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.5, + "p90": 9.6 + }, + "registered": { + "median": 5.6, + "p90": 9.3 + } + } + }, + "right": { + "offset_deg": 17.2, + "offset_rotvec": [ + -0.2455, + 0.1713, + 0.022 + ], + "dev_deg": { + "median": 12.35, + "p90": 32.27 + }, + "samples": 1202, + "accepted": 1062, + "wrist_pos_err_mm_median": 137.5, + "per_camera": { + "head": { + "samples": 1202, + "accepted": 1062, + "gate_deg": 30.0, + "offset_deg": 17.2, + "tier": "primary", + "dev_deg_median": 12.35, + "wrist_pos_err_mm_median": 137.5 + } + }, + "frames_by_state": { + "ace_sample": 4404, + "interpolated": 2580, + "mean_hand": 700, + "no_body_fit": 0 + }, + "observed_fraction": 0.9089, + "observed_fraction_of_valid": 0.9089, + "palm_axis_vs_markers_deg": { + "gsi": 19.13, + "smplx": 3.35 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.2, + "p90": 8.2 + }, + "registered": { + "median": 6.8, + "p90": 8.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:20:58.444737+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/P37/session_002", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P37/session_002/motions/smplx.npz b/actions/locomotion_primitives/P37/session_002/motions/smplx.npz index 2a3e3eed41da69a724b1e86e68da8fa732be27b9..5236381defad47e24006b3a94ba5c081441b7df2 100644 --- a/actions/locomotion_primitives/P37/session_002/motions/smplx.npz +++ b/actions/locomotion_primitives/P37/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ada99de2b5d2790dca996a53f8c27ca931460a576f4ec77f112082b16e1139d9 -size 2981207 +oid sha256:f4cdf36311411183c70b78d04958030b213a2709e7717d9d6cfabca7cc453c54 +size 4633662 diff --git a/actions/locomotion_primitives/P38/session_001/meta.json b/actions/locomotion_primitives/P38/session_001/meta.json index 7bb2128384c5bd532b8775271102a0dfb33a0d17..86af25dcdeb6906272ef70f123be58da17161564 100644 --- a/actions/locomotion_primitives/P38/session_001/meta.json +++ b/actions/locomotion_primitives/P38/session_001/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -390,14 +390,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 2.98498, - -0.43373, - -0.87829 + -2.98498, + 0.43373, + 0.87829 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 173.4, - "opposite_sign_bend_deg": 20.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2043, + "inlier_frac": 0.912, + "inlier_spread_deg": 7.74, + "marker_Q_to_gsi_deg": { + "1": 173.3, + "-1": 8.7 + } + }, + "wrist_bend_deg_median": 169.1, + "opposite_sign_bend_deg": 35.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.27, "hand_vs_marker_frame_deg": { "before": 179.21, @@ -408,15 +419,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -170.11, + "twist_moved_deg": 167.14, "wrist_twist_deg_after": { - "median": -4.32, + "median": 2.74, "iqr": [ - -9.9, - 0.0 + -2.3, + 7.1 ] }, - "wrist_total_deg_median_after": 35.1, + "wrist_total_deg_median_after": 20.6, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -429,13 +440,24 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, + 0.0, -0.0, 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 5.6, - "opposite_sign_bend_deg": 177.3, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2117, + "inlier_frac": 0.992, + "inlier_spread_deg": 5.99, + "marker_Q_to_gsi_deg": { + "1": 18.9, + "-1": 164.4 + } + }, + "wrist_bend_deg_median": 5.5, + "opposite_sign_bend_deg": 177.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.51, "hand_vs_marker_frame_deg": { @@ -447,7 +469,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -1.33, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -464,7 +486,7 @@ }, "frames_used": 889 }, - "generated_at_utc": "2026-10-28T06:07:41.492200+00:00", + "generated_at_utc": "2026-11-06T13:33:28.843986+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -508,6 +530,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0097798718343107 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 8.53, + "offset_rotvec": [ + -0.1311, + 0.0053, + -0.0702 + ], + "dev_deg": { + "median": 8.14, + "p90": 26.75 + }, + "samples": 2043, + "accepted": 1867, + "wrist_pos_err_mm_median": 73.2, + "per_camera": { + "head": { + "samples": 2043, + "accepted": 1867, + "gate_deg": 30.0, + "offset_deg": 8.53, + "tier": "primary", + "dev_deg_median": 8.14, + "wrist_pos_err_mm_median": 73.2 + } + }, + "frames_by_state": { + "ace_sample": 7508, + "interpolated": 608, + "mean_hand": 768, + "no_body_fit": 0 + }, + "observed_fraction": 0.9136, + "observed_fraction_of_valid": 0.9136, + "palm_axis_vs_markers_deg": { + "gsi": 8.88, + "smplx": 1.01 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.3, + "p90": 9.5 + }, + "registered": { + "median": 7.9, + "p90": 11.3 + } + } + }, + "right": { + "offset_deg": 17.99, + "offset_rotvec": [ + -0.2879, + 0.1253, + 0.0026 + ], + "dev_deg": { + "median": 5.64, + "p90": 15.12 + }, + "samples": 2117, + "accepted": 2100, + "wrist_pos_err_mm_median": 60.1, + "per_camera": { + "head": { + "samples": 2117, + "accepted": 2100, + "gate_deg": 30.0, + "offset_deg": 17.99, + "tier": "primary", + "dev_deg_median": 5.64, + "wrist_pos_err_mm_median": 60.1 + } + }, + "frames_by_state": { + "ace_sample": 8406, + "interpolated": 134, + "mean_hand": 344, + "no_body_fit": 0 + }, + "observed_fraction": 0.9613, + "observed_fraction_of_valid": 0.9613, + "palm_axis_vs_markers_deg": { + "gsi": 17.62, + "smplx": 1.23 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.6, + "p90": 9.1 + }, + "registered": { + "median": 7.3, + "p90": 9.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:21:04.345040+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/P38/session_001", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P38/session_001/motions/smplx.npz b/actions/locomotion_primitives/P38/session_001/motions/smplx.npz index cbfd82198082fd7c648f79ff31b51e9cc57b96e5..39d43c84501cb3b6945787741c225ed05bac2ea6 100644 --- a/actions/locomotion_primitives/P38/session_001/motions/smplx.npz +++ b/actions/locomotion_primitives/P38/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a375196d17ded34271b0a51422f7323a3d00381982c600b13f594bdf3ac86ade -size 3439886 +oid sha256:b8501d2381ae50044305728b392066406998dc864f6a05f756d0391152827199 +size 6260568 diff --git a/actions/locomotion_primitives/P38/session_007/meta.json b/actions/locomotion_primitives/P38/session_007/meta.json index e40adce0ae76d11506a43f6e53469a735f2e9883..faf5b5ae2406ff866aaeecdfbca2607fec26859b 100644 --- a/actions/locomotion_primitives/P38/session_007/meta.json +++ b/actions/locomotion_primitives/P38/session_007/meta.json @@ -404,19 +404,26 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - 2.98827, - -0.45012, - -0.85862 + -0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 164.8, - "opposite_sign_bend_deg": 22.8, + "q_source": "markers (GSI not reliable)", + "gsi": { + "reliable": false, + "frames": 2573, + "inlier_frac": 0.327, + "inlier_spread_deg": 8.93 + }, + "wrist_bend_deg_median": 43.5, + "opposite_sign_bend_deg": 162.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.91, "hand_vs_marker_frame_deg": { - "before": 177.25, + "before": 5.91, "after": 5.91 }, "markers_on_wrist": [ @@ -425,15 +432,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 160.66, + "twist_moved_deg": 4.9, "wrist_twist_deg_after": { - "median": 4.9, + "median": -0.0, "iqr": [ - -6.8, - 13.9 + -11.7, + 9.0 ] }, - "wrist_total_deg_median_after": 44.0, + "wrist_total_deg_median_after": 43.6, "markers_on_forearm": [ "LForearm", "LWristIn" @@ -447,9 +454,20 @@ "Q_rotvec": [ 0.0, 0.0, - -0.0 + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2257, + "inlier_frac": 0.648, + "inlier_spread_deg": 11.09, + "marker_Q_to_gsi_deg": { + "1": 13.1, + "-1": 175.9 + } + }, "wrist_bend_deg_median": 21.4, "opposite_sign_bend_deg": 171.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -463,7 +481,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.01, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -481,7 +499,7 @@ }, "frames_used": 1428 }, - "generated_at_utc": "2026-10-28T06:31:41.966225+00:00", + "generated_at_utc": "2026-11-06T14:00:38.053334+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/locomotion_primitives/P38/session_007/motions/smplx.npz b/actions/locomotion_primitives/P38/session_007/motions/smplx.npz index d9bee10dde93d868a933bf6ea7844a00f57560a4..e50a7a6d5f7c0c38328ef04796048ba3cabf8066 100644 --- a/actions/locomotion_primitives/P38/session_007/motions/smplx.npz +++ b/actions/locomotion_primitives/P38/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0d7fae8819e9d902795fdd14756ea85a1b27eacb43a287c462030e3c523cc305 -size 5488146 +oid sha256:851182dd3d81edfbab20ed4c9617e56fe5b4f3198e78d39c67f270ea232d8eba +size 5488894 diff --git a/actions/locomotion_primitives/P41/session_001/meta.json b/actions/locomotion_primitives/P41/session_001/meta.json index bf981d92a4ca82460f60d21409aaec6eead2e297..e113c74d4ecbb1d23d2ae9d4f24b6e329a05a5a0 100644 --- a/actions/locomotion_primitives/P41/session_001/meta.json +++ b/actions/locomotion_primitives/P41/session_001/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": { @@ -391,14 +391,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 177.3, - "opposite_sign_bend_deg": 11.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1986, + "inlier_frac": 0.978, + "inlier_spread_deg": 5.58, + "marker_Q_to_gsi_deg": { + "1": 179.4, + "-1": 13.1 + } + }, + "wrist_bend_deg_median": 175.9, + "opposite_sign_bend_deg": 29.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.63, "hand_vs_marker_frame_deg": { "before": 179.56, @@ -410,15 +421,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 176.04, + "twist_moved_deg": -175.5, "wrist_twist_deg_after": { - "median": 1.14, + "median": -0.54, "iqr": [ - -0.8, - 3.1 + -2.4, + 1.4 ] }, - "wrist_total_deg_median_after": 29.5, + "wrist_total_deg_median_after": 11.7, "markers_on_forearm": [ "LWristIn", "LWristOut" @@ -432,9 +443,20 @@ "Q_rotvec": [ 0.0, -0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1918, + "inlier_frac": 0.987, + "inlier_spread_deg": 4.35, + "marker_Q_to_gsi_deg": { + "1": 6.0, + "-1": 175.6 + } + }, "wrist_bend_deg_median": 17.1, "opposite_sign_bend_deg": 176.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -451,7 +473,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -0.6, 1.1 @@ -465,7 +487,7 @@ }, "frames_used": 829 }, - "generated_at_utc": "2026-10-28T06:16:08.525579+00:00", + "generated_at_utc": "2026-11-06T13:41:02.935792+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -509,6 +531,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0772702779137302 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 11.37, + "offset_rotvec": [ + 0.0101, + -0.1833, + 0.0752 + ], + "dev_deg": { + "median": 6.11, + "p90": 14.43 + }, + "samples": 1986, + "accepted": 1941, + "wrist_pos_err_mm_median": 167.0, + "per_camera": { + "head": { + "samples": 1986, + "accepted": 1941, + "gate_deg": 30.0, + "offset_deg": 11.37, + "tier": "primary", + "dev_deg_median": 6.11, + "wrist_pos_err_mm_median": 167.0 + } + }, + "frames_by_state": { + "ace_sample": 7824, + "interpolated": 448, + "mean_hand": 11, + "no_body_fit": 0 + }, + "observed_fraction": 0.9987, + "observed_fraction_of_valid": 0.9987, + "palm_axis_vs_markers_deg": { + "gsi": 10.31, + "smplx": 0.51 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.1, + "p90": 6.9 + }, + "registered": { + "median": 4.8, + "p90": 6.4 + } + } + }, + "right": { + "offset_deg": 4.87, + "offset_rotvec": [ + -0.0081, + 0.0808, + 0.0251 + ], + "dev_deg": { + "median": 10.04, + "p90": 14.08 + }, + "samples": 1918, + "accepted": 1901, + "wrist_pos_err_mm_median": 141.3, + "per_camera": { + "head": { + "samples": 1918, + "accepted": 1901, + "gate_deg": 30.0, + "offset_deg": 4.87, + "tier": "primary", + "dev_deg_median": 10.04, + "wrist_pos_err_mm_median": 141.3 + } + }, + "frames_by_state": { + "ace_sample": 7650, + "interpolated": 622, + "mean_hand": 11, + "no_body_fit": 0 + }, + "observed_fraction": 0.9987, + "observed_fraction_of_valid": 0.9987, + "palm_axis_vs_markers_deg": { + "gsi": 6.85, + "smplx": 0.41 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.7, + "p90": 8.6 + }, + "registered": { + "median": 6.8, + "p90": 7.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:36:38.445973+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/P41/session_001", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P41/session_001/motions/smplx.npz b/actions/locomotion_primitives/P41/session_001/motions/smplx.npz index d80afd7dc4e9ca56a0efee3c0e1c8c24c0f0cdc2..aef7071a6f0c77c5438ea8036c22e44608eb56d0 100644 --- a/actions/locomotion_primitives/P41/session_001/motions/smplx.npz +++ b/actions/locomotion_primitives/P41/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:885eb2611d8d17a254a8df796e8b5a5ef4eb836133cd958316f9f7a385ddbac8 -size 3181335 +oid sha256:a2203a04e88a8cd6d06c3d4b6f307796cd91d518b0cc32b52e524e1984214052 +size 5954340 diff --git a/actions/locomotion_primitives/P41/session_002/meta.json b/actions/locomotion_primitives/P41/session_002/meta.json index 6e5a7ad27141afa038ce76a41f70edcd9f8065df..6499e2595a840695e12ef71b7c2b524293382590 100644 --- a/actions/locomotion_primitives/P41/session_002/meta.json +++ b/actions/locomotion_primitives/P41/session_002/meta.json @@ -325,8 +325,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -392,14 +392,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 177.0, - "opposite_sign_bend_deg": 12.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2172, + "inlier_frac": 0.988, + "inlier_spread_deg": 5.55, + "marker_Q_to_gsi_deg": { + "1": 177.5, + "-1": 10.8 + } + }, + "wrist_bend_deg_median": 176.3, + "opposite_sign_bend_deg": 29.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.67, "hand_vs_marker_frame_deg": { "before": 179.51, @@ -410,15 +421,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 176.45, + "twist_moved_deg": -176.0, "wrist_twist_deg_after": { - "median": 0.54, + "median": -0.45, "iqr": [ - -1.0, - 2.1 + -2.0, + 1.1 ] }, - "wrist_total_deg_median_after": 29.1, + "wrist_total_deg_median_after": 12.6, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -431,11 +442,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2135, + "inlier_frac": 0.987, + "inlier_spread_deg": 3.96, + "marker_Q_to_gsi_deg": { + "1": 6.9, + "-1": 174.7 + } + }, "wrist_bend_deg_median": 16.9, "opposite_sign_bend_deg": 176.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -466,7 +488,7 @@ }, "frames_used": 889 }, - "generated_at_utc": "2026-10-28T06:16:10.922295+00:00", + "generated_at_utc": "2026-11-06T13:41:08.944296+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -510,6 +532,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1530973745099722 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.35, + "offset_rotvec": [ + -0.0177, + -0.1641, + 0.0735 + ], + "dev_deg": { + "median": 5.78, + "p90": 13.98 + }, + "samples": 2172, + "accepted": 2147, + "wrist_pos_err_mm_median": 164.7, + "per_camera": { + "head": { + "samples": 2172, + "accepted": 2147, + "gate_deg": 30.0, + "offset_deg": 10.35, + "tier": "primary", + "dev_deg_median": 5.78, + "wrist_pos_err_mm_median": 164.7 + } + }, + "frames_by_state": { + "ace_sample": 8622, + "interpolated": 250, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9986, + "observed_fraction_of_valid": 0.9986, + "palm_axis_vs_markers_deg": { + "gsi": 7.81, + "smplx": 0.61 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.4, + "p90": 11.6 + }, + "registered": { + "median": 8.8, + "p90": 10.6 + } + } + }, + "right": { + "offset_deg": 7.57, + "offset_rotvec": [ + 0.0022, + 0.1133, + 0.068 + ], + "dev_deg": { + "median": 11.58, + "p90": 15.59 + }, + "samples": 2135, + "accepted": 2125, + "wrist_pos_err_mm_median": 144.2, + "per_camera": { + "head": { + "samples": 2135, + "accepted": 2125, + "gate_deg": 30.0, + "offset_deg": 7.57, + "tier": "primary", + "dev_deg_median": 11.58, + "wrist_pos_err_mm_median": 144.2 + } + }, + "frames_by_state": { + "ace_sample": 8530, + "interpolated": 342, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9986, + "observed_fraction_of_valid": 0.9986, + "palm_axis_vs_markers_deg": { + "gsi": 6.97, + "smplx": 0.45 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.4, + "p90": 8.0 + }, + "registered": { + "median": 8.0, + "p90": 8.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:38:46.741669+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/P41/session_002", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P41/session_002/motions/smplx.npz b/actions/locomotion_primitives/P41/session_002/motions/smplx.npz index 22c1cd5ba9f25ddfdbe12bab2601a7fc23ed9398..366c0454d91801ae88a93088735019768f58d1d2 100644 --- a/actions/locomotion_primitives/P41/session_002/motions/smplx.npz +++ b/actions/locomotion_primitives/P41/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2630a3ee6d422b51c6780119a2bf0903e61e2660eef6af0a854be659c9a73b54 -size 3415228 +oid sha256:57717b634a7959ec32896a7e02609642e1cd64081988876ffa2d03f3dd384414 +size 6386900 diff --git a/actions/locomotion_primitives/P42/session_001/meta.json b/actions/locomotion_primitives/P42/session_001/meta.json index afba674cfd74d75d22d028c3ce6d97e98b9956be..811cc44d1e6eab05358161c8562e2a41b97dbb3e 100644 --- a/actions/locomotion_primitives/P42/session_001/meta.json +++ b/actions/locomotion_primitives/P42/session_001/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": { @@ -392,14 +392,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 176.1, - "opposite_sign_bend_deg": 16.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.974, + "inlier_spread_deg": 6.93, + "marker_Q_to_gsi_deg": { + "1": 178.2, + "-1": 13.4 + } + }, + "wrist_bend_deg_median": 176.0, + "opposite_sign_bend_deg": 27.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.9, "hand_vs_marker_frame_deg": { "before": 179.31, @@ -410,15 +421,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 175.94, + "twist_moved_deg": -175.24, "wrist_twist_deg_after": { - "median": 0.47, + "median": -0.7, "iqr": [ - -1.6, - 2.5 + -2.7, + 1.2 ] }, - "wrist_total_deg_median_after": 27.5, + "wrist_total_deg_median_after": 15.7, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -432,10 +443,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - 0.0, - 0.0 + -0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.975, + "inlier_spread_deg": 5.25, + "marker_Q_to_gsi_deg": { + "1": 7.6, + "-1": 173.3 + } + }, "wrist_bend_deg_median": 15.7, "opposite_sign_bend_deg": 177.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -450,9 +472,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -0.8, 0.8 @@ -466,7 +488,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:16:12.677956+00:00", + "generated_at_utc": "2026-11-06T13:41:27.545765+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -510,6 +532,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9936219853425082 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.09, + "offset_rotvec": [ + 0.004, + -0.1463, + 0.0978 + ], + "dev_deg": { + "median": 7.52, + "p90": 18.62 + }, + "samples": 5333, + "accepted": 5175, + "wrist_pos_err_mm_median": 166.5, + "per_camera": { + "head": { + "samples": 5333, + "accepted": 5175, + "gate_deg": 30.0, + "offset_deg": 10.09, + "tier": "primary", + "dev_deg_median": 7.52, + "wrist_pos_err_mm_median": 166.5 + } + }, + "frames_by_state": { + "ace_sample": 20913, + "interpolated": 1758, + "mean_hand": 5, + "no_body_fit": 8 + }, + "observed_fraction": 0.9994, + "observed_fraction_of_valid": 0.9998, + "palm_axis_vs_markers_deg": { + "gsi": 11.35, + "smplx": 0.77 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.2, + "p90": 15.1 + }, + "registered": { + "median": 12.8, + "p90": 14.5 + } + } + }, + "right": { + "offset_deg": 6.15, + "offset_rotvec": [ + -0.0074, + 0.1032, + 0.0285 + ], + "dev_deg": { + "median": 13.22, + "p90": 16.95 + }, + "samples": 5132, + "accepted": 5067, + "wrist_pos_err_mm_median": 137.1, + "per_camera": { + "head": { + "samples": 5132, + "accepted": 5067, + "gate_deg": 30.0, + "offset_deg": 6.15, + "tier": "primary", + "dev_deg_median": 13.22, + "wrist_pos_err_mm_median": 137.1 + } + }, + "frames_by_state": { + "ace_sample": 20447, + "interpolated": 2224, + "mean_hand": 5, + "no_body_fit": 8 + }, + "observed_fraction": 0.9994, + "observed_fraction_of_valid": 0.9998, + "palm_axis_vs_markers_deg": { + "gsi": 9.66, + "smplx": 0.37 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.0, + "p90": 9.3 + }, + "registered": { + "median": 6.8, + "p90": 9.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:39:18.154015+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/P42/session_001", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P42/session_001/motions/smplx.npz b/actions/locomotion_primitives/P42/session_001/motions/smplx.npz index 05771f6417b4300e5fb2eb8ab333b2dd0bdb2b19..3968cd039863351c913841d73904e6a1c2ea5950 100644 --- a/actions/locomotion_primitives/P42/session_001/motions/smplx.npz +++ b/actions/locomotion_primitives/P42/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c8cc53ffb0df38806f1ed1f5b56e06832dee2501f5344c76f1931d53a413b9a8 -size 8688761 +oid sha256:89e1d123b8b8b1171f2a9dcceee2bdb8fc71a950a21bf6d7889c6bf9a32c308b +size 16277900 diff --git a/actions/locomotion_primitives/P43/session_001/meta.json b/actions/locomotion_primitives/P43/session_001/meta.json index e707f30bfdcef123727e6657dff1aba4a9219c39..d0b1d32ce85de95b818932586fa28959304ffe25 100644 --- a/actions/locomotion_primitives/P43/session_001/meta.json +++ b/actions/locomotion_primitives/P43/session_001/meta.json @@ -327,8 +327,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -398,10 +398,21 @@ -0.2415, -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 174.5, - "opposite_sign_bend_deg": 15.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1745, + "inlier_frac": 0.992, + "inlier_spread_deg": 7.19, + "marker_Q_to_gsi_deg": { + "1": 179.4, + "-1": 9.9 + } + }, + "wrist_bend_deg_median": 162.1, + "opposite_sign_bend_deg": 31.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.34, "hand_vs_marker_frame_deg": { "before": 177.53, @@ -413,15 +424,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 161.83, + "twist_moved_deg": -161.65, "wrist_twist_deg_after": { - "median": 15.95, + "median": -0.18, "iqr": [ - 7.6, - 21.4 + -4.6, + 5.4 ] }, - "wrist_total_deg_median_after": 31.4, + "wrist_total_deg_median_after": 15.0, "markers_on_forearm": [ "LElbow", "LElbowIn", @@ -440,6 +451,17 @@ 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1555, + "inlier_frac": 0.96, + "inlier_spread_deg": 9.55, + "marker_Q_to_gsi_deg": { + "1": 6.1, + "-1": 176.8 + } + }, "wrist_bend_deg_median": 15.7, "opposite_sign_bend_deg": 175.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -453,9 +475,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -1.7, 6.9 @@ -470,7 +492,7 @@ }, "frames_used": 708 }, - "generated_at_utc": "2026-10-28T06:12:55.783896+00:00", + "generated_at_utc": "2026-11-06T13:34:28.636032+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -514,6 +536,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.2377305296751069 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 3.95, + "offset_rotvec": [ + -0.0175, + -0.0013, + 0.0666 + ], + "dev_deg": { + "median": 10.76, + "p90": 18.19 + }, + "samples": 1745, + "accepted": 1718, + "wrist_pos_err_mm_median": 132.0, + "per_camera": { + "head": { + "samples": 1745, + "accepted": 1718, + "gate_deg": 30.0, + "offset_deg": 3.95, + "tier": "primary", + "dev_deg_median": 10.76, + "wrist_pos_err_mm_median": 132.0 + } + }, + "frames_by_state": { + "ace_sample": 6905, + "interpolated": 166, + "mean_hand": 5, + "no_body_fit": 8 + }, + "observed_fraction": 0.9982, + "observed_fraction_of_valid": 0.9993, + "palm_axis_vs_markers_deg": { + "gsi": 9.9, + "smplx": 2.79 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.2, + "p90": 15.8 + }, + "registered": { + "median": 14.3, + "p90": 15.4 + } + } + }, + "right": { + "offset_deg": 11.99, + "offset_rotvec": [ + 0.0836, + -0.0685, + 0.1792 + ], + "dev_deg": { + "median": 12.74, + "p90": 20.87 + }, + "samples": 1555, + "accepted": 1480, + "wrist_pos_err_mm_median": 108.1, + "per_camera": { + "head": { + "samples": 1555, + "accepted": 1480, + "gate_deg": 30.0, + "offset_deg": 11.99, + "tier": "primary", + "dev_deg_median": 12.74, + "wrist_pos_err_mm_median": 108.1 + } + }, + "frames_by_state": { + "ace_sample": 5977, + "interpolated": 746, + "mean_hand": 353, + "no_body_fit": 8 + }, + "observed_fraction": 0.949, + "observed_fraction_of_valid": 0.9501, + "palm_axis_vs_markers_deg": { + "gsi": 8.53, + "smplx": 1.09 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.6, + "p90": 11.8 + }, + "registered": { + "median": 10.1, + "p90": 11.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:23:15.744778+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/P43/session_001", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P43/session_001/motions/smplx.npz b/actions/locomotion_primitives/P43/session_001/motions/smplx.npz index d0391e94c75298ce18b65487a0fc2f349aef53b4..5b6c72dcef8ce8119bc4882a63775ad205f7e795 100644 --- a/actions/locomotion_primitives/P43/session_001/motions/smplx.npz +++ b/actions/locomotion_primitives/P43/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4c4fcc9a8f87dfafc85138da94191230cca3d277ade8577821aba6278aeddc60 -size 2728331 +oid sha256:3b52c32fa81abec8071c1368020e17a5b336efc9e50195371a1aadc10023cc70 +size 5065994 diff --git a/actions/locomotion_primitives/P43/session_002/meta.json b/actions/locomotion_primitives/P43/session_002/meta.json index 7e3477f03e83787ebac65dbd2f057e34cbd722ca..47ea162cdbc869fb1dc57e41ae93ed4a8d6bf706 100644 --- a/actions/locomotion_primitives/P43/session_002/meta.json +++ b/actions/locomotion_primitives/P43/session_002/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -393,14 +393,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 174.6, - "opposite_sign_bend_deg": 15.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1891, + "inlier_frac": 0.991, + "inlier_spread_deg": 5.57, + "marker_Q_to_gsi_deg": { + "1": 179.0, + "-1": 10.0 + } + }, + "wrist_bend_deg_median": 162.4, + "opposite_sign_bend_deg": 29.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.03, "hand_vs_marker_frame_deg": { "before": 178.44, @@ -412,15 +423,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 161.85, + "twist_moved_deg": -161.22, "wrist_twist_deg_after": { - "median": 15.77, + "median": -0.62, "iqr": [ - 8.0, - 21.8 + -6.1, + 4.9 ] }, - "wrist_total_deg_median_after": 30.0, + "wrist_total_deg_median_after": 15.1, "markers_on_forearm": [ "LElbow", "LElbowIn", @@ -434,11 +445,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ + -0.0, 0.0, - 0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1629, + "inlier_frac": 0.937, + "inlier_spread_deg": 8.85, + "marker_Q_to_gsi_deg": { + "1": 6.4, + "-1": 175.8 + } + }, "wrist_bend_deg_median": 18.1, "opposite_sign_bend_deg": 175.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -452,7 +474,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -469,7 +491,7 @@ }, "frames_used": 769 }, - "generated_at_utc": "2026-10-28T06:12:56.084500+00:00", + "generated_at_utc": "2026-11-06T13:34:27.336275+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -513,6 +535,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.16474315512293 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 5.51, + "offset_rotvec": [ + 0.0262, + -0.0155, + 0.0911 + ], + "dev_deg": { + "median": 8.78, + "p90": 14.02 + }, + "samples": 1891, + "accepted": 1871, + "wrist_pos_err_mm_median": 126.9, + "per_camera": { + "head": { + "samples": 1891, + "accepted": 1871, + "gate_deg": 30.0, + "offset_deg": 5.51, + "tier": "primary", + "dev_deg_median": 8.78, + "wrist_pos_err_mm_median": 126.9 + } + }, + "frames_by_state": { + "ace_sample": 7514, + "interpolated": 158, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9984, + "observed_fraction_of_valid": 0.9984, + "palm_axis_vs_markers_deg": { + "gsi": 8.94, + "smplx": 1.9 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.5, + "p90": 9.5 + }, + "registered": { + "median": 10.1, + "p90": 11.8 + } + } + }, + "right": { + "offset_deg": 8.77, + "offset_rotvec": [ + 0.0647, + -0.0496, + 0.1295 + ], + "dev_deg": { + "median": 10.22, + "p90": 23.67 + }, + "samples": 1629, + "accepted": 1527, + "wrist_pos_err_mm_median": 98.5, + "per_camera": { + "head": { + "samples": 1629, + "accepted": 1527, + "gate_deg": 30.0, + "offset_deg": 8.77, + "tier": "primary", + "dev_deg_median": 10.22, + "wrist_pos_err_mm_median": 98.5 + } + }, + "frames_by_state": { + "ace_sample": 6180, + "interpolated": 896, + "mean_hand": 608, + "no_body_fit": 0 + }, + "observed_fraction": 0.9209, + "observed_fraction_of_valid": 0.9209, + "palm_axis_vs_markers_deg": { + "gsi": 9.3, + "smplx": 1.15 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.8, + "p90": 13.0 + }, + "registered": { + "median": 9.1, + "p90": 12.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:23:14.835262+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/P43/session_002", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P43/session_002/motions/smplx.npz b/actions/locomotion_primitives/P43/session_002/motions/smplx.npz index 0badbc8cf8bfb2d30f76a51b532b03ca29780606..5430dc967908ead7088851ee47fcf50376fdd8c4 100644 --- a/actions/locomotion_primitives/P43/session_002/motions/smplx.npz +++ b/actions/locomotion_primitives/P43/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e97c75dd0ae2ef57a4a19ab824302c479c87423fb4e66319ebb88228a91b249d -size 2957945 +oid sha256:502c06c587502d92cb37e024c5cbf2124b592428cab6cb3120c997ba74143a4b +size 5460911 diff --git a/actions/long_horizon_composite/LH01/session_001/meta.json b/actions/long_horizon_composite/LH01/session_001/meta.json index b7037dd8f023eba5ad2b100f100238c784dee990..0d972486b9088594ff7857d5876464fc345371d9 100644 --- a/actions/long_horizon_composite/LH01/session_001/meta.json +++ b/actions/long_horizon_composite/LH01/session_001/meta.json @@ -329,8 +329,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -401,6 +401,17 @@ -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.775, + "inlier_spread_deg": 12.96, + "marker_Q_to_gsi_deg": { + "1": 7.1, + "-1": 175.1 + } + }, "wrist_bend_deg_median": 26.2, "opposite_sign_bend_deg": 171.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -415,9 +426,9 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -12.0, 11.1 @@ -434,19 +445,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -2.98604, + -0.43137, + -0.87584 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 38.8, - "opposite_sign_bend_deg": 171.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.45, + "inlier_spread_deg": 10.08, + "marker_Q_to_gsi_deg": { + "1": 179.0, + "-1": 19.2 + } + }, + "wrist_bend_deg_median": 173.1, + "opposite_sign_bend_deg": 38.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.67, "hand_vs_marker_frame_deg": { - "before": 6.67, + "before": 178.57, "after": 6.67 }, "markers_on_wrist": [ @@ -454,15 +476,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -1.68, + "twist_moved_deg": 170.76, "wrist_twist_deg_after": { - "median": -0.0, + "median": 2.93, "iqr": [ - -10.4, - 7.2 + -0.6, + 7.7 ] }, - "wrist_total_deg_median_after": 39.4, + "wrist_total_deg_median_after": 38.0, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -471,7 +493,7 @@ }, "frames_used": 1269 }, - "generated_at_utc": "2026-10-28T06:16:51.090184+00:00", + "generated_at_utc": "2026-11-06T13:44:13.353918+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -617,6 +639,116 @@ }, "applied": 7 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 6.97, + "offset_rotvec": [ + -0.0024, + 0.1215, + 0.0065 + ], + "dev_deg": { + "median": 16.29, + "p90": 47.33 + }, + "samples": 4378, + "accepted": 3432, + "wrist_pos_err_mm_median": 30.7, + "per_camera": { + "head": { + "samples": 4378, + "accepted": 3432, + "gate_deg": 30.0, + "offset_deg": 6.97, + "tier": "primary", + "dev_deg_median": 16.29, + "wrist_pos_err_mm_median": 30.7 + } + }, + "frames_by_state": { + "ace_sample": 13792, + "interpolated": 1252, + "mean_hand": 3432, + "no_body_fit": 8 + }, + "observed_fraction": 0.8139, + "observed_fraction_of_valid": 0.8142, + "palm_axis_vs_markers_deg": { + "gsi": 16.08, + "smplx": 3.6 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.2, + "p90": 12.2 + }, + "registered": { + "median": 7.7, + "p90": 12.1 + } + } + }, + "right": { + "offset_deg": 16.62, + "offset_rotvec": [ + 0.1341, + -0.0615, + 0.2497 + ], + "dev_deg": { + "median": 31.75, + "p90": 166.03 + }, + "samples": 3628, + "accepted": 1747, + "wrist_pos_err_mm_median": 41.1, + "per_camera": { + "head": { + "samples": 3628, + "accepted": 1747, + "gate_deg": 30.0, + "offset_deg": 16.62, + "tier": "primary", + "dev_deg_median": 31.75, + "wrist_pos_err_mm_median": 41.1 + } + }, + "frames_by_state": { + "ace_sample": 7010, + "interpolated": 1410, + "mean_hand": 10056, + "no_body_fit": 8 + }, + "observed_fraction": 0.4555, + "observed_fraction_of_valid": 0.4557, + "palm_axis_vs_markers_deg": { + "gsi": 17.85, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:43:32.835376+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/long_horizon_composite/LH01/session_001", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH01/session_001/motions/smplx.npz b/actions/long_horizon_composite/LH01/session_001/motions/smplx.npz index eac5efd7499dc30c34450df6337593b948639f00..c958ae1cd237982fcffcc4bc4355ccac15a92942 100644 --- a/actions/long_horizon_composite/LH01/session_001/motions/smplx.npz +++ b/actions/long_horizon_composite/LH01/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2ffe03a402c03d689bbbf6d5d716bc3e48ede95f3fdba3409a656c063a0a5847 -size 7066079 +oid sha256:75cd0967973d47514efd7413e198dc9ec8e93646e979d5aac9e7182f1d6974d8 +size 11247465 diff --git a/actions/long_horizon_composite/LH01/session_006/meta.json b/actions/long_horizon_composite/LH01/session_006/meta.json index 6acc053ba8eac789f4e3bd444ba9361a1265f264..c2fe37e73f7b5604d4023658aee858adf22a0972 100644 --- a/actions/long_horizon_composite/LH01/session_006/meta.json +++ b/actions/long_horizon_composite/LH01/session_006/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -436,10 +436,21 @@ 0.4392, 0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 171.2, - "opposite_sign_bend_deg": 26.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.977, + "inlier_spread_deg": 10.96, + "marker_Q_to_gsi_deg": { + "1": 171.9, + "-1": 14.6 + } + }, + "wrist_bend_deg_median": 165.1, + "opposite_sign_bend_deg": 37.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.27, "hand_vs_marker_frame_deg": { "before": 178.98, @@ -451,15 +462,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 165.33, + "twist_moved_deg": -160.28, "wrist_twist_deg_after": { - "median": 6.59, + "median": -5.05, "iqr": [ - -4.4, - 12.6 + -17.1, + 1.0 ] }, - "wrist_total_deg_median_after": 37.1, + "wrist_total_deg_median_after": 28.0, "markers_on_forearm": [ "LElbowIn", "LForearm", @@ -472,11 +483,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, + -0.0, 0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.913, + "inlier_spread_deg": 11.17, + "marker_Q_to_gsi_deg": { + "1": 5.9, + "-1": 179.0 + } + }, "wrist_bend_deg_median": 22.1, "opposite_sign_bend_deg": 172.