diff --git a/.gitattributes b/.gitattributes index fa714dd791ff98ce679ed46f8538f622efa9a1b5..e13db152b6b7e05ca9f53f074ff965ddeb837b02 100644 --- a/.gitattributes +++ b/.gitattributes @@ -41006,3 +41006,12 @@ actions/static_manipulation/SM14/session_008/raw/sensors/robowrist_imu_left.db f actions/static_manipulation/SM14/session_008/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text actions/static_manipulation/SM14/session_008/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text actions/static_manipulation/SM14/session_008/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text +actions/static_manipulation/SM15/session_006/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text +actions/static_manipulation/SM15/session_006/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text +actions/static_manipulation/SM15/session_006/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text +actions/static_manipulation/SM15/session_006/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text +actions/static_manipulation/SM15/session_006/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text +actions/static_manipulation/SM15/session_006/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text +actions/static_manipulation/SM15/session_006/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text +actions/static_manipulation/SM15/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text +actions/static_manipulation/SM15/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text diff --git a/actions/static_manipulation/SM15/session_005/meta.json b/actions/static_manipulation/SM15/session_005/meta.json index d7ad88f85260fa628dfe3ad70f63022e1f381d96..87ca2b858286dfec8b02fb5a545f12cd073c9e3a 100644 --- a/actions/static_manipulation/SM15/session_005/meta.json +++ b/actions/static_manipulation/SM15/session_005/meta.json @@ -432,19 +432,19 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 75.52, + "Q_deg": 180.0, "Q_rotvec": [ - -1.04101, - -0.80739, - -0.04272 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": -1, - "wrist_bend_deg_median": 81.6, - "opposite_sign_bend_deg": 121.6, - "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": 1, + "wrist_bend_deg_median": 170.4, + "opposite_sign_bend_deg": 45.0, + "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.07, "hand_vs_marker_frame_deg": { - "before": 75.46, + "before": 179.04, "after": 3.07 }, "markers_on_wrist": [ @@ -452,15 +452,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -72.21, + "twist_moved_deg": -167.73, "wrist_twist_deg_after": { - "median": 0.0, + "median": -2.27, "iqr": [ - -5.3, - 11.4 + -6.2, + 8.1 ] }, - "wrist_total_deg_median_after": 45.0, + "wrist_total_deg_median_after": 35.0, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -471,19 +471,19 @@ }, "right": { "status": "corrected", - "Q_deg": 34.3, + "Q_deg": 0.0, "Q_rotvec": [ - 0.5026, - 0.24996, - -0.20789 + -0.0, + -0.0, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 46.3, - "opposite_sign_bend_deg": 162.4, + "wrist_bend_deg_median": 40.2, + "opposite_sign_bend_deg": 167.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.39, "hand_vs_marker_frame_deg": { - "before": 34.79, + "before": 3.39, "after": 3.39 }, "markers_on_wrist": [ @@ -491,7 +491,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -23.88, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -508,7 +508,7 @@ }, "frames_used": 1063 }, - "generated_at_utc": "2026-10-26T13:40:17.688391+00:00", + "generated_at_utc": "2026-10-28T06:46:07.975593+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -517,5 +517,13 @@ "family": "static_manipulation", "primitive": "SM15", "source_session": "20261021/SM15/20261021_081454_session100" - } + }, + "objects": [ + { + "name": "Table", + "object_type": "Table", + "source": "mocap", + "pose_frame": "rigid_body" + } + ] } diff --git a/actions/static_manipulation/SM15/session_005/motions/object_markers.npz b/actions/static_manipulation/SM15/session_005/motions/object_markers.npz new file mode 100644 index 0000000000000000000000000000000000000000..3a7056faa9d5fe520c44f844f0b3e8710f67c07c --- /dev/null +++ b/actions/static_manipulation/SM15/session_005/motions/object_markers.