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47735a95577cc574ddec2f8ccfa7635095dfe4ff..70f3a55b9b22b3434eea22172707d2a709cc3bce 100644 --- a/actions/locomotion_posture_dynamics/D28/session_003/meta.json +++ b/actions/locomotion_posture_dynamics/D28/session_003/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -514,10 +514,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.4085841563545647 }, + "hands_registration": { + "cameras": {}, + "hands": { + 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541415 diff --git a/actions/locomotion_posture_dynamics/D28/session_008/meta.json b/actions/locomotion_posture_dynamics/D28/session_008/meta.json index 69389a95a554636fc55f98789fcf818d42e3b629..1ba6c944040c19c1f090f9112386ee7669337513 100644 --- a/actions/locomotion_posture_dynamics/D28/session_008/meta.json +++ b/actions/locomotion_posture_dynamics/D28/session_008/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -513,10 +513,124 @@ 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"locomotion_posture_dynamics", "primitive": "D28", "source_session": "20260929/D28/20260929_014432_session23" + }, + "task": { + "primitive": "D28", + "instruction": "Dance freely at a slow tempo as if to slow music; keep moving continuously." } } diff --git a/actions/locomotion_posture_dynamics/D28/session_010/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D28/session_010/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..3f6d452d159328b3648c0399cefb6fce8fdb1874 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D28/session_010/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ffc3f30311253e6635a5547370034f823fd73dedcc3f10565a1aea8e259c48a5 +size 2132198 diff --git a/actions/locomotion_posture_dynamics/D28/session_010/motions/smplx.npz b/actions/locomotion_posture_dynamics/D28/session_010/motions/smplx.npz index 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if to slow music; keep moving continuously." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D28/session_011/cameras/slam.npz b/actions/locomotion_posture_dynamics/D28/session_011/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..2e286346c47f54ba004dcd679987f35756bd9015 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D28/session_011/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86a4a21f8ecbe3c3fc0c67f5d7b15fe1159bfa6c353b4278496a85abdf853125 +size 598150 diff --git a/actions/locomotion_posture_dynamics/D28/session_011/meta.json b/actions/locomotion_posture_dynamics/D28/session_011/meta.json index 7eafe5a3195aa4cd5a2f0e088b4d21adabe8b7e6..b0ecf721a6f2cc1524a78415aadf7d1c5a8e34a5 100644 --- a/actions/locomotion_posture_dynamics/D28/session_011/meta.json +++ b/actions/locomotion_posture_dynamics/D28/session_011/meta.json @@ -323,8 +323,8 @@ "frame": "canonical (meta.canonical): Z-up metres; 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"instruction": "Dance freely at a slow tempo as if to slow music; keep moving continuously." } } diff --git a/actions/locomotion_posture_dynamics/D28/session_011/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D28/session_011/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..8460b9497ef155bd7c5c191924edd6b6f5f8fd8e --- /dev/null +++ b/actions/locomotion_posture_dynamics/D28/session_011/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d19f03520465f2b81c4099e50c87df83f29ac973859835195e33ec02d803d45 +size 3119838 diff --git a/actions/locomotion_posture_dynamics/D28/session_011/motions/smplx.npz b/actions/locomotion_posture_dynamics/D28/session_011/motions/smplx.npz index cce28173bb000ce7a7b6b234d6ef58659ba1d5f8..8b913fa020edb81fa7e65ae90c5ff02e0a60d61f 100644 --- a/actions/locomotion_posture_dynamics/D28/session_011/motions/smplx.npz +++ 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b/actions/locomotion_posture_dynamics/D28/session_012/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..3a11d2ddbaa49c17ec0374cd731240a8dccf7ead --- /dev/null +++ b/actions/locomotion_posture_dynamics/D28/session_012/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:631e7452b8501beb9cf3ad063ecbd81de48fb8e4089f1a825efe44e8b3f8299f +size 535414 diff --git a/actions/locomotion_posture_dynamics/D28/session_012/meta.json b/actions/locomotion_posture_dynamics/D28/session_012/meta.json index 4c5300ef41aac7e6833768b118e4624b5d505d74..05b552aedc6fd99a6127391e0f7e5f40a9d9b2b6 100644 --- a/actions/locomotion_posture_dynamics/D28/session_012/meta.json +++ b/actions/locomotion_posture_dynamics/D28/session_012/meta.json @@ -324,8 +324,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", 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0000000000000000000000000000000000000000..df189c25ace7000c86092bd3f5786a84f3abb4eb --- /dev/null +++ b/actions/locomotion_posture_dynamics/D28/session_013/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f299c08953fc91cc58c4dec05dfb0df4ad789253091d023a3cf8deffb40fed05 +size 510608 diff --git a/actions/locomotion_posture_dynamics/D28/session_013/meta.json b/actions/locomotion_posture_dynamics/D28/session_013/meta.json index a97654ba9637368e617226b6018b74304bd19168..cedbb4cb974a909194d8761482858b768058ac1f 100644 --- a/actions/locomotion_posture_dynamics/D28/session_013/meta.json +++ b/actions/locomotion_posture_dynamics/D28/session_013/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": 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a/actions/locomotion_posture_dynamics/D29/session_001/meta.json b/actions/locomotion_posture_dynamics/D29/session_001/meta.json index 6cec17c0d24f833f1edbb20451cc3bcccd4879e9..c3e7a204f0f55fa6175b74c954eb4f4c409a852d 100644 --- a/actions/locomotion_posture_dynamics/D29/session_001/meta.json +++ b/actions/locomotion_posture_dynamics/D29/session_001/meta.json @@ -361,8 +361,8 @@ "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": { @@ -542,10 +542,124 @@ "file": 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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_posture_dynamics/D29/session_004", "family": "locomotion_posture_dynamics", "primitive": "D29", "source_session": "20260908/D29/20260908_114903_session153" + }, + "task": { + "primitive": "D29", + "instruction": "Repeat a short dance step or sequence over and over in time with a steady beat." } } diff --git a/actions/locomotion_posture_dynamics/D29/session_004/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D29/session_004/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..9b2d225e4dbad8b1b19fdae1d42e3db6e8532b9d --- /dev/null +++ b/actions/locomotion_posture_dynamics/D29/session_004/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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b/actions/locomotion_posture_dynamics/D29/session_007/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0865adf7dba48f344445a04668ac4069a5179e8deb59faf9d50376956f105c31 +size 514658 diff --git a/actions/locomotion_posture_dynamics/D29/session_007/meta.json b/actions/locomotion_posture_dynamics/D29/session_007/meta.json index a9f3e46486f6330a269a910a602eaef40bbc4459..4e643b8a5b798e715cdd03c05b558c001c5d9fb3 100644 --- a/actions/locomotion_posture_dynamics/D29/session_007/meta.json +++ b/actions/locomotion_posture_dynamics/D29/session_007/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered 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b/actions/locomotion_posture_dynamics/D29/session_011/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..130f54e3534c6c03285ad7f0665670404b7341bb --- /dev/null +++ b/actions/locomotion_posture_dynamics/D29/session_011/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f0a261763ec08d743c606110a203f481c54cd68f4de6d67e2fc9cff3c2feb9a +size 627474 diff --git a/actions/locomotion_posture_dynamics/D29/session_011/meta.json b/actions/locomotion_posture_dynamics/D29/session_011/meta.json index cb59d09087cf0119d3d50fa733ff9526a1b8b8fd..5fbb5fa32bac5b1fae9c7955167d8087c76f7329 100644 --- a/actions/locomotion_posture_dynamics/D29/session_011/meta.json +++ b/actions/locomotion_posture_dynamics/D29/session_011/meta.json @@ -325,8 +325,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -392,14 +392,14 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 2.98827, - -0.45012, - -0.85862 + -2.98827, + 0.45012, + 0.85862 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 177.1, - "opposite_sign_bend_deg": 14.