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -490,7 +512,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.01, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -507,10 +529,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:46:28.930675+00:00", + "generated_at_utc": "2026-11-06T14:11:03.571961+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 14.87, + "offset_rotvec": [ + 0.1041, + -0.2343, + -0.0408 + ], + "dev_deg": { + "median": 10.97, + "p90": 19.66 + }, + "samples": 4526, + "accepted": 4431, + "wrist_pos_err_mm_median": 43.1, + "per_camera": { + "head": { + "samples": 4526, + "accepted": 4431, + "gate_deg": 30.0, + "offset_deg": 14.87, + "tier": "primary", + "dev_deg_median": 10.97, + "wrist_pos_err_mm_median": 43.1 + } + }, + "frames_by_state": { + "ace_sample": 17792, + "interpolated": 804, + "mean_hand": 140, + "no_body_fit": 8 + }, + "observed_fraction": 0.9921, + "observed_fraction_of_valid": 0.9925, + "palm_axis_vs_markers_deg": { + "gsi": 17.21, + "smplx": 1.98 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.1, + "p90": 13.2 + }, + "registered": { + "median": 7.7, + "p90": 14.1 + } + } + }, + "right": { + "offset_deg": 5.92, + "offset_rotvec": [ + 0.0029, + 0.0141, + 0.1024 + ], + "dev_deg": { + "median": 11.89, + "p90": 26.71 + }, + "samples": 4174, + "accepted": 3827, + "wrist_pos_err_mm_median": 47.3, + "per_camera": { + "head": { + "samples": 4174, + "accepted": 3827, + "gate_deg": 30.0, + "offset_deg": 5.92, + "tier": "primary", + "dev_deg_median": 11.89, + "wrist_pos_err_mm_median": 47.3 + } + }, + "frames_by_state": { + "ace_sample": 15389, + "interpolated": 1374, + "mean_hand": 1973, + "no_body_fit": 8 + }, + "observed_fraction": 0.8943, + "observed_fraction_of_valid": 0.8947, + "palm_axis_vs_markers_deg": { + "gsi": 9.99, + "smplx": 2.13 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.1, + "p90": 7.5 + }, + "registered": { + "median": 4.6, + "p90": 6.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:40:00.544830+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/long_horizon_composite/LH01/session_006", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH01/session_006/motions/smplx.npz b/actions/long_horizon_composite/LH01/session_006/motions/smplx.npz index 044cd4631c29646c4f30e4333e1f3b49e7568df4..8758bfc12b2e00dd5a8626288f3cb73f60da6d76 100644 --- a/actions/long_horizon_composite/LH01/session_006/motions/smplx.npz +++ b/actions/long_horizon_composite/LH01/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c48ccee1d74a557d6218a7d408901d40ca089b607b5e6479d4213316e65c2776 -size 7228080 +oid sha256:7d6b6b3fdd4ce233a43bb6548a014ff25fc1d467e964fe908e29b7828a72aabc +size 13244914 diff --git a/actions/long_horizon_composite/LH01/session_007/meta.json b/actions/long_horizon_composite/LH01/session_007/meta.json index dd130bf83d7cb4599f887b7fa71d1fc24d4cfa90..38e66b4795861505f761190df3018c9045b73a3b 100644 --- a/actions/long_horizon_composite/LH01/session_007/meta.json +++ b/actions/long_horizon_composite/LH01/session_007/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -432,14 +432,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -2.98662, - 0.4392, - 0.86995 + 2.98662, + -0.4392, + -0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 170.0, - "opposite_sign_bend_deg": 27.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.978, + "inlier_spread_deg": 10.06, + "marker_Q_to_gsi_deg": { + "1": 173.5, + "-1": 14.0 + } + }, + "wrist_bend_deg_median": 164.4, + "opposite_sign_bend_deg": 36.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.84, "hand_vs_marker_frame_deg": { "before": 178.99, @@ -451,15 +462,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 164.53, + "twist_moved_deg": -159.43, "wrist_twist_deg_after": { - "median": 6.66, + "median": -5.1, "iqr": [ - -3.7, - 13.6 + -18.4, + 0.8 ] }, - "wrist_total_deg_median_after": 36.5, + "wrist_total_deg_median_after": 29.1, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -476,6 +487,17 @@ -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.949, + "inlier_spread_deg": 11.01, + "marker_Q_to_gsi_deg": { + "1": 6.8, + "-1": 179.9 + } + }, "wrist_bend_deg_median": 19.9, "opposite_sign_bend_deg": 174.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -506,10 +528,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:46:29.107814+00:00", + "generated_at_utc": "2026-11-06T14:11:24.454653+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 14.03, + "offset_rotvec": [ + 0.0786, + -0.23, + -0.0296 + ], + "dev_deg": { + "median": 10.1, + "p90": 18.19 + }, + "samples": 5045, + "accepted": 4930, + "wrist_pos_err_mm_median": 41.9, + "per_camera": { + "head": { + "samples": 5045, + "accepted": 4930, + "gate_deg": 30.0, + "offset_deg": 14.03, + "tier": "primary", + "dev_deg_median": 10.1, + "wrist_pos_err_mm_median": 41.9 + } + }, + "frames_by_state": { + "ace_sample": 19802, + "interpolated": 858, + "mean_hand": 765, + "no_body_fit": 7 + }, + "observed_fraction": 0.964, + "observed_fraction_of_valid": 0.9643, + "palm_axis_vs_markers_deg": { + "gsi": 15.63, + "smplx": 1.44 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.9, + "p90": 7.5 + }, + "registered": { + "median": 5.9, + "p90": 7.9 + } + } + }, + "right": { + "offset_deg": 6.79, + "offset_rotvec": [ + -0.0195, + 0.0419, + 0.1092 + ], + "dev_deg": { + "median": 11.49, + "p90": 22.66 + }, + "samples": 5081, + "accepted": 4826, + "wrist_pos_err_mm_median": 47.5, + "per_camera": { + "head": { + "samples": 5081, + "accepted": 4826, + "gate_deg": 30.0, + "offset_deg": 6.79, + "tier": "primary", + "dev_deg_median": 11.49, + "wrist_pos_err_mm_median": 47.5 + } + }, + "frames_by_state": { + "ace_sample": 19436, + "interpolated": 1300, + "mean_hand": 689, + "no_body_fit": 7 + }, + "observed_fraction": 0.9675, + "observed_fraction_of_valid": 0.9678, + "palm_axis_vs_markers_deg": { + "gsi": 9.75, + "smplx": 2.57 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.8, + "p90": 8.4 + }, + "registered": { + "median": 6.3, + "p90": 7.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:40:31.447189+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/long_horizon_composite/LH01/session_007", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH01/session_007/motions/smplx.npz b/actions/long_horizon_composite/LH01/session_007/motions/smplx.npz index 5a371f92a357a92cbe7d14f8f5c186c6bc441568..74192b2c0ff7af416cd430f65576f486ff3e3da8 100644 --- a/actions/long_horizon_composite/LH01/session_007/motions/smplx.npz +++ b/actions/long_horizon_composite/LH01/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:188e54261fb1a31bdc7c453b19f2d1e76b05812f89d7ed856868df7202023f9d -size 8252436 +oid sha256:b39ea5a4019a8d52a23248ccd5de2279c94db204846912c9af0621aec9cc1eb7 +size 15270238 diff --git a/actions/long_horizon_composite/LH02/session_007/meta.json b/actions/long_horizon_composite/LH02/session_007/meta.json index 8bc7b11b30ebf67a593afdecef8a837034b95bc3..e4ef61f72285cdae587f1f84e676d2c3e533f70a 100644 --- a/actions/long_horizon_composite/LH02/session_007/meta.json +++ b/actions/long_horizon_composite/LH02/session_007/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -435,19 +435,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + -2.98662, + 0.4392, + 0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 44.1, - "opposite_sign_bend_deg": 150.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.947, + "inlier_spread_deg": 11.64, + "marker_Q_to_gsi_deg": { + "1": 175.0, + "-1": 9.5 + } + }, + "wrist_bend_deg_median": 170.7, + "opposite_sign_bend_deg": 38.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.0, "hand_vs_marker_frame_deg": { - "before": 3.0, + "before": 178.97, "after": 3.0 }, "markers_on_wrist": [ @@ -456,15 +467,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 22.51, + "twist_moved_deg": -167.16, "wrist_twist_deg_after": { - "median": 0.01, + "median": -5.95, "iqr": [ - -8.7, - 4.8 + -14.4, + -1.0 ] }, - "wrist_total_deg_median_after": 39.8, + "wrist_total_deg_median_after": 23.1, "markers_on_forearm": [ "LElbowIn", "LForearm", @@ -477,11 +488,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, + -0.0, 0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.932, + "inlier_spread_deg": 12.88, + "marker_Q_to_gsi_deg": { + "1": 8.4, + "-1": 175.0 + } + }, "wrist_bend_deg_median": 15.6, "opposite_sign_bend_deg": 176.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -496,7 +518,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -513,7 +535,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:46:29.480722+00:00", + "generated_at_utc": "2026-11-06T14:11:37.445500+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -553,6 +575,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.41, + "offset_rotvec": [ + 0.0773, + -0.1634, + -0.0194 + ], + "dev_deg": { + "median": 12.18, + "p90": 20.81 + }, + "samples": 6139, + "accepted": 5812, + "wrist_pos_err_mm_median": 39.6, + "per_camera": { + "head": { + "samples": 6139, + "accepted": 5812, + "gate_deg": 30.0, + "offset_deg": 10.41, + "tier": "primary", + "dev_deg_median": 12.18, + "wrist_pos_err_mm_median": 39.6 + } + }, + "frames_by_state": { + "ace_sample": 23386, + "interpolated": 1906, + "mean_hand": 581, + "no_body_fit": 0 + }, + "observed_fraction": 0.9775, + "observed_fraction_of_valid": 0.9775, + "palm_axis_vs_markers_deg": { + "gsi": 12.44, + "smplx": 1.73 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.8, + "p90": 7.0 + }, + "registered": { + "median": 5.6, + "p90": 7.4 + } + } + }, + "right": { + "offset_deg": 8.47, + "offset_rotvec": [ + -0.0881, + -0.0957, + 0.0703 + ], + "dev_deg": { + "median": 13.19, + "p90": 24.48 + }, + "samples": 6032, + "accepted": 5623, + "wrist_pos_err_mm_median": 51.7, + "per_camera": { + "head": { + "samples": 6032, + "accepted": 5623, + "gate_deg": 30.0, + "offset_deg": 8.47, + "tier": "primary", + "dev_deg_median": 13.19, + "wrist_pos_err_mm_median": 51.7 + } + }, + "frames_by_state": { + "ace_sample": 22632, + "interpolated": 2052, + "mean_hand": 1189, + "no_body_fit": 0 + }, + "observed_fraction": 0.954, + "observed_fraction_of_valid": 0.954, + "palm_axis_vs_markers_deg": { + "gsi": 11.91, + "smplx": 1.61 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.0, + "p90": 14.5 + }, + "registered": { + "median": 9.1, + "p90": 12.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:40:47.038655+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/long_horizon_composite/LH02/session_007", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH02/session_007/motions/smplx.npz b/actions/long_horizon_composite/LH02/session_007/motions/smplx.npz index d1daed966a913429df41e829008cf2957c3edb5a..7e9a21ab122362b435f0c4bcc1a625c16b358c9e 100644 --- a/actions/long_horizon_composite/LH02/session_007/motions/smplx.npz +++ b/actions/long_horizon_composite/LH02/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ec535c948025db39897ec7dc5af115055dd384c84c7dad1576ddb183e530e404 -size 9925037 +oid sha256:480909cc2c7a0fd3c53b638ab09d6ebc91017b46ff8347d30883f4ffd677c7bf +size 18370552 diff --git a/actions/long_horizon_composite/LH02/session_008/meta.json b/actions/long_horizon_composite/LH02/session_008/meta.json index 0f76b66d07e6e828df1c88cb76e6c9724e8c9576..70cf0e370e35e5cbfc8dba0343aee9cde377338a 100644 --- a/actions/long_horizon_composite/LH02/session_008/meta.json +++ b/actions/long_horizon_composite/LH02/session_008/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -435,19 +435,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + 2.98662, + -0.4392, + -0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 42.6, - "opposite_sign_bend_deg": 169.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.902, + "inlier_spread_deg": 12.18, + "marker_Q_to_gsi_deg": { + "1": 176.7, + "-1": 7.0 + } + }, + "wrist_bend_deg_median": 171.6, + "opposite_sign_bend_deg": 42.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.41, "hand_vs_marker_frame_deg": { - "before": 3.41, + "before": 178.79, "after": 3.41 }, "markers_on_wrist": [ @@ -456,15 +467,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 3.3, + "twist_moved_deg": -168.4, "wrist_twist_deg_after": { - "median": -0.0, + "median": -3.78, "iqr": [ - -5.3, - 4.1 + -9.0, + 1.7 ] }, - "wrist_total_deg_median_after": 42.5, + "wrist_total_deg_median_after": 26.0, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -477,10 +488,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - 0.0, + -0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.954, + "inlier_spread_deg": 11.66, + "marker_Q_to_gsi_deg": { + "1": 7.8, + "-1": 176.3 + } + }, "wrist_bend_deg_median": 14.5, "opposite_sign_bend_deg": 176.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -512,7 +534,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:46:31.629583+00:00", + "generated_at_utc": "2026-11-06T14:11:45.236618+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -552,6 +574,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 7.58, + "offset_rotvec": [ + 0.0496, + -0.1221, + -0.0111 + ], + "dev_deg": { + "median": 12.99, + "p90": 27.57 + }, + "samples": 5513, + "accepted": 4989, + "wrist_pos_err_mm_median": 41.3, + "per_camera": { + "head": { + "samples": 5513, + "accepted": 4989, + "gate_deg": 30.0, + "offset_deg": 7.58, + "tier": "primary", + "dev_deg_median": 12.99, + "wrist_pos_err_mm_median": 41.3 + } + }, + "frames_by_state": { + "ace_sample": 20072, + "interpolated": 1820, + "mean_hand": 1824, + "no_body_fit": 0 + }, + "observed_fraction": 0.9231, + "observed_fraction_of_valid": 0.9231, + "palm_axis_vs_markers_deg": { + "gsi": 11.23, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 8.28, + "offset_rotvec": [ + -0.0819, + -0.1005, + 0.064 + ], + "dev_deg": { + "median": 12.03, + "p90": 23.17 + }, + "samples": 5339, + "accepted": 5093, + "wrist_pos_err_mm_median": 40.3, + "per_camera": { + "head": { + "samples": 5339, + "accepted": 5093, + "gate_deg": 30.0, + "offset_deg": 8.28, + "tier": "primary", + "dev_deg_median": 12.03, + "wrist_pos_err_mm_median": 40.3 + } + }, + "frames_by_state": { + "ace_sample": 20556, + "interpolated": 2884, + "mean_hand": 276, + "no_body_fit": 0 + }, + "observed_fraction": 0.9884, + "observed_fraction_of_valid": 0.9884, + "palm_axis_vs_markers_deg": { + "gsi": 11.81, + "smplx": 1.93 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.3, + "p90": 14.8 + }, + "registered": { + "median": 8.9, + "p90": 12.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:40:35.440016+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/long_horizon_composite/LH02/session_008", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH02/session_008/motions/smplx.npz b/actions/long_horizon_composite/LH02/session_008/motions/smplx.npz index 87b0ab5299f7d505da0f39267e28eb81e8d1085b..d4d5d8a5d6bcc1897079ced217412c97a26473b1 100644 --- a/actions/long_horizon_composite/LH02/session_008/motions/smplx.npz +++ b/actions/long_horizon_composite/LH02/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6dca939653004288b34957b9177a5044873a3ca5c2d5d78fc196c4e6bf79cb42 -size 9104554 +oid sha256:0b9f6da89ab974cc13961a6b9db2b424995fc6f6a0d8a9a1dfb6a1ad1e378db3 +size 16747409 diff --git a/actions/long_horizon_composite/LH02/session_009/meta.json b/actions/long_horizon_composite/LH02/session_009/meta.json index 3941f05ceadb86b9cfb324830074467c2877b36a..5167c4367ea6b2fe1d64366f783db737a4d806ed 100644 --- a/actions/long_horizon_composite/LH02/session_009/meta.json +++ b/actions/long_horizon_composite/LH02/session_009/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -437,14 +437,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -2.98662, - 0.4392, - 0.86995 + 2.98662, + -0.4392, + -0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 172.5, - "opposite_sign_bend_deg": 23.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.945, + "inlier_spread_deg": 13.64, + "marker_Q_to_gsi_deg": { + "1": 176.6, + "-1": 7.4 + } + }, + "wrist_bend_deg_median": 165.4, + "opposite_sign_bend_deg": 47.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.89, "hand_vs_marker_frame_deg": { "before": 178.65, @@ -456,15 +467,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 166.22, + "twist_moved_deg": -163.28, "wrist_twist_deg_after": { - "median": 7.22, + "median": -2.94, "iqr": [ - 0.6, - 14.3 + -8.5, + 4.1 ] }, - "wrist_total_deg_median_after": 47.5, + "wrist_total_deg_median_after": 22.0, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -477,10 +488,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - 0.0, + -0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.949, + "inlier_spread_deg": 14.03, + "marker_Q_to_gsi_deg": { + "1": 8.9, + "-1": 176.4 + } + }, "wrist_bend_deg_median": 17.7, "opposite_sign_bend_deg": 174.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -497,7 +519,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -4.0, 5.9 @@ -512,10 +534,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:46:32.340699+00:00", + "generated_at_utc": "2026-11-06T14:11:44.040194+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 7.37, + "offset_rotvec": [ + 0.0442, + -0.1198, + 0.0154 + ], + "dev_deg": { + "median": 14.04, + "p90": 23.6 + }, + "samples": 5784, + "accepted": 5462, + "wrist_pos_err_mm_median": 48.7, + "per_camera": { + "head": { + "samples": 5784, + "accepted": 5462, + "gate_deg": 30.0, + "offset_deg": 7.37, + "tier": "primary", + "dev_deg_median": 14.04, + "wrist_pos_err_mm_median": 48.7 + } + }, + "frames_by_state": { + "ace_sample": 21966, + "interpolated": 2086, + "mean_hand": 384, + "no_body_fit": 0 + }, + "observed_fraction": 0.9843, + "observed_fraction_of_valid": 0.9843, + "palm_axis_vs_markers_deg": { + "gsi": 11.68, + "smplx": 2.31 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.1, + "p90": 13.3 + }, + "registered": { + "median": 10.1, + "p90": 12.4 + } + } + }, + "right": { + "offset_deg": 8.83, + "offset_rotvec": [ + -0.0561, + -0.1384, + 0.0381 + ], + "dev_deg": { + "median": 14.4, + "p90": 23.26 + }, + "samples": 5580, + "accepted": 5292, + "wrist_pos_err_mm_median": 35.6, + "per_camera": { + "head": { + "samples": 5580, + "accepted": 5292, + "gate_deg": 30.0, + "offset_deg": 8.83, + "tier": "primary", + "dev_deg_median": 14.4, + "wrist_pos_err_mm_median": 35.6 + } + }, + "frames_by_state": { + "ace_sample": 21300, + "interpolated": 2100, + "mean_hand": 1036, + "no_body_fit": 0 + }, + "observed_fraction": 0.9576, + "observed_fraction_of_valid": 0.9576, + "palm_axis_vs_markers_deg": { + "gsi": 13.67, + "smplx": 1.79 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.9, + "p90": 14.9 + }, + "registered": { + "median": 8.7, + "p90": 12.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:41:01.339690+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/long_horizon_composite/LH02/session_009", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH02/session_009/motions/smplx.npz b/actions/long_horizon_composite/LH02/session_009/motions/smplx.npz index 443c4d7e590b2c2262cae34a3daf4e4677d1e888..4753e41eff7aba371d3b179e651e1e855c6d3870 100644 --- a/actions/long_horizon_composite/LH02/session_009/motions/smplx.npz +++ b/actions/long_horizon_composite/LH02/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:39a3cc59a3d573dbce2ca37f21aac288f37853e5aaa941f1313a2641ae7a7981 -size 9371964 +oid sha256:338eb8c8c84b7937bf9a9ca6fd158be26d277978422fd1b6a4d68b91dd8cd07b +size 17390254 diff --git a/actions/long_horizon_composite/LH03/session_002/meta.json b/actions/long_horizon_composite/LH03/session_002/meta.json index ab20ba2125435b078044da7c7804191b26fe39c0..e9a880a9df4b917fe7ea044d78ab7d703cc3a700 100644 --- a/actions/long_horizon_composite/LH03/session_002/meta.json +++ b/actions/long_horizon_composite/LH03/session_002/meta.json @@ -402,8 +402,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -467,19 +467,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + -2.98794, + 0.42773, + 0.87113 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 45.8, - "opposite_sign_bend_deg": 166.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.632, + "inlier_spread_deg": 13.01, + "marker_Q_to_gsi_deg": { + "1": 167.2, + "-1": 12.9 + } + }, + "wrist_bend_deg_median": 164.9, + "opposite_sign_bend_deg": 45.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.35, "hand_vs_marker_frame_deg": { - "before": 4.35, + "before": 176.9, "after": 4.35 }, "markers_on_wrist": [ @@ -487,15 +498,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -1.47, + "twist_moved_deg": -162.37, "wrist_twist_deg_after": { - "median": 0.0, + "median": -6.6, "iqr": [ - -11.4, - 6.2 + -19.9, + -0.9 ] }, - "wrist_total_deg_median_after": 46.2, + "wrist_total_deg_median_after": 34.7, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -510,9 +521,20 @@ "Q_rotvec": [ 0.0, 0.0, - -0.0 + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.861, + "inlier_spread_deg": 11.3, + "marker_Q_to_gsi_deg": { + "1": 11.7, + "-1": 176.6 + } + }, "wrist_bend_deg_median": 23.6, "opposite_sign_bend_deg": 170.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -529,7 +551,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -12.3, 6.8 @@ -544,7 +566,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:40:21.621465+00:00", + "generated_at_utc": "2026-11-06T14:04:35.977459+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -617,6 +639,116 @@ }, "applied": 4 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 15.57, + "offset_rotvec": [ + -0.2196, + -0.0358, + 0.1562 + ], + "dev_deg": { + "median": 20.01, + "p90": 158.58 + }, + "samples": 4063, + "accepted": 2559, + "wrist_pos_err_mm_median": 47.6, + "per_camera": { + "head": { + "samples": 4063, + "accepted": 2559, + "gate_deg": 30.0, + "offset_deg": 15.57, + "tier": "primary", + "dev_deg_median": 20.01, + "wrist_pos_err_mm_median": 47.6 + } + }, + "frames_by_state": { + "ace_sample": 10300, + "interpolated": 2464, + "mean_hand": 6573, + "no_body_fit": 7 + }, + "observed_fraction": 0.6598, + "observed_fraction_of_valid": 0.6601, + "palm_axis_vs_markers_deg": { + "gsi": 20.62, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 11.74, + "offset_rotvec": [ + 0.1409, + -0.116, + -0.093 + ], + "dev_deg": { + "median": 12.89, + "p90": 35.03 + }, + "samples": 3986, + "accepted": 3469, + "wrist_pos_err_mm_median": 36.4, + "per_camera": { + "head": { + "samples": 3986, + "accepted": 3469, + "gate_deg": 30.0, + "offset_deg": 11.74, + "tier": "primary", + "dev_deg_median": 12.89, + "wrist_pos_err_mm_median": 36.4 + } + }, + "frames_by_state": { + "ace_sample": 13984, + "interpolated": 2534, + "mean_hand": 2819, + "no_body_fit": 7 + }, + "observed_fraction": 0.8539, + "observed_fraction_of_valid": 0.8542, + "palm_axis_vs_markers_deg": { + "gsi": 13.6, + "smplx": 1.77 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.7, + "p90": 21.9 + }, + "registered": { + "median": 12.2, + "p90": 20.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:26:58.840776+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/long_horizon_composite/LH03/session_002", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH03/session_002/motions/smplx.npz b/actions/long_horizon_composite/LH03/session_002/motions/smplx.npz index 217f127089382da4f0fbb6aad786f0083185683b..b8e536dc236ed955c333ed105b356206ffff82d9 100644 --- a/actions/long_horizon_composite/LH03/session_002/motions/smplx.npz +++ b/actions/long_horizon_composite/LH03/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5e998baf5b957d7f08d5d7a44e7b811f2f2c982a45ab780a41fe77935234765d -size 7455187 +oid sha256:cbe388c64e4987599dc768cc60a9fa4e283c796714b4eb55a99c7e3548b6d7d8 +size 12642652 diff --git a/actions/long_horizon_composite/LH03/session_003/meta.json b/actions/long_horizon_composite/LH03/session_003/meta.json index cbb760e9e73e49e6ba5a7e43e25a58d78bc96a89..3a863aeaa2db552d52e9f99a259e7ac5d83be355 100644 --- a/actions/long_horizon_composite/LH03/session_003/meta.json +++ b/actions/long_horizon_composite/LH03/session_003/meta.json @@ -367,8 +367,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -438,10 +438,21 @@ 0.42773, 0.87113 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 168.4, - "opposite_sign_bend_deg": 36.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.821, + "inlier_spread_deg": 12.48, + "marker_Q_to_gsi_deg": { + "1": 171.6, + "-1": 8.5 + } + }, + "wrist_bend_deg_median": 167.6, + "opposite_sign_bend_deg": 40.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.92, "hand_vs_marker_frame_deg": { "before": 179.0, @@ -452,15 +463,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 166.45, + "twist_moved_deg": -161.08, "wrist_twist_deg_after": { - "median": 3.24, + "median": -5.36, "iqr": [ - -3.2, - 9.8 + -14.0, + 1.2 ] }, - "wrist_total_deg_median_after": 40.8, + "wrist_total_deg_median_after": 35.7, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -473,11 +484,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, + -0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.863, + "inlier_spread_deg": 11.24, + "marker_Q_to_gsi_deg": { + "1": 12.5, + "-1": 176.7 + } + }, "wrist_bend_deg_median": 24.8, "opposite_sign_bend_deg": 171.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -494,7 +516,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -7.3, 11.5 @@ -509,10 +531,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:40:20.176095+00:00", + "generated_at_utc": "2026-11-06T14:04:41.269657+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 7.68, + "offset_rotvec": [ + -0.1245, + -0.0155, + 0.0473 + ], + "dev_deg": { + "median": 14.83, + "p90": 130.29 + }, + "samples": 4318, + "accepted": 3541, + "wrist_pos_err_mm_median": 49.2, + "per_camera": { + "head": { + "samples": 4318, + "accepted": 3541, + "gate_deg": 30.0, + "offset_deg": 7.68, + "tier": "primary", + "dev_deg_median": 14.83, + "wrist_pos_err_mm_median": 49.2 + } + }, + "frames_by_state": { + "ace_sample": 14314, + "interpolated": 2890, + "mean_hand": 3244, + "no_body_fit": 0 + }, + "observed_fraction": 0.8414, + "observed_fraction_of_valid": 0.8414, + "palm_axis_vs_markers_deg": { + "gsi": 15.02, + "smplx": 2.26 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.8, + "p90": 13.0 + }, + "registered": { + "median": 7.5, + "p90": 13.1 + } + } + }, + "right": { + "offset_deg": 11.91, + "offset_rotvec": [ + 0.1381, + -0.1276, + -0.0886 + ], + "dev_deg": { + "median": 12.88, + "p90": 36.97 + }, + "samples": 4392, + "accepted": 3797, + "wrist_pos_err_mm_median": 44.2, + "per_camera": { + "head": { + "samples": 4392, + "accepted": 3797, + "gate_deg": 30.0, + "offset_deg": 11.91, + "tier": "primary", + "dev_deg_median": 12.88, + "wrist_pos_err_mm_median": 44.2 + } + }, + "frames_by_state": { + "ace_sample": 15284, + "interpolated": 2612, + "mean_hand": 2552, + "no_body_fit": 0 + }, + "observed_fraction": 0.8752, + "observed_fraction_of_valid": 0.8752, + "palm_axis_vs_markers_deg": { + "gsi": 14.57, + "smplx": 1.66 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 15.9, + "p90": 24.1 + }, + "registered": { + "median": 15.6, + "p90": 22.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:27:38.447517+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/long_horizon_composite/LH03/session_003", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH03/session_003/motions/smplx.npz b/actions/long_horizon_composite/LH03/session_003/motions/smplx.npz index 7ccbe84be81c5b28e15965f9c6304c687e894430..a7516f230e4612db758e1a5db6d116bfc5800c89 100644 --- a/actions/long_horizon_composite/LH03/session_003/motions/smplx.npz +++ b/actions/long_horizon_composite/LH03/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:32e4ed100402eec2280ba899671b86a299df46600a0f1b504d2947db9e3d0b84 -size 7869619 +oid sha256:ed05a87c772fe2c3c97a0344c559c590f832bad5a22ad322702de497b179f5b2 +size 13922249 diff --git a/actions/long_horizon_composite/LH03/session_004/meta.json b/actions/long_horizon_composite/LH03/session_004/meta.json index 28fd00a2f0b5ed0e271042a20ab756a0f478f2aa..2667c4e42ae8af936f13cd84ee42d53d0f9b5c6c 100644 --- a/actions/long_horizon_composite/LH03/session_004/meta.json +++ b/actions/long_horizon_composite/LH03/session_004/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": { @@ -439,19 +439,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + -2.98794, + 0.42773, + 0.87113 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 42.1, - "opposite_sign_bend_deg": 164.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.728, + "inlier_spread_deg": 11.06, + "marker_Q_to_gsi_deg": { + "1": 173.0, + "-1": 7.5 + } + }, + "wrist_bend_deg_median": 164.6, + "opposite_sign_bend_deg": 42.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.5, "hand_vs_marker_frame_deg": { - "before": 3.5, + "before": 179.17, "after": 3.5 }, "markers_on_wrist": [ @@ -459,15 +470,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.2, + "twist_moved_deg": -160.07, "wrist_twist_deg_after": { - "median": 0.0, + "median": -9.98, "iqr": [ - -7.7, - 9.0 + -23.7, + -1.8 ] }, - "wrist_total_deg_median_after": 41.4, + "wrist_total_deg_median_after": 37.7, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -480,11 +491,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, + -0.0, + -0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.862, + "inlier_spread_deg": 11.07, + "marker_Q_to_gsi_deg": { + "1": 13.2, + "-1": 178.6 + } + }, "wrist_bend_deg_median": 24.7, "opposite_sign_bend_deg": 174.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -498,7 +520,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -516,7 +538,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:40:20.490806+00:00", + "generated_at_utc": "2026-11-06T14:04:44.954406+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -589,6 +611,116 @@ }, "applied": 4 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 8.56, + "offset_rotvec": [ + -0.1317, + 0.0145, + 0.0691 + ], + "dev_deg": { + "median": 15.01, + "p90": 153.44 + }, + "samples": 4275, + "accepted": 3078, + "wrist_pos_err_mm_median": 39.5, + "per_camera": { + "head": { + "samples": 4275, + "accepted": 3078, + "gate_deg": 30.0, + "offset_deg": 8.56, + "tier": "primary", + "dev_deg_median": 15.01, + "wrist_pos_err_mm_median": 39.5 + } + }, + "frames_by_state": { + "ace_sample": 12430, + "interpolated": 2442, + "mean_hand": 5696, + "no_body_fit": 0 + }, + "observed_fraction": 0.7231, + "observed_fraction_of_valid": 0.7231, + "palm_axis_vs_markers_deg": { + "gsi": 14.93, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 12.59, + "offset_rotvec": [ + 0.0985, + -0.1775, + -0.0839 + ], + "dev_deg": { + "median": 12.36, + "p90": 37.34 + }, + "samples": 4380, + "accepted": 3803, + "wrist_pos_err_mm_median": 36.5, + "per_camera": { + "head": { + "samples": 4380, + "accepted": 3803, + "gate_deg": 30.0, + "offset_deg": 12.59, + "tier": "primary", + "dev_deg_median": 12.36, + "wrist_pos_err_mm_median": 36.5 + } + }, + "frames_by_state": { + "ace_sample": 15244, + "interpolated": 1284, + "mean_hand": 4040, + "no_body_fit": 0 + }, + "observed_fraction": 0.8036, + "observed_fraction_of_valid": 0.8036, + "palm_axis_vs_markers_deg": { + "gsi": 16.24, + "smplx": 1.52 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.2, + "p90": 23.1 + }, + "registered": { + "median": 11.3, + "p90": 21.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:27:27.941345+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/long_horizon_composite/LH03/session_004", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH03/session_004/motions/smplx.npz b/actions/long_horizon_composite/LH03/session_004/motions/smplx.npz index d27aa3083eda19bd1c2ef65ffbebb0f04ecea89c..2ab733170d07ffdc7f50528782cd091b004ea85f 100644 --- a/actions/long_horizon_composite/LH03/session_004/motions/smplx.npz +++ b/actions/long_horizon_composite/LH03/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1652999274e177733e2bdfac4d27f3cbaf503f4553178b312851b347de7317ac -size 7924170 +oid sha256:7b5cd3988b36981cfbd94d2b1eff446c8a7050bd3e01da7492f6d2dcd642e3bf +size 13526477 diff --git a/actions/long_horizon_composite/LH03/session_007/meta.json b/actions/long_horizon_composite/LH03/session_007/meta.json index a8fbae171e3f93ede5d19519522104b7573aa7a0..bb1f375a581c5973de54f5600920be137e54f49f 100644 --- a/actions/long_horizon_composite/LH03/session_007/meta.json +++ b/actions/long_horizon_composite/LH03/session_007/meta.json @@ -353,8 +353,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -423,19 +423,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + -2.98662, + 0.4392, + 0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 38.1, - "opposite_sign_bend_deg": 171.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.866, + "inlier_spread_deg": 10.61, + "marker_Q_to_gsi_deg": { + "1": 173.5, + "-1": 10.8 + } + }, + "wrist_bend_deg_median": 170.8, + "opposite_sign_bend_deg": 37.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.81, "hand_vs_marker_frame_deg": { - "before": 3.81, + "before": 178.95, "after": 3.81 }, "markers_on_wrist": [ @@ -444,15 +455,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -1.08, + "twist_moved_deg": -167.57, "wrist_twist_deg_after": { - "median": -0.0, + "median": -4.72, "iqr": [ - -11.2, - 3.9 + -14.2, + -1.0 ] }, - "wrist_total_deg_median_after": 37.9, + "wrist_total_deg_median_after": 27.2, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -469,6 +480,17 @@ -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.968, + "inlier_spread_deg": 10.9, + "marker_Q_to_gsi_deg": { + "1": 5.3, + "-1": 178.4 + } + }, "wrist_bend_deg_median": 17.6, "opposite_sign_bend_deg": 175.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -485,7 +507,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -3.3, 6.2 @@ -500,7 +522,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:46:31.728840+00:00", + "generated_at_utc": "2026-11-06T14:11:40.839679+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -540,6 +562,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.93, + "offset_rotvec": [ + 0.0755, + -0.1633, + -0.0634 + ], + "dev_deg": { + "median": 11.58, + "p90": 162.13 + }, + "samples": 4604, + "accepted": 3995, + "wrist_pos_err_mm_median": 40.7, + "per_camera": { + "head": { + "samples": 4604, + "accepted": 3995, + "gate_deg": 30.0, + "offset_deg": 10.93, + "tier": "primary", + "dev_deg_median": 11.58, + "wrist_pos_err_mm_median": 40.7 + } + }, + "frames_by_state": { + "ace_sample": 16054, + "interpolated": 1026, + "mean_hand": 2261, + "no_body_fit": 3 + }, + "observed_fraction": 0.883, + "observed_fraction_of_valid": 0.8831, + "palm_axis_vs_markers_deg": { + "gsi": 14.83, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 5.38, + "offset_rotvec": [ + -0.0466, + -0.0331, + 0.0745 + ], + "dev_deg": { + "median": 11.25, + "p90": 19.43 + }, + "samples": 4713, + "accepted": 4563, + "wrist_pos_err_mm_median": 44.4, + "per_camera": { + "head": { + "samples": 4713, + "accepted": 4563, + "gate_deg": 30.0, + "offset_deg": 5.38, + "tier": "primary", + "dev_deg_median": 11.25, + "wrist_pos_err_mm_median": 44.4 + } + }, + "frames_by_state": { + "ace_sample": 18334, + "interpolated": 822, + "mean_hand": 185, + "no_body_fit": 3 + }, + "observed_fraction": 0.9903, + "observed_fraction_of_valid": 0.9904, + "palm_axis_vs_markers_deg": { + "gsi": 9.87, + "smplx": 1.7 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.8, + "p90": 9.0 + }, + "registered": { + "median": 5.7, + "p90": 7.