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ff3c2485fb808b953a8833847de9c23d43d2756550698d3757f1e5ca10f6fe7 +size 364617 diff --git a/actions/static_manipulation/SM15/session_005/motions/objects.json b/actions/static_manipulation/SM15/session_005/motions/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..d1ab94f2db16e1c9f148dbfb0757fdbe36aa7c64 --- /dev/null +++ b/actions/static_manipulation/SM15/session_005/motions/objects.json @@ -0,0 +1,39 @@ +{ + "session": "20261021/SM15/20261021_081454_session100", + "generated_at_utc": "2026-10-29T13:11:17.213510+00:00", + "generated_by": "scripts/export_objects.py", + "frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)", + "grid": "body grid (smplx.npz t / frame_index)", + "held_by": "from mocap hands", + "instances": [ + { + "name": "Table", + "object_type": "Table", + "source": "mocap", + "pose_frame": "rigid_body", + "mesh": null, + "calibration": null, + "valid_pct": 99.99, + "verified_pct": 99.99, + "moving_pct": 0.0, + "vision_source": null + } + ], + "absent": [], + "object_list": { + "status": "corrected", + "notes": [], + "declared": [ + "Table0" + ], + "listed": [ + { + "name": "Table", + "object": null, + "source": "mocap", + "needs_video_check": false + } + ] + }, + "notes": [] +} diff --git a/actions/static_manipulation/SM15/session_005/motions/objects.npz b/actions/static_manipulation/SM15/session_005/motions/objects.npz new file mode 100644 index 0000000000000000000000000000000000000000..6f52f81572e3078a88c13f8cde31bceea16a7e4a --- /dev/null +++ b/actions/static_manipulation/SM15/session_005/motions/objects.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8503065fe2ddcda68907cd62c67d5e75f1079a50ac5033e48433b1f03d747afc +size 409161 diff --git a/actions/static_manipulation/SM15/session_005/motions/smplx.npz b/actions/static_manipulation/SM15/session_005/motions/smplx.npz index 9698a81f8127904926f1c18eb9ccb0f7334e7d64..fb7f795c4709c8250d237d0ecb0eade109097b16 100644 --- a/actions/static_manipulation/SM15/session_005/motions/smplx.npz +++ b/actions/static_manipulation/SM15/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid 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0.214504 1.79483 0.973694 4.36586 -3.65898 6.30763 0.296428 17.1449 -6.02436 176.654 -167.435 -177.586 1.16422 -0.388739 1.13505 4.86966 -0.155776 -2.29624 0.201638 3.82247 0.837901 176.703 -178.591 160.254 1.15455 -0.626178 1.14983 +-12.6118 87.0848 -18.9946 177.834 178.465 92.694 178.987 177.443 -179.312 178.466 176.184 -178.973 0.11703 1.03705 0.292536 0.11703 1.03705 0.292536 7.14053 -4.74291 1.7479 117.472 163.664 141.981 152.353 20.8173 -131.013 9.1476 -12.9108 2.41567 177.766 -174.251 179.022 42.9602 21.0164 59.2611 142.575 159.668 -106.46 171.335 171.185 169.944 7.44848 -3.86786 7.5076 0.210087 1.79442 0.974179 4.22195 -3.5707 5.68649 0.268677 16.8932 -6.01623 176.714 -167.512 -176.943 1.16382 -0.368466 1.13505 4.81547 -0.183694 -2.31027 0.201593 3.82555 0.837904 176.706 -178.589 160.273 1.15436 -0.616705 1.14983 +-12.6135 87.0751 -19.0047 177.82 178.414 92.6958 179.009 177.435 -179.308 178.497 176.172 -178.966 0.106001 1.03949 0.306375 0.106001 1.03949 0.306375 7.18536 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0.309982 