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index 0000000000000000000000000000000000000000..344df0ff0aa68332da60b773c80860943dc58fbe --- /dev/null +++ b/actions/locomotion_posture_dynamics/D54/session_001/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11a0b160079b6b9fd32206ac9faf83ecd3d6148eb51db2317a652c4bb900f7c7 +size 318436 diff --git a/actions/locomotion_posture_dynamics/D54/session_001/meta.json b/actions/locomotion_posture_dynamics/D54/session_001/meta.json index bd160e304ad996e53f6ac2661095ff3bcb97461a..f4d7fd7cedc7caee88f4ac386fb2ef6fa426ba10 100644 --- a/actions/locomotion_posture_dynamics/D54/session_001/meta.json +++ b/actions/locomotion_posture_dynamics/D54/session_001/meta.json @@ -347,8 +347,8 @@ "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": { @@ -528,10 +528,124 @@ "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": 9.89, + "offset_rotvec": [ + -0.1437, + -0.0586, + -0.0757 + ], + "dev_deg": { + "median": 11.33, + "p90": 39.32 + }, + "samples": 1417, + "accepted": 1232, + "wrist_pos_err_mm_median": 32.1, + "per_camera": { + "head": { + "samples": 1417, + "accepted": 1232, + "gate_deg": 30.0, + "offset_deg": 9.89, + "tier": "primary", + "dev_deg_median": 11.33, + "wrist_pos_err_mm_median": 32.1 + } + }, + "frames_by_state": { + "ace_sample": 5171, + "interpolated": 1122, + 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sha256:3bc83d3d5640e81849684c24b63d1aa9fe6aa12ece9256f5f7baa3ef1ea3e15a +size 302965 diff --git a/actions/locomotion_posture_dynamics/D54/session_014/meta.json b/actions/locomotion_posture_dynamics/D54/session_014/meta.json index 34fbca226d26102572e7448475c7628b35497c28..811d8aa0b24fac5e9c7ffab384ac987330f36987 100644 --- a/actions/locomotion_posture_dynamics/D54/session_014/meta.json +++ b/actions/locomotion_posture_dynamics/D54/session_014/meta.json @@ -360,8 +360,8 @@ "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 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ec8270a74049e32809ddf0cd5ccf8dbb70e2e365..9a4d65a67fa89556e36b5963235db4568d61adbf 100644 --- a/actions/locomotion_posture_dynamics/D55/session_001/meta.json +++ b/actions/locomotion_posture_dynamics/D55/session_001/meta.json @@ -343,8 +343,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -529,10 +529,124 @@ "file": "derived/rig_tracker_provider/rig_tracker.json", "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" }, + "hands_registration": { + "cameras": 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tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D55/session_001", "family": "locomotion_posture_dynamics", "primitive": "D55", "source_session": "20260904/D55/20260904_014754_session2" + }, + "task": { + "primitive": "D55", + "instruction": "Move in a low athletic stance, shuffling side to side and forward and back as the operator points." } } diff --git a/actions/locomotion_posture_dynamics/D55/session_001/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D55/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..126ffa0bb64ff626d819dc5e6cb570f82e82d475 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D55/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ee28a6aa4ff8c47844583b4f9c767acdc56ddb4ea30a1f4430c40fef20f8b1d +size 864291 diff --git 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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/D55/session_004", "family": "locomotion_posture_dynamics", "primitive": "D55", "source_session": "20260908/D55/20260908_111221_session135" + }, + "task": { + "primitive": "D55", + "instruction": "Move in a low athletic stance, shuffling side to side and forward and back as the operator points." } } diff --git a/actions/locomotion_posture_dynamics/D55/session_004/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D55/session_004/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..b1127ac71083c50b133740b7032c7d67d135c8ea --- /dev/null +++ b/actions/locomotion_posture_dynamics/D55/session_004/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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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": 1.0407613302545493 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 16.54, + "offset_rotvec": [ + 0.2162, + 0.1524, + -0.1153 + ], + "dev_deg": { + "median": 21.31, + "p90": 140.28 + }, + "samples": 1539, + "accepted": 972, + "wrist_pos_err_mm_median": 58.6, + "per_camera": { + "head": { + "samples": 1539, + "accepted": 972, + "gate_deg": 30.0, + "offset_deg": 16.54, + "tier": 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athletic stance, shuffling side to side and forward and back as the operator points." } } diff --git a/actions/locomotion_posture_dynamics/D55/session_009/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D55/session_009/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..ccc52279d82bc6826aa0e52d2417fbe8bd08f594 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D55/session_009/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be1f8b3c4512aca6f584f6a7584fa040fb114e32402177a73da0cd3a61bbdd8f +size 2240047 diff --git a/actions/locomotion_posture_dynamics/D55/session_009/motions/smplx.npz b/actions/locomotion_posture_dynamics/D55/session_009/motions/smplx.npz index bfa3145b22992077e19730b4e2ffce45ca8d2eb0..a35c4254a3d3f7b2fbdcb82729c4c2540a114f07 100644 --- a/actions/locomotion_posture_dynamics/D55/session_009/motions/smplx.npz +++ 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a/actions/locomotion_posture_dynamics/D55/session_010/cameras/slam.npz b/actions/locomotion_posture_dynamics/D55/session_010/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..0bf9cf01bc00d730e313d5d8d9fedcc6e67307b5 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D55/session_010/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d52b659bad731bd801e7dde0e95202e9949387f268d6db24994df4d7c9130f8 +size 341994 diff --git a/actions/locomotion_posture_dynamics/D55/session_010/meta.json b/actions/locomotion_posture_dynamics/D55/session_010/meta.json index bf21585fd127582519653aaf765fc9a578ac4e07..0a20f02d023c40b3771db32ed5024dd7d4b4b25f 100644 --- a/actions/locomotion_posture_dynamics/D55/session_010/meta.json +++ b/actions/locomotion_posture_dynamics/D55/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", 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a/actions/locomotion_posture_dynamics/D55/session_013/meta.json +++ b/actions/locomotion_posture_dynamics/D55/session_013/meta.json @@ -360,8 +360,8 @@ "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": { @@ -511,10 +511,124 @@ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 23.86, + "offset_rotvec": [ + -0.0728, + -0.3936, + 0.1146 + ], + 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Keep moving until the operator says stop." } } diff --git a/actions/locomotion_posture_dynamics/D56/session_001/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D56/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..d335a0e0fb3b269d92c0f2882f407d94ab6e953b --- /dev/null +++ b/actions/locomotion_posture_dynamics/D56/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:209f50b576a7876870b276bb02ee450cdbef59ae6031cc1ae3c1329efdbb9328 +size 4148209 diff --git a/actions/locomotion_posture_dynamics/D56/session_001/motions/smplx.npz b/actions/locomotion_posture_dynamics/D56/session_001/motions/smplx.npz index b37f2fbdc2617ead383d290b8f9811046ebe8170..8d0eba650dd483b63122ca64f3cf1f9b8636942e 100644 --- a/actions/locomotion_posture_dynamics/D56/session_001/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D56/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:64f8e37e43e68f0646d73ce9a4f82936f7e709e466b87442a55687547d319573 -size 5267638 +oid sha256:2abdf11900861279b0504d68050e2ea5ce8bed9c0ba26a03288d765bf5249a56 +size 9856262 diff --git a/actions/locomotion_posture_dynamics/D56/session_002/annotations.json b/actions/locomotion_posture_dynamics/D56/session_002/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..511558f0d7a82598dcf9113a870ebfbb1623cfa6 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D56/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": "D56", + "instruction": "Move around the room freely as if avoiding someone: change speed and direction whenever you like. Keep moving until the operator says stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 108.966556, + "video": "left_eye", + "video_t_start": 0.03914031024170539 + } + ], + "episodes": [ + { + "id": "98929fcc-bda4-426d-abda-04535cb0bfe1", + "segment": "segment1", + "action": "D56", + "quality": "valid", + "start_s": 0.96, + "end_s": 52.914, + "t_start": 0.9991, + "t_end": 52.9531, + "instruction": "Move around the room freely as if avoiding someone: change speed and direction whenever you like. Keep moving until the operator says stop." + }, + { + "id": "0a080d83-f7a2-4a41-8b83-43ecd6023d6f", + "segment": "segment1", + "action": "D56", + "quality": "valid", + "start_s": 52.914, + "end_s": 104.485, + "t_start": 52.9531, + "t_end": 104.5241, + "instruction": "Move around the room freely as if avoiding someone: change speed and direction whenever you like. Keep moving until the operator says stop." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D56/session_002/cameras/slam.npz b/actions/locomotion_posture_dynamics/D56/session_002/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..de63db26e23cc8c1dda872af6f81a479fa3ad1c3 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D56/session_002/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:336d2d8e80931d13d8cd56203071f8b62db28a1a45d33e0962b92953cbe913a5 +size 627457 diff --git a/actions/locomotion_posture_dynamics/D56/session_002/meta.json b/actions/locomotion_posture_dynamics/D56/session_002/meta.json index 179739a4655e5688939fac58d725a7f7f6c1f749..a41a06ab8f424e525e4dcf935a85e475f3a2ba3d 100644 --- a/actions/locomotion_posture_dynamics/D56/session_002/meta.json +++ b/actions/locomotion_posture_dynamics/D56/session_002/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": 1.0165919679646636 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 24.9, + "offset_rotvec": [ + 0.344, + -0.2026, + 0.1715 + ], + "dev_deg": { + "median": 12.99, + "p90": 30.1 + }, + "samples": 2401, + "accepted": 2156, + "wrist_pos_err_mm_median": 180.4, + "per_camera": { + "head": { + "samples": 2401, + "accepted": 2156, + "gate_deg": 30.0, + "offset_deg": 24.9, + "tier": "primary", + "dev_deg_median": 12.99, + "wrist_pos_err_mm_median": 180.4 + } + }, + "frames_by_state": { + "ace_sample": 8962, + "interpolated": 3730, + "mean_hand": 384, + "no_body_fit": 8 + }, + "observed_fraction": 0.97, + "observed_fraction_of_valid": 0.9706, + "palm_axis_vs_markers_deg": { + "gsi": 25.82, + "smplx": 0.78 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.8, + "p90": 7.8 + }, + "registered": { + "median": 6.2, + "p90": 7.9 + } + } + }, + "right": { + "offset_deg": 19.67, + "offset_rotvec": [ + 0.1017, + 0.3155, + 0.0895 + ], + "dev_deg": { + "median": 17.36, + "p90": 31.96 + }, + "samples": 2462, + "accepted": 2174, + "wrist_pos_err_mm_median": 120.7, + "per_camera": { + "head": { + "samples": 2462, + "accepted": 2174, + "gate_deg": 30.0, + "offset_deg": 19.67, + "tier": "primary", + "dev_deg_median": 17.36, + "wrist_pos_err_mm_median": 120.7 + } + }, + "frames_by_state": { + "ace_sample": 8976, + "interpolated": 3664, + "mean_hand": 436, + "no_body_fit": 8 + }, + "observed_fraction": 0.9661, + "observed_fraction_of_valid": 0.9667, + "palm_axis_vs_markers_deg": { + "gsi": 17.29, + "smplx": 0.74 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 3.1, + "p90": 4.2 + }, + "registered": { + "median": 2.7, + "p90": 4.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T14:25:01.126909+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/D56/session_002", "family": "locomotion_posture_dynamics", "primitive": "D56", "source_session": "20260907/D56/20260907_040030_session61" + }, + "task": { + "primitive": "D56", + "instruction": "Move around the room freely as if avoiding someone: change speed and direction whenever you like. 