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:41:44.042763+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/long_horizon_composite/LH03/session_007", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH03/session_007/motions/smplx.npz b/actions/long_horizon_composite/LH03/session_007/motions/smplx.npz index af025f12b9fd4117449c6bc90723b280ec0fa23e..b583b9007703202d6e4c965fea81ebd25793028f 100644 --- a/actions/long_horizon_composite/LH03/session_007/motions/smplx.npz +++ b/actions/long_horizon_composite/LH03/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6cfa53ca97786c24ea0b44bd385314b6b22fbc0f78c5580351b06bc30527851c -size 7425570 +oid sha256:cd10c53f2ca2dce8ca5a7aedb0931e1456b5b3e0cb31b976cb2b92729d0bbb1e +size 13534820 diff --git a/actions/long_horizon_composite/LH03/session_008/meta.json b/actions/long_horizon_composite/LH03/session_008/meta.json index dba435f849d1b43746f0e7f9a5a9d5099a88e7c8..b28a3334eca731ed480fc0aec81cda65501dc7ce 100644 --- a/actions/long_horizon_composite/LH03/session_008/meta.json +++ b/actions/long_horizon_composite/LH03/session_008/meta.json @@ -353,8 +353,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -418,19 +418,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + 2.98662, + -0.4392, + -0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 37.0, - "opposite_sign_bend_deg": 173.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.819, + "inlier_spread_deg": 10.82, + "marker_Q_to_gsi_deg": { + "1": 175.6, + "-1": 8.0 + } + }, + "wrist_bend_deg_median": 173.2, + "opposite_sign_bend_deg": 37.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.9, "hand_vs_marker_frame_deg": { - "before": 3.9, + "before": 179.02, "after": 3.9 }, "markers_on_wrist": [ @@ -438,15 +449,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": -169.31, "wrist_twist_deg_after": { - "median": -0.0, + "median": -3.64, "iqr": [ - -6.3, - 4.8 + -9.8, + 1.0 ] }, - "wrist_total_deg_median_after": 37.3, + "wrist_total_deg_median_after": 29.2, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -459,11 +470,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + -0.0, + -0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.915, + "inlier_spread_deg": 10.85, + "marker_Q_to_gsi_deg": { + "1": 5.7, + "-1": 179.7 + } + }, "wrist_bend_deg_median": 17.9, "opposite_sign_bend_deg": 176.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -478,9 +500,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -3.4, 4.9 @@ -495,7 +517,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:46:32.649769+00:00", + "generated_at_utc": "2026-11-06T14:11:45.075058+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -535,6 +557,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.09, + "offset_rotvec": [ + 0.069, + -0.1152, + -0.0845 + ], + "dev_deg": { + "median": 12.45, + "p90": 165.25 + }, + "samples": 4506, + "accepted": 3664, + "wrist_pos_err_mm_median": 41.5, + "per_camera": { + "head": { + "samples": 4506, + "accepted": 3664, + "gate_deg": 30.0, + "offset_deg": 9.09, + "tier": "primary", + "dev_deg_median": 12.45, + "wrist_pos_err_mm_median": 41.5 + } + }, + "frames_by_state": { + "ace_sample": 14726, + "interpolated": 1606, + "mean_hand": 3372, + "no_body_fit": 0 + }, + "observed_fraction": 0.8289, + "observed_fraction_of_valid": 0.8289, + "palm_axis_vs_markers_deg": { + "gsi": 13.79, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 5.41, + "offset_rotvec": [ + -0.0196, + -0.0273, + 0.0882 + ], + "dev_deg": { + "median": 11.55, + "p90": 27.52 + }, + "samples": 4593, + "accepted": 4220, + "wrist_pos_err_mm_median": 48.0, + "per_camera": { + "head": { + "samples": 4593, + "accepted": 4220, + "gate_deg": 30.0, + "offset_deg": 5.41, + "tier": "primary", + "dev_deg_median": 11.55, + "wrist_pos_err_mm_median": 48.0 + } + }, + "frames_by_state": { + "ace_sample": 16988, + "interpolated": 1512, + "mean_hand": 1204, + "no_body_fit": 0 + }, + "observed_fraction": 0.9389, + "observed_fraction_of_valid": 0.9389, + "palm_axis_vs_markers_deg": { + "gsi": 9.73, + "smplx": 1.67 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.9, + "p90": 11.4 + }, + "registered": { + "median": 7.7, + "p90": 9.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:41:45.938565+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/long_horizon_composite/LH03/session_008", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH03/session_008/motions/smplx.npz b/actions/long_horizon_composite/LH03/session_008/motions/smplx.npz index f023092edf2a8a52c9761ea9128465d5a297122b..125ae8e58d0afab225020aac7da9ede58fed7698 100644 --- a/actions/long_horizon_composite/LH03/session_008/motions/smplx.npz +++ b/actions/long_horizon_composite/LH03/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d2c487b2c7ab4fb4cce6d048c5fdf447dde580f688dcafa60061d3531cee2d12 -size 7585366 +oid sha256:b0dc07f76135ac9f5eb635687ed6f36fe9eb2c0f42827cee9ffef8bc2d54b841 +size 13528155 diff --git a/actions/long_horizon_composite/LH04/session_002/meta.json b/actions/long_horizon_composite/LH04/session_002/meta.json index 5d8c5df3525c0b351ebec2d4d6583bbdf3102e95..4a61eb3af967ad861418664f3795c63f36532041 100644 --- a/actions/long_horizon_composite/LH04/session_002/meta.json +++ b/actions/long_horizon_composite/LH04/session_002/meta.json @@ -391,8 +391,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -451,19 +451,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + -2.98794, + 0.42773, + 0.87113 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 39.0, - "opposite_sign_bend_deg": 168.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.69, + "inlier_spread_deg": 12.66, + "marker_Q_to_gsi_deg": { + "1": 174.3, + "-1": 6.9 + } + }, + "wrist_bend_deg_median": 166.3, + "opposite_sign_bend_deg": 39.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.31, "hand_vs_marker_frame_deg": { - "before": 2.31, + "before": 178.95, "after": 2.31 }, "markers_on_wrist": [ @@ -471,15 +482,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -2.17, + "twist_moved_deg": -159.1, "wrist_twist_deg_after": { - "median": -0.02, + "median": -10.75, "iqr": [ - -8.5, - 10.1 + -25.2, + -1.3 ] }, - "wrist_total_deg_median_after": 39.6, + "wrist_total_deg_median_after": 38.8, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -492,11 +503,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + -0.0, + -0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.915, + "inlier_spread_deg": 10.04, + "marker_Q_to_gsi_deg": { + "1": 10.7, + "-1": 178.2 + } + }, "wrist_bend_deg_median": 19.5, "opposite_sign_bend_deg": 173.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -510,7 +532,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -528,7 +550,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:40:20.811983+00:00", + "generated_at_utc": "2026-11-06T14:05:06.735559+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -590,6 +612,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.18, + "offset_rotvec": [ + -0.1356, + -0.0437, + 0.0735 + ], + "dev_deg": { + "median": 17.4, + "p90": 166.22 + }, + "samples": 4129, + "accepted": 2868, + "wrist_pos_err_mm_median": 46.6, + "per_camera": { + "head": { + "samples": 4129, + "accepted": 2868, + "gate_deg": 30.0, + "offset_deg": 9.18, + "tier": "primary", + "dev_deg_median": 17.4, + "wrist_pos_err_mm_median": 46.6 + } + }, + "frames_by_state": { + "ace_sample": 11822, + "interpolated": 2422, + "mean_hand": 6676, + "no_body_fit": 8 + }, + "observed_fraction": 0.6806, + "observed_fraction_of_valid": 0.6809, + "palm_axis_vs_markers_deg": { + "gsi": 15.65, + "smplx": 1.91 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.1, + "p90": 11.3 + }, + "registered": { + "median": 8.2, + "p90": 11.1 + } + } + }, + "right": { + "offset_deg": 10.71, + "offset_rotvec": [ + 0.0729, + -0.1611, + -0.0606 + ], + "dev_deg": { + "median": 10.51, + "p90": 26.11 + }, + "samples": 4255, + "accepted": 3885, + "wrist_pos_err_mm_median": 44.5, + "per_camera": { + "head": { + "samples": 4255, + "accepted": 3885, + "gate_deg": 30.0, + "offset_deg": 10.71, + "tier": "primary", + "dev_deg_median": 10.51, + "wrist_pos_err_mm_median": 44.5 + } + }, + "frames_by_state": { + "ace_sample": 15960, + "interpolated": 2776, + "mean_hand": 2184, + "no_body_fit": 8 + }, + "observed_fraction": 0.8953, + "observed_fraction_of_valid": 0.8956, + "palm_axis_vs_markers_deg": { + "gsi": 13.26, + "smplx": 1.08 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 15.4, + "p90": 23.2 + }, + "registered": { + "median": 15.1, + "p90": 22.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:27:25.441745+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/long_horizon_composite/LH04/session_002", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH04/session_002/motions/smplx.npz b/actions/long_horizon_composite/LH04/session_002/motions/smplx.npz index e32c200d3b7d70f4c92f16162720749a2107a419..9ea53601dc448ef47a3c54f3a558a3cb126d7aff 100644 --- a/actions/long_horizon_composite/LH04/session_002/motions/smplx.npz +++ b/actions/long_horizon_composite/LH04/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7f53499ccdb7054a68d60c872d3b669eb434cb98d26c4f28b1625208e6ddb7fc -size 8085515 +oid sha256:7c5aefa0253e52347b5e45cbf3f4fbcd9248dab118a9afbf1db7491ab61f2532 +size 13824252 diff --git a/actions/long_horizon_composite/LH04/session_003/meta.json b/actions/long_horizon_composite/LH04/session_003/meta.json index 56d8ff727cdc416cb37879a583bec5df47a1a976..9e01ee55448c6925160ae9e8e795b809a35b5c4f 100644 --- a/actions/long_horizon_composite/LH04/session_003/meta.json +++ b/actions/long_horizon_composite/LH04/session_003/meta.json @@ -379,8 +379,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -444,19 +444,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + 2.98794, + -0.42773, + -0.87113 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 41.9, - "opposite_sign_bend_deg": 173.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.842, + "inlier_spread_deg": 10.65, + "marker_Q_to_gsi_deg": { + "1": 172.6, + "-1": 9.6 + } + }, + "wrist_bend_deg_median": 172.2, + "opposite_sign_bend_deg": 40.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.55, "hand_vs_marker_frame_deg": { - "before": 3.55, + "before": 177.79, "after": 3.55 }, "markers_on_wrist": [ @@ -465,15 +476,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -10.41, + "twist_moved_deg": -164.33, "wrist_twist_deg_after": { - "median": -0.0, + "median": -6.97, "iqr": [ - -7.9, - 8.7 + -14.6, + 1.6 ] }, - "wrist_total_deg_median_after": 41.7, + "wrist_total_deg_median_after": 31.1, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -485,11 +496,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, + 0.0, 0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.912, + "inlier_spread_deg": 10.08, + "marker_Q_to_gsi_deg": { + "1": 9.8, + "-1": 177.9 + } + }, "wrist_bend_deg_median": 17.9, "opposite_sign_bend_deg": 173.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -505,7 +527,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -5.3, 6.5 @@ -521,7 +543,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:40:21.117598+00:00", + "generated_at_utc": "2026-11-06T14:05:13.736548+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -572,6 +594,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.31, + "offset_rotvec": [ + -0.132, + -0.0947, + 0.0014 + ], + "dev_deg": { + "median": 12.31, + "p90": 45.64 + }, + "samples": 3835, + "accepted": 3242, + "wrist_pos_err_mm_median": 59.5, + "per_camera": { + "head": { + "samples": 3835, + "accepted": 3242, + "gate_deg": 30.0, + "offset_deg": 9.31, + "tier": "primary", + "dev_deg_median": 12.31, + "wrist_pos_err_mm_median": 59.5 + } + }, + "frames_by_state": { + "ace_sample": 13112, + "interpolated": 2864, + "mean_hand": 2888, + "no_body_fit": 0 + }, + "observed_fraction": 0.8469, + "observed_fraction_of_valid": 0.8469, + "palm_axis_vs_markers_deg": { + "gsi": 14.44, + "smplx": 2.99 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.2, + "p90": 9.8 + }, + "registered": { + "median": 6.4, + "p90": 9.3 + } + } + }, + "right": { + "offset_deg": 9.75, + "offset_rotvec": [ + 0.0751, + -0.1457, + -0.0454 + ], + "dev_deg": { + "median": 10.79, + "p90": 26.89 + }, + "samples": 3924, + "accepted": 3571, + "wrist_pos_err_mm_median": 42.3, + "per_camera": { + "head": { + "samples": 3924, + "accepted": 3571, + "gate_deg": 30.0, + "offset_deg": 9.75, + "tier": "primary", + "dev_deg_median": 10.79, + "wrist_pos_err_mm_median": 42.3 + } + }, + "frames_by_state": { + "ace_sample": 14398, + "interpolated": 2118, + "mean_hand": 2348, + "no_body_fit": 0 + }, + "observed_fraction": 0.8755, + "observed_fraction_of_valid": 0.8755, + "palm_axis_vs_markers_deg": { + "gsi": 12.27, + "smplx": 1.14 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.9, + "p90": 20.9 + }, + "registered": { + "median": 10.8, + "p90": 19.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:27:29.541653+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/long_horizon_composite/LH04/session_003", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH04/session_003/motions/smplx.npz b/actions/long_horizon_composite/LH04/session_003/motions/smplx.npz index 88b4bedabfd053d99fdb648a9982731abed3e9b9..050549fea73d87816db33eea1278b4893071d420 100644 --- a/actions/long_horizon_composite/LH04/session_003/motions/smplx.npz +++ b/actions/long_horizon_composite/LH04/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1f2ccc4fe99e6744a3b70c21cdcf405aa4e03279781c52cd58623add78b59697 -size 7280416 +oid sha256:9419db8f57c55d2abd82a30da748c821f56cd1405e4460fcbcd0e2cc711b2fe6 +size 12957620 diff --git a/actions/long_horizon_composite/LH04/session_004/meta.json b/actions/long_horizon_composite/LH04/session_004/meta.json index 849ee4faf09ef0abadf185efa3985f5d07301cad..b5223e1ba775759feadfc3929f67e728520e573d 100644 --- a/actions/long_horizon_composite/LH04/session_004/meta.json +++ b/actions/long_horizon_composite/LH04/session_004/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -430,19 +430,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + 2.98662, + -0.4392, + -0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 33.8, - "opposite_sign_bend_deg": 170.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.809, + "inlier_spread_deg": 11.15, + "marker_Q_to_gsi_deg": { + "1": 176.2, + "-1": 12.6 + } + }, + "wrist_bend_deg_median": 169.2, + "opposite_sign_bend_deg": 33.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.29, "hand_vs_marker_frame_deg": { - "before": 2.29, + "before": 179.11, "after": 2.29 }, "markers_on_wrist": [ @@ -451,15 +462,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -2.4, + "twist_moved_deg": -165.07, "wrist_twist_deg_after": { - "median": -0.0, + "median": -9.34, "iqr": [ - -10.8, - 4.6 + -23.9, + -3.7 ] }, - "wrist_total_deg_median_after": 33.9, + "wrist_total_deg_median_after": 26.3, "markers_on_forearm": [ "LForearm", "LWristIn" @@ -476,6 +487,17 @@ -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.94, + "inlier_spread_deg": 9.55, + "marker_Q_to_gsi_deg": { + "1": 8.6, + "-1": 178.2 + } + }, "wrist_bend_deg_median": 18.4, "opposite_sign_bend_deg": 175.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -506,7 +528,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:46:33.539657+00:00", + "generated_at_utc": "2026-11-06T14:11:49.947275+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -557,6 +579,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 14.75, + "offset_rotvec": [ + 0.0852, + -0.2415, + -0.0267 + ], + "dev_deg": { + "median": 14.23, + "p90": 60.66 + }, + "samples": 5114, + "accepted": 4215, + "wrist_pos_err_mm_median": 46.5, + "per_camera": { + "head": { + "samples": 5114, + "accepted": 4215, + "gate_deg": 30.0, + "offset_deg": 14.75, + "tier": "primary", + "dev_deg_median": 14.23, + "wrist_pos_err_mm_median": 46.5 + } + }, + "frames_by_state": { + "ace_sample": 16980, + "interpolated": 2644, + "mean_hand": 3189, + "no_body_fit": 63 + }, + "observed_fraction": 0.8578, + "observed_fraction_of_valid": 0.8602, + "palm_axis_vs_markers_deg": { + "gsi": 17.2, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 8.22, + "offset_rotvec": [ + -0.0661, + 0.0099, + 0.1269 + ], + "dev_deg": { + "median": 9.97, + "p90": 22.81 + }, + "samples": 5057, + "accepted": 4754, + "wrist_pos_err_mm_median": 45.3, + "per_camera": { + "head": { + "samples": 5057, + "accepted": 4754, + "gate_deg": 30.0, + "offset_deg": 8.22, + "tier": "primary", + "dev_deg_median": 9.97, + "wrist_pos_err_mm_median": 45.3 + } + }, + "frames_by_state": { + "ace_sample": 19054, + "interpolated": 1270, + "mean_hand": 2489, + "no_body_fit": 63 + }, + "observed_fraction": 0.8884, + "observed_fraction_of_valid": 0.8909, + "palm_axis_vs_markers_deg": { + "gsi": 8.8, + "smplx": 1.48 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.2, + "p90": 6.9 + }, + "registered": { + "median": 4.4, + "p90": 5.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:41:53.438452+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/long_horizon_composite/LH04/session_004", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH04/session_004/motions/smplx.npz b/actions/long_horizon_composite/LH04/session_004/motions/smplx.npz index 475fe47a3bc8439eabedc321f2b650a041857700..e53bf5eacdc93da345c8d625b28e4ace67600ebc 100644 --- a/actions/long_horizon_composite/LH04/session_004/motions/smplx.npz +++ b/actions/long_horizon_composite/LH04/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:003ce424b0d4c39c1f233dc375c3db45095b65ba3d4901dde4e8a72764eea5da -size 8791329 +oid sha256:f529616e16a9684eea50d117a1ea8c0509fe05ff82c953f061da17a65ba372e8 +size 15712254 diff --git a/actions/long_horizon_composite/LH04/session_005/meta.json b/actions/long_horizon_composite/LH04/session_005/meta.json index 1477c817b2a9c08d5a0c180221212d6f4982b8cc..9f716dbb3579d60b73a93854a75b8798c629bf1b 100644 --- a/actions/long_horizon_composite/LH04/session_005/meta.json +++ b/actions/long_horizon_composite/LH04/session_005/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -437,14 +437,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -2.98662, - 0.4392, - 0.86995 + 2.98662, + -0.4392, + -0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 173.9, - "opposite_sign_bend_deg": 22.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.904, + "inlier_spread_deg": 11.27, + "marker_Q_to_gsi_deg": { + "1": 174.4, + "-1": 15.5 + } + }, + "wrist_bend_deg_median": 162.1, + "opposite_sign_bend_deg": 41.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.12, "hand_vs_marker_frame_deg": { "before": 179.11, @@ -457,15 +468,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 162.27, + "twist_moved_deg": -156.0, "wrist_twist_deg_after": { - "median": 12.83, + "median": -6.26, "iqr": [ - 3.0, - 19.5 + -19.6, + 2.3 ] }, - "wrist_total_deg_median_after": 41.2, + "wrist_total_deg_median_after": 22.3, "markers_on_forearm": [ "LForearm" ] @@ -477,10 +488,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - 0.0, - -0.0 + -0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.925, + "inlier_spread_deg": 9.36, + "marker_Q_to_gsi_deg": { + "1": 8.1, + "-1": 179.3 + } + }, "wrist_bend_deg_median": 20.4, "opposite_sign_bend_deg": 175.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -511,10 +533,120 @@ }, "frames_used": 1459 }, - "generated_at_utc": "2026-10-28T06:46:33.557607+00:00", + "generated_at_utc": "2026-11-06T14:11:45.075961+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.16, + "offset_rotvec": [ + 0.1015, + -0.2807, + -0.0237 + ], + "dev_deg": { + "median": 13.05, + "p90": 27.41 + }, + "samples": 3311, + "accepted": 3025, + "wrist_pos_err_mm_median": 55.6, + "per_camera": { + "head": { + "samples": 3311, + "accepted": 3025, + "gate_deg": 30.0, + "offset_deg": 17.16, + "tier": "primary", + "dev_deg_median": 13.05, + "wrist_pos_err_mm_median": 55.6 + } + }, + "frames_by_state": { + "ace_sample": 12216, + "interpolated": 1276, + "mean_hand": 1092, + "no_body_fit": 0 + }, + "observed_fraction": 0.9251, + "observed_fraction_of_valid": 0.9251, + "palm_axis_vs_markers_deg": { + "gsi": 18.14, + "smplx": 1.57 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 3.8, + "p90": 6.6 + }, + "registered": { + "median": 4.2, + "p90": 5.9 + } + } + }, + "right": { + "offset_deg": 7.72, + "offset_rotvec": [ + -0.033, + 0.007, + 0.1304 + ], + "dev_deg": { + "median": 10.03, + "p90": 25.99 + }, + "samples": 3354, + "accepted": 3102, + "wrist_pos_err_mm_median": 40.7, + "per_camera": { + "head": { + "samples": 3354, + "accepted": 3102, + "gate_deg": 30.0, + "offset_deg": 7.72, + "tier": "primary", + "dev_deg_median": 10.03, + "wrist_pos_err_mm_median": 40.7 + } + }, + "frames_by_state": { + "ace_sample": 12473, + "interpolated": 850, + "mean_hand": 1261, + "no_body_fit": 0 + }, + "observed_fraction": 0.9135, + "observed_fraction_of_valid": 0.9135, + "palm_axis_vs_markers_deg": { + "gsi": 8.7, + "smplx": 1.48 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.0, + "p90": 8.8 + }, + "registered": { + "median": 5.1, + "p90": 6.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:41:44.744068+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/long_horizon_composite/LH04/session_005", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH04/session_005/motions/smplx.npz b/actions/long_horizon_composite/LH04/session_005/motions/smplx.npz index f494155ddb7de88d243fdd5f03655ba4f7773a3f..c90cad8845a691675a8a69dad23a24ab117f32b7 100644 --- a/actions/long_horizon_composite/LH04/session_005/motions/smplx.npz +++ b/actions/long_horizon_composite/LH04/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5f1754abdb8e30afc2ed44fb2eff279e35617c370a7fbd5d9b73efeb8c38a3c5 -size 5613586 +oid sha256:c032d2f889ca98543ffe18bef085d27597e36fbeb82db79fdee11ba602764fbc +size 10188917 diff --git a/actions/long_horizon_composite/LH04/session_006/meta.json b/actions/long_horizon_composite/LH04/session_006/meta.json index 2125bacb5981e3b970942355deee3d467b90f159..4b964466379b623dd08a6496f92ee10e6a1d69c2 100644 --- a/actions/long_horizon_composite/LH04/session_006/meta.json +++ b/actions/long_horizon_composite/LH04/session_006/meta.json @@ -389,8 +389,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -451,14 +451,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -2.98662, - 0.4392, - 0.86995 + 2.98662, + -0.4392, + -0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 174.9, - "opposite_sign_bend_deg": 21.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.796, + "inlier_spread_deg": 9.02, + "marker_Q_to_gsi_deg": { + "1": 177.5, + "-1": 11.8 + } + }, + "wrist_bend_deg_median": 169.6, + "opposite_sign_bend_deg": 33.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.73, "hand_vs_marker_frame_deg": { "before": 179.45, @@ -469,15 +480,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 172.18, + "twist_moved_deg": -167.4, "wrist_twist_deg_after": { - "median": 3.05, + "median": -4.78, "iqr": [ - -4.9, - 6.4 + -15.3, + -0.8 ] }, - "wrist_total_deg_median_after": 33.9, + "wrist_total_deg_median_after": 21.3, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -495,6 +506,17 @@ -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.903, + "inlier_spread_deg": 9.99, + "marker_Q_to_gsi_deg": { + "1": 9.1, + "-1": 179.3 + } + }, "wrist_bend_deg_median": 18.1, "opposite_sign_bend_deg": 172.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -510,7 +532,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -6.9, 14.9 @@ -525,10 +547,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:46:34.465701+00:00", + "generated_at_utc": "2026-11-06T14:11:51.172371+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 12.69, + "offset_rotvec": [ + 0.0517, + -0.2128, + -0.0327 + ], + "dev_deg": { + "median": 11.71, + "p90": 141.89 + }, + "samples": 4698, + "accepted": 3796, + "wrist_pos_err_mm_median": 48.7, + "per_camera": { + "head": { + "samples": 4698, + "accepted": 3796, + "gate_deg": 30.0, + "offset_deg": 12.69, + "tier": "primary", + "dev_deg_median": 11.71, + "wrist_pos_err_mm_median": 48.7 + } + }, + "frames_by_state": { + "ace_sample": 15498, + "interpolated": 2446, + "mean_hand": 3968, + "no_body_fit": 0 + }, + "observed_fraction": 0.8189, + "observed_fraction_of_valid": 0.8189, + "palm_axis_vs_markers_deg": { + "gsi": 16.5, + "smplx": 2.44 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.1, + "p90": 12.8 + }, + "registered": { + "median": 8.2, + "p90": 11.6 + } + } + }, + "right": { + "offset_deg": 8.34, + "offset_rotvec": [ + -0.0387, + 0.0405, + 0.1344 + ], + "dev_deg": { + "median": 10.87, + "p90": 28.38 + }, + "samples": 4631, + "accepted": 4205, + "wrist_pos_err_mm_median": 50.3, + "per_camera": { + "head": { + "samples": 4631, + "accepted": 4205, + "gate_deg": 30.0, + "offset_deg": 8.34, + "tier": "primary", + "dev_deg_median": 10.87, + "wrist_pos_err_mm_median": 50.3 + } + }, + "frames_by_state": { + "ace_sample": 17122, + "interpolated": 1866, + "mean_hand": 2924, + "no_body_fit": 0 + }, + "observed_fraction": 0.8666, + "observed_fraction_of_valid": 0.8666, + "palm_axis_vs_markers_deg": { + "gsi": 9.15, + "smplx": 1.84 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.0, + "p90": 6.8 + }, + "registered": { + "median": 5.1, + "p90": 6.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:41:53.345846+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/long_horizon_composite/LH04/session_006", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH04/session_006/motions/smplx.npz b/actions/long_horizon_composite/LH04/session_006/motions/smplx.npz index d350d5f968ec9a526f364e595415938c8cf3c6d4..daf0c3eac9ee3c9cc5fae96cc59409cedd5f65a0 100644 --- a/actions/long_horizon_composite/LH04/session_006/motions/smplx.npz +++ b/actions/long_horizon_composite/LH04/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:59f3dd5277151e3939afef55c9936cc8da38faa0c4317dda8b89d74f7ffe2bd8 -size 8449633 +oid sha256:4151d3a27d71e570497439736e59c798277d904b90172b21f357c835e931028d +size 14816663 diff --git a/actions/long_horizon_composite/LH04/session_007/meta.json b/actions/long_horizon_composite/LH04/session_007/meta.json index 3f663e271611b45db17874507e4708b6ca820d58..e55e02f04d317f2596178d288c610486a7e1c242 100644 --- a/actions/long_horizon_composite/LH04/session_007/meta.json +++ b/actions/long_horizon_composite/LH04/session_007/meta.json @@ -353,8 +353,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -423,19 +423,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -3.02707, + 0.24149, + 0.80508 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 37.3, - "opposite_sign_bend_deg": 162.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.959, + "inlier_spread_deg": 9.23, + "marker_Q_to_gsi_deg": { + "1": 171.4, + "-1": 18.5 + } + }, + "wrist_bend_deg_median": 170.0, + "opposite_sign_bend_deg": 34.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.61, "hand_vs_marker_frame_deg": { - "before": 2.61, + "before": 179.1, "after": 2.61 }, "markers_on_wrist": [ @@ -444,15 +455,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -14.87, + "twist_moved_deg": -143.43, "wrist_twist_deg_after": { - "median": -0.0, + "median": -29.67, "iqr": [ - -7.3, - 29.1 + -38.9, + -2.1 ] }, - "wrist_total_deg_median_after": 36.0, + "wrist_total_deg_median_after": 38.3, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -465,10 +476,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - 0.0, - 0.0 + -2e-05, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.94, + "inlier_spread_deg": 9.57, + "marker_Q_to_gsi_deg": { + "1": 12.4, + "-1": 171.8 + } + }, "wrist_bend_deg_median": 16.7, "opposite_sign_bend_deg": 168.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -483,7 +505,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.2, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -499,7 +521,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:47:20.615566+00:00", + "generated_at_utc": "2026-11-06T14:14:12.669167+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -551,6 +573,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 18.07, + "offset_rotvec": [ + -0.1226, + -0.236, + 0.1696 + ], + "dev_deg": { + "median": 9.37, + "p90": 19.2 + }, + "samples": 6239, + "accepted": 5980, + "wrist_pos_err_mm_median": 53.6, + "per_camera": { + "head": { + "samples": 6239, + "accepted": 5980, + "gate_deg": 30.0, + "offset_deg": 18.07, + "tier": "primary", + "dev_deg_median": 9.37, + "wrist_pos_err_mm_median": 53.6 + } + }, + "frames_by_state": { + "ace_sample": 23958, + "interpolated": 570, + "mean_hand": 772, + "no_body_fit": 4 + }, + "observed_fraction": 0.9693, + "observed_fraction_of_valid": 0.9695, + "palm_axis_vs_markers_deg": { + "gsi": 17.53, + "smplx": 2.34 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.0, + "p90": 14.0 + }, + "registered": { + "median": 9.4, + "p90": 13.0 + } + } + }, + "right": { + "offset_deg": 13.07, + "offset_rotvec": [ + -0.1069, + -0.1049, + -0.172 + ], + "dev_deg": { + "median": 9.67, + "p90": 24.65 + }, + "samples": 6021, + "accepted": 5627, + "wrist_pos_err_mm_median": 42.6, + "per_camera": { + "head": { + "samples": 6021, + "accepted": 5627, + "gate_deg": 30.0, + "offset_deg": 13.07, + "tier": "primary", + "dev_deg_median": 9.67, + "wrist_pos_err_mm_median": 42.6 + } + }, + "frames_by_state": { + "ace_sample": 22622, + "interpolated": 918, + "mean_hand": 1760, + "no_body_fit": 4 + }, + "observed_fraction": 0.9303, + "observed_fraction_of_valid": 0.9304, + "palm_axis_vs_markers_deg": { + "gsi": 13.68, + "smplx": 1.57 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.7, + "p90": 9.8 + }, + "registered": { + "median": 7.8, + "p90": 10.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:46:37.438170+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/long_horizon_composite/LH04/session_007", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH04/session_007/motions/smplx.npz b/actions/long_horizon_composite/LH04/session_007/motions/smplx.npz index 7ba90659ed287d33d0cbcefc31ee48a84b9f670b..c00a68da3b868479e363f452ce9f2e0710085861 100644 --- a/actions/long_horizon_composite/LH04/session_007/motions/smplx.npz +++ b/actions/long_horizon_composite/LH04/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:105226cbf42d2c196084888a2ff9aaae3394ed84aa145758cf043d62e321f5fe -size 9718910 +oid sha256:67ba672b5415e97969e152bd1d330490e4232762e61fd3c8a485050cb3668081 +size 17873528 diff --git a/actions/long_horizon_composite/LH05/session_002/meta.json b/actions/long_horizon_composite/LH05/session_002/meta.json index 831f64c6528ec04bf9398f6f32f2fdd1c402a4da..c49862f4882c26713de45ca822f98c3c5166cfab 100644 --- a/actions/long_horizon_composite/LH05/session_002/meta.json +++ b/actions/long_horizon_composite/LH05/session_002/meta.json @@ -353,8 +353,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -418,19 +418,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + 2.98662, + -0.4392, + -0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 40.3, - "opposite_sign_bend_deg": 168.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.907, + "inlier_spread_deg": 11.02, + "marker_Q_to_gsi_deg": { + "1": 171.3, + "-1": 17.0 + } + }, + "wrist_bend_deg_median": 168.3, + "opposite_sign_bend_deg": 40.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.91, "hand_vs_marker_frame_deg": { - "before": 2.91, + "before": 179.08, "after": 2.91 }, "markers_on_wrist": [ @@ -439,15 +450,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -1.94, + "twist_moved_deg": -160.23, "wrist_twist_deg_after": { - "median": -0.0, + "median": -12.07, "iqr": [ - -11.5, - 7.5 + -24.9, + -4.5 ] }, - "wrist_total_deg_median_after": 40.2, + "wrist_total_deg_median_after": 31.2, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -459,11 +470,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ + -0.0, 0.0, - 0.0, - -0.0 + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.942, + "inlier_spread_deg": 10.64, + "marker_Q_to_gsi_deg": { + "1": 8.1, + "-1": 179.2 + } + }, "wrist_bend_deg_median": 19.6, "opposite_sign_bend_deg": 174.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -477,7 +499,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -494,7 +516,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:46:34.797204+00:00", + "generated_at_utc": "2026-11-06T14:11:49.039418+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -534,6 +556,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 18.07, + "offset_rotvec": [ + 0.1269, + -0.2885, + -0.0131 + ], + "dev_deg": { + "median": 11.95, + "p90": 29.12 + }, + "samples": 3825, + "accepted": 3459, + "wrist_pos_err_mm_median": 44.3, + "per_camera": { + "head": { + "samples": 3825, + "accepted": 3459, + "gate_deg": 30.0, + "offset_deg": 18.07, + "tier": "primary", + "dev_deg_median": 11.95, + "wrist_pos_err_mm_median": 44.3 + } + }, + "frames_by_state": { + "ace_sample": 13874, + "interpolated": 1010, + "mean_hand": 2649, + "no_body_fit": 7 + }, + "observed_fraction": 0.8486, + "observed_fraction_of_valid": 0.8489, + "palm_axis_vs_markers_deg": { + "gsi": 18.6, + "smplx": 1.91 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.8, + "p90": 13.7 + }, + "registered": { + "median": 9.4, + "p90": 13.7 + } + } + }, + "right": { + "offset_deg": 7.8, + "offset_rotvec": [ + -0.007, + -0.0148, + 0.1352 + ], + "dev_deg": { + "median": 11.1, + "p90": 24.03 + }, + "samples": 3892, + "accepted": 3691, + "wrist_pos_err_mm_median": 46.2, + "per_camera": { + "head": { + "samples": 3892, + "accepted": 3691, + "gate_deg": 30.0, + "offset_deg": 7.8, + "tier": "primary", + "dev_deg_median": 11.1, + "wrist_pos_err_mm_median": 46.2 + } + }, + "frames_by_state": { + "ace_sample": 14806, + "interpolated": 790, + "mean_hand": 1937, + "no_body_fit": 7 + }, + "observed_fraction": 0.8892, + "observed_fraction_of_valid": 0.8895, + "palm_axis_vs_markers_deg": { + "gsi": 8.92, + "smplx": 1.9 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.0, + "p90": 8.4 + }, + "registered": { + "median": 6.3, + "p90": 9.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:42:15.739712+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/long_horizon_composite/LH05/session_002", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH05/session_002/motions/smplx.npz b/actions/long_horizon_composite/LH05/session_002/motions/smplx.npz index ff6d635dffdff90c791e50484f23d9a496584544..6d5c7b4c7eb298ae57e6c8b8c2c34fd5cd7619fb 100644 --- a/actions/long_horizon_composite/LH05/session_002/motions/smplx.npz +++ b/actions/long_horizon_composite/LH05/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3d182a955eb3cca154f6280440933f51b8c60e3201aa193a460884fa6ef1505b -size 6745273 +oid sha256:e5f2d15f4cb9ab2f8195907a7c06ed97b0cec1406c8ba7570bccac8b6177868e +size 11997440 diff --git a/actions/long_horizon_composite/LH06/session_002/meta.json b/actions/long_horizon_composite/LH06/session_002/meta.json index af911ada35d0e34b3133f86c1fe5b7bbf3c1f4b5..fed9add9ddae282471ac50312ecb870c9581b64a 100644 --- a/actions/long_horizon_composite/LH06/session_002/meta.json +++ b/actions/long_horizon_composite/LH06/session_002/meta.json @@ -353,8 +353,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -423,19 +423,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 37.7, - "opposite_sign_bend_deg": 166.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.718, + "inlier_spread_deg": 8.7, + "marker_Q_to_gsi_deg": { + "1": 174.7, + "-1": 11.3 + } + }, + "wrist_bend_deg_median": 163.6, + "opposite_sign_bend_deg": 35.