7.09614 -4.7582 1.74793 117.466 163.099 141.854 149.468 23.3847 -130.567 9.38357 -10.6268 2.54345 178.082 -174.321 179.022 42.0553 22.5985 60.011 142.54 158.155 -107.235 170.666 171.446 170.341 7.65026 -3.94795 7.49527 0.215157 1.79782 0.974912 4.22662 -3.67137 5.66418 0.266855 16.8767 -6.01571 176.69 -167.508 -176.941 1.16645 -0.501482 1.13507 4.82014 -0.297699 -2.38401 0.201393 3.83917 0.837918 176.717 -178.585 160.353 1.15474 -0.6355 1.14983 +-12.5976 87.0744 -19.0132 177.929 178.411 92.7025 178.939 177.457 -179.232 178.391 176.205 -178.852 0.147767 1.00987 0.310776 0.147767 1.00987 0.310776 7.11012 -4.77817 1.74799 117.409 163.012 141.873 149.26 23.6454 -130.614 9.43637 -10.5754 2.56243 178.059 -174.318 179.022 42.0672 22.7747 60.0349 142.455 157.967 -107.228 170.437 171.512 170.299 7.65258 -3.95775 7.498 0.222106 1.8019 0.975933 4.37277 -3.78867 6.29581 0.294875 17.1308 -6.0239 176.65 -167.449 -177.582 1.16717 -0.537807 1.13507 4.87394 -0.29445 -2.38054 0.2015 3.8319 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170.68 171.567 170.301 7.6668 -4.05154 7.60238 0.21832 1.81246 0.982433 4.21002 -3.79844 5.62884 0.262261 16.835 -6.01437 176.73 -167.529 -176.884 1.16795 -0.576766 1.13508 4.80768 -0.427551 -2.4054 0.201588 3.82592 0.837905 176.661 -178.607 160.366 1.15427 -0.612143 1.14983 +-12.5891 87.0774 -18.9911 178.059 178.406 92.7092 178.882 177.479 -179.199 178.305 176.238 -178.803 0.170032 0.978825 0.284699 0.170032 0.978825 0.284699 6.99969 -4.72025 1.74784 117.197 162.633 142.227 148.188 24.9875 -130.566 9.64514 -9.78118 2.794 178.198 -174.413 179.022 42.5969 23.3767 59.9704 142.028 157.578 -107.014 170.818 171.559 170.317 7.66469 -4.04504 7.61164 0.223645 1.81391 0.982445 4.35255 -3.90224 6.25977 0.288826 17.076 -6.02212 176.686 -167.469 -177.521 1.16846 -0.602831 1.13508 4.85948 -0.417915 -2.36403 0.201765 3.81385 0.837893 176.669 -178.614 160.328 1.15444 -0.620862 1.14983 +-12.5845 87.088 -18.9813 178.096 178.455 92.7075 178.848 177.492 -179.197 178.254 176.257 -178.8 0.173719 0.975573 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1.1266 +-14.1431 87.0993 -18.2869 178.878 178.453 92.0805 178.976 178.164 -179.667 178.464 177.26 -179.502 0.726746 0.944996 -0.230041 0.726746 0.944996 -0.230041 6.67923 -3.48041 1.74513 114.507 165.699 143.092 156.676 21.8022 -133.542 10.7425 -13.0924 0.0100221 0.353645 -3.01877 -0.974326 47.2587 22.925 44.155 137.417 168.884 -92.4711 162.403 171.091 167.776 4.48079 -6.78763 8.3272 179.93 178.612 -179.198 3.34417 -2.72416 2.92373 0.047713 15.3971 -5.9534 177.826 -166.96 -173.476 1.1742 -0.329041 1.12336 4.34319 -0.482102 -1.52886 0.201762 4.49355 0.836458 176.866 -177.369 160.327 1.17089 -0.31834 1.1266 +-14.1448 87.0998 -18.2858 178.88 178.45 92.0764 178.975 178.166 -179.669 178.462 177.263 -179.506 0.729877 0.946181 -0.23393 0.729877 0.946181 -0.23393 6.67555 -3.48087 1.74513 114.492 165.714 143.088 156.742 21.737 -133.553 10.743 -13.1814 -7.29242e-05 0.370662 -3.01309 -0.974321 47.2246 22.9174 44.1719 137.469 168.902 -92.4595 162.409 171.074 167.697 4.47652 -6.79642 8.33858 179.929 178.612 -179.198 3.34584 -2.72851 2.93505 0.0487654 15.4068 -5.95368 177.796 -166.941 -173.496 1.17368 -0.302091 1.12336 4.34452 -0.48507 -1.52782 0.201723 4.49618 0.836461 176.869 -177.365 160.329 1.17088 -0.318019 1.1266 +-14.1474 87.0993 -18.2846 178.882 178.45 92.0689 178.974 178.168 -179.675 178.46 177.265 -179.514 0.73284 0.944737 -0.233536 0.73284 0.944737 -0.233536 6.67529 -3.47853 1.74512 114.471 165.743 143.092 156.895 21.5721 -133.587 10.7457 -13.3798 -0.0118565 0.378905 -3.01114 -0.974319 47.2121 22.9092 44.1783 137.501 168.926 -92.442 162.485 171.087 167.637 4.46832 -6.79549 8.34991 179.928 