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "wrist_bend_deg_median": 94.2, + "opposite_sign_bend_deg": 89.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.42, "hand_vs_marker_frame_deg": { "before": 179.37, @@ -411,15 +411,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -93.63, + "twist_moved_deg": 93.63, "wrist_twist_deg_after": { - "median": -86.34, + "median": 0.0, "iqr": [ - -90.1, - -83.7 + -3.9, + 2.5 ] }, - "wrist_total_deg_median_after": 89.4, + "wrist_total_deg_median_after": 14.6, "markers_on_forearm": [ "LWristIn", "LWristOut" @@ -432,8 +432,8 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - 0.0, - -0.0 + -0.0, + 0.0 ], "in_out_sign": 1, "wrist_bend_deg_median": 12.2, @@ -466,7 +466,7 @@ }, "frames_used": 1309 }, - "generated_at_utc": "2026-10-28T06:30:42.150479+00:00", + "generated_at_utc": "2026-11-04T03:03:08.740376+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -557,10 +557,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.527734816705678 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 26.7, + "offset_rotvec": [ + 0.4635, + -0.04, + 0.027 + ], + "dev_deg": { + "median": 24.35, + "p90": 144.24 + }, + "samples": 2608, + "accepted": 1557, + "wrist_pos_err_mm_median": 50.2, + "per_camera": { + "head": { + "samples": 2608, + "accepted": 1557, + "gate_deg": 30.0, + "offset_deg": 26.7, + "tier": "primary", + "dev_deg_median": 24.35, + "wrist_pos_err_mm_median": 50.2 + } + }, + "frames_by_state": { + "ace_sample": 6416, + "interpolated": 3404, + "mean_hand": 3264, + "no_body_fit": 0 + }, + "observed_fraction": 0.7505, + "observed_fraction_of_valid": 0.7505, + "palm_axis_vs_markers_deg": { + "gsi": 34.52, + "smplx": 1.33 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.5, + "p90": 7.8 + }, + "registered": { + "median": 5.7, + "p90": 7.2 + } + } + }, + "right": { + "offset_deg": 14.05, + "offset_rotvec": [ + 0.2201, + 0.0601, + 0.0898 + ], + "dev_deg": { + "median": 17.5, + "p90": 45.64 + }, + "samples": 2162, + "accepted": 1646, + "wrist_pos_err_mm_median": 51.7, + "per_camera": { + "head": { + "samples": 2162, + "accepted": 1646, + "gate_deg": 30.0, + "offset_deg": 14.05, + "tier": "primary", + "dev_deg_median": 17.5, + "wrist_pos_err_mm_median": 51.7 + } + }, + "frames_by_state": { + "ace_sample": 6642, + "interpolated": 3194, + "mean_hand": 3248, + "no_body_fit": 0 + }, + "observed_fraction": 0.7518, + "observed_fraction_of_valid": 0.7518, + "palm_axis_vs_markers_deg": { + "gsi": 18.71, + "smplx": 1.04 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.0, + "p90": 6.9 + }, + "registered": { + "median": 6.4, + "p90": 7.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-04T03:06:28.334130+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_posture_dynamics/D29/session_011", "family": "locomotion_posture_dynamics", "primitive": "D29", "source_session": "20260929/D29/20260929_102222_session194" + }, + "task": { + "primitive": "D29", + "instruction": "Repeat a short dance step or sequence over and over in time with a steady beat." } } diff --git a/actions/locomotion_posture_dynamics/D29/session_011/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D29/session_011/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..4cc66d950d4dd0b1bed655a5a554ae303639beb0 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D29/session_011/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ec8ad6a908ffa260dc1d240abe07753cb1abcefc44e8b617ffdfda156b44fe4 +size 3300207 diff --git a/actions/locomotion_posture_dynamics/D29/session_011/motions/smplx.npz b/actions/locomotion_posture_dynamics/D29/session_011/motions/smplx.npz index 032959dd639bfb9af3cb03c5ade4bb11b43535d1..21fe03c1c2040e3f1a5cf0369165b2d77d499b3b 100644 --- a/actions/locomotion_posture_dynamics/D29/session_011/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D29/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5f8c544f7a7c0c9a901d920ebd63e118b645386959a47fe6f6e933841bdeb5c9 -size 5027443 +oid sha256:4ecdd01980f49365b5c3838865a2a281674feeeabe82c73728f82d2bcec23146 +size 8603936 diff --git a/actions/locomotion_posture_dynamics/D29/session_012/annotations.json b/actions/locomotion_posture_dynamics/D29/session_012/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..fd5060acf2bcbc05065df00180a242f49c239c9f --- /dev/null +++ b/actions/locomotion_posture_dynamics/D29/session_012/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D29", + "instruction": "Repeat a short dance step or sequence over and over in time with a steady beat.", + "segments": [ + { + "id": "segment1", + "duration_s": 93.966678, + "video": "left_eye", + "video_t_start": 0.03912268025877075 + } + ], + "episodes": [ + { + "id": "68ebd474-f0b8-47da-806e-e87bbaa6414f", + "segment": "segment1", + "action": "D29", + "quality": "valid", + "start_s": 2, + "end_s": 42.78, + "t_start": 2.0391, + "t_end": 42.8191, + "instruction": "Repeat a short dance step or sequence over and over in time with a steady beat." + }, + { + "id": "1641ab48-67e5-450e-963a-98968bb96498", + "segment": "segment1", + "action": "D29", + "quality": "valid", + "start_s": 47.78, + "end_s": 84.453, + "t_start": 47.8191, + "t_end": 84.4921, + "instruction": "Repeat a short dance step or sequence over and over in time with a steady beat." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D29/session_012/cameras/slam.npz b/actions/locomotion_posture_dynamics/D29/session_012/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..22cb35754fd069dd9396b98e528222b6d998e6cc --- /dev/null +++ b/actions/locomotion_posture_dynamics/D29/session_012/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ee0ee3537e9b288b2b25864a6dafb75d6f1e5452e6df1f4b57cb2f89e24f382 +size 535771 diff --git a/actions/locomotion_posture_dynamics/D29/session_012/meta.json b/actions/locomotion_posture_dynamics/D29/session_012/meta.json index 69a791a15f59b6fa780aecaf1dcbb65ec02749a1..99a2e0e2befd51cffa689150db83b92d12491114 100644 --- a/actions/locomotion_posture_dynamics/D29/session_012/meta.json +++ b/actions/locomotion_posture_dynamics/D29/session_012/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": { @@ -519,10 +519,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.705335998989991 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 23.26, + "offset_rotvec": [ + 0.2036, + -0.3512, + -0.0016 + ], + "dev_deg": { + "median": 26.48, + "p90": 51.64 + }, + "samples": 1471, + "accepted": 845, + "wrist_pos_err_mm_median": 217.3, + "per_camera": { + "head": { + "samples": 1471, + "accepted": 845, + 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"D29", + "instruction": "Repeat a short dance step or sequence over and over in time with a steady beat." } } diff --git a/actions/locomotion_posture_dynamics/D29/session_012/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D29/session_012/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..f811c21f6dee3d7add0449a298672679ef250e06 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D29/session_012/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf79016c787d209c25d0456c267510633adb2ccbaa4f78d01e8a3a4fa858b64b +size 1785724 diff --git a/actions/locomotion_posture_dynamics/D29/session_012/motions/smplx.npz b/actions/locomotion_posture_dynamics/D29/session_012/motions/smplx.npz index c4e9a9937e7f61bf800afe4d83b2fcae80a16b4a..43db95ff3c75c53836bcac3ac6c7b13fc8bfbaf3 100644 --- a/actions/locomotion_posture_dynamics/D29/session_012/motions/smplx.npz +++ 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/dev/null +++ b/actions/locomotion_posture_dynamics/D30/session_001/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D30", + "instruction": "Move however you like, changing style and tempo as you go; keep moving continuously.", + "segments": [ + { + "id": "segment1", + "duration_s": 93.966567, + "video": "left_eye", + "video_t_start": 0.038818001911264055 + } + ], + "episodes": [ + { + "id": "2e067dec-211e-4e5e-806a-3798b689f2e4", + "segment": "segment1", + "action": "D30", + "quality": "valid", + "start_s": 1.401, + "end_s": 46.909, + "t_start": 1.4398, + "t_end": 46.9478, + "instruction": "Move however you like, changing style and tempo as you go; keep 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b/actions/locomotion_posture_dynamics/D30/session_002/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..82b157f4647dd28dfe71e1a417e67111427f7c16 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D30/session_002/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:decc4fd73d24d468a293be51cfe1cec975340332f9766a482f34a0feb533165f +size 513699 diff --git a/actions/locomotion_posture_dynamics/D30/session_002/meta.json b/actions/locomotion_posture_dynamics/D30/session_002/meta.json index 8c0973df30fba2b9a90352dd0e09e0da55e59cf1..342a4b3e6263bc7fe6fe84c5b13e1df06512f809 100644 --- a/actions/locomotion_posture_dynamics/D30/session_002/meta.json +++ b/actions/locomotion_posture_dynamics/D30/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": { @@ -508,10 +508,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.2642078467830953 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.17, + "offset_rotvec": [ + -0.1471, + -0.0873, + -0.0473 + ], + "dev_deg": { + "median": 29.2, + "p90": 65.84 + }, + "samples": 1464, + "accepted": 760, + "wrist_pos_err_mm_median": 65.4, + "per_camera": { + "head": { + "samples": 1464, + "accepted": 760, + "gate_deg": 30.0, + "offset_deg": 10.17, + "tier": "primary", + "dev_deg_median": 29.2, + "wrist_pos_err_mm_median": 65.4 + } + }, + "frames_by_state": { 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b/actions/locomotion_posture_dynamics/D30/session_009/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:160193a5dc7f134cb2371c91267a209c288645d9f98cac2b0d3e35b27a559165 +size 542476 diff --git a/actions/locomotion_posture_dynamics/D30/session_009/meta.json b/actions/locomotion_posture_dynamics/D30/session_009/meta.json index 3ca4e5ad1d2ec913f94a1c6f1d507334719b7591..72bc2d4a8c0d7380ce507b0ed076555ee935e08c 100644 --- a/actions/locomotion_posture_dynamics/D30/session_009/meta.json +++ b/actions/locomotion_posture_dynamics/D30/session_009/meta.json @@ -323,8 +323,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered 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however you like, changing style and tempo as you go; keep moving continuously." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D30/session_012/cameras/slam.npz b/actions/locomotion_posture_dynamics/D30/session_012/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..18e378ce00da7c78da35518aece53b42c8f23385 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D30/session_012/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ccc833988611d1ab002a485b8cfdc7c67a686efde62e70344c308f73532fe24 +size 521551 diff --git a/actions/locomotion_posture_dynamics/D30/session_012/meta.json b/actions/locomotion_posture_dynamics/D30/session_012/meta.json index fd5f7cde36d18e447857bcd372587f311cbc433a..d7327cfaadcd1f06d99cde3ef0831bd4a00810c7 100644 --- a/actions/locomotion_posture_dynamics/D30/session_012/meta.json +++ b/actions/locomotion_posture_dynamics/D30/session_012/meta.json @@ -324,8 +324,8 @@ "frame": 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b/actions/locomotion_posture_dynamics/D31/session_001/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..c9c23356cbc58878625cef04cabc61551d6adf36 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D31/session_001/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5476a89f6904607aa23eb55c33f0e4926ad0bc33f63a228ddecde55c8191a69a +size 340041 diff --git a/actions/locomotion_posture_dynamics/D31/session_001/meta.json b/actions/locomotion_posture_dynamics/D31/session_001/meta.json index bc8fea09b788b385cd863f0a3489b44e40e276e4..ca1ba1b9f1824aedf0a7541bb3540815289edbf9 100644 --- a/actions/locomotion_posture_dynamics/D31/session_001/meta.json +++ b/actions/locomotion_posture_dynamics/D31/session_001/meta.json @@ -361,8 +361,8 @@ "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": { @@ -542,10 +542,124 @@ "file": "derived/rig_tracker_provider/rig_tracker.json", "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 14.61, + "offset_rotvec": [ + -0.1108, + -0.2293, + -0.0117 + ], + "dev_deg": { + "median": 9.4, + "p90": 23.72 + }, + "samples": 1389, + "accepted": 1302, + "wrist_pos_err_mm_median": 39.5, + "per_camera": { + "head": { + "samples": 1389, + "accepted": 1302, + "gate_deg": 30.0, + "offset_deg": 14.61, + "tier": "primary", + "dev_deg_median": 9.4, + "wrist_pos_err_mm_median": 39.5 + } + 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D31/session_001/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D31/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..4977ee36110e4ea8225b223f3bf51b06aa24d347 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D31/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2613deba0a9defc33daf6c9eff6d2d8b3d9f9b5fa611311656120942b9a2311b +size 1870829 diff --git a/actions/locomotion_posture_dynamics/D31/session_001/motions/smplx.npz b/actions/locomotion_posture_dynamics/D31/session_001/motions/smplx.npz index 492952eef91f0707910de8c5e423dd6dd4c5711e..8b588b8b34f5f13796c1e73b37c0d4d0ec682585 100644 --- a/actions/locomotion_posture_dynamics/D31/session_001/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D31/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:65f4bcad9e3c4d7b9fd0a7781c401cbf017c91bc6e325d0c9ce0a8c207ffd8d6 -size 2723896 +oid sha256:2015b8c7537ed96da182731d21c27dcc2abc1adf17913d16c3d72493d13a2133 +size 5070459 diff --git a/actions/locomotion_posture_dynamics/D31/session_002/annotations.json b/actions/locomotion_posture_dynamics/D31/session_002/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..51e838e0101172573db7f6fb766bb3565e6e1012 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D31/session_002/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D31", + "instruction": "Jump straight up as high as is comfortable and land softly on the same spot. 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D31/session_002/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D31/session_002/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..e4956d32debffccf630e6905fcd188a7454895f7 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D31/session_002/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79fed2e6e0d97409bc6e006a4048182335374a57287dd636369c14ea67ef851d +size 1661370 diff --git a/actions/locomotion_posture_dynamics/D31/session_002/motions/smplx.npz b/actions/locomotion_posture_dynamics/D31/session_002/motions/smplx.npz index 698a8f776e67dc4c0f433952ba21feec40e4b4de..aa46f229815d4d5bf6b791e06a57f63bfb2bd181 100644 --- a/actions/locomotion_posture_dynamics/D31/session_002/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D31/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4535dcdb0b21314de644307c529fe33d8ea7f6e6d6575499b8f57efd70532d66 -size 2724064 +oid sha256:1ae5436b795295bbccc4e8743762a65d0f4cd737561b39966c7de9fdf788fffa +size 5038150 diff --git a/actions/locomotion_posture_dynamics/D31/session_003/annotations.json b/actions/locomotion_posture_dynamics/D31/session_003/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..92c58ff4d72261e5bea106075d0645c6d257a762 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D31/session_003/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D31", + "instruction": "Jump straight up as high as is comfortable and land softly on the same spot. 