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.79, "hand_vs_marker_frame_deg": { - "before": 6.79, + "before": 178.53, "after": 6.79 }, "markers_on_wrist": [ @@ -444,15 +455,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -10.8, + "twist_moved_deg": -134.07, "wrist_twist_deg_after": { - "median": -0.0, + "median": -41.21, "iqr": [ - -16.3, - 16.7 + -53.0, + -26.4 ] }, - "wrist_total_deg_median_after": 34.5, + "wrist_total_deg_median_after": 49.3, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -464,11 +475,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, + -1e-05, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.972, + "inlier_spread_deg": 8.06, + "marker_Q_to_gsi_deg": { + "1": 11.4, + "-1": 175.7 + } + }, "wrist_bend_deg_median": 24.3, "opposite_sign_bend_deg": 173.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -483,7 +505,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -499,7 +521,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:47:20.499653+00:00", + "generated_at_utc": "2026-11-06T14:14:09.365100+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -550,6 +572,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.74, + "offset_rotvec": [ + -0.0723, + -0.131, + 0.1128 + ], + "dev_deg": { + "median": 11.73, + "p90": 176.81 + }, + "samples": 5509, + "accepted": 3911, + "wrist_pos_err_mm_median": 42.2, + "per_camera": { + "head": { + "samples": 5509, + "accepted": 3911, + "gate_deg": 30.0, + "offset_deg": 10.74, + "tier": "primary", + "dev_deg_median": 11.73, + "wrist_pos_err_mm_median": 42.2 + } + }, + "frames_by_state": { + "ace_sample": 15652, + "interpolated": 104, + "mean_hand": 6376, + "no_body_fit": 0 + }, + "observed_fraction": 0.7119, + "observed_fraction_of_valid": 0.7119, + "palm_axis_vs_markers_deg": { + "gsi": 16.74, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 11.18, + "offset_rotvec": [ + -0.0192, + -0.0977, + -0.1678 + ], + "dev_deg": { + "median": 8.36, + "p90": 15.6 + }, + "samples": 5431, + "accepted": 5260, + "wrist_pos_err_mm_median": 29.5, + "per_camera": { + "head": { + "samples": 5431, + "accepted": 5260, + "gate_deg": 30.0, + "offset_deg": 11.18, + "tier": "primary", + "dev_deg_median": 8.36, + "wrist_pos_err_mm_median": 29.5 + } + }, + "frames_by_state": { + "ace_sample": 21052, + "interpolated": 324, + "mean_hand": 756, + "no_body_fit": 0 + }, + "observed_fraction": 0.9658, + "observed_fraction_of_valid": 0.9658, + "palm_axis_vs_markers_deg": { + "gsi": 9.88, + "smplx": 2.51 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.0, + "p90": 15.0 + }, + "registered": { + "median": 10.9, + "p90": 14.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:46:36.545211+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/long_horizon_composite/LH06/session_002", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH06/session_002/motions/smplx.npz b/actions/long_horizon_composite/LH06/session_002/motions/smplx.npz index ff20323865077576d5d167c75a93ef8fb3f7452e..b667821cabb33af25a7af56264e6d8485d2066e6 100644 --- a/actions/long_horizon_composite/LH06/session_002/motions/smplx.npz +++ b/actions/long_horizon_composite/LH06/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:450c092bf419819b6bac72f503934b316bfa49420f640fcad7805a0dae09222b -size 8484335 +oid sha256:f0a543a814de05360dc5b8c8a181447180b9c128bd233c46b3df7c4c558ab15a +size 14781940 diff --git a/actions/long_horizon_composite/LH06/session_003/meta.json b/actions/long_horizon_composite/LH06/session_003/meta.json index 2b4d623a7567a9885ee014db60ed0916cf99c47c..2179af61e7356eef8f8ffd0c4f7de70e93cce1ec 100644 --- a/actions/long_horizon_composite/LH06/session_003/meta.json +++ b/actions/long_horizon_composite/LH06/session_003/meta.json @@ -353,8 +353,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -422,12 +422,23 @@ "Q_rotvec": [ -3.02706, 0.2415, - 0.80509 + 0.80508 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 166.7, - "opposite_sign_bend_deg": 35.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.965, + "inlier_spread_deg": 8.26, + "marker_Q_to_gsi_deg": { + "1": 172.1, + "-1": 17.9 + } + }, + "wrist_bend_deg_median": 165.1, + "opposite_sign_bend_deg": 29.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.73, "hand_vs_marker_frame_deg": { "before": 178.99, @@ -438,15 +449,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 163.74, + "twist_moved_deg": -160.8, "wrist_twist_deg_after": { - "median": 9.16, + "median": -2.94, "iqr": [ - 4.1, - 38.3 + -7.4, + 24.9 ] }, - "wrist_total_deg_median_after": 30.5, + "wrist_total_deg_median_after": 35.5, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -459,11 +470,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, - 0.0, - 0.0 + 1e-05, + -1e-05, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.979, + "inlier_spread_deg": 10.18, + "marker_Q_to_gsi_deg": { + "1": 12.1, + "-1": 173.9 + } + }, "wrist_bend_deg_median": 26.1, "opposite_sign_bend_deg": 171.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -494,10 +516,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:47:20.841948+00:00", + "generated_at_utc": "2026-11-06T14:14:29.335437+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.97, + "offset_rotvec": [ + -0.12, + -0.225, + 0.1826 + ], + "dev_deg": { + "median": 8.41, + "p90": 16.12 + }, + "samples": 6236, + "accepted": 5993, + "wrist_pos_err_mm_median": 32.6, + "per_camera": { + "head": { + "samples": 6236, + "accepted": 5993, + "gate_deg": 30.0, + "offset_deg": 17.97, + "tier": "primary", + "dev_deg_median": 8.41, + "wrist_pos_err_mm_median": 32.6 + } + }, + "frames_by_state": { + "ace_sample": 23992, + "interpolated": 236, + "mean_hand": 924, + "no_body_fit": 8 + }, + "observed_fraction": 0.963, + "observed_fraction_of_valid": 0.9633, + "palm_axis_vs_markers_deg": { + "gsi": 17.89, + "smplx": 2.0 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.3, + "p90": 7.8 + }, + "registered": { + "median": 7.2, + "p90": 9.5 + } + } + }, + "right": { + "offset_deg": 12.16, + "offset_rotvec": [ + -0.0492, + -0.0805, + -0.19 + ], + "dev_deg": { + "median": 10.41, + "p90": 19.67 + }, + "samples": 6254, + "accepted": 6122, + "wrist_pos_err_mm_median": 32.6, + "per_camera": { + "head": { + "samples": 6254, + "accepted": 6122, + "gate_deg": 30.0, + "offset_deg": 12.16, + "tier": "primary", + "dev_deg_median": 10.41, + "wrist_pos_err_mm_median": 32.6 + } + }, + "frames_by_state": { + "ace_sample": 24511, + "interpolated": 344, + "mean_hand": 297, + "no_body_fit": 8 + }, + "observed_fraction": 0.9879, + "observed_fraction_of_valid": 0.9882, + "palm_axis_vs_markers_deg": { + "gsi": 11.19, + "smplx": 3.52 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.7, + "p90": 16.8 + }, + "registered": { + "median": 11.3, + "p90": 16.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:46:47.846704+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/long_horizon_composite/LH06/session_003", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH06/session_003/motions/smplx.npz b/actions/long_horizon_composite/LH06/session_003/motions/smplx.npz index aa323f250b0120af9190a3c10ef8f6fe12229040..2e494844085b475595f2cdef30054a513b76fe87 100644 --- a/actions/long_horizon_composite/LH06/session_003/motions/smplx.npz +++ b/actions/long_horizon_composite/LH06/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4fb02c1798bb82d152352274f6e4ecacb4c2be10e66d457d171c93631443bb12 -size 9631611 +oid sha256:1018e9ef2347057c9a73ebd1262f016f83ab49563ba9ddfc65dcf0653f46c542 +size 17895043 diff --git a/actions/long_horizon_composite/LH06/session_004/meta.json b/actions/long_horizon_composite/LH06/session_004/meta.json index 4bf1174dde7ff628d64a3298c8c50a9baf2afe1e..2019a8af2c100344977c177dab1a07b5e5e573e6 100644 --- a/actions/long_horizon_composite/LH06/session_004/meta.json +++ b/actions/long_horizon_composite/LH06/session_004/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -430,19 +430,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + -3.02706, + 0.2415, + 0.8051 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 41.9, - "opposite_sign_bend_deg": 151.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.934, + "inlier_spread_deg": 9.2, + "marker_Q_to_gsi_deg": { + "1": 173.2, + "-1": 18.5 + } + }, + "wrist_bend_deg_median": 171.0, + "opposite_sign_bend_deg": 30.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.04, "hand_vs_marker_frame_deg": { - "before": 4.04, + "before": 178.85, "after": 4.04 }, "markers_on_wrist": [ @@ -450,15 +461,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -34.97, + "twist_moved_deg": -147.13, "wrist_twist_deg_after": { - "median": -0.0, + "median": -26.76, "iqr": [ - -6.0, - 27.9 + -33.1, + -0.2 ] }, - "wrist_total_deg_median_after": 32.4, + "wrist_total_deg_median_after": 40.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -473,9 +484,20 @@ "Q_rotvec": [ 0.0, 0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.987, + "inlier_spread_deg": 10.76, + "marker_Q_to_gsi_deg": { + "1": 11.8, + "-1": 174.4 + } + }, "wrist_bend_deg_median": 21.8, "opposite_sign_bend_deg": 169.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -492,7 +514,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -13.5, 5.1 @@ -506,7 +528,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:47:21.086613+00:00", + "generated_at_utc": "2026-11-06T14:14:24.136102+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -557,6 +579,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 19.02, + "offset_rotvec": [ + -0.082, + -0.2781, + 0.1617 + ], + "dev_deg": { + "median": 9.52, + "p90": 18.71 + }, + "samples": 5940, + "accepted": 5513, + "wrist_pos_err_mm_median": 38.5, + "per_camera": { + "head": { + "samples": 5940, + "accepted": 5513, + "gate_deg": 30.0, + "offset_deg": 19.02, + "tier": "primary", + "dev_deg_median": 9.52, + "wrist_pos_err_mm_median": 38.5 + } + }, + "frames_by_state": { + "ace_sample": 22058, + "interpolated": 154, + "mean_hand": 1624, + "no_body_fit": 0 + }, + "observed_fraction": 0.9319, + "observed_fraction_of_valid": 0.9319, + "palm_axis_vs_markers_deg": { + "gsi": 19.2, + "smplx": 2.37 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.7, + "p90": 13.1 + }, + "registered": { + "median": 10.9, + "p90": 13.8 + } + } + }, + "right": { + "offset_deg": 11.99, + "offset_rotvec": [ + -0.051, + -0.0478, + -0.1972 + ], + "dev_deg": { + "median": 10.51, + "p90": 18.95 + }, + "samples": 5899, + "accepted": 5834, + "wrist_pos_err_mm_median": 34.4, + "per_camera": { + "head": { + "samples": 5899, + "accepted": 5834, + "gate_deg": 30.0, + "offset_deg": 11.99, + "tier": "primary", + "dev_deg_median": 10.51, + "wrist_pos_err_mm_median": 34.4 + } + }, + "frames_by_state": { + "ace_sample": 23360, + "interpolated": 316, + "mean_hand": 160, + "no_body_fit": 0 + }, + "observed_fraction": 0.9933, + "observed_fraction_of_valid": 0.9933, + "palm_axis_vs_markers_deg": { + "gsi": 11.21, + "smplx": 2.62 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.5, + "p90": 12.1 + }, + "registered": { + "median": 7.4, + "p90": 11.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:46:48.342516+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/long_horizon_composite/LH06/session_004", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH06/session_004/motions/smplx.npz b/actions/long_horizon_composite/LH06/session_004/motions/smplx.npz index c112428a536836a7878120ca8011f407d1ab1f2f..1e087788c37e46682e082d31f97b477d96768ed6 100644 --- a/actions/long_horizon_composite/LH06/session_004/motions/smplx.npz +++ b/actions/long_horizon_composite/LH06/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2be4444e6491488e93588ea0d1eb005fb3e851a16d53643c58afc1e31a76a3a2 -size 9141063 +oid sha256:cfb8eafe27b9d05f8e6512adec3988d4196820f0f6b6a0b89799a3a59fd441fa +size 16893607 diff --git a/actions/long_horizon_composite/LH07/session_005/meta.json b/actions/long_horizon_composite/LH07/session_005/meta.json index 577c80195c034bdb80d22a032db9efb1ddd5da28..ec352986c942e1350fbc5c9ba35d10d1c12f8cf4 100644 --- a/actions/long_horizon_composite/LH07/session_005/meta.json +++ b/actions/long_horizon_composite/LH07/session_005/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -437,14 +437,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -2.98662, - 0.4392, - 0.86995 + 2.98662, + -0.4392, + -0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 171.1, - "opposite_sign_bend_deg": 29.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.905, + "inlier_spread_deg": 11.05, + "marker_Q_to_gsi_deg": { + "1": 174.7, + "-1": 9.2 + } + }, + "wrist_bend_deg_median": 165.0, + "opposite_sign_bend_deg": 44.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.98, "hand_vs_marker_frame_deg": { "before": 178.19, @@ -456,15 +467,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 164.52, + "twist_moved_deg": -160.77, "wrist_twist_deg_after": { - "median": 7.47, + "median": -3.75, "iqr": [ - -1.9, - 13.7 + -12.1, + 3.3 ] }, - "wrist_total_deg_median_after": 45.4, + "wrist_total_deg_median_after": 29.0, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -477,10 +488,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - 0.0, - -0.0 + -0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.944, + "inlier_spread_deg": 12.03, + "marker_Q_to_gsi_deg": { + "1": 5.9, + "-1": 177.8 + } + }, "wrist_bend_deg_median": 14.5, "opposite_sign_bend_deg": 176.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -497,7 +519,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -1.7, 3.5 @@ -512,10 +534,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:46:35.350238+00:00", + "generated_at_utc": "2026-11-06T14:12:03.437032+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.48, + "offset_rotvec": [ + 0.0686, + -0.1474, + -0.0308 + ], + "dev_deg": { + "median": 11.65, + "p90": 27.94 + }, + "samples": 6510, + "accepted": 5885, + "wrist_pos_err_mm_median": 57.6, + "per_camera": { + "head": { + "samples": 6510, + "accepted": 5885, + "gate_deg": 30.0, + "offset_deg": 9.48, + "tier": "primary", + "dev_deg_median": 11.65, + "wrist_pos_err_mm_median": 57.6 + } + }, + "frames_by_state": { + "ace_sample": 23834, + "interpolated": 1058, + "mean_hand": 2091, + "no_body_fit": 0 + }, + "observed_fraction": 0.9225, + "observed_fraction_of_valid": 0.9225, + "palm_axis_vs_markers_deg": { + "gsi": 13.67, + "smplx": 3.2 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.4, + "p90": 17.7 + }, + "registered": { + "median": 14.1, + "p90": 16.8 + } + } + }, + "right": { + "offset_deg": 6.94, + "offset_rotvec": [ + -0.057, + -0.0549, + 0.0917 + ], + "dev_deg": { + "median": 12.75, + "p90": 24.51 + }, + "samples": 6452, + "accepted": 6092, + "wrist_pos_err_mm_median": 79.7, + "per_camera": { + "head": { + "samples": 6452, + "accepted": 6092, + "gate_deg": 30.0, + "offset_deg": 6.94, + "tier": "primary", + "dev_deg_median": 12.75, + "wrist_pos_err_mm_median": 79.7 + } + }, + "frames_by_state": { + "ace_sample": 24686, + "interpolated": 1470, + "mean_hand": 827, + "no_body_fit": 0 + }, + "observed_fraction": 0.9694, + "observed_fraction_of_valid": 0.9694, + "palm_axis_vs_markers_deg": { + "gsi": 10.54, + "smplx": 1.99 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.1, + "p90": 11.2 + }, + "registered": { + "median": 7.0, + "p90": 9.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:42:22.444371+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/long_horizon_composite/LH07/session_005", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH07/session_005/motions/smplx.npz b/actions/long_horizon_composite/LH07/session_005/motions/smplx.npz index b5cce155f2a8ba9576a83d6e9b79bfe7d72d9bae..0fad9d6d90b345aabb1a78b35de8c21894ab7d82 100644 --- a/actions/long_horizon_composite/LH07/session_005/motions/smplx.npz +++ b/actions/long_horizon_composite/LH07/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e2aa5d601a8fd1694d992febf5d4998725a36c1a57554252fe76492d6b0dd873 -size 10345877 +oid sha256:6cafac2f1b0181484583622e844ec2b09187741f3ef6279ffbc9e77a00218981 +size 18959292 diff --git a/actions/long_horizon_composite/LH07/session_006/meta.json b/actions/long_horizon_composite/LH07/session_006/meta.json index 8930c81fca2669d9b24692a6ec0d4d930698b80d..ef3d747561a9348f08a7fb857bee4023183c8090 100644 --- a/actions/long_horizon_composite/LH07/session_006/meta.json +++ b/actions/long_horizon_composite/LH07/session_006/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -441,10 +441,21 @@ 0.4392, 0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 170.7, - "opposite_sign_bend_deg": 28.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.932, + "inlier_spread_deg": 10.88, + "marker_Q_to_gsi_deg": { + "1": 174.6, + "-1": 9.3 + } + }, + "wrist_bend_deg_median": 164.0, + "opposite_sign_bend_deg": 45.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.69, "hand_vs_marker_frame_deg": { "before": 177.8, @@ -456,15 +467,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 164.71, + "twist_moved_deg": -161.23, "wrist_twist_deg_after": { - "median": 7.59, + "median": -3.48, "iqr": [ - -2.8, - 13.4 + -12.4, + 2.1 ] }, - "wrist_total_deg_median_after": 45.3, + "wrist_total_deg_median_after": 27.0, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -478,9 +489,20 @@ "Q_rotvec": [ 0.0, 0.0, - -0.0 + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.938, + "inlier_spread_deg": 12.37, + "marker_Q_to_gsi_deg": { + "1": 7.1, + "-1": 177.0 + } + }, "wrist_bend_deg_median": 13.2, "opposite_sign_bend_deg": 175.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -497,7 +519,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -3.4, 4.8 @@ -512,10 +534,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:46:35.666375+00:00", + "generated_at_utc": "2026-11-06T14:12:12.635807+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.82, + "offset_rotvec": [ + 0.0808, + -0.1486, + -0.0281 + ], + "dev_deg": { + "median": 11.32, + "p90": 23.96 + }, + "samples": 5911, + "accepted": 5473, + "wrist_pos_err_mm_median": 53.8, + "per_camera": { + "head": { + "samples": 5911, + "accepted": 5473, + "gate_deg": 30.0, + "offset_deg": 9.82, + "tier": "primary", + "dev_deg_median": 11.32, + "wrist_pos_err_mm_median": 53.8 + } + }, + "frames_by_state": { + "ace_sample": 22028, + "interpolated": 1324, + "mean_hand": 1328, + "no_body_fit": 0 + }, + "observed_fraction": 0.9462, + "observed_fraction_of_valid": 0.9462, + "palm_axis_vs_markers_deg": { + "gsi": 13.05, + "smplx": 3.21 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.1, + "p90": 21.5 + }, + "registered": { + "median": 14.3, + "p90": 20.7 + } + } + }, + "right": { + "offset_deg": 7.16, + "offset_rotvec": [ + -0.0576, + -0.077, + 0.0798 + ], + "dev_deg": { + "median": 12.83, + "p90": 23.68 + }, + "samples": 5910, + "accepted": 5538, + "wrist_pos_err_mm_median": 51.2, + "per_camera": { + "head": { + "samples": 5910, + "accepted": 5538, + "gate_deg": 30.0, + "offset_deg": 7.16, + "tier": "primary", + "dev_deg_median": 12.83, + "wrist_pos_err_mm_median": 51.2 + } + }, + "frames_by_state": { + "ace_sample": 22290, + "interpolated": 1406, + "mean_hand": 984, + "no_body_fit": 0 + }, + "observed_fraction": 0.9601, + "observed_fraction_of_valid": 0.9601, + "palm_axis_vs_markers_deg": { + "gsi": 11.22, + "smplx": 1.82 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.0, + "p90": 12.0 + }, + "registered": { + "median": 9.0, + "p90": 10.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:42:22.340128+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/long_horizon_composite/LH07/session_006", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH07/session_006/motions/smplx.npz b/actions/long_horizon_composite/LH07/session_006/motions/smplx.npz index c779d4dd0e8c1a73580594824812ac37775bdfb4..c6b73801fc59392c8932f21441da578d2f93eaf0 100644 --- a/actions/long_horizon_composite/LH07/session_006/motions/smplx.npz +++ b/actions/long_horizon_composite/LH07/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:54b16e50e086fb96af45d86be2a1a8ad10b6cc98c5f5961a58331d298247ed60 -size 9469278 +oid sha256:2fe1c115c9709fc569d0fa16345bc93bc55f59d00a7e0bf70a30e8ff8339792f +size 17422430 diff --git a/actions/long_horizon_composite/LH07/session_007/meta.json b/actions/long_horizon_composite/LH07/session_007/meta.json index 995e42cd71037b8b3b9396ecf64c86fdc2d570d4..7b6c1281e1d0a6630ce5c8f38909d3e3471cdf49 100644 --- a/actions/long_horizon_composite/LH07/session_007/meta.json +++ b/actions/long_horizon_composite/LH07/session_007/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -435,19 +435,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + 2.98662, + -0.4392, + -0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 46.3, - "opposite_sign_bend_deg": 167.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.886, + "inlier_spread_deg": 11.82, + "marker_Q_to_gsi_deg": { + "1": 175.2, + "-1": 8.5 + } + }, + "wrist_bend_deg_median": 167.6, + "opposite_sign_bend_deg": 46.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.34, "hand_vs_marker_frame_deg": { - "before": 4.34, + "before": 178.0, "after": 4.34 }, "markers_on_wrist": [ @@ -456,15 +467,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.71, + "twist_moved_deg": -158.69, "wrist_twist_deg_after": { - "median": -0.0, + "median": -11.87, "iqr": [ - -13.2, - 7.3 + -25.3, + -3.5 ] }, - "wrist_total_deg_median_after": 46.8, + "wrist_total_deg_median_after": 33.7, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -478,9 +489,20 @@ "Q_rotvec": [ 0.0, 0.0, - -0.0 + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.894, + "inlier_spread_deg": 13.02, + "marker_Q_to_gsi_deg": { + "1": 7.5, + "-1": 179.7 + } + }, "wrist_bend_deg_median": 14.5, "opposite_sign_bend_deg": 176.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -497,7 +519,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -1.9, 1.5 @@ -512,7 +534,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:46:37.405299+00:00", + "generated_at_utc": "2026-11-06T14:12:27.640816+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -563,6 +585,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.21, + "offset_rotvec": [ + 0.0947, + -0.1471, + -0.0341 + ], + "dev_deg": { + "median": 13.09, + "p90": 37.01 + }, + "samples": 5351, + "accepted": 4738, + "wrist_pos_err_mm_median": 51.4, + "per_camera": { + "head": { + "samples": 5351, + "accepted": 4738, + "gate_deg": 30.0, + "offset_deg": 10.21, + "tier": "primary", + "dev_deg_median": 13.09, + "wrist_pos_err_mm_median": 51.4 + } + }, + "frames_by_state": { + "ace_sample": 19040, + "interpolated": 1344, + "mean_hand": 1892, + "no_body_fit": 0 + }, + "observed_fraction": 0.9151, + "observed_fraction_of_valid": 0.9151, + "palm_axis_vs_markers_deg": { + "gsi": 12.39, + "smplx": 3.42 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.9, + "p90": 20.0 + }, + "registered": { + "median": 14.7, + "p90": 19.0 + } + } + }, + "right": { + "offset_deg": 7.38, + "offset_rotvec": [ + 0.0034, + -0.0471, + 0.1198 + ], + "dev_deg": { + "median": 14.24, + "p90": 30.05 + }, + "samples": 5261, + "accepted": 4733, + "wrist_pos_err_mm_median": 43.8, + "per_camera": { + "head": { + "samples": 5261, + "accepted": 4733, + "gate_deg": 30.0, + "offset_deg": 7.38, + "tier": "primary", + "dev_deg_median": 14.24, + "wrist_pos_err_mm_median": 43.8 + } + }, + "frames_by_state": { + "ace_sample": 19044, + "interpolated": 1596, + "mean_hand": 1636, + "no_body_fit": 0 + }, + "observed_fraction": 0.9266, + "observed_fraction_of_valid": 0.9266, + "palm_axis_vs_markers_deg": { + "gsi": 13.0, + "smplx": 1.77 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.1, + "p90": 14.0 + }, + "registered": { + "median": 7.7, + "p90": 12.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:42:57.337310+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/long_horizon_composite/LH07/session_007", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH07/session_007/motions/smplx.npz b/actions/long_horizon_composite/LH07/session_007/motions/smplx.npz index 33ae99b1d3849709fed20f4bef5fb57acf2c6910..b23ce415c1497007c6eb439b61c42bb12d00811c 100644 --- a/actions/long_horizon_composite/LH07/session_007/motions/smplx.npz +++ b/actions/long_horizon_composite/LH07/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:238f032f63a8e42ecd8d477a4588b337ae6cc77b298b6e2b4aaa6037163b7b2e -size 8548848 +oid sha256:cded70321a0755aa3f3ef19e1e38b4aa8771e6d9627f38376000f0bf27408f4d +size 15550666 diff --git a/actions/long_horizon_composite/LH07/session_010/meta.json b/actions/long_horizon_composite/LH07/session_010/meta.json index 4223f6a5b2a16402a057180e55e2f816564f63a7..afc3905c5dff6bd5cd9c9b6d1b2e3a40ccb2c49c 100644 --- a/actions/long_horizon_composite/LH07/session_010/meta.json +++ b/actions/long_horizon_composite/LH07/session_010/meta.json @@ -353,8 +353,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -415,11 +415,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, - -0.0 + -0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.733, + "inlier_spread_deg": 14.29, + "marker_Q_to_gsi_deg": { + "1": 26.3, + "-1": 161.5 + } + }, "wrist_bend_deg_median": 22.7, "opposite_sign_bend_deg": 170.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -433,9 +444,9 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.02, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -10.3, 7.5 @@ -453,19 +464,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 2.98636, + 0.42149, + 0.87956 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 41.1, - "opposite_sign_bend_deg": 170.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.497, + "inlier_spread_deg": 12.29, + "marker_Q_to_gsi_deg": { + "1": 169.4, + "-1": 17.4 + } + }, + "wrist_bend_deg_median": 171.6, + "opposite_sign_bend_deg": 40.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.08, "hand_vs_marker_frame_deg": { - "before": 3.08, + "before": 179.01, "after": 3.08 }, "markers_on_wrist": [ @@ -473,15 +495,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 6.42, + "twist_moved_deg": 146.09, "wrist_twist_deg_after": { - "median": 0.0, + "median": 33.77, "iqr": [ - -7.0, - 20.3 + 27.6, + 51.1 ] }, - "wrist_total_deg_median_after": 40.2, + "wrist_total_deg_median_after": 48.6, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -490,7 +512,7 @@ }, "frames_used": 1346 }, - "generated_at_utc": "2026-10-28T06:47:22.531537+00:00", + "generated_at_utc": "2026-11-06T14:14:28.850398+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -597,6 +619,116 @@ }, "applied": 7 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 29.29, + "offset_rotvec": [ + 0.4448, + -0.0742, + 0.2408 + ], + "dev_deg": { + "median": 19.13, + "p90": 56.48 + }, + "samples": 3866, + "accepted": 2835, + "wrist_pos_err_mm_median": 36.6, + "per_camera": { + "head": { + "samples": 3866, + "accepted": 2835, + "gate_deg": 30.0, + "offset_deg": 29.29, + "tier": "primary", + "dev_deg_median": 19.13, + "wrist_pos_err_mm_median": 36.6 + } + }, + "frames_by_state": { + "ace_sample": 11436, + "interpolated": 2888, + "mean_hand": 3454, + "no_body_fit": 6 + }, + "observed_fraction": 0.8054, + "observed_fraction_of_valid": 0.8057, + "palm_axis_vs_markers_deg": { + "gsi": 25.72, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 27.68, + "offset_rotvec": [ + 0.3611, + -0.1052, + -0.3033 + ], + "dev_deg": { + "median": 28.41, + "p90": 171.33 + }, + "samples": 3987, + "accepted": 2048, + "wrist_pos_err_mm_median": 52.7, + "per_camera": { + "head": { + "samples": 3987, + "accepted": 2048, + "gate_deg": 30.0, + "offset_deg": 27.68, + "tier": "primary", + "dev_deg_median": 28.41, + "wrist_pos_err_mm_median": 52.7 + } + }, + "frames_by_state": { + "ace_sample": 8218, + "interpolated": 970, + "mean_hand": 8590, + "no_body_fit": 6 + }, + "observed_fraction": 0.5166, + "observed_fraction_of_valid": 0.5168, + "palm_axis_vs_markers_deg": { + "gsi": 25.44, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:47:17.843277+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/long_horizon_composite/LH07/session_010", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH07/session_010/motions/smplx.npz b/actions/long_horizon_composite/LH07/session_010/motions/smplx.npz index 87375b710a5d2b8eae460d2fc7dc256683fdb93b..9e7d19dfc61cff35acb054a339d827efa89ab570 100644 --- a/actions/long_horizon_composite/LH07/session_010/motions/smplx.npz +++ b/actions/long_horizon_composite/LH07/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:185e38fb06d871293eb674593103f3b8783ac921f38a88278498573a992cc921 -size 6842454 +oid sha256:eda0554703c3e6e95515b9d8ed9eb402f6a702558b786ef166b90f2b5743e004 +size 11092691 diff --git a/actions/long_horizon_composite/LH08/session_011/meta.json b/actions/long_horizon_composite/LH08/session_011/meta.json index a7089ecaa98c5ef987bf60918130935058b17b3b..660182c756bd7ce34201cb732f1ec6b75cd29d46 100644 --- a/actions/long_horizon_composite/LH08/session_011/meta.json +++ b/actions/long_horizon_composite/LH08/session_011/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -432,14 +432,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -2.98662, - 0.4392, - 0.86995 + 2.98662, + -0.4392, + -0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 172.6, - "opposite_sign_bend_deg": 23.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.988, + "inlier_spread_deg": 10.79, + "marker_Q_to_gsi_deg": { + "1": 174.3, + "-1": 10.2 + } + }, + "wrist_bend_deg_median": 164.5, + "opposite_sign_bend_deg": 38.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.05, "hand_vs_marker_frame_deg": { "before": 178.92, @@ -451,15 +462,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 165.85, + "twist_moved_deg": -160.93, "wrist_twist_deg_after": { - "median": 5.8, + "median": -4.92, "iqr": [ - -5.0, - 11.8 + -15.6, + 1.0 ] }, - "wrist_total_deg_median_after": 39.2, + "wrist_total_deg_median_after": 25.3, "markers_on_forearm": [ "LElbowIn", "LForearm", @@ -472,12 +483,23 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + -0.0, + -0.0, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 17.3, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.956, + "inlier_spread_deg": 11.38, + "marker_Q_to_gsi_deg": { + "1": 9.5, + "-1": 175.8 + } + }, + "wrist_bend_deg_median": 17.4, "opposite_sign_bend_deg": 175.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.01, @@ -490,9 +512,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.03, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -4.4, 6.8 @@ -508,10 +530,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:46:40.090600+00:00", + "generated_at_utc": "2026-11-06T14:12:51.869230+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.27, + "offset_rotvec": [ + 0.077, + -0.1602, + -0.0232 + ], + "dev_deg": { + "median": 10.93, + "p90": 17.43 + }, + "samples": 6154, + "accepted": 6074, + "wrist_pos_err_mm_median": 32.9, + "per_camera": { + "head": { + "samples": 6154, + "accepted": 6074, + "gate_deg": 30.0, + "offset_deg": 10.27, + "tier": "primary", + "dev_deg_median": 10.93, + "wrist_pos_err_mm_median": 32.9 + } + }, + "frames_by_state": { + "ace_sample": 24368, + "interpolated": 744, + "mean_hand": 170, + "no_body_fit": 22 + }, + "observed_fraction": 0.9924, + "observed_fraction_of_valid": 0.9933, + "palm_axis_vs_markers_deg": { + "gsi": 12.94, + "smplx": 1.92 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.9, + "p90": 9.2 + }, + "registered": { + "median": 6.8, + "p90": 10.4 + } + } + }, + "right": { + "offset_deg": 9.39, + "offset_rotvec": [ + -0.0878, + -0.105, + 0.09 + ], + "dev_deg": { + "median": 11.76, + "p90": 20.27 + }, + "samples": 6158, + "accepted": 5857, + "wrist_pos_err_mm_median": 36.8, + "per_camera": { + "head": { + "samples": 6158, + "accepted": 5857, + "gate_deg": 30.0, + "offset_deg": 9.39, + "tier": "primary", + "dev_deg_median": 11.76, + "wrist_pos_err_mm_median": 36.8 + } + }, + "frames_by_state": { + "ace_sample": 23490, + "interpolated": 962, + "mean_hand": 830, + "no_body_fit": 22 + }, + "observed_fraction": 0.9663, + "observed_fraction_of_valid": 0.9672, + "palm_axis_vs_markers_deg": { + "gsi": 11.73, + "smplx": 1.83 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.8, + "p90": 12.6 + }, + "registered": { + "median": 8.3, + "p90": 10.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:43:04.341025+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/long_horizon_composite/LH08/session_011", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH08/session_011/motions/smplx.npz b/actions/long_horizon_composite/LH08/session_011/motions/smplx.npz index 6ea166367b1787e01599ae4040bfc547e038141e..d023b92dbbdc5ad94bac4c77d718f251a6e92797 100644 --- a/actions/long_horizon_composite/LH08/session_011/motions/smplx.npz +++ b/actions/long_horizon_composite/LH08/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b52ea86a274b508ea93ac945e111d96e8e963a1aab2ab8dcc1fe0bffd79d42fe -size 9713511 +oid sha256:d31fdc22a0822f79718731a2b54277c64143e2e348bb1ca15fc1e2b5502d420e +size 18076488 diff --git a/actions/long_horizon_composite/LH10/session_001/meta.json b/actions/long_horizon_composite/LH10/session_001/meta.json index 72c84779affec2b1553894e15d59456d25fdc936..f62de2580ad60ea617a4bb2b42ce413c5961e55e 100644 --- a/actions/long_horizon_composite/LH10/session_001/meta.json +++ b/actions/long_horizon_composite/LH10/session_001/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": { @@ -409,11 +409,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, + -0.0, + -0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2118, + "inlier_frac": 0.85, + "inlier_spread_deg": 9.83, + "marker_Q_to_gsi_deg": { + "1": 17.0, + "-1": 168.2 + } + }, "wrist_bend_deg_median": 37.1, "opposite_sign_bend_deg": 172.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -448,19 +459,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + 2.98604, + 0.43137, + 0.87584 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 46.5, - "opposite_sign_bend_deg": 168.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1976, + "inlier_frac": 0.596, + "inlier_spread_deg": 7.23, + "marker_Q_to_gsi_deg": { + "1": 172.0, + "-1": 16.7 + } + }, + "wrist_bend_deg_median": 166.7, + "opposite_sign_bend_deg": 47.