178.613 -179.199 3.34447 -2.72868 2.93159 0.0490101 15.409 -5.95375 177.809 -166.943 -173.475 1.17393 -0.314994 1.12336 4.34409 -0.484832 -1.52736 0.201744 4.49476 0.83646 176.874 -177.357 160.329 1.17081 -0.314328 1.1266 +-14.1499 87.0989 -18.2833 178.882 178.452 92.0611 178.972 178.169 -179.679 178.458 177.267 -179.521 0.732588 0.945334 -0.23313 0.732588 0.945334 -0.23313 6.67931 -3.47232 1.74511 114.456 165.769 143.084 157.001 21.4644 -133.612 10.7628 -13.508 -0.0145667 0.390108 -3.00603 -0.974315 47.2002 22.8922 44.1858 137.5 168.954 -92.4196 162.561 171.151 167.571 4.46395 -6.79992 8.36046 179.928 178.613 -179.199 3.34157 -2.72614 2.93993 0.0491982 15.4108 -5.9538 177.779 -166.937 -173.475 1.17392 -0.314807 1.12336 4.34023 -0.483263 -1.51991 0.201754 4.49407 0.836459 176.865 -177.357 160.331 1.17055 -0.301293 1.1266 +-14.1524 87.098 -18.2822 178.885 178.452 92.0553 178.972 178.171 -179.685 178.458 177.27 -179.529 0.732871 0.946519 -0.234133 0.732871 0.946519 -0.234133 6.67726 -3.46986 1.74511 114.451 165.784 143.085 157.039 21.4172 -133.599 10.7686 -13.5746 -0.00515275 0.392667 -3.00415 -0.974313 47.1952 22.8811 44.1923 137.513 168.993 -92.4062 162.664 171.153 167.515 4.4541 -6.806 8.36752 179.929 178.612 -179.198 3.34006 -2.72692 2.93856 0.0492759 15.4115 -5.95382 177.8 -166.934 -173.466 1.17375 -0.305661 1.12336 4.33925 -0.4826 -1.51969 0.2018 4.49096 0.836455 176.865 -177.355 160.34 1.17058 -0.302851 1.1266 +-14.1556 87.0976 -18.2816 178.884 178.448 92.0438 178.973 178.173 -179.689 178.459 177.273 -179.536 0.733963 0.947719 -0.235336 0.733963 0.947719 -0.235336 6.67648 -3.47269 1.74511 114.437 165.808 143.093 157.072 21.3657 -133.595 10.7621 -13.6096 0.0113575 0.40353 -2.99552 -0.974305 47.1732 22.8648 44.2118 137.565 169.035 -92.4038 162.76 171.105 167.445 4.45264 -6.80288 8.38315 179.929 178.612 -179.198 3.34417 -2.72189 2.94292 0.049241 15.4112 -5.95381 177.801 -166.929 -173.459 1.17388 -0.312472 1.12336 4.34364 -0.47777 -1.49776 0.201888 4.48494 0.836449 176.859 -177.365 160.329 1.17045 -0.295892 1.1266 +-14.1586 87.0975 -18.2813 178.878 178.446 92.0349 178.97 178.171 -179.692 178.456 177.271 -179.541 0.738364 0.946255 -0.238673 0.738364 0.946255 -0.238673 6.6736 -3.46846 1.74511 114.434 165.818 143.093 157.069 21.3714 -133.566 10.7641 -13.6136 0.0246062 0.411953 -2.98809 -0.974299 47.1562 22.8441 44.2319 137.618 169.076 -92.4002 162.876 171.057 167.351 4.44793 -6.79628 8.39936 179.929 178.612 -179.198 3.34549 -2.71411 2.94223 0.049721 15.4156 -5.95394 177.802 -166.931 -173.45 1.17385 -0.310957 1.12336 4.34524 -0.468249 -1.48298 0.201968 4.47948 0.836442 176.862 -177.367 160.319 1.17025 -0.285858 1.12659 +-14.1603 87.0972 -18.2834 178.877 178.44 92.0152 178.97 178.173 -179.692 178.455 177.273 -179.54 0.743018 0.944731 -0.242342 0.743018 0.944731 -0.242342 6.66956 -3.46607 1.7451 114.434 165.828 143.097 157.054 21.3795 -133.53 10.7498 -13.5831 0.00913433 0.415398 -2.98608 -0.974297 47.1459 22.8251 44.2438 137.589 169.123 -92.3888 163.028 171.076 167.251 4.44149 -6.78632 8.40892 179.928 178.612 -179.198 3.35427 -2.70764 2.96358 0.0497024 15.4154 -5.95393 177.795 -166.918 -173.456 1.17351 -0.293691 1.12336 4.35344 -0.470309 -1.46217 0.20187 4.48616 0.83645 176.874 -177.358 160.316 1.17023 -0.284975 1.12659 +-14.1641 87.0963 -18.2827 178.866 178.439 92.0063 178.968 178.17 -179.696 178.453 177.269 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1.17401 -0.318931 1.12336 4.35962 -0.451352 -1.43553 0.201875 4.48584 0.83645 176.864 -177.365 160.305 1.17073 -0.310193 1.1266 +-14.1694 87.0961 -18.2823 178.862 178.432 91.9862 178.969 178.173 -179.702 178.454 177.274 -179.555 0.748715 0.941987 -0.248331 0.748715 0.941987 -0.248331 6.67446 -3.45726 