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Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D31/session_003/cameras/slam.npz b/actions/locomotion_posture_dynamics/D31/session_003/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..809a3ebce9c6f9e00c49fe72352d97fe60c5f411 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D31/session_003/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c84c59b63059970ccfc681cac113d77bf0c4d3c03fdc3932bd6842fadc1e03e +size 341508 diff --git a/actions/locomotion_posture_dynamics/D31/session_003/meta.json b/actions/locomotion_posture_dynamics/D31/session_003/meta.json index 50f5f02fb541e7b6020457180a847694ec1bd658..bf3a909cc2247cfd9112cce6b273121a79118757 100644 --- a/actions/locomotion_posture_dynamics/D31/session_003/meta.json +++ b/actions/locomotion_posture_dynamics/D31/session_003/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -515,10 +515,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8928763492980967 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 15.67, + "offset_rotvec": [ + 0.0868, + -0.1502, + 0.2115 + ], + "dev_deg": { + "median": 12.46, + "p90": 23.73 + }, + "samples": 1416, + "accepted": 1348, + "wrist_pos_err_mm_median": 132.2, + "per_camera": { + "head": { + "samples": 1416, + "accepted": 1348, + "gate_deg": 30.0, + "offset_deg": 15.67, + "tier": "primary", + "dev_deg_median": 12.46, + "wrist_pos_err_mm_median": 132.2 + } + }, + "frames_by_state": { + "ace_sample": 5506, + "interpolated": 1282, + "mean_hand": 296, + "no_body_fit": 0 + }, + "observed_fraction": 0.9582, + "observed_fraction_of_valid": 0.9582, + "palm_axis_vs_markers_deg": { + "gsi": 14.86, + "smplx": 0.96 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.8, + "p90": 6.6 + }, + "registered": { + "median": 6.3, + "p90": 7.3 + } + } + }, + "right": { + "offset_deg": 11.36, + "offset_rotvec": [ + 0.0224, + 0.1941, + -0.0331 + ], + "dev_deg": { + "median": 15.62, + "p90": 32.89 + }, + "samples": 1176, + "accepted": 1035, + "wrist_pos_err_mm_median": 125.5, + "per_camera": { + "head": { + "samples": 1176, + "accepted": 1035, + "gate_deg": 30.0, + "offset_deg": 11.36, + "tier": "primary", + "dev_deg_median": 15.62, + "wrist_pos_err_mm_median": 125.5 + } + }, + "frames_by_state": { + "ace_sample": 4194, + "interpolated": 1010, + "mean_hand": 1880, + "no_body_fit": 0 + }, + "observed_fraction": 0.7346, + "observed_fraction_of_valid": 0.7346, + "palm_axis_vs_markers_deg": { + "gsi": 12.44, + "smplx": 1.3 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.5, + "p90": 8.4 + }, + "registered": { + "median": 6.6, + "p90": 8.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T14:39:41.927055+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_posture_dynamics/D31/session_003", "family": "locomotion_posture_dynamics", "primitive": "D31", "source_session": "20260908/D31/20260908_051003_session19" + }, + "task": { + "primitive": "D31", + "instruction": "Jump straight up as high as is comfortable and land softly on the same spot. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D31/session_003/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D31/session_003/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..686433d1463e43f958bc87a0a387c83fc4097e5e --- /dev/null +++ b/actions/locomotion_posture_dynamics/D31/session_003/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ab237d0ee2ad48b77f9cd66a2421df0acf7a9dabb28d773bc8ab625194c6ece +size 1797803 diff --git a/actions/locomotion_posture_dynamics/D31/session_003/motions/smplx.npz b/actions/locomotion_posture_dynamics/D31/session_003/motions/smplx.npz index 0fef4af8fd19f762c145f99d31c15f8034241cd8..28cc16cfa22c52b26e4cb615deb88eac5fbf2cb0 100644 --- a/actions/locomotion_posture_dynamics/D31/session_003/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D31/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:57edd7e5a6f485dfb3b5332057f909a46dbd3004d73262d890a4a4131cd8154f -size 2737115 +oid sha256:a1173b6e119c38b2c7cf7ff17b270b6b67aef87a755b27910655b9aed69d443b +size 4831220 diff --git a/actions/locomotion_posture_dynamics/D31/session_004/annotations.json b/actions/locomotion_posture_dynamics/D31/session_004/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..7e8c1aec6828f73568f2937033ff6ec06973fdc7 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D31/session_004/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D31", + "instruction": "Jump straight up as high as is comfortable and land softly on the same spot. 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new file mode 100644 index 0000000000000000000000000000000000000000..dd91c9325dc891ee05ad5ee49a85094d7210778e --- /dev/null +++ b/actions/locomotion_posture_dynamics/D31/session_004/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:53c7ae6bdceb0dba18ecebef452001b5ffeba285be4d2e0e4dd408e1efe7e87f +size 456761 diff --git a/actions/locomotion_posture_dynamics/D31/session_004/meta.json b/actions/locomotion_posture_dynamics/D31/session_004/meta.json index f127261354382317000ac816ab16358d3ed9e291..e826864292d145938afeffd084ba077f0ea14ed3 100644 --- a/actions/locomotion_posture_dynamics/D31/session_004/meta.json +++ b/actions/locomotion_posture_dynamics/D31/session_004/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, 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D31/session_004/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D31/session_004/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..894d2f465846ea9bd4a265ce5829832d21025891 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D31/session_004/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da37c3fadd2cb44eed39e0b0181bb0567f51141d6f395ad4a2d3e9ab64e6ddbf +size 1540449 diff --git a/actions/locomotion_posture_dynamics/D31/session_004/motions/smplx.npz b/actions/locomotion_posture_dynamics/D31/session_004/motions/smplx.npz index a3365c2a7e21bbf209a780dffe6d8d5b45ee7af7..07606756d282f1d00973d551a95baa3f46fa83ba 100644 --- a/actions/locomotion_posture_dynamics/D31/session_004/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D31/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9ea769fd45cafadc4a63ed4856a4973a5fb17030e115cb1a6d3b5d88e47850a5 -size 3677745 +oid sha256:62673dd280b3bebc6d35d8eb7e60b4e0bb7b1fc1aa28df1d2896f3a5eb123af9 +size 6716016 diff --git a/actions/locomotion_posture_dynamics/D31/session_005/annotations.json b/actions/locomotion_posture_dynamics/D31/session_005/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..9500700df33123b5411b19a5fdc6b222e5e9d596 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D31/session_005/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D31", + "instruction": "Jump straight up as high as is comfortable and land softly on the same spot. 