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0000000000000000000000000000000000000000..90428fdc1c94df557f469567775ef4372a142178 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D56/session_003/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:40f8fc55b0ca3a35d3f1d965b215f7ac9237ed457111cc5f4e2e9b35261374f7 +size 657458 diff --git a/actions/locomotion_posture_dynamics/D56/session_003/meta.json b/actions/locomotion_posture_dynamics/D56/session_003/meta.json index 44c18914c0ec957aa57518a42ca7746c2d7474ed..6ef7e05052551f5b554b85cb7fad693b55d37c74 100644 --- a/actions/locomotion_posture_dynamics/D56/session_003/meta.json +++ b/actions/locomotion_posture_dynamics/D56/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": 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file mode 100644 index 0000000000000000000000000000000000000000..f42618afb4c0821121896d18dde60016462fc52f --- /dev/null +++ b/actions/locomotion_posture_dynamics/D56/session_004/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d897e53f7c85a57e765775c1e713ac9f0a90ecfc36009025c1fb5a8a8748878c +size 630800 diff --git a/actions/locomotion_posture_dynamics/D56/session_004/meta.json b/actions/locomotion_posture_dynamics/D56/session_004/meta.json index fa981bf09c1c62f845ba039cc8df79b735485328..954bc6a2ba0b5142ba9227388bf165ddaefb923d 100644 --- a/actions/locomotion_posture_dynamics/D56/session_004/meta.json +++ b/actions/locomotion_posture_dynamics/D56/session_004/meta.json @@ -318,8 +318,8 @@ "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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Keep moving until the operator says stop." } } diff --git a/actions/locomotion_posture_dynamics/D56/session_004/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D56/session_004/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..2a4d5027e57b800da6f0663e51b90c51dfdd25aa --- /dev/null +++ b/actions/locomotion_posture_dynamics/D56/session_004/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c3e7abe8500cc57c393aca3765cc7eb592742cdf2cded3f50e47120edf4753a +size 2946425 diff --git a/actions/locomotion_posture_dynamics/D56/session_004/motions/smplx.npz b/actions/locomotion_posture_dynamics/D56/session_004/motions/smplx.npz index d8cad9532159710cfc2682e0ab4c742e3f196a0f..3629b6271bf2fcdd3bedd91fdaec1badf28939cb 100644 --- a/actions/locomotion_posture_dynamics/D56/session_004/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D56/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6669f7a75673b5c733c25cbcbd86db26940f7e2a97560db3e6549c8a5f3dab69 -size 5061126 +oid sha256:f57bfa5ce834ccada594a3cdf050d9b28f6b8458a9f50da0ac164286c963643c +size 9195894 diff --git a/actions/locomotion_posture_dynamics/D56/session_005/annotations.json b/actions/locomotion_posture_dynamics/D56/session_005/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..4690b5544cefb1d28187cbfebaaad342c2ad4fed --- /dev/null +++ b/actions/locomotion_posture_dynamics/D56/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": "D56", + "instruction": "Move around the room freely as if avoiding someone: change speed and direction whenever you like. Keep moving until the operator says stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 143.966667, + "video": "left_eye", + "video_t_start": 0.038906506716035905 + } + ], + "episodes": [ + { + "id": "8dd28a45-a0d5-4954-af1a-0a6d0bfd9e4c", + "segment": "segment1", + "action": "D56", + "quality": "valid", + "start_s": 1.579, + "end_s": 69.006, + "t_start": 1.6179, + "t_end": 69.0449, + "instruction": "Move around the room freely as if avoiding someone: change speed and direction whenever you like. Keep moving until the operator says stop." + }, + { + "id": "368c9967-7cba-4b1c-8e7c-dc356df2015c", + "segment": "segment1", + "action": "D56", + "quality": "valid", + "start_s": 69.006, + "end_s": 133.289, + "t_start": 69.0449, + "t_end": 133.3279, + "instruction": "Move around the room freely as if avoiding someone: change speed and direction whenever you like. Keep moving until the operator says stop." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D56/session_005/cameras/slam.npz b/actions/locomotion_posture_dynamics/D56/session_005/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..94ae0b0d4bd9190ceffcd4a972fc28cf929ce7d3 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D56/session_005/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73a09b451dc068b816f8e651966a0e04f65a4b7d1268d4d0b9f6b73c1e4c4320 +size 831413 diff --git a/actions/locomotion_posture_dynamics/D56/session_005/meta.json b/actions/locomotion_posture_dynamics/D56/session_005/meta.json index 40cece77e7afb285c302cbdeb669456951434777..30b61a3f69276c83609a0e2f02571c7119eeeb1e 100644 --- a/actions/locomotion_posture_dynamics/D56/session_005/meta.json +++ b/actions/locomotion_posture_dynamics/D56/session_005/meta.json @@ -340,8 +340,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -527,10 +527,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1681019137171142 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 23.68, + "offset_rotvec": [ + 0.3691, + -0.1336, + 0.1295 + ], + "dev_deg": { + "median": 15.09, + "p90": 34.79 + }, + "samples": 2668, + "accepted": 2212, + "wrist_pos_err_mm_median": 145.0, + "per_camera": { + "head": { + "samples": 2668, + "accepted": 2212, + "gate_deg": 30.0, + "offset_deg": 23.68, + "tier": "primary", + "dev_deg_median": 15.09, + "wrist_pos_err_mm_median": 145.0 + } + }, + "frames_by_state": { + "ace_sample": 9232, + "interpolated": 6090, + "mean_hand": 1954, + "no_body_fit": 8 + }, + "observed_fraction": 0.8865, + "observed_fraction_of_valid": 0.8869, + "palm_axis_vs_markers_deg": { + "gsi": 23.31, + "smplx": 0.47 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.1, + "p90": 10.3 + }, + "registered": { + "median": 7.2, + "p90": 8.7 + } + } + }, + "right": { + "offset_deg": 25.46, + "offset_rotvec": [ + 0.3563, + 0.2614, + 0.0471 + ], + "dev_deg": { + "median": 28.93, + "p90": 57.11 + }, + "samples": 1559, + "accepted": 812, + "wrist_pos_err_mm_median": 309.1, + "per_camera": { + "head": { + "samples": 1559, + "accepted": 812, + "gate_deg": 30.0, + "offset_deg": 25.46, + "tier": "primary", + "dev_deg_median": 28.93, + "wrist_pos_err_mm_median": 309.1 + } + }, + "frames_by_state": { + "ace_sample": 3328, + "interpolated": 4012, + "mean_hand": 9936, + "no_body_fit": 8 + }, + "observed_fraction": 0.4247, + "observed_fraction_of_valid": 0.4249, + "palm_axis_vs_markers_deg": { + "gsi": 45.16, + "smplx": 0.81 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.7, + "p90": 10.8 + }, + "registered": { + "median": 8.3, + "p90": 10.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T17:03:14.432033+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/D56/session_005", "family": "locomotion_posture_dynamics", "primitive": "D56", "source_session": "20260912/D56/20260912_052527_session17" + }, + "task": { + "primitive": "D56", + "instruction": "Move around the room freely as if avoiding someone: change speed and direction whenever you like. Keep moving until the operator says stop." } } diff --git a/actions/locomotion_posture_dynamics/D56/session_005/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D56/session_005/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..8cc0e2d4dcbab3fd57454e23a7f8edc7c0214496 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D56/session_005/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:896efadff6fa28b9b9dcaffb460765963c53c153f51ddd018774918368abf37d +size 3009986 diff --git a/actions/locomotion_posture_dynamics/D56/session_005/motions/smplx.npz b/actions/locomotion_posture_dynamics/D56/session_005/motions/smplx.npz index c3269f7b017afb23d18573035d399f3e98d1e6ff..d3819d7ce24d14b81c1dcc3125589e8b9fa82c78 100644 --- a/actions/locomotion_posture_dynamics/D56/session_005/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D56/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7fca7a49dd4576226c5358f0c1cfe0ff35243e6ec16355d8f10e4080e4bfc528 -size 6652503 +oid sha256:8ee5116c127b08dbe3de1c4fba1e774ca5ee64ef224dc361bc0179eb19e78e18 +size 10809480 diff --git a/actions/locomotion_posture_dynamics/D56/session_006/annotations.json b/actions/locomotion_posture_dynamics/D56/session_006/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..df39e8c838a9cee17d39db8a3d2184f2244a9174 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D56/session_006/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": "D56", + "instruction": "Move around the room freely as if avoiding someone: change speed and direction whenever you like. 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Keep moving until the operator says stop." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D56/session_006/cameras/slam.npz b/actions/locomotion_posture_dynamics/D56/session_006/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..c611bed60c0555393d5809fbe1d66b8729c15dfa --- /dev/null +++ b/actions/locomotion_posture_dynamics/D56/session_006/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8227e991890036c9091262e59d7a100b9a269e64fdc9a13111c0f9088c08ee9 +size 658912 diff --git a/actions/locomotion_posture_dynamics/D56/session_006/meta.json b/actions/locomotion_posture_dynamics/D56/session_006/meta.json index aac7d535555ccafd1369f01193644ba52e08514d..75f76933581b26dc8fff46bf2c30e955569d4ee7 100644 --- a/actions/locomotion_posture_dynamics/D56/session_006/meta.json +++ b/actions/locomotion_posture_dynamics/D56/session_006/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -507,10 +507,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.157887832194713 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 14.77, + "offset_rotvec": [ + -0.0408, + 0.2055, + -0.1502 + ], + "dev_deg": { + "median": 7.43, + "p90": 16.86 + }, + "samples": 2894, + "accepted": 2793, + "wrist_pos_err_mm_median": 95.4, + "per_camera": { + "head": { + "samples": 2894, + "accepted": 2793, + "gate_deg": 30.0, + "offset_deg": 14.77, + "tier": "primary", + "dev_deg_median": 7.43, + "wrist_pos_err_mm_median": 95.4 + } + }, + "frames_by_state": { + "ace_sample": 11232, + "interpolated": 1356, + "mean_hand": 1096, + "no_body_fit": 0 + }, + "observed_fraction": 0.9199, + "observed_fraction_of_valid": 0.9199, + "palm_axis_vs_markers_deg": { + "gsi": 13.9, + "smplx": 1.14 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.0, + "p90": 14.1 + }, + "registered": { + "median": 9.8, + "p90": 12.3 + } + } + }, + "right": { + "offset_deg": 12.0, + "offset_rotvec": [ + 0.1032, + -0.1434, + 0.1124 + ], + "dev_deg": { + "median": 13.04, + "p90": 28.24 + }, + "samples": 2570, + "accepted": 2347, + "wrist_pos_err_mm_median": 129.3, + "per_camera": { + "head": { + "samples": 2570, + "accepted": 2347, + "gate_deg": 30.0, + "offset_deg": 12.0, + "tier": "primary", + "dev_deg_median": 13.04, + "wrist_pos_err_mm_median": 129.3 + } + }, + "frames_by_state": { + "ace_sample": 9590, + "interpolated": 3266, + "mean_hand": 828, + "no_body_fit": 0 + }, + "observed_fraction": 0.9395, + "observed_fraction_of_valid": 0.9395, + "palm_axis_vs_markers_deg": { + "gsi": 17.49, + "smplx": 1.08 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.0, + "p90": 10.8 + }, + "registered": { + "median": 9.8, + "p90": 10.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T18:03:10.840563+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/D56/session_006", "family": "locomotion_posture_dynamics", "primitive": "D56", "source_session": "20260914/D56/20260914_070957_session5" + }, + "task": { + "primitive": "D56", + "instruction": "Move around the room freely as if avoiding someone: change speed and direction whenever you like. Keep moving until the operator says stop." } } diff --git a/actions/locomotion_posture_dynamics/D56/session_006/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D56/session_006/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..bd502f327f7cf4de6e1dbb4aeec95b5abafc2ca3 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D56/session_006/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b449bb75fbff8dd2d013b37fa4d4794283c2060766d8b65ad9937ea56d591314 +size 3738369 diff --git a/actions/locomotion_posture_dynamics/D56/session_006/motions/smplx.npz b/actions/locomotion_posture_dynamics/D56/session_006/motions/smplx.npz index 46ee7048c7383d9de17d180e7ee3662039787697..c792855866f6ed6c1ade0b9949daaaebc81e65fa 100644 --- a/actions/locomotion_posture_dynamics/D56/session_006/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D56/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ca8e8e4f5725392029ce41a93b468bf60227a72266ff5a4c12382a0e7ec9331a -size 5287284 +oid sha256:175b2d90d18742435eb42bdd8ae2c0760e7effa83e74d82db85d187c3241903b +size 9621483 diff --git a/actions/locomotion_posture_dynamics/D56/session_007/annotations.json b/actions/locomotion_posture_dynamics/D56/session_007/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..5d508e1a33f262f17f3ec98a135bd03befbc924a --- /dev/null +++ b/actions/locomotion_posture_dynamics/D56/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": "D56", + "instruction": "Move around the room freely as if avoiding someone: change speed and direction whenever you like. 