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b/actions/locomotion_posture_dynamics/D14/session_008/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:baec7167208a6daf05e2390c208286c509e7721bf3fb1f937950fff4d5944221 +size 313141 diff --git a/actions/locomotion_posture_dynamics/D14/session_008/meta.json b/actions/locomotion_posture_dynamics/D14/session_008/meta.json index f8c378de2879630ac6bd673961c8718f98a6ea69..93ffbe6ad7ec170618032bc6b761297a3161f4a6 100644 --- a/actions/locomotion_posture_dynamics/D14/session_008/meta.json +++ b/actions/locomotion_posture_dynamics/D14/session_008/meta.json @@ -330,8 +330,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": 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/D14/session_008/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D14/session_008/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..a3d45c260399fd0bd1b54e517ea8b7a8f1ac92c4 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D14/session_008/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b078861271719a51b04d6cf81cf83d74e538b447e4fea6c4cc2ef028e5d4d153 +size 1413835 diff --git a/actions/locomotion_posture_dynamics/D14/session_008/motions/smplx.npz b/actions/locomotion_posture_dynamics/D14/session_008/motions/smplx.npz index ba00d07fd3003a014789d9855d6b1b01fa1f9a32..534de0862b9e6a3d7246f1c6111b43f454d35c55 100644 --- a/actions/locomotion_posture_dynamics/D14/session_008/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D14/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:894173d9a8a8e1db4142fb1fb09c45fc68f8c782a4fa1afcfc36417dec8850f6 -size 2491613 +oid sha256:df616322ea7b9ef10f76851655fbfb2ccdb3672d7d7bd4f2af0f9a08be1182f2 +size 4460605 diff --git a/actions/locomotion_posture_dynamics/D14/session_009/annotations.json b/actions/locomotion_posture_dynamics/D14/session_009/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..6f60b879ea058ecefb70b4195b80fafb559d7371 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D14/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": "D14", + "instruction": "Mime a tennis serve with no racket: toss, reach up, strike and follow through. 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new file mode 100644 index 0000000000000000000000000000000000000000..c9507dbd459135bbbec7ee4233513e5fc03be302 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D14/session_009/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:367c06cbaadaae4a74623879e619daa8a864f79ff07365be13eb5b19ebfdad8d +size 457276 diff --git a/actions/locomotion_posture_dynamics/D14/session_009/meta.json b/actions/locomotion_posture_dynamics/D14/session_009/meta.json index cee54c903ddfb8223e9c031578681868db6cc27f..0e1aa21c86339be2e4138ddd56e3c529cb63146a 100644 --- a/actions/locomotion_posture_dynamics/D14/session_009/meta.json +++ b/actions/locomotion_posture_dynamics/D14/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, 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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/D14/session_009/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D14/session_009/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..00a4df53ea91ae74cd73c9149630023a00d2a9ac --- /dev/null +++ b/actions/locomotion_posture_dynamics/D14/session_009/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60e3becdd805e77737f9c0b5f03d2ab33a33f2a7da25f1c4424ba2e4a1a21034 +size 1901495 diff --git a/actions/locomotion_posture_dynamics/D14/session_009/motions/smplx.npz b/actions/locomotion_posture_dynamics/D14/session_009/motions/smplx.npz index 76e36511128f71ae46ba3c664207a6d5c4700b1e..66274ebe2ff3f1850ee4f49520f41e5b2aa67b33 100644 --- a/actions/locomotion_posture_dynamics/D14/session_009/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D14/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:42d201b420ade63b5d0548e6c52a87ec165c74b1cb64b0d574fd08e352a42eb9 -size 3642258 +oid sha256:bdc9353f21983fffaebcc09fde868ffc592288e0c2d5a6fd8ea48ef847263fbd +size 6612312 diff --git a/actions/locomotion_posture_dynamics/D14/session_010/annotations.json b/actions/locomotion_posture_dynamics/D14/session_010/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..adc73faeee06ea41604337ca3fc45d06f28eb256 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D14/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": "D14", + "instruction": "Mime a tennis serve with no racket: toss, reach up, strike and follow through. 