1.74509 114.439 165.855 143.09 157.06 21.3494 -133.451 10.6896 -13.6744 0.0132525 0.415596 -2.95245 -0.974267 47.1566 22.7175 44.2697 137.585 169.275 -92.3509 163.503 171.027 166.833 4.42965 -6.75464 8.43396 179.928 178.611 -179.197 3.36084 -2.6882 2.9715 0.0511296 15.4286 -5.95431 177.793 -166.898 -173.428 1.17296 -0.265412 1.12336 4.36183 -0.452604 -1.42836 0.201846 4.48777 0.836452 176.868 -177.371 160.308 1.17086 -0.316915 1.1266 +-14.1734 87.0965 -18.2813 178.858 178.432 91.9761 178.968 178.176 -179.703 178.453 177.277 -179.557 0.749847 0.942881 -0.253746 0.749847 0.942881 -0.253746 6.67257 -3.45222 1.74508 114.449 165.869 143.085 157.108 21.2953 -133.441 10.6829 -13.682 0.036054 0.41861 -2.94593 -0.974261 47.1673 22.6829 44.28 137.715 169.322 -92.3657 163.574 170.832 166.632 4.42572 -6.74213 8.44341 179.928 178.611 -179.197 3.36097 -2.68541 2.97962 0.0526841 15.443 -5.95473 177.788 -166.888 -173.433 1.17281 -0.257822 1.12335 4.36162 -0.441984 -1.41136 0.201967 4.4795 0.836442 176.88 -177.375 160.306 1.17123 -0.335739 1.1266 +-14.1762 87.0961 -18.2816 178.859 178.429 91.9646 178.967 178.179 -179.705 178.452 177.282 -179.559 0.750042 0.943498 -0.255927 0.750042 0.943498 -0.255927 6.67851 -3.44535 1.74506 114.453 165.888 143.076 157.142 21.244 -133.432 10.6686 -13.7251 0.0400517 0.424077 -2.93907 -0.974255 47.2003 22.6281 44.2725 137.651 169.386 -92.3525 163.789 170.8 166.422 4.42689 -6.73379 8.44534 179.927 178.611 -179.197 3.36314 -2.68816 2.98128 0.0540734 15.4558 -5.9551 177.793 -166.882 -173.419 1.17279 -0.256834 1.12335 4.36361 -0.441764 -1.41484 0.201959 4.48009 0.836443 176.88 -177.377 160.321 1.17131 -0.339964 1.1266 +-14.1757 87.0963 -18.2843 178.861 178.428 91.9455 178.964 178.181 -179.701 178.446 177.285 -179.553 0.753232 0.942636 -0.258605 0.753232 0.942636 -0.258605 6.68328 -3.44491 1.74506 114.46 165.905 143.065 157.221 21.1504 -133.44 10.661 -13.8094 0.0344713 0.428995 -2.93222 -0.97425 47.2429 22.567 44.2634 137.711 169.446 -92.349 163.902 170.636 166.151 4.4285 -6.73019 8.44064 179.927 178.61 -179.197 3.36693 -2.69125 3.00037 0.0547233 15.4618 -5.95527 177.805 -166.878 -173.42 1.17276 -0.255361 1.12335 4.36599 -0.451218 -1.39892 0.201807 4.49047 0.836455 176.874 -177.372 160.327 1.17089 -0.318157 1.1266 +-14.1752 87.0955 -18.2847 178.861 178.428 91.9268 178.961 178.182 -179.7 178.443 177.286 -179.552 0.753844 0.94007 -0.259965 0.753844 0.94007 -0.259965 6.69193 -3.44309 1.74506 114.455 165.931 143.057 157.272 21.0748 -133.448 10.655 -13.8294 0.0497184 0.437028 -2.92732 -0.974245 47.2858 22.5038 44.251 137.646 169.531 -92.3562 164.14 170.626 165.939 4.43336 -6.72197 8.44812 179.928 178.609 -179.196 3.36764 -2.69023 3.01245 0.0551825 15.4661 -5.95539 177.806 -166.875 -173.411 1.17304 -0.269751 1.12336 4.36767 -0.451679 -1.37204 0.201825 4.48924 0.836453 176.883 -177.371 160.318 1.17085 -0.316151 1.1266 +-14.1749 87.0948 -18.2856 178.86 178.423 91.9068 178.962 178.182 -179.696 178.443 177.287 -179.546 0.753629 0.940032 -0.262051 0.753629 0.940032 -0.262051 6.70183 -3.43628 1.74505 114.456 165.947 143.038 157.336 21.0068 -133.457 10.6613 -13.8746 0.0429074 0.442732 -2.92478 -0.974243 47.3529 22.4209 44.2278 137.733 169.61 -92.3828 164.321 170.47 165.71 4.43796 -6.71985 8.44221 179.928 178.609 -179.196 3.37194 -2.6874 3.02016 0.0555115 15.4691 -5.95548 177.82 -166.871 -173.397 1.17295 -0.264947 1.12336 4.37157 -0.456099 -1.35976 0.201703 4.49757 0.836463 176.883 -177.368 160.331 1.17077 -0.312427 1.1266 +-14.176 87.0947 -18.2873 178.853 178.42 91.8884 178.961 178.178 -179.693 178.443 177.281 -179.542 0.752325 0.933997 -0.262652 0.752325 0.933997 -0.262652 6.70487 -3.42911 1.74503 114.461 165.965 143.026 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0000000000000000000000000000000000000000..eb7501c0d03fc6f9661d6ae321bfb522ef40b037 --- /dev/null +++ b/actions/static_manipulation/SM15/session_006/raw/mocap/Body0.