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 8.58, "hand_vs_marker_frame_deg": { - "before": 8.58, + "before": 179.49, "after": 8.58 }, "markers_on_wrist": [ @@ -468,15 +490,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 1.89, + "twist_moved_deg": 163.67, "wrist_twist_deg_after": { - "median": 0.0, + "median": 2.85, "iqr": [ - -22.4, - 6.0 + -0.9, + 12.2 ] }, - "wrist_total_deg_median_after": 47.6, + "wrist_total_deg_median_after": 43.1, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -485,7 +507,7 @@ }, "frames_used": 743 }, - "generated_at_utc": "2026-10-28T06:16:55.917763+00:00", + "generated_at_utc": "2026-11-06T13:44:07.945743+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -598,6 +620,116 @@ }, "applied": 4 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 12.64, + "offset_rotvec": [ + -0.136, + 0.1587, + -0.0706 + ], + "dev_deg": { + "median": 13.26, + "p90": 36.34 + }, + "samples": 2118, + "accepted": 1837, + "wrist_pos_err_mm_median": 20.1, + "per_camera": { + "head": { + "samples": 2118, + "accepted": 1837, + "gate_deg": 30.0, + "offset_deg": 12.64, + "tier": "primary", + "dev_deg_median": 13.26, + "wrist_pos_err_mm_median": 20.1 + } + }, + "frames_by_state": { + "ace_sample": 7370, + "interpolated": 530, + "mean_hand": 984, + "no_body_fit": 0 + }, + "observed_fraction": 0.8892, + "observed_fraction_of_valid": 0.8892, + "palm_axis_vs_markers_deg": { + "gsi": 21.03, + "smplx": 1.88 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.9, + "p90": 11.3 + }, + "registered": { + "median": 7.3, + "p90": 8.9 + } + } + }, + "right": { + "offset_deg": 16.86, + "offset_rotvec": [ + -0.2794, + -0.0446, + 0.0807 + ], + "dev_deg": { + "median": 16.84, + "p90": 171.37 + }, + "samples": 1976, + "accepted": 1160, + "wrist_pos_err_mm_median": 29.3, + "per_camera": { + "head": { + "samples": 1976, + "accepted": 1160, + "gate_deg": 30.0, + "offset_deg": 16.86, + "tier": "primary", + "dev_deg_median": 16.84, + "wrist_pos_err_mm_median": 29.3 + } + }, + "frames_by_state": { + "ace_sample": 4622, + "interpolated": 206, + "mean_hand": 4056, + "no_body_fit": 0 + }, + "observed_fraction": 0.5434, + "observed_fraction_of_valid": 0.5434, + "palm_axis_vs_markers_deg": { + "gsi": 13.07, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:43:19.637779+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/long_horizon_composite/LH10/session_001", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH10/session_001/motions/smplx.npz b/actions/long_horizon_composite/LH10/session_001/motions/smplx.npz index 974d7578c48abd25a6a9fed6232fe9f5bd07c262..6e360790d90932ff44d77ea0c4f4aea9cac22a37 100644 --- a/actions/long_horizon_composite/LH10/session_001/motions/smplx.npz +++ b/actions/long_horizon_composite/LH10/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e23c4cd1a630b9a7a608cae8ebbcf48d95dc1b52cfd42deaf8090610f81d6824 -size 3422901 +oid sha256:e5d447ec7d47c3c96902ca502f28727a99660071a6cbd6cf7fadfb76d77999c9 +size 5672252 diff --git a/actions/long_horizon_composite/LH10/session_008/meta.json b/actions/long_horizon_composite/LH10/session_008/meta.json index 952431418c1f26b1bb75c27d722a1ec7a948b4d9..3b39f7e55ff9ce0903632de24ce13135e084a5d7 100644 --- a/actions/long_horizon_composite/LH10/session_008/meta.json +++ b/actions/long_horizon_composite/LH10/session_008/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -435,19 +435,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + 2.98662, + -0.4392, + -0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 38.3, - "opposite_sign_bend_deg": 173.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.903, + "inlier_spread_deg": 12.31, + "marker_Q_to_gsi_deg": { + "1": 172.4, + "-1": 12.6 + } + }, + "wrist_bend_deg_median": 173.0, + "opposite_sign_bend_deg": 38.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.32, "hand_vs_marker_frame_deg": { - "before": 2.32, + "before": 179.07, "after": 2.32 }, "markers_on_wrist": [ @@ -456,15 +467,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.5, + "twist_moved_deg": -171.3, "wrist_twist_deg_after": { - "median": 0.0, + "median": -2.41, "iqr": [ - -3.7, - 5.5 + -5.7, + 6.6 ] }, - "wrist_total_deg_median_after": 38.2, + "wrist_total_deg_median_after": 22.3, "markers_on_forearm": [ "LElbowIn", "LForearm", @@ -477,11 +488,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ + -0.0, 0.0, - 0.0, - -0.0 + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.877, + "inlier_spread_deg": 12.37, + "marker_Q_to_gsi_deg": { + "1": 8.2, + "-1": 179.6 + } + }, "wrist_bend_deg_median": 15.9, "opposite_sign_bend_deg": 175.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -496,7 +518,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -513,7 +535,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:46:39.568949+00:00", + "generated_at_utc": "2026-11-06T14:12:50.839131+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -575,6 +597,116 @@ }, "applied": 3 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 13.24, + "offset_rotvec": [ + 0.0799, + -0.202, + -0.0786 + ], + "dev_deg": { + "median": 12.96, + "p90": 30.76 + }, + "samples": 4178, + "accepted": 3740, + "wrist_pos_err_mm_median": 44.9, + "per_camera": { + "head": { + "samples": 4178, + "accepted": 3740, + "gate_deg": 30.0, + "offset_deg": 13.24, + "tier": "primary", + "dev_deg_median": 12.96, + "wrist_pos_err_mm_median": 44.9 + } + }, + "frames_by_state": { + "ace_sample": 15342, + "interpolated": 3874, + "mean_hand": 488, + "no_body_fit": 0 + }, + "observed_fraction": 0.9752, + "observed_fraction_of_valid": 0.9752, + "palm_axis_vs_markers_deg": { + "gsi": 14.98, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 8.08, + "offset_rotvec": [ + 0.0009, + -0.0218, + 0.1394 + ], + "dev_deg": { + "median": 14.08, + "p90": 31.22 + }, + "samples": 4288, + "accepted": 3818, + "wrist_pos_err_mm_median": 51.9, + "per_camera": { + "head": { + "samples": 4288, + "accepted": 3818, + "gate_deg": 30.0, + "offset_deg": 8.08, + "tier": "primary", + "dev_deg_median": 14.08, + "wrist_pos_err_mm_median": 51.9 + } + }, + "frames_by_state": { + "ace_sample": 15630, + "interpolated": 3426, + "mean_hand": 648, + "no_body_fit": 0 + }, + "observed_fraction": 0.9671, + "observed_fraction_of_valid": 0.9671, + "palm_axis_vs_markers_deg": { + "gsi": 12.15, + "smplx": 2.95 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.8, + "p90": 7.9 + }, + "registered": { + "median": 5.0, + "p90": 6.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:42:51.855160+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/long_horizon_composite/LH10/session_008", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH10/session_008/motions/smplx.npz b/actions/long_horizon_composite/LH10/session_008/motions/smplx.npz index f9bec1075b0ca9ddcd9050b92b00dd584a297f68..eb911321b6a42c3c12fc098c7ce78b3361ce07a4 100644 --- a/actions/long_horizon_composite/LH10/session_008/motions/smplx.npz +++ b/actions/long_horizon_composite/LH10/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ce3ac75ed79ee5cd8ed796b07a76210dc30e3a22dab39a92685f56817afcd6f5 -size 7593936 +oid sha256:f491138a2793511bb86891c24f3ff0497054e9e14102c32d0e5f9186b6fc8467 +size 14068248 diff --git a/actions/long_horizon_composite/LH11/session_002/meta.json b/actions/long_horizon_composite/LH11/session_002/meta.json index 5445f7df01eb042ae2aa9f27e928b642c7574a24..686272d592972fcc19477e84ba58426d5230b5b9 100644 --- a/actions/long_horizon_composite/LH11/session_002/meta.json +++ b/actions/long_horizon_composite/LH11/session_002/meta.json @@ -378,8 +378,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -438,19 +438,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + 2.98794, + -0.42773, + -0.87113 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 47.6, - "opposite_sign_bend_deg": 161.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.715, + "inlier_spread_deg": 10.66, + "marker_Q_to_gsi_deg": { + "1": 179.7, + "-1": 9.5 + } + }, + "wrist_bend_deg_median": 161.9, + "opposite_sign_bend_deg": 47.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.2, "hand_vs_marker_frame_deg": { - "before": 4.2, + "before": 177.64, "after": 4.2 }, "markers_on_wrist": [ @@ -458,15 +469,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.6, + "twist_moved_deg": -159.52, "wrist_twist_deg_after": { - "median": -0.0, + "median": -4.35, "iqr": [ - -9.1, - 9.8 + -13.9, + 0.8 ] }, - "wrist_total_deg_median_after": 48.5, + "wrist_total_deg_median_after": 49.0, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -480,10 +491,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - 0.0, + -0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.95, + "inlier_spread_deg": 5.47, + "marker_Q_to_gsi_deg": { + "1": 15.3, + "-1": 177.9 + } + }, "wrist_bend_deg_median": 8.8, "opposite_sign_bend_deg": 177.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -499,7 +521,7 @@ "forearm_twist": { "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -3.3, 2.5 @@ -515,7 +537,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:40:22.690791+00:00", + "generated_at_utc": "2026-11-06T14:05:18.937967+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -577,6 +599,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.07, + "offset_rotvec": [ + -0.0384, + -0.1343, + -0.1066 + ], + "dev_deg": { + "median": 13.42, + "p90": 158.07 + }, + "samples": 3314, + "accepted": 2389, + "wrist_pos_err_mm_median": 49.5, + "per_camera": { + "head": { + "samples": 3314, + "accepted": 2389, + "gate_deg": 30.0, + "offset_deg": 10.07, + "tier": "primary", + "dev_deg_median": 13.42, + "wrist_pos_err_mm_median": 49.5 + } + }, + "frames_by_state": { + "ace_sample": 9674, + "interpolated": 1650, + "mean_hand": 4392, + "no_body_fit": 8 + }, + "observed_fraction": 0.7202, + "observed_fraction_of_valid": 0.7205, + "palm_axis_vs_markers_deg": { + "gsi": 11.87, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 15.1, + "offset_rotvec": [ + 0.0012, + -0.2636, + -0.0029 + ], + "dev_deg": { + "median": 5.64, + "p90": 12.11 + }, + "samples": 3779, + "accepted": 3590, + "wrist_pos_err_mm_median": 22.9, + "per_camera": { + "head": { + "samples": 3779, + "accepted": 3590, + "gate_deg": 30.0, + "offset_deg": 15.1, + "tier": "primary", + "dev_deg_median": 5.64, + "wrist_pos_err_mm_median": 22.9 + } + }, + "frames_by_state": { + "ace_sample": 14474, + "interpolated": 438, + "mean_hand": 804, + "no_body_fit": 8 + }, + "observed_fraction": 0.9484, + "observed_fraction_of_valid": 0.9488, + "palm_axis_vs_markers_deg": { + "gsi": 16.11, + "smplx": 0.97 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.5, + "p90": 21.2 + }, + "registered": { + "median": 11.5, + "p90": 20.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:27:21.036107+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/long_horizon_composite/LH11/session_002", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH11/session_002/motions/smplx.npz b/actions/long_horizon_composite/LH11/session_002/motions/smplx.npz index fe7c4043c37f4521cb5fe317cf00b860b8284f63..bf369d2aa82a3c872b02e34ff478881daca6f8c3 100644 --- a/actions/long_horizon_composite/LH11/session_002/motions/smplx.npz +++ b/actions/long_horizon_composite/LH11/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1093304c2ba4e5c534f577c94ce1a625d289a51049409ece253d2d9cfff4c7b9 -size 6051468 +oid sha256:4dbc7ecab18242d0de17112d8abd3732cc53dbd97ceaed7284a781101d026fd2 +size 10563147 diff --git a/actions/long_horizon_composite/LH11/session_003/meta.json b/actions/long_horizon_composite/LH11/session_003/meta.json index 54e110b36c0f1adacc5956a437012b0b9eb3c797..5fe5a0c1de8ed9a6a205a69297e13cc769dc1f8c 100644 --- a/actions/long_horizon_composite/LH11/session_003/meta.json +++ b/actions/long_horizon_composite/LH11/session_003/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": { @@ -439,19 +439,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + -2.98794, + 0.42773, + 0.87113 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 53.0, - "opposite_sign_bend_deg": 158.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.606, + "inlier_spread_deg": 9.44, + "marker_Q_to_gsi_deg": { + "1": 175.8, + "-1": 8.6 + } + }, + "wrist_bend_deg_median": 160.4, + "opposite_sign_bend_deg": 52.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.98, "hand_vs_marker_frame_deg": { - "before": 4.98, + "before": 177.84, "after": 4.98 }, "markers_on_wrist": [ @@ -459,15 +470,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 3.29, + "twist_moved_deg": -155.99, "wrist_twist_deg_after": { - "median": -0.0, + "median": -10.58, "iqr": [ - -10.1, - 11.6 + -39.8, + -1.1 ] }, - "wrist_total_deg_median_after": 53.0, + "wrist_total_deg_median_after": 49.2, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -481,10 +492,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - 0.0, + -0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.953, + "inlier_spread_deg": 4.63, + "marker_Q_to_gsi_deg": { + "1": 14.5, + "-1": 178.4 + } + }, "wrist_bend_deg_median": 11.5, "opposite_sign_bend_deg": 176.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -500,7 +522,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -3.4, 4.5 @@ -516,7 +538,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:40:23.421228+00:00", + "generated_at_utc": "2026-11-06T14:05:17.837152+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -589,6 +611,116 @@ }, "applied": 3 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 11.76, + "offset_rotvec": [ + -0.1223, + -0.1186, + -0.1143 + ], + "dev_deg": { + "median": 16.47, + "p90": 173.08 + }, + "samples": 3597, + "accepted": 2182, + "wrist_pos_err_mm_median": 44.9, + "per_camera": { + "head": { + "samples": 3597, + "accepted": 2182, + "gate_deg": 30.0, + "offset_deg": 11.76, + "tier": "primary", + "dev_deg_median": 16.47, + "wrist_pos_err_mm_median": 44.9 + } + }, + "frames_by_state": { + "ace_sample": 8760, + "interpolated": 1576, + "mean_hand": 5860, + "no_body_fit": 0 + }, + "observed_fraction": 0.6382, + "observed_fraction_of_valid": 0.6382, + "palm_axis_vs_markers_deg": { + "gsi": 11.1, + "smplx": 3.71 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.5, + "p90": 12.9 + }, + "registered": { + "median": 8.6, + "p90": 13.2 + } + } + }, + "right": { + "offset_deg": 14.21, + "offset_rotvec": [ + 0.0066, + -0.2478, + 0.0107 + ], + "dev_deg": { + "median": 4.9, + "p90": 14.16 + }, + "samples": 3889, + "accepted": 3705, + "wrist_pos_err_mm_median": 19.2, + "per_camera": { + "head": { + "samples": 3889, + "accepted": 3705, + "gate_deg": 30.0, + "offset_deg": 14.21, + "tier": "primary", + "dev_deg_median": 4.9, + "wrist_pos_err_mm_median": 19.2 + } + }, + "frames_by_state": { + "ace_sample": 14856, + "interpolated": 572, + "mean_hand": 768, + "no_body_fit": 0 + }, + "observed_fraction": 0.9526, + "observed_fraction_of_valid": 0.9526, + "palm_axis_vs_markers_deg": { + "gsi": 15.17, + "smplx": 1.06 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.5, + "p90": 22.1 + }, + "registered": { + "median": 13.2, + "p90": 20.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:27:32.637312+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/long_horizon_composite/LH11/session_003", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH11/session_003/motions/smplx.npz b/actions/long_horizon_composite/LH11/session_003/motions/smplx.npz index 8893981b416de947661ddd1736632d08f3381be8..92c569c92035cf0ba2631dc5709213e787dd7e78 100644 --- a/actions/long_horizon_composite/LH11/session_003/motions/smplx.npz +++ b/actions/long_horizon_composite/LH11/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0ef74ccbe64cb156d0ca0ef9a2e8c047901bf9313cd065a77565645e99e4f40d -size 6231594 +oid sha256:3ce3851ff28e264ee5743185b8e7496f37ffd58e816d1b99f39ec0122967d6bb +size 10712134 diff --git a/actions/long_horizon_composite/LH11/session_004/meta.json b/actions/long_horizon_composite/LH11/session_004/meta.json index b74c6edc20f79b1f62e7d43243e6841bd5841ca1..6ddcc5f287cf1d0510eae76ea6f0c1eb9158a780 100644 --- a/actions/long_horizon_composite/LH11/session_004/meta.json +++ b/actions/long_horizon_composite/LH11/session_004/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -435,19 +435,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + 2.98662, + -0.4392, + -0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 41.0, - "opposite_sign_bend_deg": 165.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.886, + "inlier_spread_deg": 12.72, + "marker_Q_to_gsi_deg": { + "1": 175.3, + "-1": 12.2 + } + }, + "wrist_bend_deg_median": 165.7, + "opposite_sign_bend_deg": 41.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.69, "hand_vs_marker_frame_deg": { - "before": 5.69, + "before": 177.81, "after": 5.69 }, "markers_on_wrist": [ @@ -456,15 +467,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.93, + "twist_moved_deg": -153.42, "wrist_twist_deg_after": { - "median": 0.0, + "median": -21.1, "iqr": [ - -9.9, - 14.3 + -31.6, + -3.2 ] }, - "wrist_total_deg_median_after": 41.0, + "wrist_total_deg_median_after": 31.5, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -478,9 +489,20 @@ "Q_rotvec": [ 0.0, 0.0, - -0.0 + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.945, + "inlier_spread_deg": 10.77, + "marker_Q_to_gsi_deg": { + "1": 6.9, + "-1": 179.2 + } + }, "wrist_bend_deg_median": 17.6, "opposite_sign_bend_deg": 175.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -512,7 +534,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:46:39.995518+00:00", + "generated_at_utc": "2026-11-06T14:12:54.565141+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -552,6 +574,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 13.69, + "offset_rotvec": [ + 0.0936, + -0.2194, + -0.0129 + ], + "dev_deg": { + "median": 14.2, + "p90": 30.98 + }, + "samples": 3614, + "accepted": 3226, + "wrist_pos_err_mm_median": 44.6, + "per_camera": { + "head": { + "samples": 3614, + "accepted": 3226, + "gate_deg": 30.0, + "offset_deg": 13.69, + "tier": "primary", + "dev_deg_median": 14.2, + "wrist_pos_err_mm_median": 44.6 + } + }, + "frames_by_state": { + "ace_sample": 12970, + "interpolated": 1332, + "mean_hand": 1170, + "no_body_fit": 0 + }, + "observed_fraction": 0.9244, + "observed_fraction_of_valid": 0.9244, + "palm_axis_vs_markers_deg": { + "gsi": 15.99, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 6.55, + "offset_rotvec": [ + -0.0341, + -0.0192, + 0.1074 + ], + "dev_deg": { + "median": 11.28, + "p90": 22.85 + }, + "samples": 3508, + "accepted": 3317, + "wrist_pos_err_mm_median": 37.8, + "per_camera": { + "head": { + "samples": 3508, + "accepted": 3317, + "gate_deg": 30.0, + "offset_deg": 6.55, + "tier": "primary", + "dev_deg_median": 11.28, + "wrist_pos_err_mm_median": 37.8 + } + }, + "frames_by_state": { + "ace_sample": 13332, + "interpolated": 1080, + "mean_hand": 1060, + "no_body_fit": 0 + }, + "observed_fraction": 0.9315, + "observed_fraction_of_valid": 0.9315, + "palm_axis_vs_markers_deg": { + "gsi": 9.2, + "smplx": 1.76 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.7, + "p90": 8.8 + }, + "registered": { + "median": 5.4, + "p90": 7.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:43:03.139599+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/long_horizon_composite/LH11/session_004", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH11/session_004/motions/smplx.npz b/actions/long_horizon_composite/LH11/session_004/motions/smplx.npz index 106a19598a76bbefb8c8034b00d3bc5ed585b5a8..a51dcf1c0a559a82c42c416b9ce4eee2688c2a33 100644 --- a/actions/long_horizon_composite/LH11/session_004/motions/smplx.npz +++ b/actions/long_horizon_composite/LH11/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a8c721366551816c2fcca28c243faf5a0ed12710670773f37e3c4a3faaca76ab -size 5941577 +oid sha256:c8505b39f5bf23052509a0ec94c27f435042da2dbac2e039f0e5601675f61446 +size 10864977 diff --git a/actions/long_horizon_composite/LH11/session_005/meta.json b/actions/long_horizon_composite/LH11/session_005/meta.json index 5e237b53120bd03ddbebbeeee50a2dd5de0d49c6..2995126b999a3e483569436dee15cd458134c6e2 100644 --- a/actions/long_horizon_composite/LH11/session_005/meta.json +++ b/actions/long_horizon_composite/LH11/session_005/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -441,10 +441,21 @@ 0.4392, 0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 171.5, - "opposite_sign_bend_deg": 28.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.869, + "inlier_spread_deg": 11.7, + "marker_Q_to_gsi_deg": { + "1": 176.6, + "-1": 9.0 + } + }, + "wrist_bend_deg_median": 157.3, + "opposite_sign_bend_deg": 43.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.96, "hand_vs_marker_frame_deg": { "before": 178.54, @@ -456,15 +467,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 157.93, + "twist_moved_deg": -152.27, "wrist_twist_deg_after": { - "median": 15.26, + "median": -5.67, "iqr": [ - 5.4, - 25.2 + -16.3, + 5.0 ] }, - "wrist_total_deg_median_after": 43.2, + "wrist_total_deg_median_after": 27.4, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -476,11 +487,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ + -0.0, 0.0, - 0.0, - -0.0 + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.94, + "inlier_spread_deg": 12.02, + "marker_Q_to_gsi_deg": { + "1": 5.8, + "-1": 177.5 + } + }, "wrist_bend_deg_median": 19.4, "opposite_sign_bend_deg": 175.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -495,7 +517,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -513,10 +535,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:46:40.248671+00:00", + "generated_at_utc": "2026-11-06T14:12:56.737587+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.16, + "offset_rotvec": [ + 0.0631, + -0.1656, + 0.0048 + ], + "dev_deg": { + "median": 13.12, + "p90": 35.98 + }, + "samples": 3830, + "accepted": 3366, + "wrist_pos_err_mm_median": 42.5, + "per_camera": { + "head": { + "samples": 3830, + "accepted": 3366, + "gate_deg": 30.0, + "offset_deg": 10.16, + "tier": "primary", + "dev_deg_median": 13.12, + "wrist_pos_err_mm_median": 42.5 + } + }, + "frames_by_state": { + "ace_sample": 13540, + "interpolated": 1174, + "mean_hand": 1602, + "no_body_fit": 0 + }, + "observed_fraction": 0.9018, + "observed_fraction_of_valid": 0.9018, + "palm_axis_vs_markers_deg": { + "gsi": 13.29, + "smplx": 2.82 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.3, + "p90": 12.5 + }, + "registered": { + "median": 9.1, + "p90": 11.4 + } + } + }, + "right": { + "offset_deg": 6.29, + "offset_rotvec": [ + 0.0405, + -0.0198, + 0.1 + ], + "dev_deg": { + "median": 12.64, + "p90": 23.19 + }, + "samples": 3642, + "accepted": 3427, + "wrist_pos_err_mm_median": 35.2, + "per_camera": { + "head": { + "samples": 3642, + "accepted": 3427, + "gate_deg": 30.0, + "offset_deg": 6.29, + "tier": "primary", + "dev_deg_median": 12.64, + "wrist_pos_err_mm_median": 35.2 + } + }, + "frames_by_state": { + "ace_sample": 13808, + "interpolated": 1596, + "mean_hand": 912, + "no_body_fit": 0 + }, + "observed_fraction": 0.9441, + "observed_fraction_of_valid": 0.9441, + "palm_axis_vs_markers_deg": { + "gsi": 10.87, + "smplx": 1.82 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.3, + "p90": 9.2 + }, + "registered": { + "median": 5.2, + "p90": 7.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:44:07.139482+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/long_horizon_composite/LH11/session_005", "family": "long_horizon_composite", diff --git a/actions/long_horizon_composite/LH11/session_005/motions/smplx.npz b/actions/long_horizon_composite/LH11/session_005/motions/smplx.npz index fc21a37be115c86f3c8ef171c6d11d6b2498260e..af15c26e453a1aa0d7e2d51caf12ed1227676f78 100644 --- a/actions/long_horizon_composite/LH11/session_005/motions/smplx.npz +++ b/actions/long_horizon_composite/LH11/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:935d9e6a01eeac900ab566d9c49b632b081801b7e1ac1a170d3af418bfadf580 -size 6266270 +oid sha256:ff579d98d122a218766589b49d10fe1591cfe23b8403523e1564863e1809f8ef +size 11421796 diff --git a/actions/static_manipulation/SM01/session_001/meta.json b/actions/static_manipulation/SM01/session_001/meta.json index 7d064837f68e7ccde76f93a2379cf5125945ff79..b69a9d02b700681d602d32da0ab9531a3d4f9ac7 100644 --- a/actions/static_manipulation/SM01/session_001/meta.json +++ b/actions/static_manipulation/SM01/session_001/meta.json @@ -327,8 +327,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -403,10 +403,21 @@ 0.2415, 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 168.3, - "opposite_sign_bend_deg": 27.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.981, + "inlier_spread_deg": 10.6, + "marker_Q_to_gsi_deg": { + "1": 168.4, + "-1": 13.3 + } + }, + "wrist_bend_deg_median": 156.9, + "opposite_sign_bend_deg": 37.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.8, "hand_vs_marker_frame_deg": { "before": 178.09, @@ -418,15 +429,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 155.82, + "twist_moved_deg": -152.16, "wrist_twist_deg_after": { - "median": 19.0, + "median": -3.65, "iqr": [ - 11.3, - 34.7 + -11.7, + 12.1 ] }, - "wrist_total_deg_median_after": 37.4, + "wrist_total_deg_median_after": 26.1, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -439,10 +450,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - 0.0, + -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.977, + "inlier_spread_deg": 8.99, + "marker_Q_to_gsi_deg": { + "1": 10.7, + "-1": 169.6 + } + }, "wrist_bend_deg_median": 23.5, "opposite_sign_bend_deg": 173.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -457,9 +479,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -5.4, 6.9 @@ -473,7 +495,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:16:12.757955+00:00", + "generated_at_utc": "2026-11-06T13:41:24.635717+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -517,6 +539,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.045603532627398 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 15.04, + "offset_rotvec": [ + -0.2407, + -0.0541, + 0.0899 + ], + "dev_deg": { + "median": 11.72, + "p90": 20.47 + }, + "samples": 4068, + "accepted": 3981, + "wrist_pos_err_mm_median": 68.7, + "per_camera": { + "head": { + "samples": 4068, + "accepted": 3981, + "gate_deg": 30.0, + "offset_deg": 15.04, + "tier": "primary", + "dev_deg_median": 11.72, + "wrist_pos_err_mm_median": 68.7 + } + }, + "frames_by_state": { + "ace_sample": 15943, + "interpolated": 260, + "mean_hand": 473, + "no_body_fit": 8 + }, + "observed_fraction": 0.9712, + "observed_fraction_of_valid": 0.9716, + "palm_axis_vs_markers_deg": { + "gsi": 12.88, + "smplx": 2.33 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.8, + "p90": 8.9 + }, + "registered": { + "median": 7.0, + "p90": 9.1 + } + } + }, + "right": { + "offset_deg": 11.8, + "offset_rotvec": [ + -0.1895, + -0.0767, + -0.0249 + ], + "dev_deg": { + "median": 9.29, + "p90": 18.85 + }, + "samples": 4097, + "accepted": 4004, + "wrist_pos_err_mm_median": 74.5, + "per_camera": { + "head": { + "samples": 4097, + "accepted": 4004, + "gate_deg": 30.0, + "offset_deg": 11.8, + "tier": "primary", + "dev_deg_median": 9.29, + "wrist_pos_err_mm_median": 74.5 + } + }, + "frames_by_state": { + "ace_sample": 16039, + "interpolated": 324, + "mean_hand": 313, + "no_body_fit": 8 + }, + "observed_fraction": 0.9808, + "observed_fraction_of_valid": 0.9812, + "palm_axis_vs_markers_deg": { + "gsi": 11.69, + "smplx": 2.18 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.8, + "p90": 10.7 + }, + "registered": { + "median": 8.5, + "p90": 10.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:38:59.736561+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/static_manipulation/SM01/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM01/session_001/motions/smplx.npz b/actions/static_manipulation/SM01/session_001/motions/smplx.npz index 0236c3e8c4ca8d53b7b375fe1303980eb39ff360..73669e5bcf9c17f10ce44b3093b878066d63b761 100644 --- a/actions/static_manipulation/SM01/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM01/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f904c9cacbb9415bc32d6a32335510dfa06611b473f16a71e01bc5c7fa1aec58 -size 6408177 +oid sha256:12cd86f906fcb237a6796fb6fc2b4d532e533d4c737806f0883e661a8963e2ea +size 11908399 diff --git a/actions/static_manipulation/SM01/session_002/meta.json b/actions/static_manipulation/SM01/session_002/meta.json index e17cd7f8f3becc510ac23c5a7598221a07bb64e6..e3ba45d1a1d0439f18dd4f301d25070c34bd784f 100644 --- a/actions/static_manipulation/SM01/session_002/meta.json +++ b/actions/static_manipulation/SM01/session_002/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": { @@ -440,19 +440,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + 2.98794, + -0.42773, + -0.87113 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 41.0, - "opposite_sign_bend_deg": 169.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.675, + "inlier_spread_deg": 11.65, + "marker_Q_to_gsi_deg": { + "1": 175.5, + "-1": 6.7 + } + }, + "wrist_bend_deg_median": 171.1, + "opposite_sign_bend_deg": 40.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.16, "hand_vs_marker_frame_deg": { - "before": 4.16, + "before": 178.16, "after": 4.16 }, "markers_on_wrist": [ @@ -460,15 +471,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 2.06, + "twist_moved_deg": -167.01, "wrist_twist_deg_after": { - "median": 0.04, + "median": -4.89, "iqr": [ - -8.9, - 10.8 + -11.0, + 2.3 ] }, - "wrist_total_deg_median_after": 41.3, + "wrist_total_deg_median_after": 35.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -481,11 +492,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ + -0.0, 0.0, - 0.0, - -0.0 + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.855, + "inlier_spread_deg": 10.18, + "marker_Q_to_gsi_deg": { + "1": 13.3, + "-1": 175.3 + } + }, "wrist_bend_deg_median": 20.3, "opposite_sign_bend_deg": 172.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -499,9 +521,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -5.4, 5.1 @@ -517,7 +539,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:41:54.823183+00:00", + "generated_at_utc": "2026-11-06T14:08:25.443490+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -568,6 +590,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 8.47, + "offset_rotvec": [ + -0.1122, + -0.0691, + -0.0669 + ], + "dev_deg": { + "median": 16.08, + "p90": 166.34 + }, + "samples": 3347, + "accepted": 2247, + "wrist_pos_err_mm_median": 50.5, + "per_camera": { + "head": { + "samples": 3347, + "accepted": 2247, + "gate_deg": 30.0, + "offset_deg": 8.47, + "tier": "primary", + "dev_deg_median": 16.08, + "wrist_pos_err_mm_median": 50.5 + } + }, + "frames_by_state": { + "ace_sample": 9046, + "interpolated": 1554, + "mean_hand": 4605, + "no_body_fit": 7 + }, + "observed_fraction": 0.6968, + "observed_fraction_of_valid": 0.6971, + "palm_axis_vs_markers_deg": { + "gsi": 14.2, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 13.09, + "offset_rotvec": [ + 0.1038, + -0.2027, + -0.0175 + ], + "dev_deg": { + "median": 11.22, + "p90": 47.11 + }, + "samples": 3477, + "accepted": 2965, + "wrist_pos_err_mm_median": 34.2, + "per_camera": { + "head": { + "samples": 3477, + "accepted": 2965, + "gate_deg": 30.0, + "offset_deg": 13.09, + "tier": "primary", + "dev_deg_median": 11.22, + "wrist_pos_err_mm_median": 34.2 + } + }, + "frames_by_state": { + "ace_sample": 11912, + "interpolated": 1492, + "mean_hand": 1801, + "no_body_fit": 7 + }, + "observed_fraction": 0.8811, + "observed_fraction_of_valid": 0.8816, + "palm_axis_vs_markers_deg": { + "gsi": 17.28, + "smplx": 1.1 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.2, + "p90": 20.8 + }, + "registered": { + "median": 11.0, + "p90": 19.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:34:05.846260+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/static_manipulation/SM01/session_002", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM01/session_002/motions/smplx.npz b/actions/static_manipulation/SM01/session_002/motions/smplx.npz index bc09af6da885284c3771bc7faa4bca1127dae5b0..5685c2dd7a45ce31218710020ccbf057f8dddeb5 100644 --- a/actions/static_manipulation/SM01/session_002/motions/smplx.npz +++ b/actions/static_manipulation/SM01/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:95aed4d885717a5dd01c4a9fccc07d94d634c2d8e4518c978afcd88e77633adf -size 5873009 +oid sha256:1499eee43d06e3249d4418cdbf1f59c2be23be16ffb8f3c5ae0bd13c4cecd4d5 +size 10048060 diff --git a/actions/static_manipulation/SM01/session_003/meta.json b/actions/static_manipulation/SM01/session_003/meta.json index d5042c7f9c6138e5e5e87aace6eb2a98cec6a022..68dba99d489db59e4c20f2f77e45f38e4f8ce58d 100644 --- a/actions/static_manipulation/SM01/session_003/meta.json +++ b/actions/static_manipulation/SM01/session_003/meta.json @@ -353,8 +353,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -420,14 +420,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -2.98662, - 0.4392, - 0.86995 + 2.98662, + -0.4392, + -0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 172.3, - "opposite_sign_bend_deg": 20.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.897, + "inlier_spread_deg": 10.47, + "marker_Q_to_gsi_deg": { + "1": 173.2, + "-1": 16.7 + } + }, + "wrist_bend_deg_median": 156.2, + "opposite_sign_bend_deg": 39.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.79, "hand_vs_marker_frame_deg": { "before": 179.05, @@ -439,15 +450,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 157.09, + "twist_moved_deg": -152.62, "wrist_twist_deg_after": { - "median": 17.45, + "median": -4.48, "iqr": [ - -6.3, - 22.1 + -29.3, + -0.1 ] }, - "wrist_total_deg_median_after": 39.1, + "wrist_total_deg_median_after": 20.7, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -464,6 +475,17 @@ -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.93, + "inlier_spread_deg": 9.18, + "marker_Q_to_gsi_deg": { + "1": 8.9, + "-1": 175.8 + } + }, "wrist_bend_deg_median": 17.0, "opposite_sign_bend_deg": 175.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -479,7 +501,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -4.3, 13.3 @@ -494,10 +516,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:47:14.286841+00:00", + "generated_at_utc": "2026-11-06T14:14:03.238447+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 18.12, + "offset_rotvec": [ + 0.0897, + -0.2959, + -0.0663 + ], + "dev_deg": { + "median": 11.66, + "p90": 29.04 + }, + "samples": 3498, + "accepted": 3157, + "wrist_pos_err_mm_median": 55.3, + "per_camera": { + "head": { + "samples": 3498, + "accepted": 3157, + "gate_deg": 30.0, + "offset_deg": 18.12, + "tier": "primary", + "dev_deg_median": 11.66, + "wrist_pos_err_mm_median": 55.3 + } + }, + "frames_by_state": { + "ace_sample": 12724, + "interpolated": 1840, + "mean_hand": 763, + "no_body_fit": 5 + }, + "observed_fraction": 0.9499, + "observed_fraction_of_valid": 0.9502, + "palm_axis_vs_markers_deg": { + "gsi": 18.47, + "smplx": 2.45 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.2, + "p90": 13.6 + }, + "registered": { + "median": 8.8, + "p90": 13.0 + } + } + }, + "right": { + "offset_deg": 8.51, + "offset_rotvec": [ + -0.0008, + 0.0442, + 0.1418 + ], + "dev_deg": { + "median": 9.57, + "p90": 26.01 + }, + "samples": 3323, + "accepted": 3074, + "wrist_pos_err_mm_median": 50.9, + "per_camera": { + "head": { + "samples": 3323, + "accepted": 3074, + "gate_deg": 30.0, + "offset_deg": 8.51, + "tier": "primary", + "dev_deg_median": 9.57, + "wrist_pos_err_mm_median": 50.9 + } + }, + "frames_by_state": { + "ace_sample": 12358, + "interpolated": 1254, + "mean_hand": 1715, + "no_body_fit": 5 + }, + "observed_fraction": 0.8878, + "observed_fraction_of_valid": 0.8881, + "palm_axis_vs_markers_deg": { + "gsi": 9.17, + "smplx": 1.59 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.5, + "p90": 10.0 + }, + "registered": { + "median": 6.2, + "p90": 7.