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(flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D48/session_013", "family": "locomotion_posture_dynamics", "primitive": "D48", "source_session": "20261013/D48/20261013_112935_session204" + }, + "task": { + "primitive": "D48", + "instruction": "Gallop forward leading with the leg the operator calls, keeping the same leg in front throughout." } } diff --git a/actions/locomotion_posture_dynamics/D48/session_013/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D48/session_013/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..3986f97f962bc88fc5ce5aa23a8f265ce40d6e4e --- /dev/null +++ b/actions/locomotion_posture_dynamics/D48/session_013/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5ef3b2a4f64f8461e43c9de131fbb9e3eb5b95a8bfacc588a0d23ef1dcd1c4d +size 4091358 diff 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0000000000000000000000000000000000000000..9c7305fcce470189023af25f572b9c5585562568 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D49/session_004/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:674966b34910f3dbf8f0ca951fe73dd422035dc41ec0ab15133197c6619fe703 +size 342616 diff --git a/actions/locomotion_posture_dynamics/D49/session_004/meta.json b/actions/locomotion_posture_dynamics/D49/session_004/meta.json index 12f67e9a4848f0c0a320865fd7c273067bd5e2b8..00f36b7fcda911f5ee95ddfd93c0a009ace3340c 100644 --- a/actions/locomotion_posture_dynamics/D49/session_004/meta.json +++ b/actions/locomotion_posture_dynamics/D49/session_004/meta.json @@ -331,8 +331,8 @@ "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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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/D49/session_005", "family": "locomotion_posture_dynamics", "primitive": "D49", "source_session": "20260912/D49/20260912_050024_session10" + }, + "task": { + "primitive": "D49", + "instruction": "Skip forward across the room at a comfortable pace." } } diff --git a/actions/locomotion_posture_dynamics/D49/session_005/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D49/session_005/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..67c0e297bfad4db22ac3c04953a9f46ec407a4bb --- /dev/null +++ b/actions/locomotion_posture_dynamics/D49/session_005/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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a/actions/locomotion_posture_dynamics/D49/session_009/meta.json +++ b/actions/locomotion_posture_dynamics/D49/session_009/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": 1.1505890857591838 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 8.68, + "offset_rotvec": [ + 0.0579, + 0.0173, + -0.1389 + ], + 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sha256:e835ffeba0449d71dd8e9ad9dbeca628c8c5dbc45001484cf8f1d7a05e493ad3 +size 398633 diff --git a/actions/locomotion_posture_dynamics/D50/session_001/meta.json b/actions/locomotion_posture_dynamics/D50/session_001/meta.json index ac1de8f15d85ad7c76ae174c584a2d7b5827b363..2656e25ce2dd5233f2430554f025dc4f1c3d3586 100644 --- a/actions/locomotion_posture_dynamics/D50/session_001/meta.json +++ b/actions/locomotion_posture_dynamics/D50/session_001/meta.json @@ -349,8 +349,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame 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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/D50/session_004", "family": "locomotion_posture_dynamics", "primitive": "D50", "source_session": "20260908/D50/20260908_105727_session130" + }, + "task": { + "primitive": "D50", + "instruction": "Hop forward on the leg the operator calls, keeping the other foot off the floor." } } diff --git a/actions/locomotion_posture_dynamics/D50/session_004/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D50/session_004/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..11e0eda300d61bb202b494614976415f83eba238 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D50/session_004/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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b/actions/locomotion_posture_dynamics/D50/session_009/meta.json index 91d99bac14286cb8e9343a6965eda8dd914e85b5..ae121547f69361ce1353d155a2e2e6b07b29fb35 100644 --- a/actions/locomotion_posture_dynamics/D50/session_009/meta.json +++ b/actions/locomotion_posture_dynamics/D50/session_009/meta.json @@ -327,8 +327,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -508,10 +508,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 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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/D50/session_009", "family": "locomotion_posture_dynamics", "primitive": "D50", "source_session": "20260921/D50/20260921_040820_session69" + }, + "task": { + "primitive": "D50", + "instruction": "Hop forward on the leg the operator calls, keeping the other foot off the floor." } } diff --git a/actions/locomotion_posture_dynamics/D50/session_009/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D50/session_009/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..917fd077572af1bab1b9965c075bf468536eae3e --- /dev/null +++ b/actions/locomotion_posture_dynamics/D50/session_009/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:34bcbff0e653eb0477e00798d23b6ed83beeac4efb7f06a5280180e33e1f771b +size 2226819 diff 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a/actions/locomotion_posture_dynamics/D50/session_010/meta.json +++ b/actions/locomotion_posture_dynamics/D50/session_010/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": 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": 1.1971577599087742 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 21.12, + "offset_rotvec": [ + 0.3654, + 0.0373, + -0.0306 + ], + 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leg the operator calls, keeping the other foot off the floor." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D50/session_011/cameras/slam.npz b/actions/locomotion_posture_dynamics/D50/session_011/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..a4f192299de57326cb956cf7ae3b2f6610d3255b --- /dev/null +++ b/actions/locomotion_posture_dynamics/D50/session_011/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:468a1dc9656162f0b9ce08b58c637e8c966d217de9304de710603f7c57ce30d3 +size 313561 diff --git a/actions/locomotion_posture_dynamics/D50/session_011/meta.json b/actions/locomotion_posture_dynamics/D50/session_011/meta.json index 6e5eb5996486a49de26d1d29bf9a9c75c58dccf8..8874e6786ca608ed0e258ad1048ca805c13fae2a 100644 --- a/actions/locomotion_posture_dynamics/D50/session_011/meta.json +++ b/actions/locomotion_posture_dynamics/D50/session_011/meta.json @@ -325,8 +325,8 @@ "frame": "canonical 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sha256:1d70b2c91dca62388c5d5b121ac92db789e72137304edb93b1e99f7b9cfc10db +size 485671 diff --git a/actions/locomotion_posture_dynamics/D50/session_013/meta.json b/actions/locomotion_posture_dynamics/D50/session_013/meta.json index bcbec9ef369c21814527c5d8e41d170f67586d3d..b4d4109e8970018f9c6f338ebc0bfe3776c1e3c5 100644 --- a/actions/locomotion_posture_dynamics/D50/session_013/meta.json +++ b/actions/locomotion_posture_dynamics/D50/session_013/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 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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": { @@ -530,10 +530,124 @@ "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": 9.99, + "offset_rotvec": [ + -0.1027, + -0.1213, + -0.0717 + ], + "dev_deg": { + "median": 8.27, + "p90": 27.33 + }, + "samples": 1381, + "accepted": 1256, + "wrist_pos_err_mm_median": 45.7, + "per_camera": { + "head": { + "samples": 1381, + "accepted": 1256, + "gate_deg": 30.0, + "offset_deg": 9.99, + "tier": "primary", + "dev_deg_median": 8.27, + "wrist_pos_err_mm_median": 45.7 + } + 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mode 100644 index 0000000000000000000000000000000000000000..360896d65ec37b3262cc9eafd1d2bf0c54c65525 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D51/session_002/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12b9bf62962370e220d145a2afc59122af993f9299119e75f3cc1999b45b7817 +size 265976 diff --git a/actions/locomotion_posture_dynamics/D51/session_002/meta.json b/actions/locomotion_posture_dynamics/D51/session_002/meta.json index edc8bc7e6242e308385f17d921a46c00e9120d60..78f024632af61ccd4b3b2a024e2b066bd0723cb0 100644 --- a/actions/locomotion_posture_dynamics/D51/session_002/meta.json +++ b/actions/locomotion_posture_dynamics/D51/session_002/meta.json @@ -331,8 +331,8 @@ "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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0000000000000000000000000000000000000000..9023b79d710d027dd0950e96bb6bc48a25fd4726 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D52/session_001/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f45f9e1c36702a6d22de8de81d9f3cdd9489d81af32c75a0d055e3bcd1ba0f0 +size 181123 diff --git a/actions/locomotion_posture_dynamics/D52/session_001/meta.json b/actions/locomotion_posture_dynamics/D52/session_001/meta.json index 32e19bd996cb92e6b310d915800f2cd07d813fee..8c2cff92cbe8b51647a515dabbe75306ee19c0c1 100644 --- a/actions/locomotion_posture_dynamics/D52/session_001/meta.json +++ b/actions/locomotion_posture_dynamics/D52/session_001/meta.json @@ -349,8 +349,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": 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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/D52/session_001/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D52/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..2cac030d56161c5a2ec5259279159799c89037e1 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D52/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3bedadadb04b50be43d1cf790327e5ff22d65dac3c8a97a3ff049c151cdcc797 +size 1608131 diff --git a/actions/locomotion_posture_dynamics/D52/session_001/motions/smplx.npz b/actions/locomotion_posture_dynamics/D52/session_001/motions/smplx.npz index f60d53f819624eda754b0c36c8b3920a3c8829bc..737125070f64614557205d5075bec16fa6c3f783 100644 --- a/actions/locomotion_posture_dynamics/D52/session_001/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D52/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3269b5454c3c84b8d8f486e638122bc3bb45ee0cafb7160b72b684498374cb5b -size 2275270 +oid sha256:448f9d54fc626141c1097e14a174eafb721979ae06e2d61e1c65eb8adaa767ee +size 4168806 diff --git a/actions/locomotion_posture_dynamics/D52/session_002/annotations.json b/actions/locomotion_posture_dynamics/D52/session_002/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..d60cfde88d2d42ce892986e11fb4198f2db57337 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D52/session_002/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 2)", + "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": "D52", + "instruction": "Take a few running steps and leap forward as far as is comfortable; land on both feet. Repeat the movement at your own pace until the operator says stop; do not rush.", + "segments": [ + { + "id": "segment1", + "duration_s": 43.966633, + "video": "left_eye", + "video_t_start": 0.03820124790867485 + } + ], + "episodes": [ + { + "id": "76d103ee-d915-4f1e-bfc5-8ce1a582e81f", + "segment": "segment1", + "action": "D52", + "quality": "valid", + "start_s": 0.599, + "end_s": 25.527, + "t_start": 0.6372, + "t_end": 25.5652, + "instruction": "Take a few running steps and leap forward as far as is comfortable; land on both feet. Repeat the movement at your own pace until the operator says stop; do not rush." + }, + { + "id": "9776ab48-41f1-44f5-adb2-7569000e452e", + "segment": "segment1", + "action": "D52", + "quality": "valid", + "start_s": 27.316, + "end_s": 40.484, + "t_start": 27.3542, + "t_end": 40.5222, + "instruction": "Take a few running steps and leap forward as far as is comfortable; land on both feet. Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D52/session_002/cameras/slam.npz b/actions/locomotion_posture_dynamics/D52/session_002/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..d7e1f7e0996b5854b6684e14f6a9bd97aef70d0b --- /dev/null +++ b/actions/locomotion_posture_dynamics/D52/session_002/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d493c22624bacf5fb00a5a9f943b08d73e8eff7e9afbf91993c1c91e12cb3390 +size 235046 diff --git a/actions/locomotion_posture_dynamics/D52/session_002/meta.json b/actions/locomotion_posture_dynamics/D52/session_002/meta.json index 1b8488e0fd0a342e806467389e4bd684b3e162e3..529a89e63e37c829e084c16f50c9ac0d78966dfa 100644 --- a/actions/locomotion_posture_dynamics/D52/session_002/meta.json +++ b/actions/locomotion_posture_dynamics/D52/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)", + "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": { @@ -592,10 +592,124 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.08, + "offset_rotvec": [ + -0.0315, + 0.1045, + 0.138 + ], + "dev_deg": { + "median": 30.96, + "p90": 169.36 + }, + "samples": 577, + "accepted": 284, + "wrist_pos_err_mm_median": 