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a3286def6e82cc0e74a50a26d93cfdae62c73ef451bf7c4cfabdfb61a25b86b +size 133833210 diff --git a/actions/static_manipulation/SM15/session_006/raw/mocap/Body0.trc b/actions/static_manipulation/SM15/session_006/raw/mocap/Body0.trc new file mode 100644 index 0000000000000000000000000000000000000000..06be9b7c84996534a3447b6ead6c20f1e2dba6ba --- /dev/null +++ b/actions/static_manipulation/SM15/session_006/raw/mocap/Body0.trc @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f18bd778f4a2bd9fa9cbf9d1faa48d65d2d7a17df056500cc7da10fc531e1c2 +size 30076279 diff --git a/actions/static_manipulation/SM15/session_006/raw/mocap/Table.csv b/actions/static_manipulation/SM15/session_006/raw/mocap/Table.csv new file mode 100644 index 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100644 index 0000000000000000000000000000000000000000..0161bdddddc59b363f566e99720887769566f7e1 --- /dev/null +++ b/actions/static_manipulation/SM15/session_006/videos/head_right_eye.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:98bb839b671be0acf0af7ff55e6f777f08f9c98abd68e9f40faf998f28ca994c +size 67737429 diff --git a/actions/static_manipulation/SM15/session_006/videos/head_right_front.mp4 b/actions/static_manipulation/SM15/session_006/videos/head_right_front.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..768d7ee82a7759ce813205e7c8654f1a697aabff --- /dev/null +++ b/actions/static_manipulation/SM15/session_006/videos/head_right_front.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1503dc5db83231ebcbf60fb8019bbfc6a83528962ac229ff974de169c0f2a9a +size 67726990 diff --git a/actions/static_manipulation/SM15/session_006/videos/third_person.mp4 b/actions/static_manipulation/SM15/session_006/videos/third_person.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d53506a27d05cf12733853e37b81de60149916e6 --- /dev/null +++ b/actions/static_manipulation/SM15/session_006/videos/third_person.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3f0a0ff7bf5a7e1b372a43623d1a8dd9de2f339ddd25a3d8ae0970fab767ab7 +size 46137352 diff --git a/actions/static_manipulation/SM15/session_006/videos/wrist_left.mp4 b/actions/static_manipulation/SM15/session_006/videos/wrist_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..290713482b39d7a18fc653551a438d6c693ca900 --- /dev/null +++ b/actions/static_manipulation/SM15/session_006/videos/wrist_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:340a2df9f4924d32ef408d4896c43fc90ddfb2b288ba52b0f3f9d0097f254c85 +size 45615031 diff --git a/actions/static_manipulation/SM15/session_006/videos/wrist_right.mp4 b/actions/static_manipulation/SM15/session_006/videos/wrist_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2bbe71b988f3fe3a57c0d7d2af307e5586f02529 --- /dev/null +++ b/actions/static_manipulation/SM15/session_006/videos/wrist_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbc920d423d705e702871e24ceed0bc74ce161fba40cb0ef398e3eb3b65d8856 +size 45047879 diff --git a/actions/static_manipulation/SM16/session_001/meta.json b/actions/static_manipulation/SM16/session_001/meta.json index 0b98d9fc064e2218bc22f661d08de65398ec0f7b..ccfd88feb162ff22cd3f2826ff36286aac1ba43f 100644 --- a/actions/static_manipulation/SM16/session_001/meta.json +++ b/actions/static_manipulation/SM16/session_001/meta.json @@ -398,19 +398,19 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 27.05, + "Q_deg": 180.0, "Q_rotvec": [ - 0.34977, - -0.06616, - 0.31006 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": -1, - "wrist_bend_deg_median": 