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Keep moving until the operator says stop." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D56/session_007/cameras/slam.npz b/actions/locomotion_posture_dynamics/D56/session_007/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..5df022468ccba2251fa1c3830787b4786648c1b9 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D56/session_007/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45c5ed38f23c29e5cd12f03be031e7f35866a1f8984ebfa4a5df2ba12d4330ce +size 659838 diff --git a/actions/locomotion_posture_dynamics/D56/session_007/meta.json b/actions/locomotion_posture_dynamics/D56/session_007/meta.json index 1e3bcb7a8f740e39c88b76bd82703f8aae402884..456446d2d984cc0aa6cb8937decebfa5408ee7bb 100644 --- a/actions/locomotion_posture_dynamics/D56/session_007/meta.json +++ b/actions/locomotion_posture_dynamics/D56/session_007/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": 1.3236755209786688 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 23.26, + "offset_rotvec": [ + -0.0983, + 0.3515, + -0.1777 + ], + "dev_deg": { + "median": 17.53, + "p90": 34.39 + }, + "samples": 2925, + "accepted": 2438, + "wrist_pos_err_mm_median": 116.1, + "per_camera": { + "head": { + "samples": 2925, + "accepted": 2438, + "gate_deg": 30.0, + "offset_deg": 23.26, + "tier": "primary", + "dev_deg_median": 17.53, + "wrist_pos_err_mm_median": 116.1 + } + }, + "frames_by_state": { + "ace_sample": 10014, + "interpolated": 3526, + "mean_hand": 138, + "no_body_fit": 6 + }, + "observed_fraction": 0.9895, + "observed_fraction_of_valid": 0.9899, + "palm_axis_vs_markers_deg": { + "gsi": 19.13, + "smplx": 2.88 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.4, + "p90": 10.8 + }, + "registered": { + "median": 9.4, + "p90": 10.7 + } + } + }, + "right": { + "offset_deg": 13.3, + "offset_rotvec": [ + -0.2205, + 0.0407, + 0.0601 + ], + "dev_deg": { + "median": 11.39, + "p90": 26.27 + }, + "samples": 3092, + "accepted": 2866, + "wrist_pos_err_mm_median": 115.0, + "per_camera": { + "head": { + "samples": 3092, + "accepted": 2866, + "gate_deg": 30.0, + "offset_deg": 13.3, + "tier": "primary", + "dev_deg_median": 11.39, + "wrist_pos_err_mm_median": 115.0 + } + }, + "frames_by_state": { + "ace_sample": 11604, + "interpolated": 1916, + "mean_hand": 158, + "no_body_fit": 6 + }, + "observed_fraction": 0.988, + "observed_fraction_of_valid": 0.9884, + "palm_axis_vs_markers_deg": { + "gsi": 12.65, + "smplx": 1.21 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.7, + "p90": 12.8 + }, + "registered": { + "median": 8.5, + "p90": 11.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T23:04:02.551743+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/D56/session_007", "family": "locomotion_posture_dynamics", "primitive": "D56", "source_session": "20260917/D56/20260917_054536_session90" + }, + "task": { + "primitive": "D56", + "instruction": "Move around the room freely as if avoiding someone: change speed and direction whenever you like. Keep moving until the operator says stop." } } diff --git a/actions/locomotion_posture_dynamics/D56/session_007/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D56/session_007/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..b4555213b7dd3d308c7d89d0e9ca8b9b305fc12d --- /dev/null +++ b/actions/locomotion_posture_dynamics/D56/session_007/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08d62f3a8d3836a6d9f4e099e311a468ebf904913bba20731836474c50136a87 +size 4101759 diff --git a/actions/locomotion_posture_dynamics/D56/session_007/motions/smplx.npz b/actions/locomotion_posture_dynamics/D56/session_007/motions/smplx.npz index 649fedea0c99e13ffb1342952ea3c5f37392f54b..270dd1a0f11cdb3ce2de1fe096daf83d6159a5d4 100644 --- a/actions/locomotion_posture_dynamics/D56/session_007/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D56/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b6c9ea844a05f1d5b9c1665802290544b241f724fa5f7cb5db1482c62abf50e0 -size 5297487 +oid sha256:af25ee28b53d40067c5a73be8274de42e0c8a50558ff888158ae32541c39cd84 +size 9862853 diff --git a/actions/locomotion_posture_dynamics/D56/session_008/annotations.json b/actions/locomotion_posture_dynamics/D56/session_008/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..923e34ec88d745aba267c9e8d0b435ca39e41def --- /dev/null +++ b/actions/locomotion_posture_dynamics/D56/session_008/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": "D56", + "instruction": "Move around the room freely as if avoiding someone: change speed and direction whenever you like. 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0000000000000000000000000000000000000000..f1073ba737fa50a4b8a60ab48a6295bbe27a15a6 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D56/session_008/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5cced272b64a98b5a21eecf6c486179eb19342023bbb64e45c2db0625d35ba07 +size 629360 diff --git a/actions/locomotion_posture_dynamics/D56/session_008/meta.json b/actions/locomotion_posture_dynamics/D56/session_008/meta.json index 97ac295beeaf67856f68d84926e11e7412b1d748..beaf610b720f278ac52250c3de045ab50b1f04b7 100644 --- a/actions/locomotion_posture_dynamics/D56/session_008/meta.json +++ b/actions/locomotion_posture_dynamics/D56/session_008/meta.json @@ -550,5 +550,9 @@ "family": "locomotion_posture_dynamics", "primitive": "D56", "source_session": "20260917/D56/20260917_114046_session197" + }, + "task": { + "primitive": "D56", + "instruction": "Move around the room freely as if avoiding someone: change speed and direction whenever you like. Keep moving until the operator says stop." } } diff --git a/actions/locomotion_posture_dynamics/D56/session_008/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D56/session_008/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..bf0ca158d58009475eeae95714da8fbc938b6312 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D56/session_008/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8afdc5d6d883875ecc07b06f1d331819513c90fd7e7a498544969599846238c0 +size 3672735 diff --git a/actions/locomotion_posture_dynamics/D56/session_009/annotations.json b/actions/locomotion_posture_dynamics/D56/session_009/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..edf86d5df1d588c5e15785d1e1e7f3e31ce4da13 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D56/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": "D56", + "instruction": "Move around the room freely as if avoiding someone: change speed and direction whenever you like. 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Keep moving until the operator says stop." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D56/session_009/cameras/slam.npz b/actions/locomotion_posture_dynamics/D56/session_009/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..0d97ada55b9fb06629c218212de5a542e9edd080 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D56/session_009/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a539691d9450310d74f196241177ab2021c718a19c7f1bf000a8c6664eac100c +size 631349 diff --git a/actions/locomotion_posture_dynamics/D56/session_009/meta.json b/actions/locomotion_posture_dynamics/D56/session_009/meta.json index 5c0b241f0910f0a25d81325f551e3af6613ff722..a6fb50c05e9cc91b8d21b8c79c12944ba28f55d8 100644 --- a/actions/locomotion_posture_dynamics/D56/session_009/meta.json +++ b/actions/locomotion_posture_dynamics/D56/session_009/meta.json @@ -317,8 +317,8 @@ "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": { @@ -502,10 +502,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.906593086204299 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 27.59, + "offset_rotvec": [ + 0.3192, + -0.2032, + -0.2977 + ], + "dev_deg": { + "median": 18.21, + "p90": 39.82 + }, + "samples": 1735, + "accepted": 1336, + "wrist_pos_err_mm_median": 234.0, + "per_camera": { + "head": { + "samples": 1735, + "accepted": 1336, + "gate_deg": 30.0, + "offset_deg": 27.59, + "tier": "primary", + "dev_deg_median": 18.21, + "wrist_pos_err_mm_median": 234.0 + } + }, + "frames_by_state": { + "ace_sample": 5767, + "interpolated": 6860, + "mean_hand": 449, + "no_body_fit": 8 + }, + "observed_fraction": 0.9651, + "observed_fraction_of_valid": 0.9657, + "palm_axis_vs_markers_deg": { + "gsi": 35.21, + "smplx": 1.79 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.2, + "p90": 16.2 + }, + "registered": { + "median": 10.2, + "p90": 15.9 + } + } + }, + "right": { + "offset_deg": 41.77, + "offset_rotvec": [ + 0.551, + 0.0323, + 0.4761 + ], + "dev_deg": { + "median": 24.24, + "p90": 44.43 + }, + "samples": 1761, + "accepted": 1127, + "wrist_pos_err_mm_median": 172.2, + "per_camera": { + "head": { + "samples": 1761, + "accepted": 1127, + "gate_deg": 30.0, + "offset_deg": 41.77, + "tier": "primary", + "dev_deg_median": 24.24, + "wrist_pos_err_mm_median": 172.2 + } + }, + "frames_by_state": { + "ace_sample": 4843, + "interpolated": 6604, + "mean_hand": 1629, + "no_body_fit": 8 + }, + "observed_fraction": 0.8749, + "observed_fraction_of_valid": 0.8754, + "palm_axis_vs_markers_deg": { + "gsi": 42.89, + "smplx": 0.73 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.6, + "p90": 23.9 + }, + "registered": { + "median": 12.3, + "p90": 23.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:58:03.324384+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/D56/session_009", "family": "locomotion_posture_dynamics", "primitive": "D56", "source_session": "20260919/D56/20260919_070419_session103" + }, + "task": { + "primitive": "D56", + "instruction": "Move around the room freely as if avoiding someone: change speed and direction whenever you like. Keep moving until the operator says stop." } } diff --git a/actions/locomotion_posture_dynamics/D56/session_009/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D56/session_009/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..7a3f20a0f075cbc6803c9e8757d83404ee0b539f --- /dev/null +++ b/actions/locomotion_posture_dynamics/D56/session_009/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c9c66d4a9eda4f878ee3f6d501499fbacb9527993f172f01f3210e76bd9225c +size 2479200 diff --git a/actions/locomotion_posture_dynamics/D56/session_009/motions/smplx.npz b/actions/locomotion_posture_dynamics/D56/session_009/motions/smplx.npz index b298d71f050b24e7a902a821183672afa2406dd5..a90b8dad2f24efc3826964765674a16f77d38594 100644 --- a/actions/locomotion_posture_dynamics/D56/session_009/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D56/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5c766fe11afb1898ae9cec339abe5fd0047c97c42578d24b1648f0c305061786 -size 5051091 +oid sha256:c4ab275efd6f0fb8b9d9dcb4817c3813674f19b762bb22efa629c4c8276186b1 +size 9214893 diff --git a/actions/locomotion_posture_dynamics/D56/session_010/annotations.json b/actions/locomotion_posture_dynamics/D56/session_010/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..b905cd3e55455578d8bf0a933bf32a9529e903b4 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D56/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": "D56", + "instruction": "Move around the room freely as if avoiding someone: change speed and direction whenever you like. 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Keep moving until the operator says stop." } } diff --git a/actions/locomotion_posture_dynamics/D56/session_010/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D56/session_010/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..e40f3bd61fbd9bfb42444b583c9a60c2fa03e149 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D56/session_010/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c664a97d7df87e2f13d38bfd97d69cf92f218d4843f740ce923e9be22c1e4f52 +size 4206363 diff --git a/actions/locomotion_posture_dynamics/D56/session_010/motions/smplx.npz b/actions/locomotion_posture_dynamics/D56/session_010/motions/smplx.npz index d045754555f28692141d44801fd7098ad328f416..e7970d1241fa8d469091a37cd565d95cd8bfee10 100644 --- a/actions/locomotion_posture_dynamics/D56/session_010/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D56/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:91c2d3a9aada056f8082d72520254d071ebd71ee42dab28ffb7bf36e585b8bbd -size 5506369 +oid sha256:08d36306fe43f2f634fee29e2577ebcc130714f00398d8dc3d2e60ccd23629f5 +size 10263739 diff --git a/actions/locomotion_posture_dynamics/D56/session_011/annotations.json b/actions/locomotion_posture_dynamics/D56/session_011/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..a38f75279952871b2357cffb8f6c9e1f30a8fedf --- /dev/null +++ b/actions/locomotion_posture_dynamics/D56/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": "D56", + "instruction": "Move around the room freely as if avoiding someone: change speed and direction whenever you like. 