149.0, + "per_camera": { + "head": { + "samples": 577, + "accepted": 284, + "gate_deg": 30.0, + "offset_deg": 10.08, + "tier": "primary", + "dev_deg_median": 30.96, + "wrist_pos_err_mm_median": 149.0 + } + }, + "frames_by_state": { + "ace_sample": 1189, + "interpolated": 1554, + "mean_hand": 2533, + "no_body_fit": 8 + }, + "observed_fraction": 0.5191, + "observed_fraction_of_valid": 0.5199, + "palm_axis_vs_markers_deg": { + "gsi": 21.99, + "smplx": 2.32 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.0, + "p90": 12.6 + }, + "registered": { + "median": 7.8, + "p90": 9.8 + } + } + }, + "right": { + "offset_deg": 9.0, + "offset_rotvec": [ + -0.1457, + 0.0206, + 0.0548 + ], + "dev_deg": { + "median": 15.11, + "p90": 63.85 + }, + "samples": 775, + "accepted": 609, + "wrist_pos_err_mm_median": 137.5, + "per_camera": { + "head": { + "samples": 775, + "accepted": 609, + "gate_deg": 30.0, + "offset_deg": 9.0, + "tier": "primary", + "dev_deg_median": 15.11, + "wrist_pos_err_mm_median": 137.5 + } + }, + "frames_by_state": { + "ace_sample": 2483, + "interpolated": 1520, + "mean_hand": 1273, + "no_body_fit": 8 + }, + "observed_fraction": 0.7576, + "observed_fraction_of_valid": 0.7587, + "palm_axis_vs_markers_deg": { + "gsi": 15.49, + "smplx": 1.64 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.1, + "p90": 11.2 + }, + "registered": { + "median": 7.6, + "p90": 10.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T14:22:23.726167+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/D52/session_002", "family": "locomotion_posture_dynamics", "primitive": "D52", "source_session": "20260907/D52/20260907_112217_session219" + }, + "task": { + "primitive": "D52", + "instruction": "Take a few running steps and leap forward as far as is comfortable; land on both feet. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D52/session_002/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D52/session_002/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..de519c835b0c2e2cf1a6f06e3f73e12dabb3bc0d --- /dev/null +++ b/actions/locomotion_posture_dynamics/D52/session_002/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6b6c818b021c57acf1896c6271660e76ce6817889c9954b2e394a440757c3b9 +size 982634 diff --git a/actions/locomotion_posture_dynamics/D52/session_002/motions/smplx.npz b/actions/locomotion_posture_dynamics/D52/session_002/motions/smplx.npz index 6ba40452ff81b2145da886379a333d433ec4059d..7b1a0d626b257b67421729b319f06e859fe31277 100644 --- a/actions/locomotion_posture_dynamics/D52/session_002/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D52/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:51a53b1ee4deed0793a311f6b857c229362cd17ead2cc0248ad2df26f86cc73f -size 2052169 +oid sha256:d1e97d22b5b46d0cbe925b72ad9c2aca19224aea2deec14dd795dce631c778cb +size 3282034 diff --git a/actions/locomotion_posture_dynamics/D52/session_003/annotations.json b/actions/locomotion_posture_dynamics/D52/session_003/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..a2a328c4c9ed1bb87edb67270821a777aede089f --- /dev/null +++ b/actions/locomotion_posture_dynamics/D52/session_003/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D52", + "instruction": "Take a few running steps and leap forward as far as is comfortable; land on both feet. 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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/D52/session_003/cameras/slam.npz b/actions/locomotion_posture_dynamics/D52/session_003/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..88335a22bcfe9e0e6d667417024885327e5bfb5f --- /dev/null +++ b/actions/locomotion_posture_dynamics/D52/session_003/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ef8161168bd2252ab0da1da3ee01d21e2ac7e5a53c1c9e6d65815e8e56b1b16 +size 313928 diff --git a/actions/locomotion_posture_dynamics/D52/session_003/meta.json b/actions/locomotion_posture_dynamics/D52/session_003/meta.json index 68abb9f50c02887a2b9e92a84845e9a6f2c48442..2fd567e5dc6573ed21cc82c079f6d1200923f80c 100644 --- a/actions/locomotion_posture_dynamics/D52/session_003/meta.json +++ b/actions/locomotion_posture_dynamics/D52/session_003/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": { @@ -530,10 +530,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9162933966893356 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 16.67, + "offset_rotvec": [ + 0.1354, + -0.1845, + 0.1796 + ], + "dev_deg": { + "median": 18.39, + "p90": 34.0 + }, + "samples": 1002, + "accepted": 840, + "wrist_pos_err_mm_median": 126.5, + "per_camera": { + "head": { + "samples": 1002, + "accepted": 840, + "gate_deg": 30.0, + "offset_deg": 16.67, + "tier": "primary", + "dev_deg_median": 18.39, + "wrist_pos_err_mm_median": 126.5 + } + }, + "frames_by_state": { + "ace_sample": 3520, + "interpolated": 2700, + "mean_hand": 256, + "no_body_fit": 8 + }, + "observed_fraction": 0.9593, + "observed_fraction_of_valid": 0.9605, + "palm_axis_vs_markers_deg": { + "gsi": 22.21, + "smplx": 0.95 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.1, + "p90": 14.1 + }, + "registered": { + "median": 8.6, + "p90": 12.6 + } + } + }, + "right": { + "offset_deg": 9.12, + "offset_rotvec": [ + -0.0539, + 0.1163, + -0.0945 + ], + "dev_deg": { + "median": 19.08, + "p90": 42.63 + }, + "samples": 1058, + "accepted": 813, + "wrist_pos_err_mm_median": 122.2, + "per_camera": { + "head": { + "samples": 1058, + "accepted": 813, + "gate_deg": 30.0, + "offset_deg": 9.12, + "tier": "primary", + "dev_deg_median": 19.08, + "wrist_pos_err_mm_median": 122.2 + } + }, + "frames_by_state": { + "ace_sample": 3396, + "interpolated": 2148, + "mean_hand": 932, + "no_body_fit": 8 + }, + "observed_fraction": 0.855, + "observed_fraction_of_valid": 0.8561, + "palm_axis_vs_markers_deg": { + "gsi": 16.62, + "smplx": 1.96 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.3, + "p90": 14.4 + }, + "registered": { + "median": 12.2, + "p90": 14.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T14:48:03.237949+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/D52/session_003", "family": "locomotion_posture_dynamics", "primitive": "D52", "source_session": "20260908/D52/20260908_044716_session15" + }, + "task": { + "primitive": "D52", + "instruction": "Take a few running steps and leap forward as far as is comfortable; land on both feet. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D52/session_003/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D52/session_003/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..e23f5512f307767518284398319d36a088e1e287 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D52/session_003/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:579be9711ca01eba2725572cf4b6bbac8173404451a0de6c5216478d3993637d +size 1443212 diff --git a/actions/locomotion_posture_dynamics/D52/session_003/motions/smplx.npz b/actions/locomotion_posture_dynamics/D52/session_003/motions/smplx.npz index bfa8f788918e79571fb9655999a388b44e4c0571..a7ce8a3f95c3fd08b57bea38034b2be1f1da1bd8 100644 --- a/actions/locomotion_posture_dynamics/D52/session_003/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D52/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:df57fb5a9b86aa066feea2cd1f4c9a47eeb95320c53af6854ca60eec1ada7c93 -size 2498174 +oid sha256:05183d893ccab2cfd8089d8ffdf66bd1b3cd2e2ef061bfa351884d87e61c0ea0 +size 4537649 diff --git a/actions/locomotion_posture_dynamics/D52/session_004/annotations.json b/actions/locomotion_posture_dynamics/D52/session_004/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..20758e5e1e55712316b305f60586277d1085f507 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D52/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": "D52", + "instruction": "Take a few running steps and leap forward as far as is comfortable; land on both feet. 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b/actions/locomotion_posture_dynamics/D52/session_004/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:16cc9728606c419a24ebe7380c328823fad79bfa3d495ca3555e5a615b012eda +size 285378 diff --git a/actions/locomotion_posture_dynamics/D52/session_004/meta.json b/actions/locomotion_posture_dynamics/D52/session_004/meta.json index ebe08a3864a5dd2bdc63f433d8d0b45bab8c87d0..ef65189fa935395e61ba1992cab1df226032975b 100644 --- a/actions/locomotion_posture_dynamics/D52/session_004/meta.json +++ b/actions/locomotion_posture_dynamics/D52/session_004/meta.json @@ -313,8 +313,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D52/session_004/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D52/session_004/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..4ccebbdc4eb1f4e0600126dc3384c9a61c1992ab --- /dev/null +++ b/actions/locomotion_posture_dynamics/D52/session_004/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d88581783cf56c9b180b058530ee0eb03e9e420bf7cec7b61cdd1df65fbbb1c7 +size 1573490 diff --git a/actions/locomotion_posture_dynamics/D52/session_004/motions/smplx.npz b/actions/locomotion_posture_dynamics/D52/session_004/motions/smplx.npz index b57f39d8d913c300639e9e7577657ad399adc166..2fef9fff240d3be407c2d4189c700a6e2d7f33ac 100644 --- a/actions/locomotion_posture_dynamics/D52/session_004/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D52/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5bd20b6dad1c79ddb9725ed7dc6621c3c45fb75136631db02db96d918ceece44 -size 2281143 +oid sha256:24e056a54a82af72c4db21bb0c8d6208daeb783956308791857c7947c53d8a97 +size 4171224 diff --git a/actions/locomotion_posture_dynamics/D52/session_005/annotations.json b/actions/locomotion_posture_dynamics/D52/session_005/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..745ec534e1321d0c5008aa5ae1a880453daff71c --- /dev/null +++ b/actions/locomotion_posture_dynamics/D52/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": "D52", + "instruction": "Take a few running steps and leap forward as far as is comfortable; land on both feet. 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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/D52/session_005/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D52/session_005/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..d95ec1d32ad35fc3cd63d08774d19c4b156b1140 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D52/session_005/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e6b7b89a04d1433e538541a70c93f43419a861cdda3f330a4171ae8b3164437a +size 1316251 diff --git a/actions/locomotion_posture_dynamics/D52/session_005/motions/smplx.npz b/actions/locomotion_posture_dynamics/D52/session_005/motions/smplx.npz index 8b00a02aa1199e05c9e69de1bae7af2fe5621714..de5e190b42065b06ea49214bde311d3fd6915afe 100644 --- a/actions/locomotion_posture_dynamics/D52/session_005/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D52/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0a316be0aa4282b5ea56cc6b6b055826c09a58cf7361bbb0d4b1c4615336903e -size 2279934 +oid sha256:4f95079bef703d4ce82a25d62588cfccf747f835b5911bdcec7474ec759eea98 +size 4085520 diff --git a/actions/locomotion_posture_dynamics/D52/session_006/annotations.json b/actions/locomotion_posture_dynamics/D52/session_006/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..40582e534085873945ede7af4a7f72efd7a29abd --- /dev/null +++ b/actions/locomotion_posture_dynamics/D52/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": "D52", + "instruction": "Take a few running steps and leap forward as far as is comfortable; land on both feet. 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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/D52/session_006/cameras/slam.npz b/actions/locomotion_posture_dynamics/D52/session_006/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..218a9204e6690c15dca818aa55031cc1d1c085b9 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D52/session_006/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b7de5a7c412af1b8f8bcbf4d828e4113b65151e0a8f83b763127eb247dc2241 +size 342511 diff --git a/actions/locomotion_posture_dynamics/D52/session_006/meta.json b/actions/locomotion_posture_dynamics/D52/session_006/meta.json index fefdfb73263146fe1c64afc0bfdc0a12a2b12ba2..8d69e039f3e22dca1ef7410034dd0dc22f56b001 100644 --- a/actions/locomotion_posture_dynamics/D52/session_006/meta.json +++ b/actions/locomotion_posture_dynamics/D52/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": { @@ -506,10 +506,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9906826640085232 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 5.15, + "offset_rotvec": [ + 0.0461, + -0.0686, + -0.0356 + ], + "dev_deg": { + "median": 15.07, + "p90": 38.99 + }, + "samples": 1384, + "accepted": 1178, + "wrist_pos_err_mm_median": 85.8, + "per_camera": { + "head": { + "samples": 1384, + "accepted": 1178, + "gate_deg": 30.0, + "offset_deg": 5.15, + "tier": "primary", + "dev_deg_median": 15.07, + "wrist_pos_err_mm_median": 85.8 + } + }, + "frames_by_state": { + "ace_sample": 4774, + "interpolated": 1474, + "mean_hand": 836, + "no_body_fit": 0 + }, + "observed_fraction": 0.882, + "observed_fraction_of_valid": 0.882, + "palm_axis_vs_markers_deg": { + "gsi": 10.54, + "smplx": 1.1 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.3, + "p90": 16.7 + }, + "registered": { + "median": 9.2, + "p90": 16.3 + } + } + }, + "right": { + "offset_deg": 16.99, + "offset_rotvec": [ + -0.1761, + 0.2297, + 0.0642 + ], + "dev_deg": { + "median": 12.69, + "p90": 29.38 + }, + "samples": 1468, + "accepted": 1324, + "wrist_pos_err_mm_median": 133.0, + "per_camera": { + "head": { + "samples": 1468, + "accepted": 1324, + "gate_deg": 30.0, + "offset_deg": 16.99, + "tier": "primary", + "dev_deg_median": 12.69, + "wrist_pos_err_mm_median": 133.0 + } + }, + "frames_by_state": { + "ace_sample": 5380, + "interpolated": 1540, + "mean_hand": 164, + "no_body_fit": 0 + }, + "observed_fraction": 0.9768, + "observed_fraction_of_valid": 0.9768, + "palm_axis_vs_markers_deg": { + "gsi": 17.38, + "smplx": 0.69 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.6, + "p90": 14.1 + }, + "registered": { + "median": 7.8, + "p90": 16.