58.0, - "opposite_sign_bend_deg": 132.1, - "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": 1, + "wrist_bend_deg_median": 171.7, + "opposite_sign_bend_deg": 20.9, + "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.75, "hand_vs_marker_frame_deg": { - "before": 28.29, + "before": 177.12, "after": 3.75 }, "markers_on_wrist": [ @@ -420,15 +420,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 59.77, + "twist_moved_deg": 168.6, "wrist_twist_deg_after": { - "median": 0.0, + "median": 4.46, "iqr": [ - -6.8, - 5.6 + -0.4, + 9.4 ] }, - "wrist_total_deg_median_after": 21.1, + "wrist_total_deg_median_after": 31.8, "markers_on_forearm": [ "LForearm" ] @@ -437,19 +437,19 @@ }, "right": { "status": "corrected", - "Q_deg": 116.97, + "Q_deg": 0.0, "Q_rotvec": [ - 1.94597, - 0.54424, - -0.29152 + -0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 95.0, - "opposite_sign_bend_deg": 104.3, + "wrist_bend_deg_median": 38.8, + "opposite_sign_bend_deg": 171.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.1, "hand_vs_marker_frame_deg": { - "before": 117.06, + "before": 3.1, "after": 3.1 }, "markers_on_wrist": [ @@ -457,9 +457,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -87.43, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -9.4, 9.7 @@ -475,7 +475,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-14T23:44:14.457867+00:00", + "generated_at_utc": "2026-10-28T06:16:19.266544+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/static_manipulation/SM16/session_001/motions/smplx.npz b/actions/static_manipulation/SM16/session_001/motions/smplx.npz index a7fabbad13a77af7b1520dceb1d006e0cad01c8a..fbb5e356f71169b4a8f054eb5fd49cb1d0100c77 100644 --- a/actions/static_manipulation/SM16/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM16/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:44675129f31a43a1dc8bc8bbf4442542cba1a833d318d94918f23676d0506f7a -size 6696995 +oid sha256:bb41b79e5f44f040208a4ba25b7bb7dedb4480a45c76cb4281ea93c353e3144c +size 6696366 diff --git a/actions/static_manipulation/SM16/session_002/meta.json b/actions/static_manipulation/SM16/session_002/meta.json index 37795108fb2353d4b318f12b3c164cb8287a09cc..012d586d64da98727b032ef9acc0749d2bceb2c5 100644 --- a/actions/static_manipulation/SM16/session_002/meta.json +++ b/actions/static_manipulation/SM16/session_002/meta.json @@ -384,19 +384,19 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 159.57, + "Q_deg": 180.0, "Q_rotvec": [ - 2.69955, - -0.33287, - -0.5981 + -2.98662, + 0.4392, + 0.86995 ], - "in_out_sign": -1, - "wrist_bend_deg_median": 144.3, - "opposite_sign_bend_deg": 38.7, - "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": 1, + "wrist_bend_deg_median": 178.2, + "opposite_sign_bend_deg": 26.7, + "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.08, "hand_vs_marker_frame_deg": { - "before": 159.33, + "before": 179.45, "after": 1.08 }, "markers_on_wrist": [ @@ -404,15 +404,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 143.55, + "twist_moved_deg": -176.83, "wrist_twist_deg_after": { - "median": 0.0, + "median": -2.26, "iqr": [ - -2.1, - 1.3 + -4.0, + -0.9 ] }, - "wrist_total_deg_median_after": 27.4, + "wrist_total_deg_median_after": 12.7, "markers_on_forearm": [ "LElbow", "LWristIn", @@ -423,19 +423,19 @@ }, "right": { "status": "corrected", - "Q_deg": 77.78, + "Q_deg": 0.0, "Q_rotvec": [ - 1.31049, - 0.2637, - 0.23675 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 59.2, - "opposite_sign_bend_deg": 126.2, + "wrist_bend_deg_median": 19.6, + "opposite_sign_bend_deg": 173.