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:46:29.645004+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/static_manipulation/SM01/session_003", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM01/session_003/motions/smplx.npz b/actions/static_manipulation/SM01/session_003/motions/smplx.npz index ded009d6011bd1a4af3eda89908d2047bc5aea8c..79812824a1164f289a3b140fa4f213f131c61437 100644 --- a/actions/static_manipulation/SM01/session_003/motions/smplx.npz +++ b/actions/static_manipulation/SM01/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:07baf9e851c416d80208ce0e729c422397f1f2f0c627628338371cfae510454e -size 5883063 +oid sha256:d8d8cebe773d52689a93f32572cee3dab047bcf6d2c76271d65de679ed5f79f4 +size 10727494 diff --git a/actions/static_manipulation/SM02/session_001/meta.json b/actions/static_manipulation/SM02/session_001/meta.json index baef139cb424ec1f22fe6cf1ccd7e00555f07b07..44a82d9bf920b57132d97639fd9c7bbca1fbaf7b 100644 --- a/actions/static_manipulation/SM02/session_001/meta.json +++ b/actions/static_manipulation/SM02/session_001/meta.json @@ -343,8 +343,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -411,10 +411,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - 0.0, + -0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.919, + "inlier_spread_deg": 9.89, + "marker_Q_to_gsi_deg": { + "1": 10.1, + "-1": 178.9 + } + }, "wrist_bend_deg_median": 48.0, "opposite_sign_bend_deg": 165.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -428,9 +439,9 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -8.5, 8.5 @@ -449,19 +460,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + 2.98604, + 0.43137, + 0.87584 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 38.1, - "opposite_sign_bend_deg": 167.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.859, + "inlier_spread_deg": 9.21, + "marker_Q_to_gsi_deg": { + "1": 179.9, + "-1": 9.2 + } + }, + "wrist_bend_deg_median": 168.2, + "opposite_sign_bend_deg": 38.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.07, "hand_vs_marker_frame_deg": { - "before": 4.07, + "before": 178.35, "after": 4.07 }, "markers_on_wrist": [ @@ -470,15 +492,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.3, + "twist_moved_deg": 163.71, "wrist_twist_deg_after": { - "median": -0.0, + "median": 4.46, "iqr": [ - -5.5, - 7.3 + -0.9, + 14.6 ] }, - "wrist_total_deg_median_after": 39.3, + "wrist_total_deg_median_after": 41.2, "markers_on_forearm": [ "RForearm", "RWristOut" @@ -486,7 +508,7 @@ }, "frames_used": 1321 }, - "generated_at_utc": "2026-10-28T06:17:53.553550+00:00", + "generated_at_utc": "2026-11-06T13:44:54.335501+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -610,6 +632,116 @@ }, "applied": 5 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.7, + "offset_rotvec": [ + -0.0246, + 0.1461, + -0.0819 + ], + "dev_deg": { + "median": 10.5, + "p90": 28.36 + }, + "samples": 3760, + "accepted": 3456, + "wrist_pos_err_mm_median": 37.9, + "per_camera": { + "head": { + "samples": 3760, + "accepted": 3456, + "gate_deg": 30.0, + "offset_deg": 9.7, + "tier": "primary", + "dev_deg_median": 10.5, + "wrist_pos_err_mm_median": 37.9 + } + }, + "frames_by_state": { + "ace_sample": 13896, + "interpolated": 964, + "mean_hand": 442, + "no_body_fit": 182 + }, + "observed_fraction": 0.9597, + "observed_fraction_of_valid": 0.9711, + "palm_axis_vs_markers_deg": { + "gsi": 14.22, + "smplx": 2.51 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.3, + "p90": 9.2 + }, + "registered": { + "median": 8.1, + "p90": 10.1 + } + } + }, + "right": { + "offset_deg": 10.92, + "offset_rotvec": [ + -0.0653, + 0.1487, + 0.0996 + ], + "dev_deg": { + "median": 11.26, + "p90": 85.54 + }, + "samples": 3425, + "accepted": 2946, + "wrist_pos_err_mm_median": 35.5, + "per_camera": { + "head": { + "samples": 3425, + "accepted": 2946, + "gate_deg": 30.0, + "offset_deg": 10.92, + "tier": "primary", + "dev_deg_median": 11.26, + "wrist_pos_err_mm_median": 35.5 + } + }, + "frames_by_state": { + "ace_sample": 11774, + "interpolated": 666, + "mean_hand": 2862, + "no_body_fit": 182 + }, + "observed_fraction": 0.8034, + "observed_fraction_of_valid": 0.813, + "palm_axis_vs_markers_deg": { + "gsi": 9.21, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:45:34.240536+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/static_manipulation/SM02/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM02/session_001/motions/smplx.npz b/actions/static_manipulation/SM02/session_001/motions/smplx.npz index df56493abb29fae67ec1a62b290a7172595e3fe3..1348b81fa6a264fad1fd553797fb1b2028c25fab 100644 --- a/actions/static_manipulation/SM02/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM02/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:45e44f52a9df7d958740c6b1c9fe4d1f8b39febdbedf535ff54c5e8ed7fbcd70 -size 5897404 +oid sha256:f540ae427a95119a66287809250cdd18b602442a33082046ae0768f532e902e6 +size 10621029 diff --git a/actions/static_manipulation/SM03/session_001/meta.json b/actions/static_manipulation/SM03/session_001/meta.json index fb3437140664e6eb5073734726ba61c748d5a8b4..f3b6fd0646ff29d2198baa0005e9b6a0ef378e2e 100644 --- a/actions/static_manipulation/SM03/session_001/meta.json +++ b/actions/static_manipulation/SM03/session_001/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -392,10 +392,21 @@ -0.2415, -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 168.0, - "opposite_sign_bend_deg": 25.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.953, + "inlier_spread_deg": 12.2, + "marker_Q_to_gsi_deg": { + "1": 166.1, + "-1": 17.6 + } + }, + "wrist_bend_deg_median": 156.2, + "opposite_sign_bend_deg": 36.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.92, "hand_vs_marker_frame_deg": { "before": 178.15, @@ -406,15 +417,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 154.92, + "twist_moved_deg": -151.12, "wrist_twist_deg_after": { - "median": 22.24, + "median": -3.58, "iqr": [ - 13.4, - 39.6 + -11.1, + 13.6 ] }, - "wrist_total_deg_median_after": 37.2, + "wrist_total_deg_median_after": 24.5, "markers_on_forearm": [ "LElbow", "LForearm", @@ -433,6 +444,17 @@ 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.952, + "inlier_spread_deg": 11.87, + "marker_Q_to_gsi_deg": { + "1": 11.7, + "-1": 168.6 + } + }, "wrist_bend_deg_median": 25.8, "opposite_sign_bend_deg": 173.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -446,9 +468,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -1.8, 5.4 @@ -463,7 +485,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:12:58.938671+00:00", + "generated_at_utc": "2026-11-06T13:34:55.935582+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -507,6 +529,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.990928408534727 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 19.94, + "offset_rotvec": [ + -0.2756, + -0.0769, + 0.1982 + ], + "dev_deg": { + "median": 13.82, + "p90": 21.59 + }, + "samples": 3759, + "accepted": 3591, + "wrist_pos_err_mm_median": 73.8, + "per_camera": { + "head": { + "samples": 3759, + "accepted": 3591, + "gate_deg": 30.0, + "offset_deg": 19.94, + "tier": "primary", + "dev_deg_median": 13.82, + "wrist_pos_err_mm_median": 73.8 + } + }, + "frames_by_state": { + "ace_sample": 14406, + "interpolated": 610, + "mean_hand": 466, + "no_body_fit": 2 + }, + "observed_fraction": 0.9698, + "observed_fraction_of_valid": 0.9699, + "palm_axis_vs_markers_deg": { + "gsi": 14.4, + "smplx": 2.62 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.8, + "p90": 9.7 + }, + "registered": { + "median": 7.3, + "p90": 10.5 + } + } + }, + "right": { + "offset_deg": 11.62, + "offset_rotvec": [ + -0.1914, + -0.0568, + -0.0351 + ], + "dev_deg": { + "median": 12.4, + "p90": 21.64 + }, + "samples": 3446, + "accepted": 3285, + "wrist_pos_err_mm_median": 92.9, + "per_camera": { + "head": { + "samples": 3446, + "accepted": 3285, + "gate_deg": 30.0, + "offset_deg": 11.62, + "tier": "primary", + "dev_deg_median": 12.4, + "wrist_pos_err_mm_median": 92.9 + } + }, + "frames_by_state": { + "ace_sample": 13170, + "interpolated": 862, + "mean_hand": 1450, + "no_body_fit": 2 + }, + "observed_fraction": 0.9062, + "observed_fraction_of_valid": 0.9063, + "palm_axis_vs_markers_deg": { + "gsi": 12.68, + "smplx": 1.12 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.5, + "p90": 17.4 + }, + "registered": { + "median": 9.4, + "p90": 16.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:23:18.639437+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/static_manipulation/SM03/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM03/session_001/motions/smplx.npz b/actions/static_manipulation/SM03/session_001/motions/smplx.npz index 2fdc81920b06caefb0a7c0e631229a3ec794bc6c..a9d20efb3e5b2977fdc85a20e096a80d1d00eb1f 100644 --- a/actions/static_manipulation/SM03/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM03/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5bb0e36cbf940aa4355749df84078d9ef81ae8d755097186a5d9d1ee141b6360 -size 5956644 +oid sha256:c8bd99a903da463cbcf3b315fbf9888d3e3645e4fa1f596d108c8f71e3df4066 +size 10881032 diff --git a/actions/static_manipulation/SM03/session_004/meta.json b/actions/static_manipulation/SM03/session_004/meta.json index c99e8ef830020655ef571af663ca11fa7a90ae21..67fedfe831933cc2592e1e2fd23ec68703e54871 100644 --- a/actions/static_manipulation/SM03/session_004/meta.json +++ b/actions/static_manipulation/SM03/session_004/meta.json @@ -353,8 +353,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -413,19 +413,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 143.24, + "Q_deg": 180.0, "Q_rotvec": [ - 2.49061, - -0.2144, - -0.02755 + -2.98601, + 0.43444, + 0.87442 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 146.9, - "opposite_sign_bend_deg": 44.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.86, + "inlier_spread_deg": 8.3, + "marker_Q_to_gsi_deg": { + "1": 179.7, + "-1": 18.7 + } + }, + "wrist_bend_deg_median": 170.7, + "opposite_sign_bend_deg": 19.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.4, "hand_vs_marker_frame_deg": { - "before": 143.63, + "before": 178.8, "after": 3.4 }, "markers_on_wrist": [ @@ -433,15 +444,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 145.02, + "twist_moved_deg": -165.38, "wrist_twist_deg_after": { - "median": 4.48, + "median": -6.35, "iqr": [ - -3.9, - 13.4 + -15.2, + -0.6 ] }, - "wrist_total_deg_median_after": 20.3, + "wrist_total_deg_median_after": 35.1, "markers_on_forearm": [ "LElbow", "LElbowIn", @@ -454,19 +465,30 @@ }, "right": { "status": "corrected", - "Q_deg": 66.7, + "Q_deg": 0.0, "Q_rotvec": [ - 0.71057, - 0.81733, - -0.4268 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 49.2, - "opposite_sign_bend_deg": 146.0, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.965, + "inlier_spread_deg": 9.16, + "marker_Q_to_gsi_deg": { + "1": 21.9, + "-1": 172.4 + } + }, + "wrist_bend_deg_median": 31.9, + "opposite_sign_bend_deg": 173.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 8.4, "hand_vs_marker_frame_deg": { - "before": 66.32, + "before": 8.4, "after": 8.4 }, "markers_on_wrist": [ @@ -474,9 +496,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -40.16, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -2.5, 3.6 @@ -491,7 +513,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-29T05:33:29.457269+00:00", + "generated_at_utc": "2026-11-06T14:18:46.241463+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -575,6 +597,116 @@ }, "applied": 5 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 16.52, + "offset_rotvec": [ + -0.0467, + 0.2846, + 0.0018 + ], + "dev_deg": { + "median": 10.53, + "p90": 76.06 + }, + "samples": 4247, + "accepted": 3634, + "wrist_pos_err_mm_median": 47.5, + "per_camera": { + "head": { + "samples": 4247, + "accepted": 3634, + "gate_deg": 30.0, + "offset_deg": 16.52, + "tier": "primary", + "dev_deg_median": 10.53, + "wrist_pos_err_mm_median": 47.5 + } + }, + "frames_by_state": { + "ace_sample": 14570, + "interpolated": 722, + "mean_hand": 2464, + "no_body_fit": 0 + }, + "observed_fraction": 0.8612, + "observed_fraction_of_valid": 0.8612, + "palm_axis_vs_markers_deg": { + "gsi": 22.05, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 22.43, + "offset_rotvec": [ + -0.1497, + -0.3307, + 0.1467 + ], + "dev_deg": { + "median": 9.35, + "p90": 18.86 + }, + "samples": 4229, + "accepted": 4079, + "wrist_pos_err_mm_median": 39.6, + "per_camera": { + "head": { + "samples": 4229, + "accepted": 4079, + "gate_deg": 30.0, + "offset_deg": 22.43, + "tier": "primary", + "dev_deg_median": 9.35, + "wrist_pos_err_mm_median": 39.6 + } + }, + "frames_by_state": { + "ace_sample": 16400, + "interpolated": 1140, + "mean_hand": 216, + "no_body_fit": 0 + }, + "observed_fraction": 0.9878, + "observed_fraction_of_valid": 0.9878, + "palm_axis_vs_markers_deg": { + "gsi": 21.75, + "smplx": 1.57 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.8, + "p90": 23.9 + }, + "registered": { + "median": 12.0, + "p90": 23.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:55:32.939315+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/static_manipulation/SM03/session_004", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM03/session_004/motions/smplx.npz b/actions/static_manipulation/SM03/session_004/motions/smplx.npz index ef7ff289f93e838f6e71136daa27b6122aab1922..8bc246f7d09a4b401eb8c9798206efcb400e885e 100644 --- a/actions/static_manipulation/SM03/session_004/motions/smplx.npz +++ b/actions/static_manipulation/SM03/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f6b7e362c0188c5478d0a8d786c3b48572151fab6ad5c30dc5b099182ed4b953 -size 6807941 +oid sha256:aead61233b47689d0fd6ea42992a508ae65a48ac3842642f3a38213984a45719 +size 12413009 diff --git a/actions/static_manipulation/SM04/session_001/meta.json b/actions/static_manipulation/SM04/session_001/meta.json index 83a97c1d69ef814e2273f4c8cc830ae697690fd9..b92711a38e72464cc7debf9a4f868b4d6ad7b5b3 100644 --- a/actions/static_manipulation/SM04/session_001/meta.json +++ b/actions/static_manipulation/SM04/session_001/meta.json @@ -329,8 +329,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -401,11 +401,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + -0.0, + -0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.9, + "inlier_spread_deg": 10.65, + "marker_Q_to_gsi_deg": { + "1": 9.2, + "-1": 178.7 + } + }, "wrist_bend_deg_median": 30.6, "opposite_sign_bend_deg": 171.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -439,19 +450,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + 2.98604, + 0.43137, + 0.87584 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 35.9, - "opposite_sign_bend_deg": 169.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.868, + "inlier_spread_deg": 8.52, + "marker_Q_to_gsi_deg": { + "1": 177.2, + "-1": 8.3 + } + }, + "wrist_bend_deg_median": 169.9, + "opposite_sign_bend_deg": 35.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.64, "hand_vs_marker_frame_deg": { - "before": 3.64, + "before": 178.58, "after": 3.64 }, "markers_on_wrist": [ @@ -460,15 +482,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.09, + "twist_moved_deg": 167.72, "wrist_twist_deg_after": { - "median": -0.0, + "median": 1.52, "iqr": [ - -5.8, - 3.7 + -2.4, + 7.3 ] }, - "wrist_total_deg_median_after": 36.9, + "wrist_total_deg_median_after": 31.3, "markers_on_forearm": [ "RForearm", "RWristOut" @@ -476,7 +498,7 @@ }, "frames_used": 1395 }, - "generated_at_utc": "2026-10-28T06:17:54.625856+00:00", + "generated_at_utc": "2026-11-06T13:44:46.248740+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -578,6 +600,116 @@ }, "applied": 3 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 8.7, + "offset_rotvec": [ + 0.0473, + 0.1224, + -0.0764 + ], + "dev_deg": { + "median": 11.77, + "p90": 28.58 + }, + "samples": 3598, + "accepted": 3277, + "wrist_pos_err_mm_median": 32.4, + "per_camera": { + "head": { + "samples": 3598, + "accepted": 3277, + "gate_deg": 30.0, + "offset_deg": 8.7, + "tier": "primary", + "dev_deg_median": 11.77, + "wrist_pos_err_mm_median": 32.4 + } + }, + "frames_by_state": { + "ace_sample": 13204, + "interpolated": 1732, + "mean_hand": 548, + "no_body_fit": 0 + }, + "observed_fraction": 0.9646, + "observed_fraction_of_valid": 0.9646, + "palm_axis_vs_markers_deg": { + "gsi": 14.23, + "smplx": 3.69 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.1, + "p90": 10.0 + }, + "registered": { + "median": 8.6, + "p90": 11.9 + } + } + }, + "right": { + "offset_deg": 9.5, + "offset_rotvec": [ + -0.0097, + 0.1197, + 0.1142 + ], + "dev_deg": { + "median": 10.04, + "p90": 53.01 + }, + "samples": 3282, + "accepted": 2861, + "wrist_pos_err_mm_median": 39.2, + "per_camera": { + "head": { + "samples": 3282, + "accepted": 2861, + "gate_deg": 30.0, + "offset_deg": 9.5, + "tier": "primary", + "dev_deg_median": 10.04, + "wrist_pos_err_mm_median": 39.2 + } + }, + "frames_by_state": { + "ace_sample": 11488, + "interpolated": 1448, + "mean_hand": 2548, + "no_body_fit": 0 + }, + "observed_fraction": 0.8354, + "observed_fraction_of_valid": 0.8354, + "palm_axis_vs_markers_deg": { + "gsi": 9.43, + "smplx": 1.9 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.9, + "p90": 11.4 + }, + "registered": { + "median": 6.8, + "p90": 12.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:45:32.341870+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/static_manipulation/SM04/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM04/session_001/motions/smplx.npz b/actions/static_manipulation/SM04/session_001/motions/smplx.npz index 4b3fc51addeb5eb2eb7a63ab579a592c5a7bb3ba..9715367e0ef7d3201c4b32358b833d379606ee94 100644 --- a/actions/static_manipulation/SM04/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM04/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3c72deaa965aee91e79c3ebf54ae0d10a4fe5b2abfd80dfcdf082151017ee885 -size 5939057 +oid sha256:20178431b3033dcaacc63787f26f8d3679e2626c9397ed245d4de1ae2a4d34b0 +size 10688404 diff --git a/actions/static_manipulation/SM05/session_001/meta.json b/actions/static_manipulation/SM05/session_001/meta.json index 6105effa3927321e17da79eff1a78ed858c81b0e..13bd697d3991a1d078bb6c3bebb4ebd381f55522 100644 --- a/actions/static_manipulation/SM05/session_001/meta.json +++ b/actions/static_manipulation/SM05/session_001/meta.json @@ -325,8 +325,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -387,14 +387,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02575, - 0.26943, - 0.80116 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 177.2, - "opposite_sign_bend_deg": 13.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.999, + "inlier_spread_deg": 4.09, + "marker_Q_to_gsi_deg": { + "1": 160.4, + "-1": 22.8 + } + }, + "wrist_bend_deg_median": 171.3, + "opposite_sign_bend_deg": 23.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.94, "hand_vs_marker_frame_deg": { "before": 179.76, @@ -405,15 +416,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -171.17, + "twist_moved_deg": 171.01, "wrist_twist_deg_after": { - "median": -8.61, + "median": 0.16, "iqr": [ - -11.3, - -5.3 + -2.4, + 3.4 ] }, - "wrist_total_deg_median_after": 23.0, + "wrist_total_deg_median_after": 13.7, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -426,11 +437,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ + 0.0, -0.0, - -0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.989, + "inlier_spread_deg": 8.95, + "marker_Q_to_gsi_deg": { + "1": 7.4, + "-1": 178.6 + } + }, "wrist_bend_deg_median": 26.7, "opposite_sign_bend_deg": 171.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -446,7 +468,7 @@ "forearm_twist": { "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -6.7, 14.6 @@ -461,7 +483,7 @@ }, "frames_used": 1489 }, - "generated_at_utc": "2026-10-28T06:15:28.027381+00:00", + "generated_at_utc": "2026-11-06T13:39:08.335448+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -505,6 +527,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8370793737912026 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 22.8, + "offset_rotvec": [ + -0.3317, + -0.1635, + 0.147 + ], + "dev_deg": { + "median": 4.08, + "p90": 7.82 + }, + "samples": 3718, + "accepted": 3714, + "wrist_pos_err_mm_median": 41.9, + "per_camera": { + "head": { + "samples": 3718, + "accepted": 3714, + "gate_deg": 30.0, + "offset_deg": 22.8, + "tier": "primary", + "dev_deg_median": 4.08, + "wrist_pos_err_mm_median": 41.9 + } + }, + "frames_by_state": { + "ace_sample": 14858, + "interpolated": 14, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9992, + "observed_fraction_of_valid": 0.9992, + "palm_axis_vs_markers_deg": { + "gsi": 21.66, + "smplx": 0.7 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.4, + "p90": 6.2 + }, + "registered": { + "median": 5.5, + "p90": 6.7 + } + } + }, + "right": { + "offset_deg": 7.48, + "offset_rotvec": [ + -0.0133, + -0.1287, + -0.0172 + ], + "dev_deg": { + "median": 9.03, + "p90": 15.05 + }, + "samples": 3660, + "accepted": 3619, + "wrist_pos_err_mm_median": 29.8, + "per_camera": { + "head": { + "samples": 3660, + "accepted": 3619, + "gate_deg": 30.0, + "offset_deg": 7.48, + "tier": "primary", + "dev_deg_median": 9.03, + "wrist_pos_err_mm_median": 29.8 + } + }, + "frames_by_state": { + "ace_sample": 14490, + "interpolated": 174, + "mean_hand": 220, + "no_body_fit": 0 + }, + "observed_fraction": 0.9852, + "observed_fraction_of_valid": 0.9852, + "palm_axis_vs_markers_deg": { + "gsi": 10.39, + "smplx": 2.0 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.0, + "p90": 8.8 + }, + "registered": { + "median": 6.4, + "p90": 7.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:32:19.137593+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/static_manipulation/SM05/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM05/session_001/motions/smplx.npz b/actions/static_manipulation/SM05/session_001/motions/smplx.npz index 129d15c204bb6e4f8850597972d3934e41b80756..2e27bccf0ded1ac284e1122f27c799f139164d8e 100644 --- a/actions/static_manipulation/SM05/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM05/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:087019f66af578b73972d5a3df4a378a0753ab94aa95ee45192d801863640b5e -size 5552602 +oid sha256:3ad393854418a7b25be05563879bad265a8d86a8e717de8765139e26b39519a3 +size 10503699 diff --git a/actions/static_manipulation/SM06/session_001/meta.json b/actions/static_manipulation/SM06/session_001/meta.json index 186a1a79fac133a5e076f5f5777ecbf69a0b72b2..aef85134ee23dae35b7240b0b842035013447b0b 100644 --- a/actions/static_manipulation/SM06/session_001/meta.json +++ b/actions/static_manipulation/SM06/session_001/meta.json @@ -329,8 +329,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -391,14 +391,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.985, + "inlier_spread_deg": 2.89, + "marker_Q_to_gsi_deg": { + "1": 167.1, + "-1": 14.6 + } + }, "wrist_bend_deg_median": 176.0, - "opposite_sign_bend_deg": 35.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "opposite_sign_bend_deg": 12.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.52, "hand_vs_marker_frame_deg": { "before": 179.16, @@ -409,15 +420,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 175.84, + "twist_moved_deg": -175.79, "wrist_twist_deg_after": { - "median": 0.37, + "median": -0.04, "iqr": [ - -0.3, + -0.7, 2.6 ] }, - "wrist_total_deg_median_after": 12.6, + "wrist_total_deg_median_after": 35.8, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -430,11 +441,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, - 0.0 + -0.0, + -0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 1.0, + "inlier_spread_deg": 5.74, + "marker_Q_to_gsi_deg": { + "1": 6.2, + "-1": 178.3 + } + }, "wrist_bend_deg_median": 31.1, "opposite_sign_bend_deg": 164.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -448,9 +470,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -18.7, 11.6 @@ -465,7 +487,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:16:12.776736+00:00", + "generated_at_utc": "2026-11-06T13:41:34.949612+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -509,6 +531,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.6921835443989828 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 14.34, + "offset_rotvec": [ + -0.1804, + 0.072, + 0.1579 + ], + "dev_deg": { + "median": 2.79, + "p90": 8.48 + }, + "samples": 4168, + "accepted": 4101, + "wrist_pos_err_mm_median": 56.4, + "per_camera": { + "head": { + "samples": 4168, + "accepted": 4101, + "gate_deg": 30.0, + "offset_deg": 14.34, + "tier": "primary", + "dev_deg_median": 2.79, + "wrist_pos_err_mm_median": 56.4 + } + }, + "frames_by_state": { + "ace_sample": 16404, + "interpolated": 0, + "mean_hand": 272, + "no_body_fit": 8 + }, + "observed_fraction": 0.9832, + "observed_fraction_of_valid": 0.9837, + "palm_axis_vs_markers_deg": { + "gsi": 12.32, + "smplx": 1.44 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.3, + "p90": 15.0 + }, + "registered": { + "median": 10.2, + "p90": 13.8 + } + } + }, + "right": { + "offset_deg": 6.68, + "offset_rotvec": [ + -0.0306, + -0.0902, + 0.0671 + ], + "dev_deg": { + "median": 5.94, + "p90": 10.62 + }, + "samples": 4129, + "accepted": 4128, + "wrist_pos_err_mm_median": 66.0, + "per_camera": { + "head": { + "samples": 4129, + "accepted": 4128, + "gate_deg": 30.0, + "offset_deg": 6.68, + "tier": "primary", + "dev_deg_median": 5.94, + "wrist_pos_err_mm_median": 66.0 + } + }, + "frames_by_state": { + "ace_sample": 16517, + "interpolated": 154, + "mean_hand": 5, + "no_body_fit": 8 + }, + "observed_fraction": 0.9992, + "observed_fraction_of_valid": 0.9997, + "palm_axis_vs_markers_deg": { + "gsi": 7.93, + "smplx": 1.09 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.6, + "p90": 11.3 + }, + "registered": { + "median": 7.5, + "p90": 10.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:39:02.439574+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/static_manipulation/SM06/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM06/session_001/motions/smplx.npz b/actions/static_manipulation/SM06/session_001/motions/smplx.npz index eefd9ddcb003b75b271b5e978fc5ca72b42c8c11..8d5ed6333487a7d5c5c49e0af66c5dacc8c1ab0f 100644 --- a/actions/static_manipulation/SM06/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM06/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fa9ccb152995844741ea35ff352639b096b6cc5afe4d298ebf5e84c4f25aad28 -size 6214718 +oid sha256:f8ad62567f6114ba109626b925b468d60581ce4dd45fe9c0f204c6dc1d1b0b73 +size 11755058 diff --git a/actions/static_manipulation/SM06/session_005/meta.json b/actions/static_manipulation/SM06/session_005/meta.json index aa44b9efb9a2aca01e16ddd8f065f9b6bcade227..8a50c734cb28445b735536306d5cd483c6837caf 100644 --- a/actions/static_manipulation/SM06/session_005/meta.json +++ b/actions/static_manipulation/SM06/session_005/meta.json @@ -353,8 +353,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -416,10 +416,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - 0.0, - -0.0 + -0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.81, + "inlier_spread_deg": 14.97, + "marker_Q_to_gsi_deg": { + "1": 15.9, + "-1": 168.4 + } + }, "wrist_bend_deg_median": 31.0, "opposite_sign_bend_deg": 164.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -433,7 +444,7 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -452,19 +463,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 2.98636, + 0.42149, + 0.87956 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 52.6, - "opposite_sign_bend_deg": 167.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.603, + "inlier_spread_deg": 12.24, + "marker_Q_to_gsi_deg": { + "1": 173.6, + "-1": 16.2 + } + }, + "wrist_bend_deg_median": 165.2, + "opposite_sign_bend_deg": 52.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.06, "hand_vs_marker_frame_deg": { - "before": 5.06, + "before": 177.95, "after": 5.06 }, "markers_on_wrist": [ @@ -472,15 +494,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -3.23, + "twist_moved_deg": 124.05, "wrist_twist_deg_after": { - "median": -0.01, + "median": 54.26, "iqr": [ - -13.5, - 12.2 + 37.8, + 63.9 ] }, - "wrist_total_deg_median_after": 51.5, + "wrist_total_deg_median_after": 57.6, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -489,7 +511,7 @@ }, "frames_used": 1372 }, - "generated_at_utc": "2026-10-28T06:48:06.861501+00:00", + "generated_at_utc": "2026-11-06T14:17:01.176947+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -607,6 +629,116 @@ }, "applied": 7 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 13.25, + "offset_rotvec": [ + 0.2043, + 0.0355, + 0.1022 + ], + "dev_deg": { + "median": 17.27, + "p90": 45.62 + }, + "samples": 3823, + "accepted": 3118, + "wrist_pos_err_mm_median": 22.0, + "per_camera": { + "head": { + "samples": 3823, + "accepted": 3118, + "gate_deg": 30.0, + "offset_deg": 13.25, + "tier": "primary", + "dev_deg_median": 17.27, + "wrist_pos_err_mm_median": 22.0 + } + }, + "frames_by_state": { + "ace_sample": 12562, + "interpolated": 2170, + "mean_hand": 1104, + "no_body_fit": 0 + }, + "observed_fraction": 0.9303, + "observed_fraction_of_valid": 0.9303, + "palm_axis_vs_markers_deg": { + "gsi": 19.21, + "smplx": 1.76 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.9, + "p90": 21.3 + }, + "registered": { + "median": 12.6, + "p90": 20.7 + } + } + }, + "right": { + "offset_deg": 11.6, + "offset_rotvec": [ + 0.1151, + 0.1038, + -0.1302 + ], + "dev_deg": { + "median": 22.09, + "p90": 65.02 + }, + "samples": 3745, + "accepted": 2275, + "wrist_pos_err_mm_median": 53.6, + "per_camera": { + "head": { + "samples": 3745, + "accepted": 2275, + "gate_deg": 30.0, + "offset_deg": 11.6, + "tier": "primary", + "dev_deg_median": 22.09, + "wrist_pos_err_mm_median": 53.6 + } + }, + "frames_by_state": { + "ace_sample": 9188, + "interpolated": 2084, + "mean_hand": 4564, + "no_body_fit": 0 + }, + "observed_fraction": 0.7118, + "observed_fraction_of_valid": 0.7118, + "palm_axis_vs_markers_deg": { + "gsi": 21.13, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:51:18.344873+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/static_manipulation/SM06/session_005", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM06/session_005/motions/smplx.npz b/actions/static_manipulation/SM06/session_005/motions/smplx.npz index 07d19e64a407ca5b9c2df93f48547da0ff780c53..a2b1a81cc24c4ce935943f05de7eeb6df344a4c2 100644 --- a/actions/static_manipulation/SM06/session_005/motions/smplx.npz +++ b/actions/static_manipulation/SM06/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e64083fab53b707ec5be1966300ccbdcd40ec41500f71c9242769770e169afe0 -size 5986498 +oid sha256:1226dc5f39264c4f39fbb14677858333a8f5605c57ddd1fc2a59d09ce94e6163 +size 10525924 diff --git a/actions/static_manipulation/SM06/session_006/meta.json b/actions/static_manipulation/SM06/session_006/meta.json index 863c096a14f53a0ff3fcf13855e3f26edef52b17..928091248ee52b9c68be2d63856c3972422f541c 100644 --- a/actions/static_manipulation/SM06/session_006/meta.json +++ b/actions/static_manipulation/SM06/session_006/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -425,19 +425,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 147.1, + "Q_deg": 180.0, "Q_rotvec": [ - 2.43291, - -0.42166, - -0.70341 + -2.98601, + 0.43444, + 0.87442 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 145.0, - "opposite_sign_bend_deg": 37.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.685, + "inlier_spread_deg": 2.54, + "marker_Q_to_gsi_deg": { + "1": 169.9, + "-1": 26.0 + } + }, + "wrist_bend_deg_median": 177.9, + "opposite_sign_bend_deg": 29.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 12.08, "hand_vs_marker_frame_deg": { - "before": 156.49, + "before": 169.45, "after": 12.08 }, "markers_on_wrist": [ @@ -445,15 +456,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 143.82, + "twist_moved_deg": -177.47, "wrist_twist_deg_after": { - "median": 0.03, + "median": -1.86, "iqr": [ - -79.4, - 1.1 + -82.0, + -0.8 ] }, - "wrist_total_deg_median_after": 29.7, + "wrist_total_deg_median_after": 11.4, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -464,19 +475,30 @@ }, "right": { "status": "corrected", - "Q_deg": 53.88, + "Q_deg": 0.0, "Q_rotvec": [ - 0.79547, - 0.46028, - -0.19889 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 61.2, - "opposite_sign_bend_deg": 137.5, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.968, + "inlier_spread_deg": 14.79, + "marker_Q_to_gsi_deg": { + "1": 23.3, + "-1": 175.6 + } + }, + "wrist_bend_deg_median": 31.6, + "opposite_sign_bend_deg": 163.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.49, "hand_vs_marker_frame_deg": { - "before": 53.58, + "before": 6.49, "after": 6.49 }, "markers_on_wrist": [ @@ -484,9 +506,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -51.43, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -12.0, 14.3 @@ -501,10 +523,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-29T05:34:58.552551+00:00", + "generated_at_utc": "2026-11-06T14:18:44.160215+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 26.85, + "offset_rotvec": [ + 0.4142, + 0.2173, + 0.0289 + ], + "dev_deg": { + "median": 15.1, + "p90": 39.64 + }, + "samples": 3776, + "accepted": 2592, + "wrist_pos_err_mm_median": 55.6, + "per_camera": { + "head": { + "samples": 3776, + "accepted": 2592, + "gate_deg": 30.0, + "offset_deg": 26.85, + "tier": "primary", + "dev_deg_median": 15.1, + "wrist_pos_err_mm_median": 55.6 + } + }, + "frames_by_state": { + "ace_sample": 10368, + "interpolated": 4, + "mean_hand": 4745, + "no_body_fit": 0 + }, + "observed_fraction": 0.6861, + "observed_fraction_of_valid": 0.6861, + "palm_axis_vs_markers_deg": { + "gsi": 27.46, + "smplx": 10.53 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.0, + "p90": 21.1 + }, + "registered": { + "median": 11.8, + "p90": 19.8 + } + } + }, + "right": { + "offset_deg": 23.42, + "offset_rotvec": [ + -0.13, + -0.2193, + 0.3196 + ], + "dev_deg": { + "median": 15.13, + "p90": 23.55 + }, + "samples": 3717, + "accepted": 3610, + "wrist_pos_err_mm_median": 33.3, + "per_camera": { + "head": { + "samples": 3717, + "accepted": 3610, + "gate_deg": 30.0, + "offset_deg": 23.42, + "tier": "primary", + "dev_deg_median": 15.13, + "wrist_pos_err_mm_median": 33.3 + } + }, + "frames_by_state": { + "ace_sample": 14478, + "interpolated": 398, + "mean_hand": 241, + "no_body_fit": 0 + }, + "observed_fraction": 0.9841, + "observed_fraction_of_valid": 0.9841, + "palm_axis_vs_markers_deg": { + "gsi": 17.64, + "smplx": 1.62 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 15.4, + "p90": 26.4 + }, + "registered": { + "median": 15.6, + "p90": 26.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:55:35.840381+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/static_manipulation/SM06/session_006", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM06/session_006/motions/smplx.npz b/actions/static_manipulation/SM06/session_006/motions/smplx.npz index 1b7f7eaf27bb901281d2115791e122a42fead102..51aee3f4de81c908cd26571e6ba54ca66ca0b458 100644 --- a/actions/static_manipulation/SM06/session_006/motions/smplx.npz +++ b/actions/static_manipulation/SM06/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f1a29cc6c78a6c4de04a8d3f9a3916a7917fe57113d113e4a8e6c0a3b5c24d17 -size 5737221 +oid sha256:ceba6e95bd53fab31870c2f63884ab9a3158f0da041ad3c55d0f2f4cc33f432f +size 9999198 diff --git a/actions/static_manipulation/SM07/session_001/meta.json b/actions/static_manipulation/SM07/session_001/meta.json index e087373e383d924ccc9cbacde84de5037a09566a..391740dcd4f07d6af90c5c85452f4f0baeb6c0c5 100644 --- a/actions/static_manipulation/SM07/session_001/meta.json +++ b/actions/static_manipulation/SM07/session_001/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": { @@ -404,14 +404,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02575, - 0.26943, - 0.80116 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 174.5, - "opposite_sign_bend_deg": 16.