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T17:02:22.121985+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/D52/session_006", "family": "locomotion_posture_dynamics", "primitive": "D52", "source_session": "20260912/D52/20260912_121206_session30" + }, + "task": { + "primitive": "D52", + "instruction": "Take a few running steps and leap forward as far as is comfortable; land on both feet. 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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/D52/session_007/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D52/session_007/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..38b9962ba368a70406c05b524ec9622f99cb744d --- /dev/null +++ b/actions/locomotion_posture_dynamics/D52/session_007/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ced1b748153225d1a657e96640d5056db2c905b489b921d95cdc81decde5b9f +size 2156524 diff --git a/actions/locomotion_posture_dynamics/D52/session_008/annotations.json b/actions/locomotion_posture_dynamics/D52/session_008/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..0b96a998e60be111af81a7543354a9215a17635a --- /dev/null +++ b/actions/locomotion_posture_dynamics/D52/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": "D52", + "instruction": "Take a few running steps and leap forward as far as is comfortable; land on both feet. 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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/D52/session_008/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D52/session_008/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..35275f706011beb63aaae4591d09460cbe767fb3 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D52/session_008/cameras/gsi_online_calibration.json @@ -0,0 +1,246 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 14, + "median_px": 0.417 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 0.817, + "gate_fail": [], + "held_out_px_after": 0.621, + "held_out_px_before": 4.373, + "inliers": 1731, + "position_fitted": false, + "rotvec_deg": [ + 0.2358, + -0.2844, + -0.7287 + ], + "split_deg": 0.1093, + "usable": true + }, + "left_eye": 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--- /dev/null +++ b/actions/locomotion_posture_dynamics/D52/session_008/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:89d7923cb60ab70699f8c44432aa5152077eb6b42b4f6a9cd2e9713b588b1f0d +size 285253 diff --git a/actions/locomotion_posture_dynamics/D52/session_008/meta.json b/actions/locomotion_posture_dynamics/D52/session_008/meta.json index 5747a97197ccce323f5cc7454ceb0793d32f6bd7..8ba1781bf6e580d09caa16d7052b396b9e625d8e 100644 --- a/actions/locomotion_posture_dynamics/D52/session_008/meta.json +++ b/actions/locomotion_posture_dynamics/D52/session_008/meta.json @@ -329,8 +329,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D52/session_009/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D52/session_009/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..2013ed5718e99b60bd5a78c9468cf64ab3144ba0 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D52/session_009/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c2714c176410a1349e5b3d60b676f7a1172c3df703d1dfd3757f300bfd1c548a +size 1515539 diff --git a/actions/locomotion_posture_dynamics/D52/session_009/motions/smplx.npz b/actions/locomotion_posture_dynamics/D52/session_009/motions/smplx.npz index 801f28cb688f4e2039e4949b306908c584bc80b6..4ae8bba2e82e353b5f5294f6a26a64d601bc2913 100644 --- a/actions/locomotion_posture_dynamics/D52/session_009/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D52/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0bfcacbe72f9e458f08ea0d582346628416c35d9050a1bb2addbdf3ad346da86 -size 2038941 +oid sha256:d029425acedf9db4a4216e39205d599232804785c9cfdff54922775aadf99a1d +size 3796312 diff --git a/actions/locomotion_posture_dynamics/D52/session_010/annotations.json b/actions/locomotion_posture_dynamics/D52/session_010/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..3b87286216bd25c33d41f970d50ffd2c4f67732b --- /dev/null +++ b/actions/locomotion_posture_dynamics/D52/session_010/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 2)", + "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": "D52", + "instruction": "Take a few running steps and leap forward as far as is comfortable; land on both feet. 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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/D52/session_010/cameras/slam.npz b/actions/locomotion_posture_dynamics/D52/session_010/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..f6f800c51b38a3bee29f0f11a03219bad51eb9d9 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D52/session_010/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76d2288526bfeae96c2f6862d98a9cb6f1e79ea7b723bb4b2f387ae91358687a +size 284584 diff --git a/actions/locomotion_posture_dynamics/D52/session_010/meta.json b/actions/locomotion_posture_dynamics/D52/session_010/meta.json index 387e1ae7760fde9f1a0a7eb882e9b0d3050455f5..5955e5ec2361c1b51b7025565f0dd54abc62fef1 100644 --- a/actions/locomotion_posture_dynamics/D52/session_010/meta.json +++ b/actions/locomotion_posture_dynamics/D52/session_010/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": { @@ -538,10 +538,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.2207170013214956 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 24.78, + "offset_rotvec": [ + 0.4243, + -0.0276, + -0.0792 + ], + "dev_deg": { + "median": 21.78, + "p90": 40.06 + }, + "samples": 815, + "accepted": 621, + "wrist_pos_err_mm_median": 