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Keep moving until the operator says stop." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D56/session_011/cameras/slam.npz b/actions/locomotion_posture_dynamics/D56/session_011/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..a01c3776278922f7a83e7e05ee10f045baa51fbf --- /dev/null +++ b/actions/locomotion_posture_dynamics/D56/session_011/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4fe7da48c1f30d306840f414661ef471411a05e0c9a485dec134747d94f2781 +size 802052 diff --git a/actions/locomotion_posture_dynamics/D56/session_011/meta.json b/actions/locomotion_posture_dynamics/D56/session_011/meta.json index ed6f72cef10addb7b8e45e9e1d7a4e341066d62d..0c0c1a26576a38441bf07316e4aa527a4caeac3b 100644 --- a/actions/locomotion_posture_dynamics/D56/session_011/meta.json +++ b/actions/locomotion_posture_dynamics/D56/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": { @@ -510,10 +510,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.381311684567533 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 27.71, + "offset_rotvec": [ + 0.4385, + 0.0822, + -0.1868 + ], + "dev_deg": { + "median": 23.2, + "p90": 44.27 + }, + "samples": 1744, + "accepted": 1189, + "wrist_pos_err_mm_median": 229.3, + "per_camera": { + "head": { + "samples": 1744, + "accepted": 1189, + "gate_deg": 30.0, + "offset_deg": 27.71, + "tier": "primary", + "dev_deg_median": 23.2, + "wrist_pos_err_mm_median": 229.3 + } + }, + "frames_by_state": { + "ace_sample": 5052, + "interpolated": 7636, + "mean_hand": 3988, + "no_body_fit": 8 + }, + "observed_fraction": 0.7605, + "observed_fraction_of_valid": 0.7609, + "palm_axis_vs_markers_deg": { + "gsi": 33.29, + "smplx": 1.96 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.6, + "p90": 7.6 + }, + "registered": { + "median": 6.7, + "p90": 9.2 + } + } + }, + "right": { + "offset_deg": 17.74, + "offset_rotvec": [ + 0.2497, + -0.1621, + 0.0854 + ], + "dev_deg": { + "median": 19.8, + "p90": 40.99 + }, + "samples": 1439, + "accepted": 1112, + "wrist_pos_err_mm_median": 379.1, + "per_camera": { + "head": { + "samples": 1439, + "accepted": 1112, + "gate_deg": 30.0, + "offset_deg": 17.74, + "tier": "primary", + "dev_deg_median": 19.8, + "wrist_pos_err_mm_median": 379.1 + } + }, + "frames_by_state": { + "ace_sample": 4604, + "interpolated": 6096, + "mean_hand": 5976, + "no_body_fit": 8 + }, + "observed_fraction": 0.6413, + "observed_fraction_of_valid": 0.6416, + "palm_axis_vs_markers_deg": { + "gsi": 25.26, + "smplx": 1.47 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.9, + "p90": 18.8 + }, + "registered": { + "median": 11.4, + "p90": 17.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:31:25.371252+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/D56/session_011", "family": "locomotion_posture_dynamics", "primitive": "D56", "source_session": "20260928/D56/20260928_121216_session107" + }, + "task": { + "primitive": "D56", + "instruction": "Move around the room freely as if avoiding someone: change speed and direction whenever you like. Keep moving until the operator says stop." } } diff --git a/actions/locomotion_posture_dynamics/D56/session_011/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D56/session_011/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..ea5f8e245b85ae1f765963df560758d81d2ddf2d --- /dev/null +++ b/actions/locomotion_posture_dynamics/D56/session_011/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e07bc8d1f5fc6b624bf5793c632e2a84ffc0af89a615334229951b85d635d123 +size 2332007 diff --git a/actions/locomotion_posture_dynamics/D56/session_011/motions/smplx.npz b/actions/locomotion_posture_dynamics/D56/session_011/motions/smplx.npz index 52598fa0110661720c24da6d1484379d846a3cd3..2accd493d9fc82e93227738f33c6befe0c810dbf 100644 --- a/actions/locomotion_posture_dynamics/D56/session_011/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D56/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:88a3f95bc93b05f9d2c11bad67d7c692bfc2d4e767bf57858cfb87b8deec0651 -size 6420611 +oid sha256:a618ad2de2b238d2aba202b5b8e580e0a204088f67bcaa7b667daf4b8c2e817e +size 10811807 diff --git a/actions/locomotion_posture_dynamics/D56/session_012/annotations.json b/actions/locomotion_posture_dynamics/D56/session_012/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..3f10d032547e0d1663c968fcd983ca300ec8686c --- /dev/null +++ b/actions/locomotion_posture_dynamics/D56/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": "D56", + "instruction": "Move around the room freely as if avoiding someone: change speed and direction whenever you like. 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b/actions/locomotion_posture_dynamics/D56/session_012/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..ebe4cd56c55256bd4b58052f64e82d5dc69f5092 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D56/session_012/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:183253f54ce8e03319370ee8409a54c9a595d5f0d41413cda428d91855299aa8 +size 795004 diff --git a/actions/locomotion_posture_dynamics/D56/session_012/meta.json b/actions/locomotion_posture_dynamics/D56/session_012/meta.json index 142a26f61d9d1f18cefae874e2ab3aef1df685bf..9c88b3e12bbf517494cb8ee86673a21e61711ca5 100644 --- a/actions/locomotion_posture_dynamics/D56/session_012/meta.json +++ b/actions/locomotion_posture_dynamics/D56/session_012/meta.json @@ -390,8 +390,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -529,10 +529,124 @@ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 33.18, + "offset_rotvec": [ + 0.5315, + -0.1663, + 0.1585 + ], + "dev_deg": { + "median": 16.96, + "p90": 44.27 + }, + "samples": 3364, + "accepted": 2695, + "wrist_pos_err_mm_median": 81.0, + "per_camera": { + "head": { + "samples": 3364, + "accepted": 2695, + "gate_deg": 30.0, + "offset_deg": 33.18, + "tier": "primary", + "dev_deg_median": 16.96, + "wrist_pos_err_mm_median": 81.0 + } + }, + 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Keep moving until the operator says stop." } } diff --git a/actions/locomotion_posture_dynamics/D56/session_012/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D56/session_012/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..f8384dcd0efb0bccdd5731d4e1fba1e99533ad38 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D56/session_012/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06eadbd91f04b5f76fe494cb0e07b3558617b79e3480db099043f61dc53f1331 +size 4880077 diff --git a/actions/locomotion_posture_dynamics/D56/session_012/motions/smplx.npz b/actions/locomotion_posture_dynamics/D56/session_012/motions/smplx.npz index 5278f6903539c422aff03147ab96eb7c48a31879..779cf3926dfcf165e5dabd858c83417e4cb45929 100644 --- a/actions/locomotion_posture_dynamics/D56/session_012/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D56/session_012/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:48d74eaee4be0179a1b9aed2d67325a3370b4b2d6387b213dde1b464a7047ba3 -size 6357168 +oid sha256:5696b41647a30afc5d3820ce25382768bf313ea2c7c0e3d532dc8a614bb4a74e +size 11592219 diff --git a/actions/locomotion_posture_dynamics/D57/session_001/annotations.json b/actions/locomotion_posture_dynamics/D57/session_001/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..8372a0989d7aaafdffc742949ddd7be16f6b34a1 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/session_001/annotations.json @@ -0,0 +1,61 @@ +{ + "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": "D57", + "instruction": "Step forward into a lunge on the leg the operator calls, lowering your back knee toward the floor, then push back to standing. Then do the same stepping backward instead. Repeat the movement at your own pace until the operator says stop; do not rush.", + "segments": [ + { + "id": "segment1", + "duration_s": 118.966667, + "video": "left_eye", + "video_t_start": 0.03906357287007989 + } + ], + "episodes": [ + { + "id": "35af71ab-1443-411a-96ac-de4c7b3b8cdc", + "segment": "segment1", + "action": "D57", + "quality": "valid", + "start_s": 1.357, + "end_s": 32.83, + "t_start": 1.3961, + "t_end": 32.8691, + "instruction": "Step forward into a lunge on the leg the operator calls, lowering your back knee toward the floor, then push back to standing. Then do the same stepping backward instead. 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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/D57/session_001/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D57/session_001/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..337c4b4a9e364b550f0665779e1a12c5c66b4304 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/session_001/cameras/gsi_online_calibration.json @@ -0,0 +1,257 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 14, + "median_px": 0.363 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.5937, + "gate_fail": [], + "held_out_px_after": 0.581, + "held_out_px_before": 4.327, + "inliers": 1262, + "position_fitted": false, + "rotvec_deg": [ + 0.3746, + -0.4147, + -0.2006 + ], + "split_deg": 0.1218, + "usable": true + }, + 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b/actions/locomotion_posture_dynamics/D57/session_001/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..1a4e85f8f3bbc614b27743fee653229ca5839454 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/session_001/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1266432a9be6f726cd6fb746e750f245f6366a10977f15f5c1062ac92717ef04 +size 685252 diff --git a/actions/locomotion_posture_dynamics/D57/session_001/meta.json b/actions/locomotion_posture_dynamics/D57/session_001/meta.json index 44e526e23d38bc0cfa7294f80a114f590860ffb3..657729bdde68e81bffadbe3445bc1aa0d817af70 100644 --- a/actions/locomotion_posture_dynamics/D57/session_001/meta.json +++ b/actions/locomotion_posture_dynamics/D57/session_001/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -508,10 +508,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8025692412464777 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 19.03, + "offset_rotvec": [ + -0.0329, + -0.3174, + 0.0921 + ], + "dev_deg": { + "median": 11.82, + "p90": 21.08 + }, + "samples": 3199, + "accepted": 3105, + "wrist_pos_err_mm_median": 109.3, + "per_camera": { + "head": { + "samples": 3199, + "accepted": 3105, + "gate_deg": 30.0, + "offset_deg": 19.03, + "tier": "primary", + "dev_deg_median": 11.82, + "wrist_pos_err_mm_median": 109.3 + } + }, + 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standing. Then do the same stepping backward instead. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D57/session_001/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D57/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..2d20e68b7142cc81d61f5df5f5a9d5180666041f --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6525f69a1b5aa8050350570c0002bdb58a95a61f370f61ffa548d9f76f55fbad +size 4137514 diff --git a/actions/locomotion_posture_dynamics/D57/session_001/motions/smplx.npz b/actions/locomotion_posture_dynamics/D57/session_001/motions/smplx.npz index 192e690eec01fae1855ee38bad65d36ee121200c..65cc25e6ba4a8ca523dd84a4804c68132e0c138c 100644 --- a/actions/locomotion_posture_dynamics/D57/session_001/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D57/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fb2caa07d08f339e963efeaafb67475e72fcbe0bc1de8e89f6cb66b7ec804f55 -size 5499540 +oid sha256:1149520a6256a5dc80c0340c2308e667b6178cb232e1ca8d24cec7f0607b203c +size 10203255 diff --git a/actions/locomotion_posture_dynamics/D57/session_002/annotations.json b/actions/locomotion_posture_dynamics/D57/session_002/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..7ea3bbd73989a9953982fb0b004e9bdb4261f087 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/session_002/annotations.json @@ -0,0 +1,61 @@ +{ + "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": "D57", + "instruction": "Step forward into a lunge on the leg the operator calls, lowering your back knee toward the floor, then push back to standing. 