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2655, + "inlier_frac": 0.963, + "inlier_spread_deg": 7.72, + "marker_Q_to_gsi_deg": { + "1": 165.8, + "-1": 15.1 + } + }, + "wrist_bend_deg_median": 159.6, + "opposite_sign_bend_deg": 35.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.27, "hand_vs_marker_frame_deg": { "before": 178.7, @@ -422,15 +433,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 159.84, + "twist_moved_deg": -158.33, "wrist_twist_deg_after": { - "median": 18.33, + "median": -1.51, "iqr": [ - 7.4, - 21.7 + -12.5, + 3.2 ] }, - "wrist_total_deg_median_after": 35.2, + "wrist_total_deg_median_after": 16.1, "markers_on_forearm": [ "LElbow", "LForearm", @@ -445,10 +456,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2458, + "inlier_frac": 0.882, + "inlier_spread_deg": 9.78, + "marker_Q_to_gsi_deg": { + "1": 5.2, + "-1": 178.3 + } + }, "wrist_bend_deg_median": 24.6, "opposite_sign_bend_deg": 170.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -462,9 +484,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -7.1, 12.0 @@ -479,7 +501,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:15:30.458249+00:00", + "generated_at_utc": "2026-11-06T13:39:08.848906+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -523,6 +545,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8309568802531563 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 14.68, + "offset_rotvec": [ + -0.2447, + -0.0649, + 0.0397 + ], + "dev_deg": { + "median": 7.99, + "p90": 15.78 + }, + "samples": 2655, + "accepted": 2558, + "wrist_pos_err_mm_median": 41.2, + "per_camera": { + "head": { + "samples": 2655, + "accepted": 2558, + "gate_deg": 30.0, + "offset_deg": 14.68, + "tier": "primary", + "dev_deg_median": 7.99, + "wrist_pos_err_mm_median": 41.2 + } + }, + "frames_by_state": { + "ace_sample": 10234, + "interpolated": 466, + "mean_hand": 4784, + "no_body_fit": 0 + }, + "observed_fraction": 0.691, + "observed_fraction_of_valid": 0.691, + "palm_axis_vs_markers_deg": { + "gsi": 14.6, + "smplx": 1.21 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.6, + "p90": 16.1 + }, + "registered": { + "median": 13.3, + "p90": 15.0 + } + } + }, + "right": { + "offset_deg": 5.03, + "offset_rotvec": [ + 0.0078, + -0.0239, + 0.0842 + ], + "dev_deg": { + "median": 10.89, + "p90": 33.06 + }, + "samples": 2458, + "accepted": 2169, + "wrist_pos_err_mm_median": 46.1, + "per_camera": { + "head": { + "samples": 2458, + "accepted": 2169, + "gate_deg": 30.0, + "offset_deg": 5.03, + "tier": "primary", + "dev_deg_median": 10.89, + "wrist_pos_err_mm_median": 46.1 + } + }, + "frames_by_state": { + "ace_sample": 8730, + "interpolated": 1270, + "mean_hand": 5484, + "no_body_fit": 0 + }, + "observed_fraction": 0.6458, + "observed_fraction_of_valid": 0.6458, + "palm_axis_vs_markers_deg": { + "gsi": 10.16, + "smplx": 1.51 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.3, + "p90": 10.8 + }, + "registered": { + "median": 9.0, + "p90": 10.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:32:00.341036+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/static_manipulation/SM07/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM07/session_001/motions/smplx.npz b/actions/static_manipulation/SM07/session_001/motions/smplx.npz index 31e6c4818dc56a5af1fa5ee4d5318aab9625d447..a7544a05f0de08788bf3e07f8125932e9b3de773 100644 --- a/actions/static_manipulation/SM07/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM07/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:bb7c8533fbbd69372a4700842c59ef28b463537196c209e14220e4579a5cbdaf -size 5871109 +oid sha256:4e3385dd0ebe1747b7acfec79acd79aedad3d0e65055355cd817238cc41cd450 +size 9613255 diff --git a/actions/static_manipulation/SM07/session_004/meta.json b/actions/static_manipulation/SM07/session_004/meta.json index 1bf78a3866c02b35c32cd04a91138934bdb84550..13df54acb39ce75b3123f0831ad2b3191ead17e5 100644 --- a/actions/static_manipulation/SM07/session_004/meta.json +++ b/actions/static_manipulation/SM07/session_004/meta.json @@ -353,8 +353,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -418,19 +418,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -2.98498, + 0.43373, + 0.87829 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 61.7, - "opposite_sign_bend_deg": 145.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2761, + "inlier_frac": 0.432, + "inlier_spread_deg": 14.75, + "marker_Q_to_gsi_deg": { + "1": 157.6, + "-1": 29.6 + } + }, + "wrist_bend_deg_median": 145.5, + "opposite_sign_bend_deg": 61.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 10.61, "hand_vs_marker_frame_deg": { - "before": 10.61, + "before": 172.55, "after": 10.61 }, "markers_on_wrist": [ @@ -439,15 +450,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.06, + "twist_moved_deg": -135.24, "wrist_twist_deg_after": { - "median": 0.0, + "median": -39.26, "iqr": [ - -85.0, - 19.7 + -128.1, + -22.0 ] }, - "wrist_total_deg_median_after": 68.3, + "wrist_total_deg_median_after": 55.9, "markers_on_forearm": [ "LForearm", "LWristIn" @@ -457,19 +468,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -2.98636, + -0.42149, + -0.87956 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 54.3, - "opposite_sign_bend_deg": 170.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2672, + "inlier_frac": 0.705, + "inlier_spread_deg": 16.48, + "marker_Q_to_gsi_deg": { + "1": 166.3, + "-1": 23.3 + } + }, + "wrist_bend_deg_median": 170.5, + "opposite_sign_bend_deg": 54.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.68, "hand_vs_marker_frame_deg": { - "before": 3.68, + "before": 179.23, "after": 3.68 }, "markers_on_wrist": [ @@ -477,15 +499,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.07, + "twist_moved_deg": -144.59, "wrist_twist_deg_after": { - "median": -0.0, + "median": -34.76, "iqr": [ - -10.2, - 8.6 + -43.5, + -24.8 ] }, - "wrist_total_deg_median_after": 54.0, + "wrist_total_deg_median_after": 41.7, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -494,7 +516,7 @@ }, "frames_used": 1463 }, - "generated_at_utc": "2026-10-28T06:48:08.445811+00:00", + "generated_at_utc": "2026-11-06T14:17:06.840919+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -590,6 +612,116 @@ }, "applied": 6 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 27.82, + "offset_rotvec": [ + 0.427, + -0.2073, + 0.1018 + ], + "dev_deg": { + "median": 42.0, + "p90": 159.83 + }, + "samples": 2761, + "accepted": 1158, + "wrist_pos_err_mm_median": 75.5, + "per_camera": { + "head": { + "samples": 2761, + "accepted": 1158, + "gate_deg": 30.0, + "offset_deg": 27.82, + "tier": "primary", + "dev_deg_median": 42.0, + "wrist_pos_err_mm_median": 75.5 + } + }, + "frames_by_state": { + "ace_sample": 4624, + "interpolated": 684, + "mean_hand": 10408, + "no_body_fit": 0 + }, + "observed_fraction": 0.3377, + "observed_fraction_of_valid": 0.3377, + "palm_axis_vs_markers_deg": { + "gsi": 41.82, + "smplx": 5.2 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.2, + "p90": 19.5 + }, + "registered": { + "median": 11.2, + "p90": 20.4 + } + } + }, + "right": { + "offset_deg": 20.11, + "offset_rotvec": [ + 0.2425, + 0.0896, + -0.2374 + ], + "dev_deg": { + "median": 21.06, + "p90": 62.8 + }, + "samples": 2672, + "accepted": 1856, + "wrist_pos_err_mm_median": 48.1, + "per_camera": { + "head": { + "samples": 2672, + "accepted": 1856, + "gate_deg": 30.0, + "offset_deg": 20.11, + "tier": "primary", + "dev_deg_median": 21.06, + "wrist_pos_err_mm_median": 48.1 + } + }, + "frames_by_state": { + "ace_sample": 7470, + "interpolated": 1214, + "mean_hand": 7032, + "no_body_fit": 0 + }, + "observed_fraction": 0.5526, + "observed_fraction_of_valid": 0.5526, + "palm_axis_vs_markers_deg": { + "gsi": 21.67, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:51:18.146493+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/static_manipulation/SM07/session_004", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM07/session_004/motions/smplx.npz b/actions/static_manipulation/SM07/session_004/motions/smplx.npz index da5e1217f1580ce88297ad07f38bdaae9fe6d6e0..4502fce390434d38c0ebc998ab4b825721c8997a 100644 --- a/actions/static_manipulation/SM07/session_004/motions/smplx.npz +++ b/actions/static_manipulation/SM07/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:250891e7581e6b217b17d993474c312dd3ec3430fb4ebd760d9d7e468120410a -size 5972730 +oid sha256:6a9aa4e6ea4a5b61731978e106fdee749a5cb866538b7802d6ba7dfcd082949a +size 8622522 diff --git a/actions/static_manipulation/SM08/session_001/meta.json b/actions/static_manipulation/SM08/session_001/meta.json index ef18d688a3d167f92f7e2e20aaf65e0066306928..e629c707c296adaefd6f58f34b32d250c6973cb3 100644 --- a/actions/static_manipulation/SM08/session_001/meta.json +++ b/actions/static_manipulation/SM08/session_001/meta.json @@ -327,8 +327,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -393,10 +393,21 @@ 0.26943, 0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 177.1, - "opposite_sign_bend_deg": 9.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.911, + "inlier_spread_deg": 6.85, + "marker_Q_to_gsi_deg": { + "1": 166.2, + "-1": 15.1 + } + }, + "wrist_bend_deg_median": 174.3, + "opposite_sign_bend_deg": 38.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.71, "hand_vs_marker_frame_deg": { "before": 179.56, @@ -407,15 +418,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -174.61, + "twist_moved_deg": 172.93, "wrist_twist_deg_after": { - "median": -3.52, + "median": 1.68, "iqr": [ - -6.5, - -0.9 + -1.3, + 4.7 ] }, - "wrist_total_deg_median_after": 38.3, + "wrist_total_deg_median_after": 9.8, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -433,6 +444,17 @@ 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.892, + "inlier_spread_deg": 7.3, + "marker_Q_to_gsi_deg": { + "1": 2.2, + "-1": 179.9 + } + }, "wrist_bend_deg_median": 10.4, "opposite_sign_bend_deg": 176.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -446,9 +468,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -4.1, 3.4 @@ -463,7 +485,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:15:30.615725+00:00", + "generated_at_utc": "2026-11-06T13:39:14.635901+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -507,6 +529,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.035451094613441 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 14.84, + "offset_rotvec": [ + -0.2393, + -0.0898, + 0.0419 + ], + "dev_deg": { + "median": 7.26, + "p90": 27.24 + }, + "samples": 3003, + "accepted": 2740, + "wrist_pos_err_mm_median": 47.3, + "per_camera": { + "head": { + "samples": 3003, + "accepted": 2740, + "gate_deg": 30.0, + "offset_deg": 14.84, + "tier": "primary", + "dev_deg_median": 7.26, + "wrist_pos_err_mm_median": 47.3 + } + }, + "frames_by_state": { + "ace_sample": 10908, + "interpolated": 472, + "mean_hand": 4104, + "no_body_fit": 0 + }, + "observed_fraction": 0.735, + "observed_fraction_of_valid": 0.735, + "palm_axis_vs_markers_deg": { + "gsi": 14.37, + "smplx": 1.09 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.2, + "p90": 8.5 + }, + "registered": { + "median": 6.4, + "p90": 9.2 + } + } + }, + "right": { + "offset_deg": 1.94, + "offset_rotvec": [ + 0.0062, + -0.0286, + 0.0169 + ], + "dev_deg": { + "median": 8.3, + "p90": 30.63 + }, + "samples": 3561, + "accepted": 3191, + "wrist_pos_err_mm_median": 27.3, + "per_camera": { + "head": { + "samples": 3561, + "accepted": 3191, + "gate_deg": 30.0, + "offset_deg": 1.94, + "tier": "primary", + "dev_deg_median": 8.3, + "wrist_pos_err_mm_median": 27.3 + } + }, + "frames_by_state": { + "ace_sample": 12798, + "interpolated": 1074, + "mean_hand": 1612, + "no_body_fit": 0 + }, + "observed_fraction": 0.8959, + "observed_fraction_of_valid": 0.8959, + "palm_axis_vs_markers_deg": { + "gsi": 7.06, + "smplx": 1.11 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.8, + "p90": 7.3 + }, + "registered": { + "median": 7.5, + "p90": 8.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:32:13.239126+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/static_manipulation/SM08/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM08/session_001/motions/smplx.npz b/actions/static_manipulation/SM08/session_001/motions/smplx.npz index 5bfd5f688d6ba9a8f2ce9029384e4f110c273752..bd1de9ce8d979bb88d2e5b82bb14ed085997633d 100644 --- a/actions/static_manipulation/SM08/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM08/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:cc4b22b288dd3ea5d0b040c382d186232bd0d3c298c1f15a61b7826993c98df2 -size 5834084 +oid sha256:3a9d299337c84b64bffbc3a07c17d4fe73c9047981f26ee232e50cb83f3ad216 +size 10354863 diff --git a/actions/static_manipulation/SM08/session_005/meta.json b/actions/static_manipulation/SM08/session_005/meta.json index 5d6c2217d52fcb11b93ade531d5b1d28b880d3ef..4cd81e65928806034f9aac2061b3563353c01ff5 100644 --- a/actions/static_manipulation/SM08/session_005/meta.json +++ b/actions/static_manipulation/SM08/session_005/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -430,19 +430,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + 2.98164, + -0.44128, + -0.88584 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 30.7, - "opposite_sign_bend_deg": 175.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.55, + "inlier_spread_deg": 13.45, + "marker_Q_to_gsi_deg": { + "1": 166.9, + "-1": 13.5 + } + }, + "wrist_bend_deg_median": 175.7, + "opposite_sign_bend_deg": 30.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.08, "hand_vs_marker_frame_deg": { - "before": 4.08, + "before": 178.11, "after": 4.08 }, "markers_on_wrist": [ @@ -451,15 +462,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.03, + "twist_moved_deg": -102.75, "wrist_twist_deg_after": { - "median": -0.0, + "median": -76.84, "iqr": [ - -3.7, - 9.8 + -80.8, + -65.4 ] }, - "wrist_total_deg_median_after": 31.6, + "wrist_total_deg_median_after": 77.6, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -471,11 +482,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, - -0.0, + 0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.627, + "inlier_spread_deg": 10.85, + "marker_Q_to_gsi_deg": { + "1": 9.5, + "-1": 171.2 + } + }, "wrist_bend_deg_median": 12.0, "opposite_sign_bend_deg": 175.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -489,7 +511,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -506,7 +528,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:47:14.507988+00:00", + "generated_at_utc": "2026-11-06T14:14:05.654255+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -557,6 +579,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.65, + "offset_rotvec": [ + 0.3008, + 0.0581, + 0.0323 + ], + "dev_deg": { + "median": 26.08, + "p90": 103.93 + }, + "samples": 3447, + "accepted": 1998, + "wrist_pos_err_mm_median": 35.2, + "per_camera": { + "head": { + "samples": 3447, + "accepted": 1998, + "gate_deg": 30.0, + "offset_deg": 17.65, + "tier": "primary", + "dev_deg_median": 26.08, + "wrist_pos_err_mm_median": 35.2 + } + }, + "frames_by_state": { + "ace_sample": 8030, + "interpolated": 1830, + "mean_hand": 5648, + "no_body_fit": 0 + }, + "observed_fraction": 0.6358, + "observed_fraction_of_valid": 0.6358, + "palm_axis_vs_markers_deg": { + "gsi": 24.44, + "smplx": 3.33 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.1, + "p90": 18.7 + }, + "registered": { + "median": 10.1, + "p90": 16.6 + } + } + }, + "right": { + "offset_deg": 20.44, + "offset_rotvec": [ + 0.3383, + 0.0772, + -0.0832 + ], + "dev_deg": { + "median": 21.52, + "p90": 55.21 + }, + "samples": 3152, + "accepted": 1972, + "wrist_pos_err_mm_median": 42.9, + "per_camera": { + "head": { + "samples": 3152, + "accepted": 1972, + "gate_deg": 30.0, + "offset_deg": 20.44, + "tier": "primary", + "dev_deg_median": 21.52, + "wrist_pos_err_mm_median": 42.9 + } + }, + "frames_by_state": { + "ace_sample": 7872, + "interpolated": 752, + "mean_hand": 6884, + "no_body_fit": 0 + }, + "observed_fraction": 0.5561, + "observed_fraction_of_valid": 0.5561, + "palm_axis_vs_markers_deg": { + "gsi": 16.79, + "smplx": 2.05 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.5, + "p90": 12.7 + }, + "registered": { + "median": 9.1, + "p90": 13.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:46:22.535589+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/static_manipulation/SM08/session_005", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM08/session_005/motions/smplx.npz b/actions/static_manipulation/SM08/session_005/motions/smplx.npz index 37c0943515d229c7b348abe528871e9b92da2253..04ae1df6bd8874db5102ed4d0162c51d6bfb4927 100644 --- a/actions/static_manipulation/SM08/session_005/motions/smplx.npz +++ b/actions/static_manipulation/SM08/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d4907ba2ce1dee01f86073fb9a8daacde3a14a86494914225a0a533bbc02a3d1 -size 5845290 +oid sha256:73de7c12c4bf335b0bc66af986f2135e35ceb6476adae7e7386cbd9310011855 +size 9315853 diff --git a/actions/static_manipulation/SM08/session_006/meta.json b/actions/static_manipulation/SM08/session_006/meta.json index 3ebffe602b3e1b7e9c401a86c1a244173de5a610..0804365e8b14aa7cc83f32833708f60354f1dd2f 100644 --- a/actions/static_manipulation/SM08/session_006/meta.json +++ b/actions/static_manipulation/SM08/session_006/meta.json @@ -413,35 +413,46 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 67.52, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + 1.06627, + 0.01722, + 0.50132 ], "in_out_sign": 1, - "wrist_bend_deg_median": 17.5, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 2935, + "inlier_frac": 0.467, + "inlier_spread_deg": 19.56, + "marker_Q_to_gsi_deg": { + "1": 67.5, + "-1": 131.5 + } + }, + "wrist_bend_deg_median": 71.5, "opposite_sign_bend_deg": 172.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.03, "hand_vs_marker_frame_deg": { "before": 3.03, - "after": 3.03 + "after": 67.73 }, "markers_on_wrist": [ "LHandIn", "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 63.44, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ - -5.7, - 7.4 + -4.3, + 7.7 ] }, - "wrist_total_deg_median_after": 18.0, + "wrist_total_deg_median_after": 36.0, "markers_on_forearm": [ "LElbow", "LForearm", @@ -455,11 +466,18 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI not reliable)", + "gsi": { + "reliable": false, + "frames": 2323, + "inlier_frac": 0.698, + "inlier_spread_deg": 20.93 + }, "wrist_bend_deg_median": 45.7, "opposite_sign_bend_deg": 176.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -490,7 +508,7 @@ }, "frames_used": 1464 }, - "generated_at_utc": "2026-10-28T06:48:09.023530+00:00", + "generated_at_utc": "2026-11-06T14:17:03.646490+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/static_manipulation/SM08/session_006/motions/smplx.npz b/actions/static_manipulation/SM08/session_006/motions/smplx.npz index d399d0198469e63d57c0fa04889239409701f65a..9c43e7e588e168a82995603b3767f674ba48856a 100644 --- a/actions/static_manipulation/SM08/session_006/motions/smplx.npz +++ b/actions/static_manipulation/SM08/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:cfc0db7de7916e518b1c0f2d3c560d139529409c82e18d76d7b3e04b01ea03c2 -size 5978364 +oid sha256:365e93647932b79420fd91094aa868ce81acb5d698eec56ae1abb79cda15528b +size 5971431 diff --git a/actions/static_manipulation/SM08/session_007/meta.json b/actions/static_manipulation/SM08/session_007/meta.json index a20e596d3117d987601dc47ba33cb607f4575a34..dc9121316b77635161937bb80f162268f7350b30 100644 --- a/actions/static_manipulation/SM08/session_007/meta.json +++ b/actions/static_manipulation/SM08/session_007/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -425,19 +425,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 153.71, + "Q_deg": 180.0, "Q_rotvec": [ - 2.6438, - 0.40832, - -0.20193 + -2.98601, + 0.43444, + 0.87442 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 148.6, - "opposite_sign_bend_deg": 41.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.985, + "inlier_spread_deg": 6.32, + "marker_Q_to_gsi_deg": { + "1": 179.3, + "-1": 17.2 + } + }, + "wrist_bend_deg_median": 175.4, + "opposite_sign_bend_deg": 17.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.98, "hand_vs_marker_frame_deg": { - "before": 153.76, + "before": 178.98, "after": 2.98 }, "markers_on_wrist": [ @@ -445,15 +456,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 148.54, + "twist_moved_deg": -171.04, "wrist_twist_deg_after": { - "median": 0.19, + "median": -6.02, "iqr": [ - -4.5, - 4.5 + -10.3, + -1.6 ] }, - "wrist_total_deg_median_after": 17.4, + "wrist_total_deg_median_after": 30.8, "markers_on_forearm": [ "LElbow", "LForearm", @@ -465,19 +476,30 @@ }, "right": { "status": "corrected", - "Q_deg": 98.72, + "Q_deg": 0.0, "Q_rotvec": [ - 1.33176, - 1.03048, - -0.36464 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 90.2, - "opposite_sign_bend_deg": 111.7, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.983, + "inlier_spread_deg": 6.69, + "marker_Q_to_gsi_deg": { + "1": 18.6, + "-1": 175.5 + } + }, + "wrist_bend_deg_median": 43.6, + "opposite_sign_bend_deg": 171.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.55, "hand_vs_marker_frame_deg": { - "before": 98.27, + "before": 4.55, "after": 4.55 }, "markers_on_wrist": [ @@ -485,7 +507,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -80.53, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -502,7 +524,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-29T05:35:35.170500+00:00", + "generated_at_utc": "2026-11-06T14:18:52.536359+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -542,6 +564,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.1, + "offset_rotvec": [ + 0.0213, + 0.2975, + -0.009 + ], + "dev_deg": { + "median": 6.38, + "p90": 11.54 + }, + "samples": 3953, + "accepted": 3893, + "wrist_pos_err_mm_median": 51.8, + "per_camera": { + "head": { + "samples": 3953, + "accepted": 3893, + "gate_deg": 30.0, + "offset_deg": 17.1, + "tier": "primary", + "dev_deg_median": 6.38, + "wrist_pos_err_mm_median": 51.8 + } + }, + "frames_by_state": { + "ace_sample": 15568, + "interpolated": 4, + "mean_hand": 414, + "no_body_fit": 0 + }, + "observed_fraction": 0.9741, + "observed_fraction_of_valid": 0.9741, + "palm_axis_vs_markers_deg": { + "gsi": 17.84, + "smplx": 2.9 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 22.3, + "p90": 40.3 + }, + "registered": { + "median": 22.2, + "p90": 39.6 + } + } + }, + "right": { + "offset_deg": 18.13, + "offset_rotvec": [ + -0.0495, + -0.3112, + 0.0281 + ], + "dev_deg": { + "median": 6.76, + "p90": 12.76 + }, + "samples": 3993, + "accepted": 3931, + "wrist_pos_err_mm_median": 23.5, + "per_camera": { + "head": { + "samples": 3993, + "accepted": 3931, + "gate_deg": 30.0, + "offset_deg": 18.13, + "tier": "primary", + "dev_deg_median": 6.76, + "wrist_pos_err_mm_median": 23.5 + } + }, + "frames_by_state": { + "ace_sample": 15728, + "interpolated": 12, + "mean_hand": 246, + "no_body_fit": 0 + }, + "observed_fraction": 0.9846, + "observed_fraction_of_valid": 0.9846, + "palm_axis_vs_markers_deg": { + "gsi": 19.69, + "smplx": 1.33 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 17.7, + "p90": 27.9 + }, + "registered": { + "median": 17.8, + "p90": 27.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:55:45.638598+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/static_manipulation/SM08/session_007", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM08/session_007/motions/smplx.npz b/actions/static_manipulation/SM08/session_007/motions/smplx.npz index aa0d58a8998a653ba678ce557b72a5ad4baab41f..39eae9150f2f78c4af001d6a23d6c71505a6dd20 100644 --- a/actions/static_manipulation/SM08/session_007/motions/smplx.npz +++ b/actions/static_manipulation/SM08/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:07f49ad8ab8d7b1dc3408077563ad5268eeaddd4f59ec41d0b031c061a2b21ce -size 5996033 +oid sha256:6782a776219abbebd1e7928665563189146d6b86f374aac9b1275040f499cf88 +size 11286465 diff --git a/actions/static_manipulation/SM09/session_001/meta.json b/actions/static_manipulation/SM09/session_001/meta.json index 71e9a790c654321b461ae76051cce3eb3bf5c088..4f7f984d9fa2a8e3e4d4cb852e6b32b3f4f5bd3c 100644 --- a/actions/static_manipulation/SM09/session_001/meta.json +++ b/actions/static_manipulation/SM09/session_001/meta.json @@ -324,8 +324,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -390,10 +390,21 @@ -0.2415, -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 174.3, - "opposite_sign_bend_deg": 20.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.998, + "inlier_spread_deg": 6.31, + "marker_Q_to_gsi_deg": { + "1": 173.0, + "-1": 11.3 + } + }, + "wrist_bend_deg_median": 167.4, + "opposite_sign_bend_deg": 26.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.99, "hand_vs_marker_frame_deg": { "before": 179.11, @@ -404,15 +415,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 168.41, + "twist_moved_deg": -165.5, "wrist_twist_deg_after": { - "median": 7.65, + "median": -2.91, "iqr": [ - -6.9, - 10.9 + -13.4, + 0.1 ] }, - "wrist_total_deg_median_after": 26.0, + "wrist_total_deg_median_after": 20.4, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -430,6 +441,17 @@ 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.992, + "inlier_spread_deg": 5.69, + "marker_Q_to_gsi_deg": { + "1": 7.3, + "-1": 174.5 + } + }, "wrist_bend_deg_median": 19.3, "opposite_sign_bend_deg": 177.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -443,7 +465,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -460,7 +482,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:16:12.885031+00:00", + "generated_at_utc": "2026-11-06T13:41:36.953530+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -504,6 +526,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0464157968305832 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.49, + "offset_rotvec": [ + -0.0979, + -0.1456, + 0.052 + ], + "dev_deg": { + "median": 7.02, + "p90": 14.0 + }, + "samples": 4611, + "accepted": 4604, + "wrist_pos_err_mm_median": 99.8, + "per_camera": { + "head": { + "samples": 4611, + "accepted": 4604, + "gate_deg": 30.0, + "offset_deg": 10.49, + "tier": "primary", + "dev_deg_median": 7.02, + "wrist_pos_err_mm_median": 99.8 + } + }, + "frames_by_state": { + "ace_sample": 18421, + "interpolated": 50, + "mean_hand": 5, + "no_body_fit": 8 + }, + "observed_fraction": 0.9993, + "observed_fraction_of_valid": 0.9997, + "palm_axis_vs_markers_deg": { + "gsi": 11.09, + "smplx": 1.48 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.5, + "p90": 16.7 + }, + "registered": { + "median": 14.0, + "p90": 17.1 + } + } + }, + "right": { + "offset_deg": 7.11, + "offset_rotvec": [ + -0.1021, + -0.0468, + 0.0526 + ], + "dev_deg": { + "median": 5.95, + "p90": 16.71 + }, + "samples": 4571, + "accepted": 4540, + "wrist_pos_err_mm_median": 95.5, + "per_camera": { + "head": { + "samples": 4571, + "accepted": 4540, + "gate_deg": 30.0, + "offset_deg": 7.11, + "tier": "primary", + "dev_deg_median": 5.95, + "wrist_pos_err_mm_median": 95.5 + } + }, + "frames_by_state": { + "ace_sample": 18181, + "interpolated": 270, + "mean_hand": 25, + "no_body_fit": 8 + }, + "observed_fraction": 0.9982, + "observed_fraction_of_valid": 0.9986, + "palm_axis_vs_markers_deg": { + "gsi": 10.01, + "smplx": 0.73 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.6, + "p90": 7.7 + }, + "registered": { + "median": 5.7, + "p90": 6.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:38:56.339515+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/static_manipulation/SM09/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM09/session_001/motions/smplx.npz b/actions/static_manipulation/SM09/session_001/motions/smplx.npz index 5ce54d5724adb107407e2ecd81a0e4c9e753d886..a4994b00cc576ba8cd4e2d8397f9a511f3c7713c 100644 --- a/actions/static_manipulation/SM09/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM09/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:20626306f4b99ad3f43ef21fd356796750d4c7da04a228d8bec9cccad2513196 -size 7107376 +oid sha256:eade6acd26d5b7021aa944bef1f7563d59c86e568e39dbe7c2886c37cb18e37d +size 13290192 diff --git a/actions/static_manipulation/SM09/session_003/meta.json b/actions/static_manipulation/SM09/session_003/meta.json index 7d0ab3ee954c5f0da29d69a4da60be8a11c892eb..f2ea274ea6e542279cebffb85e3e0e7121dfd3b2 100644 --- a/actions/static_manipulation/SM09/session_003/meta.json +++ b/actions/static_manipulation/SM09/session_003/meta.json @@ -353,8 +353,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -413,35 +413,46 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 46.81, "Q_rotvec": [ - 2.98498, - -0.43373, - -0.87829 + 0.79942, + -0.12834, + 0.10928 ], "in_out_sign": 1, - "wrist_bend_deg_median": 175.7, - "opposite_sign_bend_deg": 34.0, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.813, + "inlier_spread_deg": 15.19, + "marker_Q_to_gsi_deg": { + "1": 46.8, + "-1": 137.4 + } + }, + "wrist_bend_deg_median": 94.3, + "opposite_sign_bend_deg": 133.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.73, "hand_vs_marker_frame_deg": { - "before": 179.17, - "after": 2.73 + "before": 2.73, + "after": 47.42 }, "markers_on_wrist": [ "LHandIn", "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 131.75, + "twist_moved_deg": 92.92, "wrist_twist_deg_after": { - "median": 47.18, + "median": -0.0, "iqr": [ - 13.1, - 50.0 + -32.3, + 2.8 ] }, - "wrist_total_deg_median_after": 48.5, + "wrist_total_deg_median_after": 20.0, "markers_on_forearm": [ "LElbow", "LForearm", @@ -453,19 +464,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 2.98636, + 0.42149, + 0.87956 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 65.8, - "opposite_sign_bend_deg": 122.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.478, + "inlier_spread_deg": 13.05, + "marker_Q_to_gsi_deg": { + "1": 167.0, + "-1": 19.2 + } + }, + "wrist_bend_deg_median": 162.1, + "opposite_sign_bend_deg": 37.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.71, "hand_vs_marker_frame_deg": { - "before": 6.71, + "before": 176.91, "after": 6.71 }, "markers_on_wrist": [ @@ -473,15 +495,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 56.13, + "twist_moved_deg": -156.83, "wrist_twist_deg_after": { - "median": -0.0, + "median": -21.75, "iqr": [ - -31.2, - 18.2 + -44.1, + -6.0 ] }, - "wrist_total_deg_median_after": 37.2, + "wrist_total_deg_median_after": 22.8, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -490,10 +512,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:48:09.017746+00:00", + "generated_at_utc": "2026-11-06T14:17:17.063203+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 3.36, + "offset_rotvec": [ + -0.0373, + -0.0451, + 0.0023 + ], + "dev_deg": { + "median": 18.55, + "p90": 36.24 + }, + "samples": 3186, + "accepted": 2588, + "wrist_pos_err_mm_median": 54.7, + "per_camera": { + "head": { + "samples": 3186, + "accepted": 2588, + "gate_deg": 30.0, + "offset_deg": 3.36, + "tier": "primary", + "dev_deg_median": 18.55, + "wrist_pos_err_mm_median": 54.7 + } + }, + "frames_by_state": { + "ace_sample": 10630, + "interpolated": 4430, + "mean_hand": 381, + "no_body_fit": 0 + }, + "observed_fraction": 0.9753, + "observed_fraction_of_valid": 0.9753, + "palm_axis_vs_markers_deg": { + "gsi": 43.76, + "smplx": 42.85 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.8, + "p90": 24.6 + }, + "registered": { + "median": 13.9, + "p90": 24.5 + } + } + }, + "right": { + "offset_deg": 33.84, + "offset_rotvec": [ + 0.5329, + 0.2012, + -0.156 + ], + "dev_deg": { + "median": 28.49, + "p90": 163.15 + }, + "samples": 3363, + "accepted": 1856, + "wrist_pos_err_mm_median": 71.0, + "per_camera": { + "head": { + "samples": 3363, + "accepted": 1856, + "gate_deg": 30.0, + "offset_deg": 33.84, + "tier": "primary", + "dev_deg_median": 28.49, + "wrist_pos_err_mm_median": 71.0 + } + }, + "frames_by_state": { + "ace_sample": 7572, + "interpolated": 2872, + "mean_hand": 4997, + "no_body_fit": 0 + }, + "observed_fraction": 0.6764, + "observed_fraction_of_valid": 0.6764, + "palm_axis_vs_markers_deg": { + "gsi": 41.8, + "smplx": 4.65 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.2, + "p90": 12.0 + }, + "registered": { + "median": 7.5, + "p90": 11.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:53:19.842308+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/static_manipulation/SM09/session_003", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM09/session_003/motions/smplx.npz b/actions/static_manipulation/SM09/session_003/motions/smplx.npz index f3573a05b971c9b0b609fa3131a927c60b3ab300..a0e69d9c13b432832dd6be69f5ac9b04bd325dd4 100644 --- a/actions/static_manipulation/SM09/session_003/motions/smplx.npz +++ b/actions/static_manipulation/SM09/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8cc81cb0a64e8aebb6c2cbe95c022c5e5de0eb3ff7971e3c412e6e4a4b6e1c12 -size 5942752 +oid sha256:041c8533c5ada3640a005440627229a83dca09f1d09c182e971713c9747a24d1 +size 10303520 diff --git a/actions/static_manipulation/SM10/session_001/meta.json b/actions/static_manipulation/SM10/session_001/meta.json index 5f92323cb4ec0fe0a0e038910f6ab04fe4fb9f00..f9d69193c9997c60f22fed7d38fa27ea079eafe9 100644 --- a/actions/static_manipulation/SM10/session_001/meta.json +++ b/actions/static_manipulation/SM10/session_001/meta.json @@ -344,8 +344,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -409,19 +409,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - 2.98447, - -0.44488, - -0.87443 + -0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 170.9, - "opposite_sign_bend_deg": 29.6, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.915, + "inlier_spread_deg": 11.05, + "marker_Q_to_gsi_deg": { + "1": 8.2, + "-1": 179.7 + } + }, + "wrist_bend_deg_median": 36.0, + "opposite_sign_bend_deg": 167.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.57, "hand_vs_marker_frame_deg": { - "before": 178.18, + "before": 2.57, "after": 2.57 }, "markers_on_wrist": [ @@ -429,15 +440,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -166.95, + "twist_moved_deg": -4.21, "wrist_twist_deg_after": { - "median": -4.21, + "median": 0.0, "iqr": [ - -11.5, - 0.5 + -7.3, + 4.7 ] }, - "wrist_total_deg_median_after": 35.5, + "wrist_total_deg_median_after": 34.5, "markers_on_forearm": [ "LElbowIn", "LForearm", @@ -449,19 +460,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -2.98604, + -0.43137, + -0.87584 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 34.7, - "opposite_sign_bend_deg": 169.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.946, + "inlier_spread_deg": 9.52, + "marker_Q_to_gsi_deg": { + "1": 180.0, + "-1": 8.1 + } + }, + "wrist_bend_deg_median": 170.0, + "opposite_sign_bend_deg": 34.