116.8, + "per_camera": { + "head": { + "samples": 815, + "accepted": 621, + "gate_deg": 30.0, + "offset_deg": 24.78, + "tier": "primary", + "dev_deg_median": 21.78, + "wrist_pos_err_mm_median": 116.8 + } + }, + "frames_by_state": { + "ace_sample": 2644, + "interpolated": 2952, + "mean_hand": 288, + "no_body_fit": 0 + }, + "observed_fraction": 0.9511, + "observed_fraction_of_valid": 0.9511, + "palm_axis_vs_markers_deg": { + "gsi": 35.0, + "smplx": 0.93 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.2, + "p90": 7.5 + }, + "registered": { + "median": 7.4, + "p90": 9.3 + } + } + }, + "right": { + "offset_deg": 16.16, + "offset_rotvec": [ + 0.2236, + 0.0355, + 0.1684 + ], + "dev_deg": { + "median": 19.78, + "p90": 41.38 + }, + "samples": 861, + "accepted": 682, + "wrist_pos_err_mm_median": 110.7, + "per_camera": { + "head": { + "samples": 861, + "accepted": 682, + "gate_deg": 30.0, + "offset_deg": 16.16, + "tier": "primary", + "dev_deg_median": 19.78, + "wrist_pos_err_mm_median": 110.7 + } + }, + "frames_by_state": { + "ace_sample": 2868, + "interpolated": 2550, + "mean_hand": 466, + "no_body_fit": 0 + }, + "observed_fraction": 0.9208, + "observed_fraction_of_valid": 0.9208, + "palm_axis_vs_markers_deg": { + "gsi": 21.71, + "smplx": 1.52 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.2, + "p90": 8.6 + }, + "registered": { + "median": 5.5, + "p90": 7.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:40:34.761100+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/D52/session_010", "family": "locomotion_posture_dynamics", "primitive": "D52", "source_session": "20260923/D52/20260923_104114_session22" + }, + "task": { + "primitive": "D52", + "instruction": "Take a few running steps and leap forward as far as is comfortable; land on both feet. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D52/session_010/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D52/session_010/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..f6703b8cb3bd4dabbd05b5404c934da3339323da --- /dev/null +++ b/actions/locomotion_posture_dynamics/D52/session_010/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5d526a2aeac82774ef40d0c49b0298ac81ff7b8e510bb47306cd4b69f13315d +size 1183646 diff --git a/actions/locomotion_posture_dynamics/D52/session_010/motions/smplx.npz b/actions/locomotion_posture_dynamics/D52/session_010/motions/smplx.npz index b352bc64436e01daefe954feda5208b0f5087562..52749bef0e8a2907c3f5444d90d3d549fab1f5fb 100644 --- a/actions/locomotion_posture_dynamics/D52/session_010/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D52/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fc38f76b7e814970af0c9ae47eb228dd2642408b852ba3f04437fbaef81ef537 -size 2275189 +oid sha256:86b7640b8cd40d69757ec965afcee9c9e61db96dd859bb9627878c6f8e26f09a +size 4160684 diff --git a/actions/locomotion_posture_dynamics/D52/session_011/annotations.json b/actions/locomotion_posture_dynamics/D52/session_011/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..b5d72b01593daeb743fe93dd77e1df992c418afd --- /dev/null +++ b/actions/locomotion_posture_dynamics/D52/session_011/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 2)", + "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": "D52", + "instruction": "Take a few running steps and leap forward as far as is comfortable; land on both feet. Repeat the movement at your own pace until the operator says stop; do not rush.", + "segments": [ + { + "id": "segment1", + "duration_s": 43.966578, + "video": "left_eye", + "video_t_start": 0.03878462725858434 + } + ], + "episodes": [ + { + "id": "a471d6f1-3451-46b4-bb7f-07963c678099", + "segment": "segment1", + "action": "D52", + "quality": "valid", + "start_s": 1.192, + "end_s": 16.117, + "t_start": 1.2308, + "t_end": 16.1558, + "instruction": "Take a few running steps and leap forward as far as is comfortable; land on both feet. Repeat the movement at your own pace until the operator says stop; do not rush." + }, + { + "id": "02b872fa-ffae-4ee2-aa6e-22dfc71d386e", + "segment": "segment1", + "action": "D52", + "quality": "valid", + "start_s": 20.638, + "end_s": 34.959, + "t_start": 20.6768, + "t_end": 34.9978, + "instruction": "Take a few running steps and leap forward as far as is comfortable; land on both feet. Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D52/session_011/cameras/slam.npz b/actions/locomotion_posture_dynamics/D52/session_011/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..875aab46cefeab10318bf98f6f9ea846dad0911f --- /dev/null +++ b/actions/locomotion_posture_dynamics/D52/session_011/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59ef8350f1fc7b2a662442a187bb6b972b034cb3ec90f15fbf11085d4f7a2a05 +size 256262 diff --git a/actions/locomotion_posture_dynamics/D52/session_011/meta.json b/actions/locomotion_posture_dynamics/D52/session_011/meta.json index 2a4f674f571915e18cc2ea9db130887442244bf8..3d97c48c236bfe549fb0fac02a34f47c859a72ce 100644 --- a/actions/locomotion_posture_dynamics/D52/session_011/meta.json +++ b/actions/locomotion_posture_dynamics/D52/session_011/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -518,10 +518,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.3910775805939712 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 34.14, + "offset_rotvec": [ + 0.5838, + 0.0368, + -0.1129 + ], + "dev_deg": { + "median": 28.16, + "p90": 48.18 + }, + "samples": 617, + "accepted": 339, + "wrist_pos_err_mm_median": 162.0, + "per_camera": { + "head": { + "samples": 617, + "accepted": 339, + "gate_deg": 30.0, + "offset_deg": 34.14, + "tier": "primary", + "dev_deg_median": 28.16, + "wrist_pos_err_mm_median": 162.0 + } + }, + "frames_by_state": { + "ace_sample": 1428, + "interpolated": 1476, + "mean_hand": 2372, + "no_body_fit": 8 + }, + "observed_fraction": 0.5496, + "observed_fraction_of_valid": 0.5504, + "palm_axis_vs_markers_deg": { + "gsi": 45.47, + "smplx": 1.29 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.0, + "p90": 5.7 + }, + "registered": { + "median": 4.6, + "p90": 7.2 + } + } + }, + "right": { + "offset_deg": 33.92, + "offset_rotvec": [ + 0.5579, + -0.1975, + -0.0123 + ], + "dev_deg": { + "median": 20.34, + "p90": 30.81 + }, + "samples": 480, + "accepted": 429, + "wrist_pos_err_mm_median": 127.5, + "per_camera": { + "head": { + "samples": 480, + "accepted": 429, + "gate_deg": 30.0, + "offset_deg": 33.92, + "tier": "primary", + "dev_deg_median": 20.34, + "wrist_pos_err_mm_median": 127.5 + } + }, + "frames_by_state": { + "ace_sample": 1728, + "interpolated": 1356, + "mean_hand": 2192, + "no_body_fit": 8 + }, + "observed_fraction": 0.5836, + "observed_fraction_of_valid": 0.5845, + "palm_axis_vs_markers_deg": { + "gsi": 34.19, + "smplx": 1.23 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.4, + "p90": 11.3 + }, + "registered": { + "median": 9.4, + "p90": 11.