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--- /dev/null +++ b/actions/locomotion_posture_dynamics/D31/session_006/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e19a323d7f92905486e3e3cda2e83d86431673fdaf3665e7e05cb20233b30dae +size 340765 diff --git a/actions/locomotion_posture_dynamics/D31/session_006/meta.json b/actions/locomotion_posture_dynamics/D31/session_006/meta.json index d662803c900cad99a2cd2e7f8330886b5582ac27..ec5aec950e855ec621a5b4d79376ad26cad0d1f7 100644 --- a/actions/locomotion_posture_dynamics/D31/session_006/meta.json +++ b/actions/locomotion_posture_dynamics/D31/session_006/meta.json @@ -332,8 +332,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D31/session_006/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D31/session_006/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..a610dc7408b5572ffb3090486824171847d853e6 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D31/session_006/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:741e0b986b2046afd6e82776e2b89bf20f2071e49bb607cb7c9e6bf3f85140b0 +size 1799996 diff --git a/actions/locomotion_posture_dynamics/D31/session_006/motions/smplx.npz b/actions/locomotion_posture_dynamics/D31/session_006/motions/smplx.npz index 8744317a81402ec9d4ced3aafe28feb748da82e3..37435142ebd50625d938ff912c64774920162a5e 100644 --- a/actions/locomotion_posture_dynamics/D31/session_006/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D31/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5f93b922aeb6f12593df7f9a94901274936716ec310c27bc9757d0fbf54d5f30 -size 2661696 +oid sha256:c491bc49c5d36604234f8b3ed82ace517a4a6f477f60fbea8f1a408b1916c17b +size 4772092 diff --git a/actions/locomotion_posture_dynamics/D31/session_007/annotations.json b/actions/locomotion_posture_dynamics/D31/session_007/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..d3cb1d2097d1bf772b4c3d589c6b6678c0589deb --- /dev/null +++ b/actions/locomotion_posture_dynamics/D31/session_007/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D31", + "instruction": "Jump straight up as high as is comfortable and land softly on the same spot. 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Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D31/session_007/cameras/slam.npz b/actions/locomotion_posture_dynamics/D31/session_007/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..1eb110a8f852e65058d51ea045110dbf1d509eb1 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D31/session_007/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06462f807ba5f821f656858dae8bd7d3139e5fc89f3c4386ebb11da394b5ecc9 +size 314262 diff --git a/actions/locomotion_posture_dynamics/D31/session_007/meta.json b/actions/locomotion_posture_dynamics/D31/session_007/meta.json index 85861c8c2c94f0316a777d7ed751df62add67764..f3f94439eed1f7e67c75518f21f721962cfcc751 100644 --- a/actions/locomotion_posture_dynamics/D31/session_007/meta.json +++ b/actions/locomotion_posture_dynamics/D31/session_007/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": { @@ -509,10 +509,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8651372592054728 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 21.74, + "offset_rotvec": [ + 0.3074, + 0.01, + -0.2221 + ], + "dev_deg": { + "median": 18.68, + "p90": 44.02 + }, + "samples": 600, + "accepted": 429, + "wrist_pos_err_mm_median": 101.1, + "per_camera": { + "head": { + "samples": 600, + "accepted": 429, + "gate_deg": 30.0, + "offset_deg": 21.74, + "tier": "primary", + "dev_deg_median": 18.68, + "wrist_pos_err_mm_median": 101.1 + } + }, + "frames_by_state": { + "ace_sample": 1716, + "interpolated": 2408, + "mean_hand": 2360, + "no_body_fit": 0 + }, + "observed_fraction": 0.636, + "observed_fraction_of_valid": 0.636, + "palm_axis_vs_markers_deg": { + "gsi": 27.43, + "smplx": 1.49 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.6, + "p90": 24.6 + }, + "registered": { + "median": 13.7, + "p90": 24.5 + } + } + }, + "right": { + "offset_deg": 22.13, + "offset_rotvec": [ + 0.2137, + -0.2508, + 0.2014 + ], + "dev_deg": { + "median": 14.37, + "p90": 36.79 + }, + "samples": 748, + "accepted": 639, + "wrist_pos_err_mm_median": 117.8, + "per_camera": { + "head": { + "samples": 748, + "accepted": 639, + "gate_deg": 30.0, + "offset_deg": 22.13, + "tier": "primary", + "dev_deg_median": 14.37, + "wrist_pos_err_mm_median": 117.8 + } + }, + "frames_by_state": { + "ace_sample": 2626, + "interpolated": 3394, + "mean_hand": 464, + "no_body_fit": 0 + }, + "observed_fraction": 0.9284, + "observed_fraction_of_valid": 0.9284, + "palm_axis_vs_markers_deg": { + "gsi": 25.21, + "smplx": 2.08 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.4, + "p90": 27.1 + }, + "registered": { + "median": 10.1, + "p90": 26.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:58:02.650769+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_posture_dynamics/D31/session_007", "family": "locomotion_posture_dynamics", "primitive": "D31", "source_session": "20260919/D31/20260919_071803_session110" + }, + "task": { + "primitive": "D31", + "instruction": "Jump straight up as high as is comfortable and land softly on the same spot. 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0000000000000000000000000000000000000000..79abe41569309b22e3a92cf71c9019885b9ccd69 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D31/session_008/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:953624c44b3ebbad5fb74f1ac037cdaaeeff8fe8c441284d8ddcf347f1f71b4c +size 370034 diff --git a/actions/locomotion_posture_dynamics/D31/session_008/meta.json b/actions/locomotion_posture_dynamics/D31/session_008/meta.json index afda142e600afeb5f30a0e947075720daa012749..b4a6002bbad78456fbb5caafb9d02adbe0b6f514 100644 --- a/actions/locomotion_posture_dynamics/D31/session_008/meta.json +++ b/actions/locomotion_posture_dynamics/D31/session_008/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": 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0000000000000000000000000000000000000000..19c971e3ab34898891a69762fefd7d8690945b4e --- /dev/null +++ b/actions/locomotion_posture_dynamics/D31/session_010/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29a824f6a0518e377f855b0b88bf025df8f441c197220da36d1f4c4f586ace0f +size 341199 diff --git a/actions/locomotion_posture_dynamics/D31/session_010/meta.json b/actions/locomotion_posture_dynamics/D31/session_010/meta.json index e247ee9ad724662b8d80948d6f5dec9b96f85bbb..0d2ee7c800e1e1b9e4e74dfb4010c6da87c4e039 100644 --- a/actions/locomotion_posture_dynamics/D31/session_010/meta.json +++ b/actions/locomotion_posture_dynamics/D31/session_010/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D31/session_010/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D31/session_010/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..f4ed3ce9f94efe9053dcb5a20881b858b4e2f0ed --- /dev/null +++ b/actions/locomotion_posture_dynamics/D31/session_010/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd8c079cf1a5016738b4a7e70258835fe20e6f945f75e2f6919c41088f8b082d +size 1705821 diff --git a/actions/locomotion_posture_dynamics/D31/session_010/motions/smplx.npz b/actions/locomotion_posture_dynamics/D31/session_010/motions/smplx.npz index ab30148b90d03430dd715d8b1f640454b364f7e5..ec3e95ef923f8faa3545da00328084791ae4f22a 100644 --- a/actions/locomotion_posture_dynamics/D31/session_010/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D31/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f402473908d629f155a26dda4ce0f1a593c2722804188512c8c7179cb8880853 -size 2710516 +oid sha256:7b7217f596e6f88ee716618493e13b15913219569de05e1229add6248acb3f2c +size 4594878 diff --git a/actions/locomotion_posture_dynamics/D31/session_011/annotations.json b/actions/locomotion_posture_dynamics/D31/session_011/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..4509337be5c865d9a9dc7f69abd6f56d69dad99f --- /dev/null +++ b/actions/locomotion_posture_dynamics/D31/session_011/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D31", + "instruction": "Jump straight up as high as is comfortable and land softly on the same spot. 