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b/actions/locomotion_posture_dynamics/D57/session_002/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..ce85312827342846c316d02de57a48984901a1a6 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/session_002/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2bb2e2e5e22ebd29c86207e1a0e67a90d949b1cfb508f5d1c1a767fa3d485290 +size 628812 diff --git a/actions/locomotion_posture_dynamics/D57/session_002/meta.json b/actions/locomotion_posture_dynamics/D57/session_002/meta.json index cc50f641f7cfb3b2173ad77917075ccdafe67a9c..d7aa59a5a2156863db85a369ea2e2d667b8a4306 100644 --- a/actions/locomotion_posture_dynamics/D57/session_002/meta.json +++ b/actions/locomotion_posture_dynamics/D57/session_002/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": { @@ -512,10 +512,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9874317700361502 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 15.86, + "offset_rotvec": [ + -0.1736, + -0.147, + 0.1579 + ], + "dev_deg": { + "median": 11.96, + "p90": 27.47 + }, + "samples": 2401, + "accepted": 2217, + "wrist_pos_err_mm_median": 50.5, + "per_camera": { + "head": { + "samples": 2401, + "accepted": 2217, + "gate_deg": 30.0, + "offset_deg": 15.86, + "tier": "primary", + "dev_deg_median": 11.96, + "wrist_pos_err_mm_median": 50.5 + } + }, + "frames_by_state": 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to standing. Then do the same stepping backward instead. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D57/session_002/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D57/session_002/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..e20aca794608fcc356452820f69ba0eaf06fe6c9 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/session_002/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f222642f523d56d58277e5cac8a78239d0266dfb097bde22fab83c9e9b6dc926 +size 3599345 diff --git a/actions/locomotion_posture_dynamics/D57/session_002/motions/smplx.npz b/actions/locomotion_posture_dynamics/D57/session_002/motions/smplx.npz index f6d935529cf567e6ff71a155c11fa08825b0e0df..2025e8d13ae2acd696a3118c7aea309616d53c59 100644 --- a/actions/locomotion_posture_dynamics/D57/session_002/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D57/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6ddb3259ae660b0fd4bb37e80aa132135525f0f31409ad9e90b963797302d457 -size 5024389 +oid sha256:22040a284055a4b0a3a8fb512fffd329e5031d4425029bbb76efe4de388314be +size 9053902 diff --git a/actions/locomotion_posture_dynamics/D57/session_003/annotations.json b/actions/locomotion_posture_dynamics/D57/session_003/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..06c06587f202df133a7ac97b3d9ec41b4c061205 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/session_003/annotations.json @@ -0,0 +1,61 @@ +{ + "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": "D57", + "instruction": "Step forward into a lunge on the leg the operator calls, lowering your back knee toward the floor, then push back to standing. Then do the same stepping backward instead. Repeat the movement at your own pace until the operator says stop; do not rush.", + "segments": [ + { + "id": "segment1", + "duration_s": 123.966711, + "video": "left_eye", + "video_t_start": 0.03899218700546969 + } + ], + "episodes": [ + { + "id": "ee32e3b6-05a0-4b4c-987f-7bd70824b712", + "segment": "segment1", + "action": "D57", + "quality": "valid", + "start_s": 2.609, + "end_s": 32.892, + "t_start": 2.648, + "t_end": 32.931, + "instruction": "Step forward into a lunge on the leg the operator calls, lowering your back knee toward the floor, then push back to standing. Then do the same stepping backward instead. 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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/D57/session_003/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D57/session_003/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..b5e79cfe085735e985805ad36639d3311f165615 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/session_003/cameras/gsi_online_calibration.json @@ -0,0 +1,254 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 14, + "median_px": 0.348 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 1.1241, + "gate_fail": [], + "held_out_px_after": 0.487, + "held_out_px_before": 4.539, + "inliers": 1841, + "position_fitted": false, + "rotvec_deg": [ + 0.525, + -0.4221, + -0.8998 + ], + "split_deg": 0.1211, + "usable": true + }, + "left_eye": 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b/actions/locomotion_posture_dynamics/D57/session_003/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..80be005a9c27cf89cbf2d0a88337e56bee33ef14 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/session_003/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c1521ce114c11ebad7c3890a4305af49d55ada8e86361991f2b2684313c2bb3 +size 714402 diff --git a/actions/locomotion_posture_dynamics/D57/session_003/meta.json b/actions/locomotion_posture_dynamics/D57/session_003/meta.json index b63a11a20e4732276a0c235cd585faffbf45b838..c6853bce62ef811ede9587b88406d5e17ab26777 100644 --- a/actions/locomotion_posture_dynamics/D57/session_003/meta.json +++ b/actions/locomotion_posture_dynamics/D57/session_003/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": { @@ -522,10 +522,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0908672444498022 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 6.03, + "offset_rotvec": [ + 0.1046, + 0.0108, + 0.0018 + ], + "dev_deg": { + "median": 13.66, + "p90": 33.44 + }, + "samples": 2516, + "accepted": 2208, + "wrist_pos_err_mm_median": 72.5, + "per_camera": { + "head": { + "samples": 2516, + "accepted": 2208, + "gate_deg": 30.0, + "offset_deg": 6.03, + "tier": "primary", + "dev_deg_median": 13.66, + "wrist_pos_err_mm_median": 72.5 + } + }, + "frames_by_state": { + 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to standing. Then do the same stepping backward instead. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D57/session_003/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D57/session_003/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..706b40b2c8abae8e2c33d3c0952e5f71b50157a8 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/session_003/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7bb09174ea711af2157a6b81810381772e73d5a68dff110db79885674d0a2bde +size 3254050 diff --git a/actions/locomotion_posture_dynamics/D57/session_003/motions/smplx.npz b/actions/locomotion_posture_dynamics/D57/session_003/motions/smplx.npz index 15d3d69aee3da27a5c17168bae56d6953c17a594..801bc590f602a6a0e7e66945ebd93a76f198215c 100644 --- a/actions/locomotion_posture_dynamics/D57/session_003/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D57/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8d6282a7a83468b56666400dfb5bf19f8b0140be423aac612603b2346f06ef32 -size 5727483 +oid sha256:837c2b7a0cf67f99225495850d4ab0d9c73a7fbae458b42923286ccd8aa37c7c +size 10699971 diff --git a/actions/locomotion_posture_dynamics/D57/session_004/annotations.json b/actions/locomotion_posture_dynamics/D57/session_004/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..5282c092df292af2b4428c41090369a7ea946dbe --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/session_004/annotations.json @@ -0,0 +1,61 @@ +{ + "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": "D57", + "instruction": "Step forward into a lunge on the leg the operator calls, lowering your back knee toward the floor, then push back to standing. Then do the same stepping backward instead. Repeat the movement at your own pace until the operator says stop; do not rush.", + "segments": [ + { + "id": "segment1", + "duration_s": 108.966667, + "video": "left_eye", + "video_t_start": 0.03936108842534103 + } + ], + "episodes": [ + { + "id": "564e222d-92e5-4755-ba3c-25ae414cf7da", + "segment": "segment1", + "action": "D57", + "quality": "valid", + "start_s": 1.087, + "end_s": 28.086, + "t_start": 1.1264, + "t_end": 28.1254, + "instruction": "Step forward into a lunge on the leg the operator calls, lowering your back knee toward the floor, then push back to standing. Then do the same stepping backward instead. Repeat the movement at your own pace until the operator says stop; do not rush." + }, + { + "id": "dd1e8d9f-23fa-43d4-823a-f0d947827dd5", + "segment": "segment1", + "action": "D57", + "quality": "valid", + "start_s": 31.54, + "end_s": 52.229, + "t_start": 31.5794, + "t_end": 52.2684, + "instruction": "Step forward into a lunge on the leg the operator calls, lowering your back knee toward the floor, then push back to standing. Then do the same stepping backward instead. Repeat the movement at your own pace until the operator says stop; do not rush." + }, + { + "id": "97631df7-d2b2-44b4-9a65-9ac67c266a6b", + "segment": "segment1", + "action": "D57", + "quality": "valid", + "start_s": 56.787, + "end_s": 75.815, + "t_start": 56.8264, + "t_end": 75.8544, + "instruction": "Step forward into a lunge on the leg the operator calls, lowering your back knee toward the floor, then push back to standing. Then do the same stepping backward instead. Repeat the movement at your own pace until the operator says stop; do not rush." + }, + { + "id": "2bb05906-8603-4e12-9247-940b563aaaf5", + "segment": "segment1", + "action": "D57", + "quality": "valid", + "start_s": 80.759, + "end_s": 105.157, + "t_start": 80.7984, + "t_end": 105.1964, + "instruction": "Step forward into a lunge on the leg the operator calls, lowering your back knee toward the floor, then push back to standing. Then do the same stepping backward instead. Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D57/session_004/cameras/slam.npz b/actions/locomotion_posture_dynamics/D57/session_004/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..af3b9d81c5d4f257b091e239003c2814bd5b6b87 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/session_004/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9fc52461afd84e9d4fab0c662a6676deff6465db2a909e279e501de2556def0 +size 628271 diff --git a/actions/locomotion_posture_dynamics/D57/session_004/meta.json b/actions/locomotion_posture_dynamics/D57/session_004/meta.json index 8c5b2afe1bc552e27cf78f4d9ea57c7d5bfa287a..f6fab0e9e541b97afe5686e52c287f3a1ea7c4e6 100644 --- a/actions/locomotion_posture_dynamics/D57/session_004/meta.json +++ b/actions/locomotion_posture_dynamics/D57/session_004/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": { @@ -511,10 +511,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8008853821758548 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 24.91, + "offset_rotvec": [ + 0.3996, + -0.1561, + -0.07 + ], + "dev_deg": { + "median": 16.43, + "p90": 29.17 + }, + "samples": 2051, + "accepted": 1874, + "wrist_pos_err_mm_median": 243.2, + "per_camera": { + "head": { + "samples": 2051, + "accepted": 1874, + "gate_deg": 30.0, + "offset_deg": 24.91, + "tier": "primary", + "dev_deg_median": 16.43, + "wrist_pos_err_mm_median": 243.2 + } + }, + "frames_by_state": { + "ace_sample": 7786, + "interpolated": 4990, + "mean_hand": 300, + "no_body_fit": 8 + }, + "observed_fraction": 0.9765, + "observed_fraction_of_valid": 0.9771, + "palm_axis_vs_markers_deg": { + "gsi": 34.79, + "smplx": 0.62 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.1, + "p90": 22.7 + }, + "registered": { + "median": 12.6, + "p90": 22.0 + } + } + }, + "right": { + "offset_deg": 17.64, + "offset_rotvec": [ + 0.1135, + -0.1351, + 0.2522 + ], + "dev_deg": { + "median": 25.35, + "p90": 47.16 + }, + "samples": 2527, + "accepted": 1518, + "wrist_pos_err_mm_median": 354.8, + "per_camera": { + "head": { + "samples": 2527, + "accepted": 1518, + "gate_deg": 30.0, + "offset_deg": 17.64, + "tier": "primary", + "dev_deg_median": 25.35, + "wrist_pos_err_mm_median": 354.8 + } + }, + "frames_by_state": { + "ace_sample": 6279, + "interpolated": 4276, + "mean_hand": 2521, + "no_body_fit": 8 + }, + "observed_fraction": 0.8067, + "observed_fraction_of_valid": 0.8072, + "palm_axis_vs_markers_deg": { + "gsi": 31.57, + "smplx": 0.84 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 15.7, + "p90": 25.0 + }, + "registered": { + "median": 15.2, + "p90": 24.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:58:03.582114+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/D57/session_004", "family": "locomotion_posture_dynamics", "primitive": "D57", "source_session": "20260919/D57/20260919_090557_session151" + }, + "task": { + "primitive": "D57", + "instruction": "Step forward into a lunge on the leg the operator calls, lowering your back knee toward the floor, then push back to standing. Then do the same stepping backward instead. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D57/session_004/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D57/session_004/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..f5fa95c42845febd6af269ebc77ac47069c49470 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/session_004/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8549f5b7436101c367ec31c1e8c0a9982ef7590893cfdef23c94e20a8668c36 +size 3176837 diff --git a/actions/locomotion_posture_dynamics/D57/session_004/motions/smplx.npz b/actions/locomotion_posture_dynamics/D57/session_004/motions/smplx.npz index 390bbc041876fdcb42f51ae6bb5ea95086479990..84036567ca94573535100eae188d2fe3809f5f0b 100644 --- a/actions/locomotion_posture_dynamics/D57/session_004/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D57/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ade1293be9b59054d689b2e8b56c66e20d4b88fa77e01933d5fcb25c3cbee594 -size 5030207 +oid sha256:0c3544fa4a54942a5719ae5118d8474b49fbf3a403825b9eb721adae80b4375f +size 9097091 diff --git a/actions/locomotion_posture_dynamics/D57/session_005/annotations.json b/actions/locomotion_posture_dynamics/D57/session_005/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..0b6ce2eb0b45747f57af8ebd5d22d618580aa9e7 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/session_005/annotations.json @@ -0,0 +1,61 @@ +{ + "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": "D57", + "instruction": "Step forward into a lunge on the leg the operator calls, lowering your back knee toward the floor, then push back to standing. 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b/actions/locomotion_posture_dynamics/D57/session_005/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..95c3b530f3cb3232f4e048859ce03a2c2e41df85 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/session_005/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f005c3a4965ec901a8db9ede82790bcab9aea1bf6d6c99db02e596d3c286998 +size 627501 diff --git a/actions/locomotion_posture_dynamics/D57/session_005/meta.json b/actions/locomotion_posture_dynamics/D57/session_005/meta.json index 9bf78bd35dcffbba04cb6f8c69a4d13339767c8b..cd5f1d9ef46f2c6d06dc9ab6da950c7cbcc0ba90 100644 --- a/actions/locomotion_posture_dynamics/D57/session_005/meta.json +++ b/actions/locomotion_posture_dynamics/D57/session_005/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": { @@ -524,10 +524,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8218659791153281 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.68, + "offset_rotvec": [ + -0.0326, + -0.1636, + 0.0832 + ], + "dev_deg": { + "median": 5.27, + "p90": 11.38 + }, + "samples": 3178, + "accepted": 3160, + "wrist_pos_err_mm_median": 82.5, + "per_camera": { + "head": { + "samples": 3178, + "accepted": 3160, + "gate_deg": 30.0, + "offset_deg": 10.68, + "tier": "primary", + "dev_deg_median": 5.27, + "wrist_pos_err_mm_median": 82.5 + } + }, + "frames_by_state": { 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standing. Then do the same stepping backward instead. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D57/session_005/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D57/session_005/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..f64d89f3cd1ac864c21ba3ee0e1b19173e541f37 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/session_005/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6942caf0b209f54b81056a7f995484a039eabd426279c62ba0ce920ae45d32fe +size 4207812 diff --git a/actions/locomotion_posture_dynamics/D57/session_005/motions/smplx.npz b/actions/locomotion_posture_dynamics/D57/session_005/motions/smplx.npz index 39fa397f019d7072daba3c31cf873252c500c9d8..cef2434bfaf4e6af2dd435b1afd7511b77c972ab 100644 --- a/actions/locomotion_posture_dynamics/D57/session_005/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D57/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8605d4a12970b6246f001d2e796777c3af09521246fe981b8cdcbf0db08624f5 -size 5012045 +oid sha256:c1843a873077f7c2ed39c76b31621e0ca78c0f4092dc467f437b70b9b7f5c5fd +size 9412690 diff --git a/actions/locomotion_posture_dynamics/D57/session_006/annotations.json b/actions/locomotion_posture_dynamics/D57/session_006/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..ab249680e0a362ed2c2afb4bb11700109c2b75b9 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/session_006/annotations.json @@ -0,0 +1,61 @@ +{ + "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": "D57", + "instruction": "Step forward into a lunge on the leg the operator calls, lowering your back knee toward the floor, then push back to standing. Then do the same stepping backward instead. Repeat the movement at your own pace until the operator says stop; do not rush.", + "segments": [ + { + "id": "segment1", + "duration_s": 108.966544, + "video": "left_eye", + "video_t_start": 0.03896346544452145 + } + ], + "episodes": [ + { + "id": "0f369751-48e3-4506-9a13-b3c84852169a", + "segment": "segment1", + "action": "D57", + "quality": "valid", + "start_s": 4.728, + "end_s": 28.453, + "t_start": 4.767, + "t_end": 28.492, + "instruction": "Step forward into a lunge on the leg the operator calls, lowering your back knee toward the floor, then push back to standing. Then do the same stepping backward instead. 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"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": 0.8431649612943432 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 29.7, + "offset_rotvec": [ + 0.4416, + -0.0999, + -0.2524 + ], + "dev_deg": { + "median": 13.5, + "p90": 26.95 + }, + "samples": 2780, + "accepted": 2590, + "wrist_pos_err_mm_median": 77.4, + "per_camera": { + "head": { + "samples": 2780, + "accepted": 2590, + "gate_deg": 30.0, + "offset_deg": 29.7, + "tier": "primary", + "dev_deg_median": 13.5, + "wrist_pos_err_mm_median": 77.4 + } + }, + "frames_by_state": { + 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standing. Then do the same stepping backward instead. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D57/session_006/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D57/session_006/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..f70554e6b87701c27c5852511d457e7418b4f453 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/session_006/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:97db07a20e37f225caf4f7154b29f7fa06e5b7342097af87f77a112bf9bba4f0 +size 3715792 diff --git a/actions/locomotion_posture_dynamics/D57/session_006/motions/smplx.npz b/actions/locomotion_posture_dynamics/D57/session_006/motions/smplx.npz index 5fd9b5be99f4b5831d270a8e9609f2cdfc23cf13..4cff22e20ca57c8c6dc0817079726cbdbe1ab57e 100644 --- a/actions/locomotion_posture_dynamics/D57/session_006/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D57/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2fc5f34f1c32aca36861e3af83cef02dd8e83759736621e0a4f8c7a8f79cb17a -size 5008320 +oid sha256:0147abc9b1d35008d2d1f99735c9d1eba6466ea5f5c568f29409b50eb614944f +size 9305700 diff --git a/actions/locomotion_posture_dynamics/D57/session_007/annotations.json b/actions/locomotion_posture_dynamics/D57/session_007/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..ed17d94553f6282c00f3ad7571b588781b4af107 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/session_007/annotations.json @@ -0,0 +1,61 @@ +{ + "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": "D57", + "instruction": "Step forward into a lunge on the leg the operator calls, lowering your back knee toward the floor, then push back to standing. 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"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": 1.710845645730427 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 8.57, + "offset_rotvec": [ + -0.0002, + 0.0237, + -0.1477 + ], + "dev_deg": { + "median": 25.36, + "p90": 45.4 + }, + "samples": 3497, + "accepted": 2136, + "wrist_pos_err_mm_median": 81.1, + "per_camera": { + "head": { + "samples": 3497, + "accepted": 2136, + "gate_deg": 30.0, + "offset_deg": 8.57, + "tier": "primary", + "dev_deg_median": 25.36, + "wrist_pos_err_mm_median": 81.1 + } + }, + "frames_by_state": { + 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standing. Then do the same stepping backward instead. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D57/session_008/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D57/session_008/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..421872a0b14484403354253b0c09c0f1dacd4641 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/session_008/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f472c3f4c7bc6b1ceeb2014a226dfeabf37863133316e1906779122a14c622f +size 3669591 diff --git a/actions/locomotion_posture_dynamics/D57/session_008/motions/smplx.npz b/actions/locomotion_posture_dynamics/D57/session_008/motions/smplx.npz index 7e3140a3c12b84ec494bbdf755f66c225a265149..2bd9868b201f8fe4dfe6927fa91ffe4c8907b272 100644 --- a/actions/locomotion_posture_dynamics/D57/session_008/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D57/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:cc94dd988865d42964920b3aca6e8ca296f1df6e6ec8460e85c1d37a44b1d717 -size 5255895 +oid sha256:8d0a72f5de38ea13cb41bb2ac1b98f1ec68013951e3c0c453bf78e2ffe426935 +size 9470937 diff --git a/actions/locomotion_posture_dynamics/D57/session_009/annotations.json b/actions/locomotion_posture_dynamics/D57/session_009/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..8061e10b8bdc8b6a1f3a39537f15ff2127c09fdf --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/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": "D57", + "instruction": "Step forward into a lunge on the leg the operator calls, lowering your back knee toward the floor, then push back to standing. 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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/D57/session_009/cameras/slam.npz b/actions/locomotion_posture_dynamics/D57/session_009/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..4f076ca6df4f3db6fcada7a73def09193a82dedb --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/session_009/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a9114e2a39f42a178233ae01584d5f3a3f123b345e4a653385265214efc9b11 +size 655681 diff --git a/actions/locomotion_posture_dynamics/D57/session_009/meta.json b/actions/locomotion_posture_dynamics/D57/session_009/meta.json index ef5200b0333b897da97210a6845dc0fe20a7aee8..2db8a5e7d38bc4b0efa9bbfc8e1f6f80840b39ef 100644 --- a/actions/locomotion_posture_dynamics/D57/session_009/meta.json +++ b/actions/locomotion_posture_dynamics/D57/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 (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -516,10 +516,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.8491668267008965 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 24.18, + "offset_rotvec": [ + 0.3979, + -0.1375, + 0.0285 + ], + "dev_deg": { + "median": 28.61, + "p90": 43.63 + }, + "samples": 2039, + "accepted": 1119, + "wrist_pos_err_mm_median": 243.6, + "per_camera": { + "head": { + "samples": 2039, + "accepted": 1119, + "gate_deg": 30.0, + "offset_deg": 24.18, + "tier": "primary", + "dev_deg_median": 28.61, + "wrist_pos_err_mm_median": 243.6 + } + }, + "frames_by_state": { + "ace_sample": 4893, + "interpolated": 7350, + "mean_hand": 1433, + "no_body_fit": 8 + }, + "observed_fraction": 0.8947, + "observed_fraction_of_valid": 0.8952, + "palm_axis_vs_markers_deg": { + "gsi": 43.42, + "smplx": 0.85 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.5, + "p90": 7.7 + }, + "registered": { + "median": 9.2, + "p90": 14.7 + } + } + }, + "right": { + "offset_deg": 27.75, + "offset_rotvec": [ + 0.4055, + 0.2596, + 0.0534 + ], + "dev_deg": { + "median": 15.74, + "p90": 31.15 + }, + "samples": 1194, + "accepted": 1056, + "wrist_pos_err_mm_median": 419.4, + "per_camera": { + "head": { + "samples": 1194, + "accepted": 1056, + "gate_deg": 30.0, + "offset_deg": 27.75, + "tier": "primary", + "dev_deg_median": 15.74, + "wrist_pos_err_mm_median": 419.4 + } + }, + "frames_by_state": { + "ace_sample": 4466, + "interpolated": 6354, + "mean_hand": 2856, + "no_body_fit": 8 + }, + "observed_fraction": 0.7907, + "observed_fraction_of_valid": 0.7912, + "palm_axis_vs_markers_deg": { + "gsi": 35.7, + "smplx": 0.6 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.5, + "p90": 8.1 + }, + "registered": { + "median": 6.7, + "p90": 8.