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:31:39.466468+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/D52/session_011", "family": "locomotion_posture_dynamics", "primitive": "D52", "source_session": "20260928/D52/20260928_113353_session97" + }, + "task": { + "primitive": "D52", + "instruction": "Take a few running steps and leap forward as far as is comfortable; land on both feet. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D52/session_011/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D52/session_011/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..52bea2dcc3ed1e63bd730cff1178a4fcd96d16d6 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D52/session_011/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c037021a2988d84de7dd13f3b66ba99a4305e6f817dc56dab30b3c6fa9181a43 +size 796939 diff --git a/actions/locomotion_posture_dynamics/D52/session_011/motions/smplx.npz b/actions/locomotion_posture_dynamics/D52/session_011/motions/smplx.npz index cb7e34b5b069612bb303ec74bf5c76cf16acb547..be994bb125e5512bdfba1ee1c166e211a1dc1451 100644 --- a/actions/locomotion_posture_dynamics/D52/session_011/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D52/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4ea635923e23c77bb77eb1af3216962d845d8a93a44923631e4c785eb7b3778d -size 2039967 +oid sha256:6e87e8533db87f17214021734110883bab154d956156f7e8953c2e402f6b4ca3 +size 3281650 diff --git a/actions/locomotion_posture_dynamics/D52/session_012/annotations.json b/actions/locomotion_posture_dynamics/D52/session_012/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..a8d49a4da831bf5dc64e2edf9a23af7a8530525c --- /dev/null +++ b/actions/locomotion_posture_dynamics/D52/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": "D52", + "instruction": "Take a few running steps and leap forward as far as is comfortable; land on both feet. 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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/D52/session_012/cameras/slam.npz b/actions/locomotion_posture_dynamics/D52/session_012/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..d934db2bd6c98ef0312ba7ee1917c0ef40d67780 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D52/session_012/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0621135e50d49a3bb2ddab08c955bdc92bdd1f7ed2fe0609b616728db0473d23 +size 370649 diff --git a/actions/locomotion_posture_dynamics/D52/session_012/meta.json b/actions/locomotion_posture_dynamics/D52/session_012/meta.json index 2d40141215eb3fc51baca272efe97dd05e880b76..7ef41d5db6c5734d711ad37fa35e85d0664030ed 100644 --- a/actions/locomotion_posture_dynamics/D52/session_012/meta.json +++ b/actions/locomotion_posture_dynamics/D52/session_012/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": { @@ -506,10 +506,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.4285739730477207 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 32.0, + "offset_rotvec": [ + 0.5499, + 0.0642, + -0.074 + ], + "dev_deg": { + "median": 14.7, + "p90": 31.53 + }, + "samples": 1662, + "accepted": 1464, + "wrist_pos_err_mm_median": 82.7, + "per_camera": { + "head": { + "samples": 1662, + "accepted": 1464, + "gate_deg": 30.0, + "offset_deg": 32.0, + "tier": "primary", + "dev_deg_median": 14.7, + "wrist_pos_err_mm_median": 82.7 + } + }, + "frames_by_state": { + "ace_sample": 5928, + "interpolated": 1408, + "mean_hand": 130, + "no_body_fit": 218 + }, + "observed_fraction": 0.9547, + "observed_fraction_of_valid": 0.9826, + "palm_axis_vs_markers_deg": { + "gsi": 34.7, + "smplx": 1.31 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.8, + "p90": 10.1 + }, + "registered": { + "median": 5.9, + "p90": 7.0 + } + } + }, + "right": { + "offset_deg": 21.78, + "offset_rotvec": [ + 0.3727, + 0.0626, + 0.0417 + ], + "dev_deg": { + "median": 19.73, + "p90": 43.15 + }, + "samples": 1697, + "accepted": 1343, + "wrist_pos_err_mm_median": 92.3, + "per_camera": { + "head": { + "samples": 1697, + "accepted": 1343, + "gate_deg": 30.0, + "offset_deg": 21.78, + "tier": "primary", + "dev_deg_median": 19.73, + "wrist_pos_err_mm_median": 92.3 + } + }, + "frames_by_state": { + "ace_sample": 5490, + "interpolated": 1402, + "mean_hand": 574, + "no_body_fit": 218 + }, + "observed_fraction": 0.8969, + "observed_fraction_of_valid": 0.9231, + "palm_axis_vs_markers_deg": { + "gsi": 26.24, + "smplx": 0.85 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.8, + "p90": 8.1 + }, + "registered": { + "median": 6.4, + "p90": 7.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:26:54.870026+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/D52/session_012", "family": "locomotion_posture_dynamics", "primitive": "D52", "source_session": "20260929/D52/20260929_083049_session151" + }, + "task": { + "primitive": "D52", + "instruction": "Take a few running steps and leap forward as far as is comfortable; land on both feet. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D52/session_012/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D52/session_012/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..8d0dd0fbceab4acc507141df0c4589f391d0e331 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D52/session_012/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c290085bc702dbd1a0cb766b9bf7c5dadc3029690797342760ef3eed6795702 +size 2345758 diff --git a/actions/locomotion_posture_dynamics/D52/session_012/motions/smplx.npz b/actions/locomotion_posture_dynamics/D52/session_012/motions/smplx.npz index 041054d82692469418711b6a844ca331791a901d..75663cfc0492ee8bdc066d838ac5a388ef4dbe3a 100644 --- a/actions/locomotion_posture_dynamics/D52/session_012/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D52/session_012/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:485bcdc39961b28a63598a8ccaf26cfd6da8ce9398efc5c0b8bb0e903054cf38 -size 2878170 +oid sha256:88f7f5ead21b304c9c404bdb12e48c739fd4ea5403f7fc0835127553fc51856e +size 5311904 diff --git a/actions/locomotion_posture_dynamics/D52/session_013/annotations.json b/actions/locomotion_posture_dynamics/D52/session_013/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..4b70aba6da846f03738daa3fc88bea2889fc30d8 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D52/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": "D52", + "instruction": "Take a few running steps and leap forward as far as is comfortable; land on both feet. 