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Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D31/session_011/cameras/slam.npz b/actions/locomotion_posture_dynamics/D31/session_011/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..60a3e742f8b5a4968270bdc9207c7abb1553c709 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D31/session_011/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55197e3d5de177c0bf481d7e28dc064bab3f453c086476430c0dd42785b12c3c +size 398995 diff --git a/actions/locomotion_posture_dynamics/D31/session_011/meta.json b/actions/locomotion_posture_dynamics/D31/session_011/meta.json index f66b56fa9602d226582a60a566a2c23e7189343d..c6954e98e5fc8814ef0b377039d8cc788adfdd29 100644 --- a/actions/locomotion_posture_dynamics/D31/session_011/meta.json +++ b/actions/locomotion_posture_dynamics/D31/session_011/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": { @@ -509,10 +509,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.4014215535089654 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 23.85, + "offset_rotvec": [ + 0.3964, + -0.1163, + -0.0509 + ], + "dev_deg": { + "median": 16.42, + "p90": 35.83 + }, + "samples": 1231, + "accepted": 1029, + "wrist_pos_err_mm_median": 134.8, + "per_camera": { + "head": { + "samples": 1231, + "accepted": 1029, + "gate_deg": 30.0, + "offset_deg": 23.85, + "tier": "primary", + "dev_deg_median": 16.42, + "wrist_pos_err_mm_median": 134.8 + } + }, + "frames_by_state": { + "ace_sample": 4282, + "interpolated": 3538, + "mean_hand": 464, + "no_body_fit": 0 + }, + "observed_fraction": 0.944, + "observed_fraction_of_valid": 0.944, + "palm_axis_vs_markers_deg": { + "gsi": 30.25, + "smplx": 0.76 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.8, + "p90": 13.0 + }, + "registered": { + "median": 7.3, + "p90": 10.3 + } + } + }, + "right": { + "offset_deg": 20.34, + "offset_rotvec": [ + 0.292, + 0.1913, + 0.0647 + ], + "dev_deg": { + "median": 16.2, + "p90": 35.21 + }, + "samples": 1175, + "accepted": 974, + "wrist_pos_err_mm_median": 148.9, + "per_camera": { + "head": { + "samples": 1175, + "accepted": 974, + "gate_deg": 30.0, + "offset_deg": 20.34, + "tier": "primary", + "dev_deg_median": 16.2, + "wrist_pos_err_mm_median": 148.9 + } + }, + "frames_by_state": { + "ace_sample": 4018, + "interpolated": 3306, + "mean_hand": 960, + "no_body_fit": 0 + }, + "observed_fraction": 0.8841, + "observed_fraction_of_valid": 0.8841, + "palm_axis_vs_markers_deg": { + "gsi": 21.07, + "smplx": 0.89 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.0, + "p90": 7.8 + }, + "registered": { + "median": 7.0, + "p90": 7.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:27:27.785259+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_posture_dynamics/D31/session_011", "family": "locomotion_posture_dynamics", "primitive": "D31", "source_session": "20260929/D31/20260929_093734_session177" + }, + "task": { + "primitive": "D31", + "instruction": "Jump straight up as high as is comfortable and land softly on the same spot. 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D31/session_012/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D31/session_012/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..e69ce02fdec68639ac8fd19683febefa2256c836 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D31/session_012/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:170fac2a1b8e01f35b83db967d41d012808593d54ecbb19974ba54aa9da191a6 +size 1179654 diff --git a/actions/locomotion_posture_dynamics/D31/session_012/motions/smplx.npz b/actions/locomotion_posture_dynamics/D31/session_012/motions/smplx.npz index 9ae5655d7f7d684297c44f80e01848fbd28f7dc9..1290dcd8d1bc4d87be71df777025451637ed00e4 100644 --- a/actions/locomotion_posture_dynamics/D31/session_012/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D31/session_012/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6f2f3a6561ef451b98c3f69bc1788f039489b6d4bceb13453b66facfd4bfcf17 -size 3164487 +oid sha256:7e7131ed580e003647e4f3a60c3274b7f54c87632e6f816b9009e461ade77dfc +size 4937729 diff --git a/actions/locomotion_posture_dynamics/D31/session_013/annotations.json b/actions/locomotion_posture_dynamics/D31/session_013/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..26125712da024fe1352fcf0e517a37f3fe578f64 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D31/session_013/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D31", + "instruction": "Jump straight up as high as is comfortable and land softly on the same spot. 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0000000000000000000000000000000000000000..6cda3840beee6d2862385f9427ab9cda913de48d --- /dev/null +++ b/actions/locomotion_posture_dynamics/D31/session_013/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:341726c6fe97aab89a8fff545d0443be0aed585d639a2502bf36af28ba466e77 +size 417901 diff --git a/actions/locomotion_posture_dynamics/D31/session_013/meta.json b/actions/locomotion_posture_dynamics/D31/session_013/meta.json index e6821e6da9e5fba0e18e6b2671cbbcd0de6d325f..170d6db8d7c9d19ef7674e614a5612f4275d8e69 100644 --- a/actions/locomotion_posture_dynamics/D31/session_013/meta.json +++ b/actions/locomotion_posture_dynamics/D31/session_013/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": 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D31/session_013/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D31/session_013/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..9d70bf379b0ac8a9bdc0d670e06d76faa82f629e --- /dev/null +++ b/actions/locomotion_posture_dynamics/D31/session_013/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0229e1875b2f716392d0dd19feb8e2f87238a0ae5e10ead10369e3903360186c +size 1858618 diff --git a/actions/locomotion_posture_dynamics/D31/session_013/motions/smplx.npz b/actions/locomotion_posture_dynamics/D31/session_013/motions/smplx.npz index fde6f9018ff239ce8c51a1aa38ce7f6cb1342f36..b57279210c12da4d192cb8a3740e21c4fc771e14 100644 --- a/actions/locomotion_posture_dynamics/D31/session_013/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D31/session_013/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:41b6e55add37cdb55d17af465552057cb895b4eebf21fd7ccc2a9d5268ed6e29 -size 3323218 +oid sha256:b490d9fe90d40aedca60ecc85ead4efe2e385e21a179e25cd96b689b08ec0ee6 +size 6095957 diff --git a/actions/locomotion_posture_dynamics/D32/session_001/annotations.json b/actions/locomotion_posture_dynamics/D32/session_001/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..94cfb16d2075b28b8e35bd6ad8771864912a3173 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D32/session_001/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D32", + "instruction": "Jump up, turn 180 degrees in the air, and land facing the other way. 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mode 100644 index 0000000000000000000000000000000000000000..226ae966c4c2b71fec78b019ed6b06ebec86aad5 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D32/session_001/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1c23d8bf2aa1bea480f4b6348a59f7c5df27098a504a32854f326c3a740c98e +size 340267 diff --git a/actions/locomotion_posture_dynamics/D32/session_001/meta.json b/actions/locomotion_posture_dynamics/D32/session_001/meta.json index 1878e4be6b54ea0146c114ef851a9c1dba9d8d93..cc0f671a095b76939fb5029b4282a82651371e96 100644 --- a/actions/locomotion_posture_dynamics/D32/session_001/meta.json +++ b/actions/locomotion_posture_dynamics/D32/session_001/meta.json @@ -362,8 +362,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, 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Alternate turn direction. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D32/session_004/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D32/session_004/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..25da7ebcde2d116cbb737c8c5a2982b26f2d8ed8 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D32/session_004/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83e9c0851140f39c5886901ebaa1f3428ac261a6ac744e23789aeedeab051c9e +size 1908972 diff --git a/actions/locomotion_posture_dynamics/D32/session_004/motions/smplx.npz b/actions/locomotion_posture_dynamics/D32/session_004/motions/smplx.npz index fcdf9366978e467e36ded4b0124241298ae02786..3090088e2a98dfac26ec8477ac1855ef3facbb14 100644 --- a/actions/locomotion_posture_dynamics/D32/session_004/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D32/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b1baa6a8c6e7b147bed1292a2144a74e02d1938a07ad217772a3dc3f4c31f952 -size 2735780 +oid sha256:33a4a29b78a0e55902eee4a9ef1a8a27484471421ce449cf1f2028533288df39 +size 4967511 diff --git a/actions/locomotion_posture_dynamics/D32/session_005/annotations.json b/actions/locomotion_posture_dynamics/D32/session_005/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..0b00e3cdf28352e2e288db24644ea4826a15e242 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D32/session_005/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D32", + "instruction": "Jump up, turn 180 degrees in the air, and land facing the other way. 