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.75, "hand_vs_marker_frame_deg": { - "before": 78.74, + "before": 2.75, "after": 2.75 }, "markers_on_wrist": [ @@ -443,9 +443,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -57.42, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -6.6, 17.9 @@ -460,7 +460,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-15T04:02:13.452234+00:00", + "generated_at_utc": "2026-10-28T06:30:18.263077+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/static_manipulation/SM16/session_002/motions/smplx.npz b/actions/static_manipulation/SM16/session_002/motions/smplx.npz index 5c1b103de16c06f4c0c2e70cc424fba21702d67c..14c8f47f71a70d2e64d8a484da70fc45a19b8db8 100644 --- a/actions/static_manipulation/SM16/session_002/motions/smplx.npz +++ b/actions/static_manipulation/SM16/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fc3fb147407e2bfd5ee1851d5cd7dfcff93d989231189226df1eee5df38ec732 -size 6812427 +oid sha256:2c78f6344aef0eb01661d8af0b02aa10893dec2b1faa8f16da4465a1e1f907d4 +size 6802509 diff --git a/actions/static_manipulation/SM16/session_003/meta.json b/actions/static_manipulation/SM16/session_003/meta.json index 616d335b5440a55e775790a4bc33a021e2684629..781d0b2e084e4e7283cd10f1ab9ab27786c09f7f 100644 --- a/actions/static_manipulation/SM16/session_003/meta.json +++ b/actions/static_manipulation/SM16/session_003/meta.json @@ -431,19 +431,19 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 169.5, + "Q_deg": 180.0, "Q_rotvec": [ - -2.93688, - 0.05654, - 0.35172 + -2.98794, + 0.42773, + 0.87113 ], - "in_out_sign": -1, - "wrist_bend_deg_median": 163.9, - "opposite_sign_bend_deg": 32.0, - "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": 1, + "wrist_bend_deg_median": 175.5, + "opposite_sign_bend_deg": 29.9, + "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.02, "hand_vs_marker_frame_deg": { - "before": 169.77, + "before": 179.16, "after": 2.02 }, "markers_on_wrist": [ @@ -452,15 +452,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -161.71, + "twist_moved_deg": -161.41, "wrist_twist_deg_after": { - "median": 0.0, + "median": -14.37, "iqr": [ - -5.2, - 11.2 + -19.7, + -3.3 ] }, - "wrist_total_deg_median_after": 30.2, + "wrist_total_deg_median_after": 24.1, "markers_on_forearm": [ "LForearm", "LWristIn" @@ -470,19 +470,19 @@ }, "right": { "status": "corrected", - "Q_deg": 138.47, + "Q_deg": 0.0, "Q_rotvec": [ - -2.38816, - -0.20199, - -0.31072 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 164.6, - "opposite_sign_bend_deg": 40.2, + "wrist_bend_deg_median": 32.3, + "opposite_sign_bend_deg": 166.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.79, "hand_vs_marker_frame_deg": { - "before": 138.76, + "before": 4.79, "after": 4.79 }, "markers_on_wrist": [ @@ -490,15 +490,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 161.46, + "twist_moved_deg": 3.51, "wrist_twist_deg_after": { - "median": 3.51, + "median": -0.0, "iqr": [ - 1.8, - 32.9 + -1.7, + 29.4 ] }, - "wrist_total_deg_median_after": 30.9, + "wrist_total_deg_median_after": 29.7, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -507,7 +507,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-22T21:10:14.005433+00:00", + "generated_at_utc": "2026-10-28T06:33:22.151439+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/static_manipulation/SM16/session_003/motions/smplx.npz b/actions/static_manipulation/SM16/session_003/motions/smplx.npz index f37ae3b309eab4ff21ff310e831bebd9772a0a28..561959c939107a2299749046cd1cf9751099093e 100644 --- a/actions/static_manipulation/SM16/session_003/motions/smplx.npz +++ b/actions/static_manipulation/SM16/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4669a60b0cecdc70039b19c7a81f9cfa37567b42cb45f642a4f1b1f2a4275eb1 -size 6164726 +oid sha256:8e6423797e9ada182bce014f556646adf4d1a874c3c27442ea476ea198b5aaf2 +size 6153852