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:23:24.934073+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/D57/session_009", "family": "locomotion_posture_dynamics", "primitive": "D57", "source_session": "20260930/D57/20260930_061344_session59" + }, + "task": { + "primitive": "D57", + "instruction": "Step forward into a lunge on the leg the operator calls, lowering your back knee toward the floor, then push back to standing. 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new file mode 100644 index 0000000000000000000000000000000000000000..9245bf0da33deefeb211835bf630eb4c69b22460 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/session_010/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd964f7dea13296a45506e13460ce6c192216c851dc18001974c1dd16bed11e0 +size 741476 diff --git a/actions/locomotion_posture_dynamics/D57/session_010/meta.json b/actions/locomotion_posture_dynamics/D57/session_010/meta.json index 0b972d563c10847cc459472fb1c004b8c5f52afc..cb4342ba3b3424e8fdfecd22d20d89b78e054a16 100644 --- a/actions/locomotion_posture_dynamics/D57/session_010/meta.json +++ b/actions/locomotion_posture_dynamics/D57/session_010/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": {}, @@ -487,10 +487,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 2.0179317634289293 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 40.22, + "offset_rotvec": [ + 0.621, + -0.3092, + 0.1077 + ], + "dev_deg": { + "median": 11.62, + "p90": 21.58 + }, + "samples": 677, + "accepted": 659, + "wrist_pos_err_mm_median": 86.3, + "per_camera": { + "head": { + "samples": 677, + "accepted": 659, + "gate_deg": 30.0, + "offset_deg": 40.22, + "tier": "primary", + "dev_deg_median": 11.62, + "wrist_pos_err_mm_median": 86.3 + } + }, + "frames_by_state": { + "ace_sample": 2710, + "interpolated": 998, + "mean_hand": 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Then do the same stepping backward instead. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D57/session_010/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D57/session_010/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..a151031643b87c60f5d2e2cefff50ae642d7f714 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/session_010/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c7a768bc94f78018895eeb5dd0708e094d2ff77d019b6c46dca8fa73f37d975 +size 4132491 diff --git a/actions/locomotion_posture_dynamics/D57/session_010/motions/smplx.npz b/actions/locomotion_posture_dynamics/D57/session_010/motions/smplx.npz index 5523c7b096ba677f0935216a2fd17875a91e7091..7a4d59aa7bc454dacede5e665a2955f626468db1 100644 --- a/actions/locomotion_posture_dynamics/D57/session_010/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D57/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:08c6d98cd0bc68a6b68d6033885f9d31922cf9679e6f40fe7dc9b3499c0e95ec -size 1438883 +oid sha256:2af15abf6ef4603b11f50b91755e1695aeede873e7c8cadeff8540976c031339 +size 2693966 diff --git a/actions/locomotion_posture_dynamics/D57/session_011/annotations.json b/actions/locomotion_posture_dynamics/D57/session_011/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..78ce4230244eddb0706bc75051e92ea7cd3ab600 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/session_011/annotations.json @@ -0,0 +1,61 @@ +{ + "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": "D57", + "instruction": "Step forward into a lunge on the leg the operator calls, lowering your back knee toward the floor, then push back to standing. Then do the same stepping backward instead. Repeat the movement at your own pace until the operator says stop; do not rush.", + "segments": [ + { + "id": "segment1", + "duration_s": 133.966633, + "video": "left_eye", + "video_t_start": 0.039248354178705425 + } + ], + "episodes": [ + { + "id": "00a03ad2-4e1a-4c4b-b69f-feedf5adc7bb", + "segment": "segment1", + "action": "D57", + "quality": "valid", + "start_s": 2, + "end_s": 27.183, + "t_start": 2.0392, + "t_end": 27.2222, + "instruction": "Step forward into a lunge on the leg the operator calls, lowering your back knee toward the floor, then push back to standing. Then do the same stepping backward instead. 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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/D57/session_011/cameras/slam.npz b/actions/locomotion_posture_dynamics/D57/session_011/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..e9ec40410cd13cc0997699d3e1863e6a3464c287 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/session_011/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3014b4220f4bcee20268dc03374dd4e42b25b6b3ec641102fc3e7b5cf094eec +size 771859 diff --git a/actions/locomotion_posture_dynamics/D57/session_011/meta.json b/actions/locomotion_posture_dynamics/D57/session_011/meta.json index c083beb3abab923bc443a77d0f8063b4e496c931..15bd1d69f40265f54fc824e82c9226a4df1f24b3 100644 --- a/actions/locomotion_posture_dynamics/D57/session_011/meta.json +++ b/actions/locomotion_posture_dynamics/D57/session_011/meta.json @@ -344,8 +344,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -495,10 +495,124 @@ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 38.25, + "offset_rotvec": [ + 0.4593, + -0.4753, + -0.0944 + ], + "dev_deg": { + "median": 9.27, + "p90": 22.53 + }, + "samples": 3200, + "accepted": 3070, + "wrist_pos_err_mm_median": 96.5, + "per_camera": { + "head": { + "samples": 3200, + "accepted": 3070, + "gate_deg": 30.0, + "offset_deg": 38.25, + "tier": "primary", + "dev_deg_median": 9.27, + "wrist_pos_err_mm_median": 96.5 + } + }, + "frames_by_state": { + "ace_sample": 12520, + "interpolated": 3236, + "mean_hand": 321, + "no_body_fit": 7 + }, + "observed_fraction": 0.9796, + "observed_fraction_of_valid": 0.98, + "palm_axis_vs_markers_deg": { + "gsi": 40.09, + "smplx": 0.38 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.8, + "p90": 6.1 + }, + "registered": { + "median": 5.6, + "p90": 7.9 + } + } + }, + "right": { + "offset_deg": 15.54, + "offset_rotvec": [ + 0.2126, + 0.0287, + 0.1661 + ], + "dev_deg": { + "median": 8.97, + "p90": 16.9 + }, + "samples": 3034, + "accepted": 2966, + "wrist_pos_err_mm_median": 128.8, + "per_camera": { + "head": { + "samples": 3034, + "accepted": 2966, + "gate_deg": 30.0, + "offset_deg": 15.54, + "tier": "primary", + "dev_deg_median": 8.97, + "wrist_pos_err_mm_median": 128.8 + } + }, + "frames_by_state": { + "ace_sample": 12108, + "interpolated": 3676, + "mean_hand": 293, + "no_body_fit": 7 + }, + "observed_fraction": 0.9813, + "observed_fraction_of_valid": 0.9818, + "palm_axis_vs_markers_deg": { + "gsi": 13.14, + "smplx": 0.35 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.6, + "p90": 6.1 + }, + "registered": { + "median": 5.5, + "p90": 6.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:11:36.327981+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/D57/session_011", "family": "locomotion_posture_dynamics", "primitive": "D57", "source_session": "20261012/D57/20261012_054431_session92" + }, + "task": { + "primitive": "D57", + "instruction": "Step forward into a lunge on the leg the operator calls, lowering your back knee toward the floor, then push back to standing. Then do the same stepping backward instead. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D57/session_011/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D57/session_011/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..e7e0e79ad6bcf5f9cd68e41d4d6ff9b91808a455 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/session_011/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7329ba718919b0700aa4f7e5b019a757f6c99952a83496231de581670ed90515 +size 4293533 diff --git a/actions/locomotion_posture_dynamics/D57/session_011/motions/smplx.npz b/actions/locomotion_posture_dynamics/D57/session_011/motions/smplx.npz index 243451e4cc30097a207d2343b38fb6701547f782..f7256899adf07810b3f49e81cd7723fa48872460 100644 --- a/actions/locomotion_posture_dynamics/D57/session_011/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D57/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b70d0758d23fbd7c95822cf3399181d258b4dc452484beb0d6f47aa8aa1f8e6d -size 6201605 +oid sha256:5375349d124ee6c07982c2de0ec65244fc8d5f20f2ded14b05429990ac9d241a +size 11543470 diff --git a/actions/locomotion_posture_dynamics/D57/session_012/annotations.json b/actions/locomotion_posture_dynamics/D57/session_012/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..c2a55762f95d4a42717516adf9049ff8d5edd79a --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/session_012/annotations.json @@ -0,0 +1,61 @@ +{ + "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": "D57", + "instruction": "Step forward into a lunge on the leg the operator calls, lowering your back knee toward the floor, then push back to standing. 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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -517,10 +517,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.3729513892602814 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 20.82, + "offset_rotvec": [ + -0.0679, + -0.1409, + 0.328 + ], + "dev_deg": { + "median": 8.87, + "p90": 19.03 + }, + "samples": 2258, + "accepted": 2164, + "wrist_pos_err_mm_median": 59.4, + "per_camera": { + "head": { + "samples": 2258, + "accepted": 2164, + "gate_deg": 30.0, + "offset_deg": 20.82, + "tier": "primary", + "dev_deg_median": 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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/D57/session_012/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D57/session_012/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..84619102e16b1078ee78ac822e7b704a76f1752b --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/session_012/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0dc9b42a8e2ebf655705a2c01f6e008ac9d59850c49d5cc5d815527c72a971bf +size 2899425 diff --git a/actions/locomotion_posture_dynamics/D57/session_012/motions/smplx.npz b/actions/locomotion_posture_dynamics/D57/session_012/motions/smplx.npz index 24b3963553be5e9378a0c9e2ba7b6b1965bbdfdd..15916485db41275800e51e6cebd95c1f7b6cc030 100644 --- a/actions/locomotion_posture_dynamics/D57/session_012/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D57/session_012/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a38825889d2d35abc98bfb6ee16b4f8123456a0ec70d52c7665a50daf35486fe -size 5040478 +oid sha256:ecc98dbb981d0fcf2039e78489ed8488f38d9081fac72157bc632fd34881cfc0 +size 9216335 diff --git a/actions/locomotion_posture_dynamics/D57/session_013/annotations.json b/actions/locomotion_posture_dynamics/D57/session_013/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..4ffa12396d4fe430d4d6a1983c493bb5e534132e --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/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": "D57", + "instruction": "Step forward into a lunge on the leg the operator calls, lowering your back knee toward the floor, then push back to standing. 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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/D57/session_013/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D57/session_013/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..74094e7ae91015266f6479eb382eb1c3b910b54f --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/session_013/cameras/gsi_online_calibration.json @@ -0,0 +1,209 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 13, + "median_px": 0.314 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "left_eye", + "right_eye" + ], + "delta_deg": 1.3909, + "gate_fail": [], + "held_out_px_after": 0.578, + "held_out_px_before": 22.026, + "inliers": 664, + "position_fitted": false, + "rotvec_deg": [ + -1.0053, + -0.2087, + -0.9383 + ], + "split_deg": 0.1038, + "usable": true + }, + "left_eye": { + 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Then do the same stepping backward instead. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D57/session_013/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D57/session_013/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..be78bf732a603179bf3650907506ca8996043be7 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D57/session_013/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ccffc5bf47b878b42ed0a49043beb4fd243ad46942c4ee90ee68feb0f49e9f5 +size 3902950 diff --git a/actions/locomotion_posture_dynamics/D57/session_013/motions/smplx.npz b/actions/locomotion_posture_dynamics/D57/session_013/motions/smplx.npz index ad7c516dc7938c0a2880bcf32320d93e9617c661..ac155ed7f08e258914b9189eca918eb9b591faf4 100644 --- a/actions/locomotion_posture_dynamics/D57/session_013/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D57/session_013/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:11f3336ba13a5a94d52defc0c4332f76298d4dcf09fc78556fdf5b0b19d854e3 -size 6179065 +oid sha256:516c37dce343c858bb4e3e0ee18b67370196347910f107eed0600577aa40b2db +size 11407214 diff --git a/actions/locomotion_posture_dynamics/D58/session_001/annotations.json b/actions/locomotion_posture_dynamics/D58/session_001/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..e4ca5ebd3439a9edffec64cf9b411c11db105ba7 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D58/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": "D58", + "instruction": "Keeping your feet still and facing forward, bend your upper body sideways to one side, return upright, then bend to the other side. Reach the arm overhead as you bend. Repeat the movement at your own pace until the operator says stop; do not rush.", + "segments": [ + { + "id": "segment1", + "duration_s": 58.966556, + "video": "left_eye", + "video_t_start": 0.03973649303699611 + } + ], + "episodes": [ + { + "id": "49a7490e-35c5-445a-af87-9d6dfde40daa", + "segment": "segment1", + "action": "D58", + "quality": "valid", + "start_s": 0.808, + "end_s": 30.985, + "t_start": 0.8477, + "t_end": 31.0247, + "instruction": "Keeping your feet still and facing forward, bend your upper body sideways to one side, return upright, then bend to the other side. Reach the arm overhead as you bend. 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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/D58/session_001/cameras/slam.npz b/actions/locomotion_posture_dynamics/D58/session_001/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..4aab96a877ce35c1000076f18ca3585b61d4af23 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D58/session_001/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2eaa10fb08151fd0e805ff7053b6e48165f589a97e616bd86498f606e293a76b +size 341713 diff --git a/actions/locomotion_posture_dynamics/D58/session_001/meta.json b/actions/locomotion_posture_dynamics/D58/session_001/meta.json index 3d9405e4937c6c61eee95dcd731c103c1c90d84a..7451fda88235cfb5530396508cbb15095147099a 100644 --- a/actions/locomotion_posture_dynamics/D58/session_001/meta.json +++ b/actions/locomotion_posture_dynamics/D58/session_001/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -509,10 +509,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.47016826868005823 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 26.97, + "offset_rotvec": [ + 0.3161, + -0.3209, + 0.1366 + ], + "dev_deg": { + "median": 22.35, + "p90": 39.81 + }, + "samples": 562, + "accepted": 420, + "wrist_pos_err_mm_median": 299.2, + "per_camera": { + "head": { + "samples": 562, + "accepted": 420, + "gate_deg": 30.0, + "offset_deg": 26.97, + "tier": "primary", + "dev_deg_median": 22.35, + "wrist_pos_err_mm_median": 299.2 + } + }, + "frames_by_state": { + "ace_sample": 1732, + "interpolated": 1348, + "mean_hand": 4004, + "no_body_fit": 0 + }, + "observed_fraction": 0.4348, + "observed_fraction_of_valid": 0.4348, + "palm_axis_vs_markers_deg": { + "gsi": 26.22, + "smplx": 1.7 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.5, + "p90": 9.1 + }, + "registered": { + "median": 7.9, + "p90": 8.7 + } + } + }, + "right": { + "offset_deg": 24.53, + "offset_rotvec": [ + -0.2226, + 0.3652, + 0.0178 + ], + "dev_deg": { + "median": 19.7, + "p90": 40.09 + }, + "samples": 623, + "accepted": 495, + "wrist_pos_err_mm_median": 157.8, + "per_camera": { + "head": { + "samples": 623, + "accepted": 495, + "gate_deg": 30.0, + "offset_deg": 24.53, + "tier": "primary", + "dev_deg_median": 19.7, + "wrist_pos_err_mm_median": 157.8 + } + }, + "frames_by_state": { + "ace_sample": 2036, + "interpolated": 1472, + "mean_hand": 3576, + "no_body_fit": 0 + }, + "observed_fraction": 0.4952, + "observed_fraction_of_valid": 0.4952, + "palm_axis_vs_markers_deg": { + "gsi": 27.17, + "smplx": 1.06 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.0, + "p90": 8.8 + }, + "registered": { + "median": 5.7, + "p90": 8.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T14:24:29.021791+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/D58/session_001", "family": "locomotion_posture_dynamics", "primitive": "D58", "source_session": "20260907/D58/20260907_105513_session208" + }, + "task": { + "primitive": "D58", + "instruction": "Keeping your feet still and facing forward, bend your upper body sideways to one side, return upright, then bend to the other side. 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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/D58/session_001/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D58/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..72c301acad66bcd0237c6f036d353b7170849934 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D58/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:743e0663444008cdd0d193fc347ed54229a8b7c7d0fa865e5fe428821d48efb6 +size 888031 diff --git a/actions/locomotion_posture_dynamics/D58/session_001/motions/smplx.npz b/actions/locomotion_posture_dynamics/D58/session_001/motions/smplx.npz index dc721f6aa1520bfa4aaa44c34304bf38705fd418..bdb9b0a886147552897053ad4c3f561a80214544 100644 --- a/actions/locomotion_posture_dynamics/D58/session_001/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D58/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0a9724cf969f465ca53b8a6f9b7e71698b4a359ee075173832b988bfec5f06d2 -size 2731169 +oid sha256:ddc86db90dcfd97a92abbf65868dbdf075c7896eb82a0b89a8c17da539b8464c +size 4079597 diff --git a/actions/locomotion_posture_dynamics/D58/session_002/annotations.json b/actions/locomotion_posture_dynamics/D58/session_002/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..76007fdb37dff76fbce5f4636349d6a1bdb765bb --- /dev/null +++ b/actions/locomotion_posture_dynamics/D58/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": "D58", + "instruction": "Keeping your feet still and facing forward, bend your upper body sideways to one side, return upright, then bend to the other side. 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100644 index 0000000000000000000000000000000000000000..2405534d4e5ac3ea4e3cf0eb4cb49016198ed206 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D58/session_002/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1060c7eeef91e4778dbe8cba1e57b649c9ece9276bf2e116d27c6bc9800b9144 +size 341914 diff --git a/actions/locomotion_posture_dynamics/D58/session_002/meta.json b/actions/locomotion_posture_dynamics/D58/session_002/meta.json index 4bc6c9de509066855bd5fc9514e5b47e23317fbd..5201c258b959e579f56f9abf3e5e337e6b03df96 100644 --- a/actions/locomotion_posture_dynamics/D58/session_002/meta.json +++ b/actions/locomotion_posture_dynamics/D58/session_002/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)", 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"hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -521,10 +521,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.3477587510232365 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 13.01, + "offset_rotvec": [ + 0.2029, + -0.0734, + -0.0709 + ], + "dev_deg": { + "median": 19.24, + "p90": 43.65 + }, + "samples": 2280, + "accepted": 1749, + "wrist_pos_err_mm_median": 83.9, + "per_camera": { + "head": { + "samples": 2280, + "accepted": 1749, + "gate_deg": 30.0, + "offset_deg": 13.01, + "tier": "primary", + "dev_deg_median": 19.24, + "wrist_pos_err_mm_median": 83.9 + } + }, + "frames_by_state": { + "ace_sample": 7225, + "interpolated": 4466, + "mean_hand": 3185, + "no_body_fit": 8 + }, + "observed_fraction": 0.7855, + "observed_fraction_of_valid": 0.7859, + "palm_axis_vs_markers_deg": { + "gsi": 16.22, + "smplx": 0.95 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.3, + "p90": 27.3 + }, + "registered": { + "median": 6.7, + "p90": 26.3 + } + } + }, + "right": { + "offset_deg": 22.21, + "offset_rotvec": [ + 0.3151, + 0.1155, + 0.1941 + ], + "dev_deg": { + "median": 11.86, + "p90": 33.9 + }, + "samples": 2228, + "accepted": 1963, + "wrist_pos_err_mm_median": 63.7, + "per_camera": { + "head": { + "samples": 2228, + "accepted": 1963, + "gate_deg": 30.0, + "offset_deg": 22.21, + "tier": "primary", + "dev_deg_median": 11.86, + "wrist_pos_err_mm_median": 63.7 + } + }, + "frames_by_state": { + "ace_sample": 7867, + "interpolated": 1356, + "mean_hand": 5653, + "no_body_fit": 8 + }, + "observed_fraction": 0.6197, + "observed_fraction_of_valid": 0.62, + "palm_axis_vs_markers_deg": { + "gsi": 20.18, + "smplx": 0.81 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 15.3, + "p90": 24.1 + }, + "registered": { + "median": 15.7, + "p90": 22.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:58:05.447682+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/D58/session_003", "family": "locomotion_posture_dynamics", "primitive": "D58", "source_session": "20260919/D58/20260919_030345_session38" + }, + "task": { + "primitive": "D58", + "instruction": "Keeping your feet still and facing forward, bend your upper body sideways to one side, return upright, then bend to the other side. Reach the arm overhead as you bend. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D58/session_003/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D58/session_003/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..5dab319215b57c2458fba143e4b4de96259c74cb --- /dev/null +++ b/actions/locomotion_posture_dynamics/D58/session_003/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3dc626255ddc628831ece21b610233b1c8a174dd43ad37c27aa10d5d77d6c632 +size 3159326 diff --git a/actions/locomotion_posture_dynamics/D58/session_003/motions/smplx.npz b/actions/locomotion_posture_dynamics/D58/session_003/motions/smplx.npz index 2bde9c9b6a231bfac9caab9e69f666ac8c708e37..cb514e7cfc4c5bce426eb5bf03d14840c6197515 100644 --- a/actions/locomotion_posture_dynamics/D58/session_003/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D58/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b5f574baa2c568a0bde0ee955dfbd516f49af8a076fd13464ed471cfd0a90b52 -size 5712405 +oid sha256:6ff8cd7b021482faf34c06c5f20a78b33fdbb0c169e3109ec47f0d046e2179e8 +size 9531978 diff --git a/actions/locomotion_posture_dynamics/D58/session_004/annotations.json b/actions/locomotion_posture_dynamics/D58/session_004/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..00efc6b5ea444b5e7cd43c813f84b03b882def1e --- /dev/null +++ b/actions/locomotion_posture_dynamics/D58/session_004/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D58", + "instruction": "Keeping your feet still and facing forward, bend your upper body sideways to one side, return upright, then bend to the other side. Reach the arm overhead as you bend. Repeat the movement at your own pace until the operator says stop; do not rush.", + "segments": [ + { + "id": "segment1", + "duration_s": 58.9667, + "video": "left_eye", + "video_t_start": 0.038996827427228764 + } + ], + "episodes": [ + { + "id": "8cf98d34-f64e-48a1-a2da-f07203fa617f", + "segment": "segment1", + "action": "D58", + "quality": "valid", + "start_s": 1.808, + "end_s": 27.568, + "t_start": 1.847, + "t_end": 27.607, + "instruction": "Keeping your feet still and facing forward, bend your upper body sideways to one side, return upright, then bend to the other side. Reach the arm overhead as you bend. Repeat the movement at your own pace until the operator says stop; do not rush." + }, + { + "id": "007cc2db-21f7-4328-83e5-226f44f5f1d8", + "segment": "segment1", + "action": "D58", + "quality": "valid", + "start_s": 30.175, + "end_s": 55.681, + "t_start": 30.214, + "t_end": 55.72, + "instruction": "Keeping your feet still and facing forward, bend your upper body sideways to one side, return upright, then bend to the other side. Reach the arm overhead as you bend. Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D58/session_004/cameras/slam.npz b/actions/locomotion_posture_dynamics/D58/session_004/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..bca8dac1c9e10c2e0e958fdc285df0bcfd138523 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D58/session_004/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52a0198dfcde1673b5533d6e863da3e282295c5df46e2f23f4682f9c2f2186df +size 341687