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Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D32/session_005/cameras/slam.npz b/actions/locomotion_posture_dynamics/D32/session_005/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..4d57b69d9d4013000fe85e93beff9ec23fce3f67 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D32/session_005/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6046645d9c484fb882e749ca22576d57c19f31e6da6038ba6a67d596478b1670 +size 369933 diff --git a/actions/locomotion_posture_dynamics/D32/session_005/meta.json b/actions/locomotion_posture_dynamics/D32/session_005/meta.json index d1a3b5ab155176c668d8e45d4f8b2865388b3b25..03956a738b77a486aae03b915d274574ee08b3f1 100644 --- a/actions/locomotion_posture_dynamics/D32/session_005/meta.json +++ b/actions/locomotion_posture_dynamics/D32/session_005/meta.json @@ -341,8 +341,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -532,10 +532,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.079164391393327 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.58, + "offset_rotvec": [ + 0.1483, + -0.0544, + -0.0958 + ], + "dev_deg": { + "median": 14.65, + "p90": 27.28 + }, + "samples": 995, + "accepted": 928, + "wrist_pos_err_mm_median": 147.6, + "per_camera": { + "head": { + "samples": 995, + "accepted": 928, + "gate_deg": 30.0, + "offset_deg": 10.58, + "tier": "primary", + "dev_deg_median": 14.65, + "wrist_pos_err_mm_median": 147.6 + } + }, + "frames_by_state": { + "ace_sample": 3888, + "interpolated": 2732, + "mean_hand": 1064, + "no_body_fit": 0 + }, + "observed_fraction": 0.8615, + "observed_fraction_of_valid": 0.8615, + "palm_axis_vs_markers_deg": { + "gsi": 14.62, + "smplx": 0.68 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.2, + "p90": 11.9 + }, + "registered": { + "median": 8.4, + "p90": 9.8 + } + } + }, + "right": { + "offset_deg": 8.58, + "offset_rotvec": [ + -0.0938, + -0.0316, + 0.1124 + ], + "dev_deg": { + "median": 18.4, + "p90": 45.23 + }, + "samples": 1031, + "accepted": 772, + "wrist_pos_err_mm_median": 181.6, + "per_camera": { + "head": { + "samples": 1031, + "accepted": 772, + "gate_deg": 30.0, + "offset_deg": 8.58, + "tier": "primary", + "dev_deg_median": 18.4, + "wrist_pos_err_mm_median": 181.6 + } + }, + "frames_by_state": { + "ace_sample": 3212, + "interpolated": 2968, + "mean_hand": 1504, + "no_body_fit": 0 + }, + "observed_fraction": 0.8043, + "observed_fraction_of_valid": 0.8043, + "palm_axis_vs_markers_deg": { + "gsi": 17.84, + "smplx": 1.29 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.0, + "p90": 11.3 + }, + "registered": { + "median": 9.8, + "p90": 12.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T17:50:43.680835+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_posture_dynamics/D32/session_005", "family": "locomotion_posture_dynamics", "primitive": "D32", "source_session": "20260914/D32/20260914_074839_session25" + }, + "task": { + "primitive": "D32", + "instruction": "Jump up, turn 180 degrees in the air, and land facing the other way. 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0000000000000000000000000000000000000000..454ebaba45db4222a637d6d15009c5becaff2035 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D32/session_006/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55fd89cbb8b16f4bf27635fc0e4246d108e1ec786f9d0874ef59ff1e35f05022 +size 341261 diff --git a/actions/locomotion_posture_dynamics/D32/session_006/meta.json b/actions/locomotion_posture_dynamics/D32/session_006/meta.json index 8da86ef3b4350f03eb71ce80761f5a8f2bb0dbdf..65097bffba1bf2e213a81c65185da699b4e6c187 100644 --- a/actions/locomotion_posture_dynamics/D32/session_006/meta.json +++ b/actions/locomotion_posture_dynamics/D32/session_006/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": 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Alternate turn direction. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D32/session_006/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D32/session_006/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..eec8ba3096d3b957d4b1ae4a842ba15a48126cfa --- /dev/null +++ b/actions/locomotion_posture_dynamics/D32/session_006/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:232611221361321769556bd598db8c6107c1426102f2a187269650233041ca59 +size 1432165 diff --git a/actions/locomotion_posture_dynamics/D32/session_006/motions/smplx.npz b/actions/locomotion_posture_dynamics/D32/session_006/motions/smplx.npz index 1096b05e1ab3f6370785f59674a7c792d5e787f0..c3a067c8021b4739ed3e49c9b50dca695d19ed5d 100644 --- a/actions/locomotion_posture_dynamics/D32/session_006/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D32/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1abc23a5b5170700b09cb5c7fdfcde4ee301b0d94894c763715287ae6e494f13 -size 2625492 +oid sha256:bf7cb8515fe20fec77d4303fa0c74a45acb0deb95db85d7a1540a5e1b987f93c +size 4585209 diff --git a/actions/locomotion_posture_dynamics/D32/session_007/annotations.json b/actions/locomotion_posture_dynamics/D32/session_007/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..e7eefa049b987a2a7668a1acff418fd9f682d1b0 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D32/session_007/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D32", + "instruction": "Jump up, turn 180 degrees in the air, and land facing the other way. 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0000000000000000000000000000000000000000..a3f963a67f27fa6850aa92dc6ed42df570d94d05 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D32/session_008/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aba0cb072262445374e871b721c834053d33e2883a223007df3f9e55ec1381d4 +size 341770 diff --git a/actions/locomotion_posture_dynamics/D32/session_008/meta.json b/actions/locomotion_posture_dynamics/D32/session_008/meta.json index 6c511c41980979892e36051c6471ae35ac3693a1..76e0026af1616d5871d40d80f5884460bab81302 100644 --- a/actions/locomotion_posture_dynamics/D32/session_008/meta.json +++ b/actions/locomotion_posture_dynamics/D32/session_008/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": 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Alternate turn direction. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D32/session_008/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D32/session_008/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..92345ddbe81f5e60f74e67caaa909a961f7698e1 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D32/session_008/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:89ea3c44f0022d0bda9ca135a64767843953e5000620b18ae0780bec62f040fb +size 2121331 diff --git a/actions/locomotion_posture_dynamics/D32/session_008/motions/smplx.npz b/actions/locomotion_posture_dynamics/D32/session_008/motions/smplx.npz index 25106d4935b3406f967484636620271c3875ef1d..99cef894e943793a79d62519efc3094801ff513a 100644 --- a/actions/locomotion_posture_dynamics/D32/session_008/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D32/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:279ae37e32a2c6b2fc121061682c8db73379537dfc90fd52b898afb5b275d6bc -size 2733322 +oid sha256:0edde6093c6ddeec444b5c084ebea29cbe1d3e423b60782e3f6dc305e0a1f624 +size 4894480 diff --git a/actions/locomotion_posture_dynamics/D32/session_009/annotations.json b/actions/locomotion_posture_dynamics/D32/session_009/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..cd59c13993f80f68cbedd7c57ab3340f8e2fed21 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D32/session_009/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D32", + "instruction": "Jump up, turn 180 degrees in the air, and land facing the other way. 