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.07, "hand_vs_marker_frame_deg": { - "before": 4.07, + "before": 178.05, "after": 4.07 }, "markers_on_wrist": [ @@ -470,15 +492,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.48, + "twist_moved_deg": 166.69, "wrist_twist_deg_after": { - "median": -0.0, + "median": 2.79, "iqr": [ - -5.5, - 4.9 + -1.2, + 10.7 ] }, - "wrist_total_deg_median_after": 34.8, + "wrist_total_deg_median_after": 33.6, "markers_on_forearm": [ "RForearm", "RWristOut" @@ -486,7 +508,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:17:54.677001+00:00", + "generated_at_utc": "2026-11-06T13:44:48.346747+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -530,6 +552,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.7366573091230669 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 8.33, + "offset_rotvec": [ + 0.0057, + 0.1302, + -0.0646 + ], + "dev_deg": { + "median": 11.65, + "p90": 26.54 + }, + "samples": 3727, + "accepted": 3410, + "wrist_pos_err_mm_median": 32.9, + "per_camera": { + "head": { + "samples": 3727, + "accepted": 3410, + "gate_deg": 30.0, + "offset_deg": 8.33, + "tier": "primary", + "dev_deg_median": 11.65, + "wrist_pos_err_mm_median": 32.9 + } + }, + "frames_by_state": { + "ace_sample": 13720, + "interpolated": 1208, + "mean_hand": 546, + "no_body_fit": 10 + }, + "observed_fraction": 0.9641, + "observed_fraction_of_valid": 0.9647, + "palm_axis_vs_markers_deg": { + "gsi": 13.96, + "smplx": 2.16 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.7, + "p90": 11.9 + }, + "registered": { + "median": 7.8, + "p90": 9.8 + } + } + }, + "right": { + "offset_deg": 8.3, + "offset_rotvec": [ + -0.0453, + 0.0668, + 0.1203 + ], + "dev_deg": { + "median": 9.97, + "p90": 20.56 + }, + "samples": 3418, + "accepted": 3234, + "wrist_pos_err_mm_median": 41.7, + "per_camera": { + "head": { + "samples": 3418, + "accepted": 3234, + "gate_deg": 30.0, + "offset_deg": 8.3, + "tier": "primary", + "dev_deg_median": 9.97, + "wrist_pos_err_mm_median": 41.7 + } + }, + "frames_by_state": { + "ace_sample": 12966, + "interpolated": 1002, + "mean_hand": 1506, + "no_body_fit": 10 + }, + "observed_fraction": 0.9021, + "observed_fraction_of_valid": 0.9027, + "palm_axis_vs_markers_deg": { + "gsi": 9.55, + "smplx": 2.54 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.6, + "p90": 12.5 + }, + "registered": { + "median": 8.6, + "p90": 13.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:45:36.535744+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/static_manipulation/SM10/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM10/session_001/motions/smplx.npz b/actions/static_manipulation/SM10/session_001/motions/smplx.npz index 5b719f8e8643e7619ec5ca7fabd5921ae0acd7e9..2a8b72fd225bcbc64047aa857e674b52ae54496d 100644 --- a/actions/static_manipulation/SM10/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM10/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1a38dbbb31aa6a0a39dfaa18bd8856d0bafef6688d77070f8595deaf72d706b0 -size 5954018 +oid sha256:41215a8e76d40fa094578f02b3c22fe33ad5b8f028450ee1585d95854f81feb3 +size 10927753 diff --git a/actions/static_manipulation/SM11/session_001/meta.json b/actions/static_manipulation/SM11/session_001/meta.json index b08bec05973adc49349311e82dd9b3095abf61ff..a04d92d88f122a20c2c868504167b15271ee02b4 100644 --- a/actions/static_manipulation/SM11/session_001/meta.json +++ b/actions/static_manipulation/SM11/session_001/meta.json @@ -324,8 +324,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -390,10 +390,21 @@ -0.2415, -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 166.0, - "opposite_sign_bend_deg": 24.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.995, + "inlier_spread_deg": 10.6, + "marker_Q_to_gsi_deg": { + "1": 169.8, + "-1": 12.3 + } + }, + "wrist_bend_deg_median": 142.1, + "opposite_sign_bend_deg": 45.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.73, "hand_vs_marker_frame_deg": { "before": 178.16, @@ -404,15 +415,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 139.35, + "twist_moved_deg": -137.31, "wrist_twist_deg_after": { - "median": 35.64, + "median": -2.05, "iqr": [ - 26.4, - 55.8 + -14.5, + 16.4 ] }, - "wrist_total_deg_median_after": 46.1, + "wrist_total_deg_median_after": 24.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -425,11 +436,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, + -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.925, + "inlier_spread_deg": 7.25, + "marker_Q_to_gsi_deg": { + "1": 11.4, + "-1": 169.0 + } + }, "wrist_bend_deg_median": 22.8, "opposite_sign_bend_deg": 170.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -443,7 +465,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -460,7 +482,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:16:13.037499+00:00", + "generated_at_utc": "2026-11-06T13:41:47.236689+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -504,6 +526,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.3478970868258777 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 12.56, + "offset_rotvec": [ + -0.2054, + -0.054, + 0.0545 + ], + "dev_deg": { + "median": 11.17, + "p90": 22.36 + }, + "samples": 3792, + "accepted": 3759, + "wrist_pos_err_mm_median": 75.3, + "per_camera": { + "head": { + "samples": 3792, + "accepted": 3759, + "gate_deg": 30.0, + "offset_deg": 12.56, + "tier": "primary", + "dev_deg_median": 11.17, + "wrist_pos_err_mm_median": 75.3 + } + }, + "frames_by_state": { + "ace_sample": 15066, + "interpolated": 246, + "mean_hand": 172, + "no_body_fit": 0 + }, + "observed_fraction": 0.9889, + "observed_fraction_of_valid": 0.9889, + "palm_axis_vs_markers_deg": { + "gsi": 12.28, + "smplx": 2.39 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.3, + "p90": 16.5 + }, + "registered": { + "median": 12.5, + "p90": 15.8 + } + } + }, + "right": { + "offset_deg": 12.82, + "offset_rotvec": [ + -0.2125, + -0.0695, + -0.0052 + ], + "dev_deg": { + "median": 8.4, + "p90": 21.63 + }, + "samples": 3729, + "accepted": 3439, + "wrist_pos_err_mm_median": 87.3, + "per_camera": { + "head": { + "samples": 3729, + "accepted": 3439, + "gate_deg": 30.0, + "offset_deg": 12.82, + "tier": "primary", + "dev_deg_median": 8.4, + "wrist_pos_err_mm_median": 87.3 + } + }, + "frames_by_state": { + "ace_sample": 13798, + "interpolated": 930, + "mean_hand": 756, + "no_body_fit": 0 + }, + "observed_fraction": 0.9512, + "observed_fraction_of_valid": 0.9512, + "palm_axis_vs_markers_deg": { + "gsi": 11.61, + "smplx": 1.4 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.2, + "p90": 11.0 + }, + "registered": { + "median": 8.2, + "p90": 11.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:38:59.338320+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/static_manipulation/SM11/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM11/session_001/motions/smplx.npz b/actions/static_manipulation/SM11/session_001/motions/smplx.npz index 2be2073122bef32209cc2cd528722bafe0913fc4..c7745e40aad11719d2a44928278fd0b9ae3f8285 100644 --- a/actions/static_manipulation/SM11/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM11/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ec5fba9c8f3cb2cf742488af81cc5ea2e610e53431b19e39cd9ca86aa7c516ba -size 5942160 +oid sha256:c4fdb8d27f1d425f3b0546362fa19333d079992be7d81709e492fc6f3795f9b3 +size 11024793 diff --git a/actions/static_manipulation/SM11/session_002/meta.json b/actions/static_manipulation/SM11/session_002/meta.json index cda55cb9c4d02a22659c6ad84da297765012e37b..b17c5445523ef9201ed2db2c8b40be144c8f5802 100644 --- a/actions/static_manipulation/SM11/session_002/meta.json +++ b/actions/static_manipulation/SM11/session_002/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": { @@ -439,19 +439,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + 2.98794, + -0.42773, + -0.87113 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 48.4, - "opposite_sign_bend_deg": 169.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.534, + "inlier_spread_deg": 13.1, + "marker_Q_to_gsi_deg": { + "1": 163.1, + "-1": 17.2 + } + }, + "wrist_bend_deg_median": 161.9, + "opposite_sign_bend_deg": 46.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.69, "hand_vs_marker_frame_deg": { - "before": 4.69, + "before": 176.77, "after": 4.69 }, "markers_on_wrist": [ @@ -459,15 +470,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -7.97, + "twist_moved_deg": -160.41, "wrist_twist_deg_after": { - "median": -0.0, + "median": -7.82, "iqr": [ - -25.4, - 5.9 + -55.9, + -2.5 ] }, - "wrist_total_deg_median_after": 46.1, + "wrist_total_deg_median_after": 42.0, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -482,9 +493,20 @@ "Q_rotvec": [ 0.0, 0.0, - -0.0 + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.796, + "inlier_spread_deg": 10.26, + "marker_Q_to_gsi_deg": { + "1": 11.7, + "-1": 179.2 + } + }, "wrist_bend_deg_median": 21.2, "opposite_sign_bend_deg": 171.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -500,7 +522,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -6.1, 7.0 @@ -516,7 +538,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:41:55.610304+00:00", + "generated_at_utc": "2026-11-06T14:08:34.386596+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -556,6 +578,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 21.09, + "offset_rotvec": [ + -0.3535, + 0.0249, + 0.0997 + ], + "dev_deg": { + "median": 28.62, + "p90": 168.5 + }, + "samples": 3446, + "accepted": 1760, + "wrist_pos_err_mm_median": 50.9, + "per_camera": { + "head": { + "samples": 3446, + "accepted": 1760, + "gate_deg": 30.0, + "offset_deg": 21.09, + "tier": "primary", + "dev_deg_median": 28.62, + "wrist_pos_err_mm_median": 50.9 + } + }, + "frames_by_state": { + "ace_sample": 7028, + "interpolated": 960, + "mean_hand": 8824, + "no_body_fit": 8 + }, + "observed_fraction": 0.4749, + "observed_fraction_of_valid": 0.4751, + "palm_axis_vs_markers_deg": { + "gsi": 26.08, + "smplx": 3.92 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.9, + "p90": 8.1 + }, + "registered": { + "median": 5.4, + "p90": 7.7 + } + } + }, + "right": { + "offset_deg": 10.45, + "offset_rotvec": [ + 0.0355, + -0.1485, + -0.0999 + ], + "dev_deg": { + "median": 12.58, + "p90": 50.86 + }, + "samples": 3550, + "accepted": 2841, + "wrist_pos_err_mm_median": 37.8, + "per_camera": { + "head": { + "samples": 3550, + "accepted": 2841, + "gate_deg": 30.0, + "offset_deg": 10.45, + "tier": "primary", + "dev_deg_median": 12.58, + "wrist_pos_err_mm_median": 37.8 + } + }, + "frames_by_state": { + "ace_sample": 11444, + "interpolated": 2284, + "mean_hand": 3084, + "no_body_fit": 8 + }, + "observed_fraction": 0.8162, + "observed_fraction_of_valid": 0.8166, + "palm_axis_vs_markers_deg": { + "gsi": 15.16, + "smplx": 1.25 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.4, + "p90": 21.3 + }, + "registered": { + "median": 10.1, + "p90": 20.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:34:30.641209+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/static_manipulation/SM11/session_002", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM11/session_002/motions/smplx.npz b/actions/static_manipulation/SM11/session_002/motions/smplx.npz index 3727a0df6a577e41ec488adc950cef2dc0fab63a..d6d62081ff18f19661f22047c1b6c6fdd62a02e5 100644 --- a/actions/static_manipulation/SM11/session_002/motions/smplx.npz +++ b/actions/static_manipulation/SM11/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:644276e185039cffc3918fd63561c1d9a9198413d471264beea0893580cf7bed -size 6490460 +oid sha256:77b3bacd335b0297d326e8e6b48d21191922748bb55673900dcb4d1a3e7d609d +size 10477134 diff --git a/actions/static_manipulation/SM12/session_001/meta.json b/actions/static_manipulation/SM12/session_001/meta.json index 75db3934b6a362aea979c495731f4dabe9feaafa..796ecbd0ef7a40a2c29c83e162798400f3d97fa4 100644 --- a/actions/static_manipulation/SM12/session_001/meta.json +++ b/actions/static_manipulation/SM12/session_001/meta.json @@ -324,8 +324,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -395,10 +395,21 @@ -0.2415, -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 170.0, - "opposite_sign_bend_deg": 25.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.993, + "inlier_spread_deg": 10.92, + "marker_Q_to_gsi_deg": { + "1": 165.8, + "-1": 15.1 + } + }, + "wrist_bend_deg_median": 138.9, + "opposite_sign_bend_deg": 46.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.83, "hand_vs_marker_frame_deg": { "before": 178.32, @@ -409,15 +420,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 137.86, + "twist_moved_deg": -136.94, "wrist_twist_deg_after": { - "median": 38.3, + "median": -0.92, "iqr": [ - 31.0, - 51.2 + -7.5, + 13.3 ] }, - "wrist_total_deg_median_after": 47.0, + "wrist_total_deg_median_after": 25.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -430,11 +441,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, - 0.0 + -0.0, + -0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.996, + "inlier_spread_deg": 8.99, + "marker_Q_to_gsi_deg": { + "1": 10.5, + "-1": 170.6 + } + }, "wrist_bend_deg_median": 22.7, "opposite_sign_bend_deg": 175.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -449,9 +471,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -4.2, 7.9 @@ -465,7 +487,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:16:14.412117+00:00", + "generated_at_utc": "2026-11-06T13:41:59.235825+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -509,6 +531,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9875029235762112 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.23, + "offset_rotvec": [ + -0.2895, + -0.0309, + 0.0752 + ], + "dev_deg": { + "median": 11.59, + "p90": 18.49 + }, + "samples": 5606, + "accepted": 5542, + "wrist_pos_err_mm_median": 61.1, + "per_camera": { + "head": { + "samples": 5606, + "accepted": 5542, + "gate_deg": 30.0, + "offset_deg": 17.23, + "tier": "primary", + "dev_deg_median": 11.59, + "wrist_pos_err_mm_median": 61.1 + } + }, + "frames_by_state": { + "ace_sample": 22206, + "interpolated": 466, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9995, + "observed_fraction_of_valid": 0.9995, + "palm_axis_vs_markers_deg": { + "gsi": 14.37, + "smplx": 2.44 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.8, + "p90": 12.0 + }, + "registered": { + "median": 7.3, + "p90": 12.6 + } + } + }, + "right": { + "offset_deg": 12.37, + "offset_rotvec": [ + -0.2061, + -0.061, + 0.02 + ], + "dev_deg": { + "median": 9.42, + "p90": 14.72 + }, + "samples": 5594, + "accepted": 5573, + "wrist_pos_err_mm_median": 61.3, + "per_camera": { + "head": { + "samples": 5594, + "accepted": 5573, + "gate_deg": 30.0, + "offset_deg": 12.37, + "tier": "primary", + "dev_deg_median": 9.42, + "wrist_pos_err_mm_median": 61.3 + } + }, + "frames_by_state": { + "ace_sample": 22318, + "interpolated": 354, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9995, + "observed_fraction_of_valid": 0.9995, + "palm_axis_vs_markers_deg": { + "gsi": 9.47, + "smplx": 2.29 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.7, + "p90": 8.6 + }, + "registered": { + "median": 7.2, + "p90": 8.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:39:10.543008+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/static_manipulation/SM12/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM12/session_001/motions/smplx.npz b/actions/static_manipulation/SM12/session_001/motions/smplx.npz index 91fcca3bfb0399379c892cf5f3fb82c1166a00d3..e5d9cd75ed56d7bbe819d1e5fc520e8170cd1a89 100644 --- a/actions/static_manipulation/SM12/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM12/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e8cde4bc3228321f6b8492cad2e05e214694be34fd398bbfe8be5d2a9a1d171c -size 8654948 +oid sha256:5f5b2dd9d4b09f21721267cc547514091d4c097bfa83b2206456b2dbf9099691 +size 16260760 diff --git a/actions/static_manipulation/SM12/session_005/meta.json b/actions/static_manipulation/SM12/session_005/meta.json index 11cab41e05e793862803dfba070a63313f44b086..3754e10c65ecfe9070b5220b981e2fde0ba4c16c 100644 --- a/actions/static_manipulation/SM12/session_005/meta.json +++ b/actions/static_manipulation/SM12/session_005/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -437,6 +437,17 @@ -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.799, + "inlier_spread_deg": 11.69, + "marker_Q_to_gsi_deg": { + "1": 29.4, + "-1": 157.0 + } + }, "wrist_bend_deg_median": 15.7, "opposite_sign_bend_deg": 172.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -453,7 +464,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -5.2, 5.7 @@ -470,19 +481,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 2.98636, + 0.42149, + 0.87956 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 40.3, - "opposite_sign_bend_deg": 173.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.719, + "inlier_spread_deg": 7.86, + "marker_Q_to_gsi_deg": { + "1": 163.8, + "-1": 20.3 + } + }, + "wrist_bend_deg_median": 172.2, + "opposite_sign_bend_deg": 40.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.61, "hand_vs_marker_frame_deg": { - "before": 5.61, + "before": 178.47, "after": 5.61 }, "markers_on_wrist": [ @@ -490,15 +512,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 6.88, + "twist_moved_deg": 167.78, "wrist_twist_deg_after": { - "median": 0.02, + "median": 6.88, "iqr": [ - -9.3, - 10.9 + 2.7, + 15.2 ] }, - "wrist_total_deg_median_after": 41.1, + "wrist_total_deg_median_after": 34.8, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -507,7 +529,7 @@ }, "frames_used": 1464 }, - "generated_at_utc": "2026-10-28T06:48:09.175541+00:00", + "generated_at_utc": "2026-11-06T14:17:20.441252+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -547,6 +569,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 34.35, + "offset_rotvec": [ + 0.564, + -0.0812, + 0.1866 + ], + "dev_deg": { + "median": 16.08, + "p90": 36.25 + }, + "samples": 3526, + "accepted": 2958, + "wrist_pos_err_mm_median": 40.8, + "per_camera": { + "head": { + "samples": 3526, + "accepted": 2958, + "gate_deg": 30.0, + "offset_deg": 34.35, + "tier": "primary", + "dev_deg_median": 16.08, + "wrist_pos_err_mm_median": 40.8 + } + }, + "frames_by_state": { + "ace_sample": 11952, + "interpolated": 2228, + "mean_hand": 944, + "no_body_fit": 0 + }, + "observed_fraction": 0.9376, + "observed_fraction_of_valid": 0.9376, + "palm_axis_vs_markers_deg": { + "gsi": 25.82, + "smplx": 2.74 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 18.4, + "p90": 31.9 + }, + "registered": { + "median": 17.6, + "p90": 30.7 + } + } + }, + "right": { + "offset_deg": 23.81, + "offset_rotvec": [ + 0.406, + 0.0212, + -0.0856 + ], + "dev_deg": { + "median": 13.1, + "p90": 163.94 + }, + "samples": 3674, + "accepted": 2679, + "wrist_pos_err_mm_median": 35.2, + "per_camera": { + "head": { + "samples": 3674, + "accepted": 2679, + "gate_deg": 30.0, + "offset_deg": 23.81, + "tier": "primary", + "dev_deg_median": 13.1, + "wrist_pos_err_mm_median": 35.2 + } + }, + "frames_by_state": { + "ace_sample": 10756, + "interpolated": 684, + "mean_hand": 3684, + "no_body_fit": 0 + }, + "observed_fraction": 0.7564, + "observed_fraction_of_valid": 0.7564, + "palm_axis_vs_markers_deg": { + "gsi": 20.45, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:53:29.338710+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/static_manipulation/SM12/session_005", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM12/session_005/motions/smplx.npz b/actions/static_manipulation/SM12/session_005/motions/smplx.npz index 3f70078f966d12001c75a04fc879eb76a837d4cd..d161c971ed9b18f8da35a81c98fc996c87d1083c 100644 --- a/actions/static_manipulation/SM12/session_005/motions/smplx.npz +++ b/actions/static_manipulation/SM12/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7a1c01d6dea9fbc53d219a2ff0ce2e95d2dfad5577259c99de367671e0b08eef -size 5814571 +oid sha256:8affc012f926f9862ef3fe755f6c70da2010690504d92eddd07f2254c3222c98 +size 10224255 diff --git a/actions/static_manipulation/SM13/session_001/meta.json b/actions/static_manipulation/SM13/session_001/meta.json index 8a501e65e5518a111499a3f2f9337a50f9a971f5..552ea91f5390bf2ab59f308a2d5842400cb1e746 100644 --- a/actions/static_manipulation/SM13/session_001/meta.json +++ b/actions/static_manipulation/SM13/session_001/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": { @@ -401,10 +401,21 @@ -0.2415, -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 174.1, - "opposite_sign_bend_deg": 17.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.976, + "inlier_spread_deg": 11.56, + "marker_Q_to_gsi_deg": { + "1": 174.8, + "-1": 12.2 + } + }, + "wrist_bend_deg_median": 171.8, + "opposite_sign_bend_deg": 32.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.97, "hand_vs_marker_frame_deg": { "before": 179.13, @@ -416,15 +427,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 172.02, + "twist_moved_deg": -171.09, "wrist_twist_deg_after": { - "median": 1.92, + "median": -0.93, "iqr": [ - -2.5, - 5.8 + -6.2, + 2.4 ] }, - "wrist_total_deg_median_after": 32.0, + "wrist_total_deg_median_after": 17.9, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -438,9 +449,20 @@ "Q_rotvec": [ -0.0, 0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.987, + "inlier_spread_deg": 10.95, + "marker_Q_to_gsi_deg": { + "1": 6.8, + "-1": 173.9 + } + }, "wrist_bend_deg_median": 13.2, "opposite_sign_bend_deg": 176.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -455,9 +477,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -2.6, 4.2 @@ -471,7 +493,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:16:16.108638+00:00", + "generated_at_utc": "2026-11-06T13:41:52.646332+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -515,6 +537,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1745932528546863 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.45, + "offset_rotvec": [ + 0.1138, + -0.1186, + 0.0145 + ], + "dev_deg": { + "median": 13.07, + "p90": 21.4 + }, + "samples": 3599, + "accepted": 3492, + "wrist_pos_err_mm_median": 131.2, + "per_camera": { + "head": { + "samples": 3599, + "accepted": 3492, + "gate_deg": 30.0, + "offset_deg": 9.45, + "tier": "primary", + "dev_deg_median": 13.07, + "wrist_pos_err_mm_median": 131.2 + } + }, + "frames_by_state": { + "ace_sample": 14124, + "interpolated": 1348, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9992, + "observed_fraction_of_valid": 0.9992, + "palm_axis_vs_markers_deg": { + "gsi": 11.55, + "smplx": 1.09 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.4, + "p90": 12.4 + }, + "registered": { + "median": 11.3, + "p90": 12.4 + } + } + }, + "right": { + "offset_deg": 11.1, + "offset_rotvec": [ + 0.0984, + -0.0539, + 0.158 + ], + "dev_deg": { + "median": 12.89, + "p90": 16.72 + }, + "samples": 3806, + "accepted": 3742, + "wrist_pos_err_mm_median": 122.5, + "per_camera": { + "head": { + "samples": 3806, + "accepted": 3742, + "gate_deg": 30.0, + "offset_deg": 11.1, + "tier": "primary", + "dev_deg_median": 12.89, + "wrist_pos_err_mm_median": 122.5 + } + }, + "frames_by_state": { + "ace_sample": 15014, + "interpolated": 458, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9992, + "observed_fraction_of_valid": 0.9992, + "palm_axis_vs_markers_deg": { + "gsi": 11.17, + "smplx": 1.05 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.8, + "p90": 7.8 + }, + "registered": { + "median": 5.7, + "p90": 6.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:39:12.946889+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/static_manipulation/SM13/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM13/session_001/motions/smplx.npz b/actions/static_manipulation/SM13/session_001/motions/smplx.npz index 1e46c8c2422cb634012aea07388fe51db139c723..d80073884705aa73abbb371b8e59dcb631203384 100644 --- a/actions/static_manipulation/SM13/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM13/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:737d9dc9afab46952ad5250d3b0a58dd37dc44d273731ec491575f552ad418f2 -size 5814399 +oid sha256:35df3e7c7e2a5b57e7107a955f93a51c02d38bdf9b6d0c80c8604bb4c38629cd +size 11000812 diff --git a/actions/static_manipulation/SM13/session_002/meta.json b/actions/static_manipulation/SM13/session_002/meta.json index bcb1858a4382ccec93808eea60cbffc666b1b3fd..c3471312ffcf86afa78c4e64b8ecede15e27d67f 100644 --- a/actions/static_manipulation/SM13/session_002/meta.json +++ b/actions/static_manipulation/SM13/session_002/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": { @@ -444,14 +444,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -2.98794, - 0.42773, - 0.87113 + 2.98794, + -0.42773, + -0.87113 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 161.7, - "opposite_sign_bend_deg": 49.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.827, + "inlier_spread_deg": 8.68, + "marker_Q_to_gsi_deg": { + "1": 178.2, + "-1": 9.1 + } + }, + "wrist_bend_deg_median": 157.0, + "opposite_sign_bend_deg": 59.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.63, "hand_vs_marker_frame_deg": { "before": 177.8, @@ -463,15 +474,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 157.0, + "twist_moved_deg": -155.11, "wrist_twist_deg_after": { - "median": 5.86, + "median": -1.88, "iqr": [ - -2.2, - 13.4 + -7.6, + 1.6 ] }, - "wrist_total_deg_median_after": 59.6, + "wrist_total_deg_median_after": 49.3, "markers_on_forearm": [ "LElbowIn", "LForearm", @@ -484,11 +495,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + -0.0, + -0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.914, + "inlier_spread_deg": 6.68, + "marker_Q_to_gsi_deg": { + "1": 12.1, + "-1": 174.2 + } + }, "wrist_bend_deg_median": 31.0, "opposite_sign_bend_deg": 170.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -502,7 +524,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -520,10 +542,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:41:55.552023+00:00", + "generated_at_utc": "2026-11-06T14:08:35.837417+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.53, + "offset_rotvec": [ + -0.0133, + -0.1604, + -0.0424 + ], + "dev_deg": { + "median": 9.53, + "p90": 160.08 + }, + "samples": 3483, + "accepted": 2883, + "wrist_pos_err_mm_median": 51.4, + "per_camera": { + "head": { + "samples": 3483, + "accepted": 2883, + "gate_deg": 30.0, + "offset_deg": 9.53, + "tier": "primary", + "dev_deg_median": 9.53, + "wrist_pos_err_mm_median": 51.4 + } + }, + "frames_by_state": { + "ace_sample": 11580, + "interpolated": 1004, + "mean_hand": 2521, + "no_body_fit": 7 + }, + "observed_fraction": 0.8327, + "observed_fraction_of_valid": 0.8331, + "palm_axis_vs_markers_deg": { + "gsi": 12.99, + "smplx": 2.72 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.6, + "p90": 14.1 + }, + "registered": { + "median": 12.3, + "p90": 13.4 + } + } + }, + "right": { + "offset_deg": 12.31, + "offset_rotvec": [ + 0.1383, + -0.1628, + -0.0228 + ], + "dev_deg": { + "median": 7.13, + "p90": 21.39 + }, + "samples": 3645, + "accepted": 3330, + "wrist_pos_err_mm_median": 31.6, + "per_camera": { + "head": { + "samples": 3645, + "accepted": 3330, + "gate_deg": 30.0, + "offset_deg": 12.31, + "tier": "primary", + "dev_deg_median": 7.13, + "wrist_pos_err_mm_median": 31.6 + } + }, + "frames_by_state": { + "ace_sample": 13342, + "interpolated": 338, + "mean_hand": 1425, + "no_body_fit": 7 + }, + "observed_fraction": 0.9052, + "observed_fraction_of_valid": 0.9057, + "palm_axis_vs_markers_deg": { + "gsi": 12.46, + "smplx": 0.85 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.9, + "p90": 23.6 + }, + "registered": { + "median": 13.5, + "p90": 22.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:34:53.635526+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/static_manipulation/SM13/session_002", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM13/session_002/motions/smplx.npz b/actions/static_manipulation/SM13/session_002/motions/smplx.npz index 6c373d643e3b16354cdbd9df8e007bbea52360be..88f5ec2e8a1868321266066b605c77ff3ddc9192 100644 --- a/actions/static_manipulation/SM13/session_002/motions/smplx.npz +++ b/actions/static_manipulation/SM13/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3d3d8bf6d165ed8fe02dd80c42ec847845188f84f58e493f6c8b7cf0c0b65fd2 -size 5759097 +oid sha256:11103ddfe7a20247eec1b537f7ae8db49b873bd2e8f6719e8dbfee853ae2f1ab +size 10206093 diff --git a/actions/static_manipulation/SM14/session_001/meta.json b/actions/static_manipulation/SM14/session_001/meta.json index 0af792869ea019b4a342e87e375b485ad401e0c4..6343de52dd19fa08f03f9ee6d82fbc1d0b51d62c 100644 --- a/actions/static_manipulation/SM14/session_001/meta.json +++ b/actions/static_manipulation/SM14/session_001/meta.json @@ -339,8 +339,8 @@ "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": { @@ -399,19 +399,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 43.2, - "opposite_sign_bend_deg": 163.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.886, + "inlier_spread_deg": 12.93, + "marker_Q_to_gsi_deg": { + "1": 168.1, + "-1": 12.0 + } + }, + "wrist_bend_deg_median": 163.2, + "opposite_sign_bend_deg": 43.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 11.99, "hand_vs_marker_frame_deg": { - "before": 11.99, + "before": 178.13, "after": 11.99 }, "markers_on_wrist": [ @@ -419,15 +430,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": -147.09, "wrist_twist_deg_after": { - "median": 0.0, + "median": -24.25, "iqr": [ - -12.6, - 11.5 + -49.5, + -11.3 ] }, - "wrist_total_deg_median_after": 45.0, + "wrist_total_deg_median_after": 47.9, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -440,11 +451,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.933, + "inlier_spread_deg": 9.68, + "marker_Q_to_gsi_deg": { + "1": 5.2, + "-1": 179.7 + } + }, "wrist_bend_deg_median": 28.3, "opposite_sign_bend_deg": 169.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -458,7 +480,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.01, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -475,7 +497,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:15:31.097913+00:00", + "generated_at_utc": "2026-11-06T13:39:19.048255+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -566,6 +588,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.83, + "offset_rotvec": [ + -0.1635, + 0.0134, + 0.0499 + ], + "dev_deg": { + "median": 13.95, + "p90": 31.7 + }, + "samples": 3876, + "accepted": 3448, + "wrist_pos_err_mm_median": 29.3, + "per_camera": { + "head": { + "samples": 3876, + "accepted": 3448, + "gate_deg": 30.0, + "offset_deg": 9.83, + "tier": "primary", + "dev_deg_median": 13.95, + "wrist_pos_err_mm_median": 29.3 + } + }, + "frames_by_state": { + "ace_sample": 13772, + "interpolated": 270, + "mean_hand": 3234, + "no_body_fit": 8 + }, + "observed_fraction": 0.8124, + "observed_fraction_of_valid": 0.8128, + "palm_axis_vs_markers_deg": { + "gsi": 14.56, + "smplx": 3.65 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.0, + "p90": 10.5 + }, + "registered": { + "median": 8.2, + "p90": 10.6 + } + } + }, + "right": { + "offset_deg": 6.16, + "offset_rotvec": [ + 0.0218, + -0.102, + 0.0263 + ], + "dev_deg": { + "median": 10.09, + "p90": 22.42 + }, + "samples": 4045, + "accepted": 3762, + "wrist_pos_err_mm_median": 24.0, + "per_camera": { + "head": { + "samples": 4045, + "accepted": 3762, + "gate_deg": 30.0, + "offset_deg": 6.16, + "tier": "primary", + "dev_deg_median": 10.09, + "wrist_pos_err_mm_median": 24.0 + } + }, + "frames_by_state": { + "ace_sample": 15080, + "interpolated": 780, + "mean_hand": 1416, + "no_body_fit": 8 + }, + "observed_fraction": 0.9176, + "observed_fraction_of_valid": 0.918, + "palm_axis_vs_markers_deg": { + "gsi": 10.85, + "smplx": 2.8 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.8, + "p90": 8.9 + }, + "registered": { + "median": 7.6, + "p90": 8.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:34:35.935098+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/static_manipulation/SM14/session_001", "family": "static_manipulation", diff --git a/actions/static_manipulation/SM14/session_001/motions/smplx.npz b/actions/static_manipulation/SM14/session_001/motions/smplx.npz index ca644838e7d89ed3978d0ab21da4ce0cf81294ba..fc84e17d81b4426de979524ccce911e28189e5de 100644 --- a/actions/static_manipulation/SM14/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM14/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f73525a92603265d96d05992749631889efd53189be30de91fddbc124c67f400 -size 6540390 +oid sha256:8afa48f9a299aba249e9996a651bb7515cf0c59fb2f851d4e821e3184e31617b +size 11701703 diff --git a/actions/static_manipulation/SM14/session_004/meta.json b/actions/static_manipulation/SM14/session_004/meta.json index 94bd8989e7a0e52f9f8b4fcd6d7ceecca68dd02a..5cf7ecf8e44e867809b1526e0e40500fa0130d70 100644 --- a/actions/static_manipulation/SM14/session_004/meta.json +++ b/actions/static_manipulation/SM14/session_004/meta.json @@ -378,8 +378,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -438,19 +438,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + -2.98442, + 0.43848, + 0.87784 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 28.5, - "opposite_sign_bend_deg": 175.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.644, + "inlier_spread_deg": 18.35, + "marker_Q_to_gsi_deg": { + "1": 155.3, + "-1": 32.4 + } + }, + "wrist_bend_deg_median": 175.8, + "opposite_sign_bend_deg": 28.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.06, "hand_vs_marker_frame_deg": { - "before": 3.06, + "before": 179.05, "after": 3.06 }, "markers_on_wrist": [ @@ -458,15 +469,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": 171.53, "wrist_twist_deg_after": { - "median": 0.0, + "median": 7.45, "iqr": [ - -6.0, - 6.4 + 3.5, + 13.2 ] }, - "wrist_total_deg_median_after": 29.9, + "wrist_total_deg_median_after": 22.3, "markers_on_forearm": [ "LElbow", "LForearm", @@ -481,10 +492,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - -0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.891, + "inlier_spread_deg": 12.7, + "marker_Q_to_gsi_deg": { + "1": 15.3, + "-1": 171.1 + } + }, "wrist_bend_deg_median": 13.3, "opposite_sign_bend_deg": 174.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -498,9 +520,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -7.6, 5.6 @@ -516,7 +538,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:41:56.634847+00:00", + "generated_at_utc": "2026-11-06T14:08:38.239414+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -590,6 +612,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 30.96, + "offset_rotvec": [ + 0.4887, + 0.1373, + 0.1851 + ], + "dev_deg": { + "median": 25.39, + "p90": 62.79 + }, + "samples": 3264, + "accepted": 2023, + "wrist_pos_err_mm_median": 59.2, + "per_camera": { + "head": { + "samples": 3264, + "accepted": 2023, + "gate_deg": 30.0, + "offset_deg": 30.96, + "tier": "primary", + "dev_deg_median": 25.39, + "wrist_pos_err_mm_median": 59.2 + } + }, + "frames_by_state": { + "ace_sample": 8330, + "interpolated": 4646, + "mean_hand": 3097, + "no_body_fit": 3 + }, + "observed_fraction": 0.8072, + "observed_fraction_of_valid": 0.8073, + "palm_axis_vs_markers_deg": { + "gsi": 35.63, + "smplx": 1.61 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.6, + "p90": 10.2 + }, + "registered": { + "median": 8.0, + "p90": 9.9 + } + } + }, + "right": { + "offset_deg": 15.14, + "offset_rotvec": [ + 0.2148, + -0.1329, + -0.0774 + ], + "dev_deg": { + "median": 13.99, + "p90": 30.65 + }, + "samples": 3847, + "accepted": 3432, + "wrist_pos_err_mm_median": 41.7, + "per_camera": { + "head": { + "samples": 3847, + "accepted": 3432, + "gate_deg": 30.0, + "offset_deg": 15.14, + "tier": "primary", + "dev_deg_median": 13.99, + "wrist_pos_err_mm_median": 41.7 + } + }, + "frames_by_state": { + "ace_sample": 13820, + "interpolated": 1096, + "mean_hand": 1157, + "no_body_fit": 3 + }, + "observed_fraction": 0.9278, + "observed_fraction_of_valid": 0.928, + "palm_axis_vs_markers_deg": { + "gsi": 18.04, + "smplx": 2.13 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.7, + "p90": 8.8 + }, + "registered": { + "median": 7.6, + "p90": 9.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:34:50.645902+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/static_manipulation/SM14/session_004", "family": "static_manipulation",