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b/actions/locomotion_posture_dynamics/D53/session_001/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..82039f9a3e867b2e5ce2bdc56ebc7f628ff529fe --- /dev/null +++ b/actions/locomotion_posture_dynamics/D53/session_001/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6fc48bdb86023bcd1670f569f6c81cf52783934c99cb797855b254434f52db3 +size 312370 diff --git a/actions/locomotion_posture_dynamics/D53/session_001/meta.json b/actions/locomotion_posture_dynamics/D53/session_001/meta.json index 26ec54cb0139fc5b3930bf68974e8dfb5d6a52b6..4a2dd74e2670feecf1d3bf6022fbc42e584dcae2 100644 --- a/actions/locomotion_posture_dynamics/D53/session_001/meta.json +++ b/actions/locomotion_posture_dynamics/D53/session_001/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": { @@ -541,10 +541,124 @@ "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": 6.09, + "offset_rotvec": [ + -0.0784, + -0.0179, + -0.0695 + ], + "dev_deg": { + "median": 11.3, + "p90": 26.78 + }, + "samples": 1386, + "accepted": 1275, + "wrist_pos_err_mm_median": 34.2, + "per_camera": { + "head": { + "samples": 1386, + "accepted": 1275, + "gate_deg": 30.0, + "offset_deg": 6.09, + "tier": "primary", + "dev_deg_median": 11.3, + "wrist_pos_err_mm_median": 34.2 + } + 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a/actions/locomotion_posture_dynamics/D53/session_001/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D53/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..89618fbfa9ef1e1274af39324d5b9dffeb999002 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D53/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:547d0efb3f6c5e5c0bdbc896b517c1d6d48c4952fedb45a86e2f885e938744ef +size 1927630 diff --git a/actions/locomotion_posture_dynamics/D53/session_001/motions/smplx.npz b/actions/locomotion_posture_dynamics/D53/session_001/motions/smplx.npz index 1e1e34276fbc8a560d39ae77f495757ff1ab6472..73fbb47e643aca7c85dbbe5588e0c09f7437f39f 100644 --- a/actions/locomotion_posture_dynamics/D53/session_001/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D53/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid 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0000000000000000000000000000000000000000..3109c2bda42a9e18071686b4ec52765782e8e49d --- /dev/null +++ b/actions/locomotion_posture_dynamics/D53/session_002/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6278980badc11beefad15c841be37caeb1794ea4c9440870e99363deaeae1d8c +size 285306 diff --git a/actions/locomotion_posture_dynamics/D53/session_002/meta.json b/actions/locomotion_posture_dynamics/D53/session_002/meta.json index 1e43a0b1b6098524b5f67b0066eb3120978baeeb..eea56f5fa577530ebea1cdaad85724f4503c6eb7 100644 --- a/actions/locomotion_posture_dynamics/D53/session_002/meta.json +++ b/actions/locomotion_posture_dynamics/D53/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)", + "observed": 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b/actions/locomotion_posture_dynamics/D53/session_002/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..9e9cc047a68374f2dd9dc082763998ecb01c4cf6 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D53/session_002/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a872d5a47fd0d329ab48d47f62e788f10944e1b93c54a5981a5bc1a4af951c22 +size 1371339 diff --git a/actions/locomotion_posture_dynamics/D53/session_002/motions/smplx.npz b/actions/locomotion_posture_dynamics/D53/session_002/motions/smplx.npz index 7fa076daa70b5ba968fd10a5b54361a1249cbbd7..a7ef5eaac9f27f29fdcaa340d8ed95b3ca6a281f 100644 --- a/actions/locomotion_posture_dynamics/D53/session_002/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D53/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:35cfa8e3ee4d5c335f3752e2c7b419dc9267aef78ace67c05c8cda407866fbf3 -size 2278916 +oid 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b/actions/locomotion_posture_dynamics/D53/session_003/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58794e04ed3e3b3ec606280947f8bb61f45b85a105935c3e5d9ccfe4c6ef9f7f +size 285111 diff --git a/actions/locomotion_posture_dynamics/D53/session_003/meta.json b/actions/locomotion_posture_dynamics/D53/session_003/meta.json index 88b376e21b913888b8f9b2cc07792b6fdb366c9f..cf0b6041d0a56ba084c4b3130428e0f79f431764 100644 --- a/actions/locomotion_posture_dynamics/D53/session_003/meta.json +++ b/actions/locomotion_posture_dynamics/D53/session_003/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, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered 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(meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D53", + "instruction": "Run, then stop as quickly as is comfortable at the marker and stand still.", + "segments": [ + { + "id": "segment1", + "duration_s": 48.9667, + "video": "left_eye", + "video_t_start": 0.04011502229895991 + } + ], + "episodes": [ + { + "id": "3646b52c-d2fc-49e0-8c86-2d8b7883b554", + "segment": "segment1", + "action": "D53", + "quality": "valid", + "start_s": 1.224, + "end_s": 19.278, + "t_start": 1.2641, + "t_end": 19.3181, + "instruction": "Run, then stop as quickly as is comfortable at the marker and stand still." + }, + { + "id": "d9cc5e51-54b4-464f-90cc-533a4280c509", + "segment": "segment1", + "action": "D53", + "quality": "valid", + "start_s": 22.588, + "end_s": 41.732, + "t_start": 22.6281, + "t_end": 41.7721, + "instruction": "Run, then stop as quickly as is comfortable at the marker and stand still." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D53/session_005/cameras/slam.npz b/actions/locomotion_posture_dynamics/D53/session_005/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..f1e29c27bc02a8b91a326bc8dc84ef4e3b1888c5 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D53/session_005/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9fd493aed50829422b56f274dbd5c2f2a7589ef9b6a16337b51d05e7cbb9f49 +size 284213 diff --git a/actions/locomotion_posture_dynamics/D53/session_005/meta.json b/actions/locomotion_posture_dynamics/D53/session_005/meta.json index 1fc372ca85f915fd7bc85cafd1028cd6a3e27890..616bd52fc2db5015c4b6f9c7be2f6151cc3ff07a 100644 --- a/actions/locomotion_posture_dynamics/D53/session_005/meta.json +++ b/actions/locomotion_posture_dynamics/D53/session_005/meta.json @@ -325,8 +325,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", 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