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Alternate turn direction. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D32/session_009/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D32/session_009/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..48e53a6ad21008c9cbf2a0e4893b01f492d5201a --- /dev/null +++ b/actions/locomotion_posture_dynamics/D32/session_009/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2caf2eaef0bfc0f28fa938bc931271f54d2022deb8735cb5b75c8415a47ff87 +size 1681692 diff --git a/actions/locomotion_posture_dynamics/D32/session_009/motions/smplx.npz b/actions/locomotion_posture_dynamics/D32/session_009/motions/smplx.npz index b03ead4481b3655c8629e7d7ed9559f81541d329..b8b67e441ccf79cda5e756a63e5da1630bf4f3af 100644 --- a/actions/locomotion_posture_dynamics/D32/session_009/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D32/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e0908f62a40fd4df72994e0c3a8a6dc2a178dcc345639493f19865d1dde25f80 -size 3202440 +oid sha256:8f18429ae2f1b3559ce248494cfb2de8d60b046b45566bbb9c9f59b8da81d49c +size 5777811 diff --git a/actions/locomotion_posture_dynamics/D32/session_010/annotations.json b/actions/locomotion_posture_dynamics/D32/session_010/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..23e6b086aef9d01bb4d97d8a94cf0290c2e2f2ce --- /dev/null +++ b/actions/locomotion_posture_dynamics/D32/session_010/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D32", + "instruction": "Jump up, turn 180 degrees in the air, and land facing the other way. 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0000000000000000000000000000000000000000..398df7d8e50c643ffa31599999cf490934a5a065 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D32/session_010/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43049d3a9987256063b6e22178db08db26bf22c0cbc417ff91f7b74f419ac2a6 +size 398609 diff --git a/actions/locomotion_posture_dynamics/D32/session_010/meta.json b/actions/locomotion_posture_dynamics/D32/session_010/meta.json index aaf55836a373eefc6de1a192a6305ed5d3ca945a..54d3e31e0219bff1891f0d820ac0c7efbe8da1f9 100644 --- a/actions/locomotion_posture_dynamics/D32/session_010/meta.json +++ b/actions/locomotion_posture_dynamics/D32/session_010/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": 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0000000000000000000000000000000000000000..449dba0652f958b3f4339c976034d4f87360086d --- /dev/null +++ b/actions/locomotion_posture_dynamics/D32/session_011/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4667da5538c5b1b8b4645a20415ebc02bd533ffe9f31a684dde47ed27460ed4f +size 398421 diff --git a/actions/locomotion_posture_dynamics/D32/session_011/meta.json b/actions/locomotion_posture_dynamics/D32/session_011/meta.json index fab21b6889b848c8aa4c312d05eaf8db08827275..4444998b8c4bf7522042a566df2373113ce469e5 100644 --- a/actions/locomotion_posture_dynamics/D32/session_011/meta.json +++ b/actions/locomotion_posture_dynamics/D32/session_011/meta.json @@ -341,8 +341,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": 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Alternate turn direction. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D32/session_011/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D32/session_011/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..3e1e00a442a6de6aa6851ec1369827dd7a0e6617 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D32/session_011/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18f950c61ea63a08870bc00d4514740a1accb1a3669c876aa873c96fef1de790 +size 1472460 diff --git a/actions/locomotion_posture_dynamics/D32/session_011/motions/smplx.npz b/actions/locomotion_posture_dynamics/D32/session_011/motions/smplx.npz index df6b3eb592df86c5c8eb480232440dde364cae0b..08b070ced1534b326710d7e978cc5f70387fc818 100644 --- a/actions/locomotion_posture_dynamics/D32/session_011/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D32/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c7128081a6f80b6e3290bafc9476eae4768039e368328444f76307a86eee3ef2 -size 3194281 +oid sha256:b766ec08ce2273f6c5324258a0e1e611f73abfbeb7245a9ac806180af9481fa5 +size 5437801 diff --git a/actions/locomotion_posture_dynamics/D32/session_012/annotations.json b/actions/locomotion_posture_dynamics/D32/session_012/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..cc013675a47881b40b1ea70267fe9ed07b523ca4 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D32/session_012/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D32", + "instruction": "Jump up, turn 180 degrees in the air, and land facing the other way. 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Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D32/session_012/cameras/slam.npz b/actions/locomotion_posture_dynamics/D32/session_012/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..979e2f4eb77ab9e88dc41cd3f37cd4d21b713d52 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D32/session_012/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00acb67e2da22beee0e0ca1234db6e2acb769d0b364a594481ba9803b39198ea +size 371394 diff --git a/actions/locomotion_posture_dynamics/D32/session_012/meta.json b/actions/locomotion_posture_dynamics/D32/session_012/meta.json index cb14923399f535bf42b33784dd91cfdf65e2b9c5..d4f695bd7494cdc8f0787de348a3958ccf7b3951 100644 --- a/actions/locomotion_posture_dynamics/D32/session_012/meta.json +++ b/actions/locomotion_posture_dynamics/D32/session_012/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -518,10 +518,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.3185272850429375 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 36.71, + "offset_rotvec": [ + 0.6099, + -0.1499, + -0.1264 + ], + "dev_deg": { + "median": 21.0, + "p90": 40.31 + }, + "samples": 1472, + "accepted": 1069, + "wrist_pos_err_mm_median": 119.3, + "per_camera": { + "head": { + "samples": 1472, + "accepted": 1069, + "gate_deg": 30.0, + "offset_deg": 36.71, + "tier": "primary", + "dev_deg_median": 21.0, + "wrist_pos_err_mm_median": 119.3 + } + }, + "frames_by_state": { + "ace_sample": 4436, + "interpolated": 2732, + "mean_hand": 516, + "no_body_fit": 0 + }, + "observed_fraction": 0.9328, + "observed_fraction_of_valid": 0.9328, + "palm_axis_vs_markers_deg": { + "gsi": 44.48, + "smplx": 1.54 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.5, + "p90": 8.6 + }, + "registered": { + "median": 4.8, + "p90": 7.1 + } + } + }, + "right": { + "offset_deg": 36.4, + "offset_rotvec": [ + 0.6291, + 0.0539, + 0.07 + ], + "dev_deg": { + "median": 16.94, + "p90": 36.59 + }, + "samples": 1496, + "accepted": 1224, + "wrist_pos_err_mm_median": 167.1, + "per_camera": { + "head": { + "samples": 1496, + "accepted": 1224, + "gate_deg": 30.0, + "offset_deg": 36.4, + "tier": "primary", + "dev_deg_median": 16.94, + "wrist_pos_err_mm_median": 167.1 + } + }, + "frames_by_state": { + "ace_sample": 5034, + "interpolated": 2090, + "mean_hand": 560, + "no_body_fit": 0 + }, + "observed_fraction": 0.9271, + "observed_fraction_of_valid": 0.9271, + "palm_axis_vs_markers_deg": { + "gsi": 39.55, + "smplx": 1.12 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.0, + "p90": 13.9 + }, + "registered": { + "median": 8.4, + "p90": 11.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:20:28.514234+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_posture_dynamics/D32/session_012", "family": "locomotion_posture_dynamics", "primitive": "D32", "source_session": "20261008/D32/20261008_070047_session90" + }, + "task": { + "primitive": "D32", + "instruction": "Jump up, turn 180 degrees in the air, and land facing the other way. 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