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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/D14/session_010/cameras/slam.npz b/actions/locomotion_posture_dynamics/D14/session_010/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..42e618ce95e600f1d900cc4003ab89bb6f6ad962 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D14/session_010/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ac8d3e0fe532956e33d71b98e87307f7b1938e7fea9328c063e481d076d17fd +size 370012 diff --git a/actions/locomotion_posture_dynamics/D14/session_010/meta.json b/actions/locomotion_posture_dynamics/D14/session_010/meta.json index 44e31dc703c8cd4110dd8546b5916e1bd1f9fda4..383051aac030bf5a17c1678d3b586c6221507463 100644 --- a/actions/locomotion_posture_dynamics/D14/session_010/meta.json +++ b/actions/locomotion_posture_dynamics/D14/session_010/meta.json @@ -339,8 +339,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -530,10 +530,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.5233286468640452 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 22.04, + "offset_rotvec": [ + 0.3793, + -0.059, + -0.025 + ], + "dev_deg": { + "median": 27.87, + "p90": 58.68 + }, + "samples": 892, + "accepted": 521, + "wrist_pos_err_mm_median": 213.6, + "per_camera": { + "head": { + "samples": 892, + "accepted": 521, + "gate_deg": 30.0, + "offset_deg": 22.04, + "tier": "primary", + "dev_deg_median": 27.87, + "wrist_pos_err_mm_median": 213.6 + } + }, + "frames_by_state": { + "ace_sample": 2171, + "interpolated": 2546, + "mean_hand": 2959, + "no_body_fit": 8 + }, + "observed_fraction": 0.6139, + "observed_fraction_of_valid": 0.6145, + "palm_axis_vs_markers_deg": { + "gsi": 33.62, + "smplx": 1.25 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.8, + "p90": 7.6 + }, + "registered": { + "median": 6.5, + "p90": 7.3 + } + } + }, + "right": { + "offset_deg": 20.87, + "offset_rotvec": [ + 0.1449, + 0.1959, + 0.2707 + ], + "dev_deg": { + "median": 10.78, + "p90": 31.7 + }, + "samples": 1106, + "accepted": 980, + "wrist_pos_err_mm_median": 364.6, + "per_camera": { + "head": { + "samples": 1106, + "accepted": 980, + "gate_deg": 30.0, + "offset_deg": 20.87, + "tier": "primary", + "dev_deg_median": 10.78, + "wrist_pos_err_mm_median": 364.6 + } + }, + "frames_by_state": { + "ace_sample": 4027, + "interpolated": 2758, + "mean_hand": 891, + "no_body_fit": 8 + }, + "observed_fraction": 0.883, + "observed_fraction_of_valid": 0.8839, + "palm_axis_vs_markers_deg": { + "gsi": 20.25, + "smplx": 0.88 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.3, + "p90": 9.6 + }, + "registered": { + "median": 6.9, + "p90": 10.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:41:28.758559+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/D14/session_010", "family": "locomotion_posture_dynamics", "primitive": "D14", "source_session": "20260923/D14/20260923_105227_session28" + }, + "task": { + "primitive": "D14", + "instruction": "Mime a tennis serve with no racket: toss, reach up, strike and follow through. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D14/session_010/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D14/session_010/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..1d3e30cf7c30cacc4d3293188ee13200f186c42d --- /dev/null +++ b/actions/locomotion_posture_dynamics/D14/session_010/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:caf8e16ac70e164a68d8905abb784e330b4cbe7e05adcbf8a232f67ab31b16e0 +size 1434862 diff --git a/actions/locomotion_posture_dynamics/D14/session_010/motions/smplx.npz b/actions/locomotion_posture_dynamics/D14/session_010/motions/smplx.npz index 09e1f5d7baa9d1762f2e4941850ac45e8e341728..80b85b057aee1cd1782827b3afe8851d3afad5b7 100644 --- a/actions/locomotion_posture_dynamics/D14/session_010/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D14/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9f089a81fd7ba5fff795964fecdad7c1002d62cc161a5b64b12d336c4c37e110 -size 2940325 +oid sha256:ad3dabc9fb48f5f84fedc1962a5b94b6bde52cae5ff673bee6d71a4621f58b72 +size 5087862 diff --git a/actions/locomotion_posture_dynamics/D14/session_011/annotations.json b/actions/locomotion_posture_dynamics/D14/session_011/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..e261809c6e5e8ec2d3db6f3cbba9d8bf6f3e0158 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D14/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": "D14", + "instruction": "Mime a tennis serve with no racket: toss, reach up, strike and follow through. 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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/D14/session_011/cameras/slam.npz b/actions/locomotion_posture_dynamics/D14/session_011/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..9fefd075298aca59a617a0a0877289f94122c439 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D14/session_011/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15125696ea9005a42c7c7940f779162dafe3da843069d41a09ef4dfa80b138f5 +size 398996 diff --git a/actions/locomotion_posture_dynamics/D14/session_011/meta.json b/actions/locomotion_posture_dynamics/D14/session_011/meta.json index bce1e99850083ebd08e6e9003781db830c6600de..5f439214ee846e649f8733811498a7fb501dd152 100644 --- a/actions/locomotion_posture_dynamics/D14/session_011/meta.json +++ b/actions/locomotion_posture_dynamics/D14/session_011/meta.json @@ -324,8 +324,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -541,10 +541,124 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 20.15, + "offset_rotvec": [ + 0.3057, + 0.0933, + -0.1466 + ], + "dev_deg": { + "median": 20.54, + "p90": 90.6 + }, + "samples": 1658, + "accepted": 1147, + "wrist_pos_err_mm_median": 82.8, + "per_camera": { + "head": { + "samples": 1658, + "accepted": 1147, + "gate_deg": 30.0, + "offset_deg": 20.15, + "tier": "primary", + "dev_deg_median": 20.54, + "wrist_pos_err_mm_median": 82.8 + } + }, + "frames_by_state": { + "ace_sample": 4658, + "interpolated": 1810, + "mean_hand": 1816, + "no_body_fit": 0 + }, + "observed_fraction": 0.7808, + "observed_fraction_of_valid": 0.7808, + "palm_axis_vs_markers_deg": { + "gsi": 23.8, + "smplx": 1.35 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.4, + "p90": 15.6 + }, + "registered": { + "median": 9.7, + "p90": 13.7 + } + } + }, + "right": { + "offset_deg": 23.48, + "offset_rotvec": [ + 0.4043, + -0.0388, + 0.0547 + ], + "dev_deg": { + "median": 20.13, + "p90": 41.27 + }, + "samples": 1190, + "accepted": 915, + "wrist_pos_err_mm_median": 137.7, + "per_camera": { + "head": { + "samples": 1190, + "accepted": 915, + "gate_deg": 30.0, + "offset_deg": 23.48, + "tier": "primary", + "dev_deg_median": 20.13, + "wrist_pos_err_mm_median": 137.7 + } + }, + "frames_by_state": { + "ace_sample": 3776, + "interpolated": 2780, + "mean_hand": 1728, + "no_body_fit": 0 + }, + "observed_fraction": 0.7914, + "observed_fraction_of_valid": 0.7914, + "palm_axis_vs_markers_deg": { + "gsi": 25.35, + "smplx": 2.28 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.4, + "p90": 13.6 + }, + "registered": { + "median": 11.9, + "p90": 13.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:28:12.004406+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/D14/session_011", "family": "locomotion_posture_dynamics", "primitive": "D14", "source_session": "20260929/D14/20260929_085523_session158" + }, + "task": { + "primitive": "D14", + "instruction": "Mime a tennis serve with no racket: toss, reach up, strike and follow through. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D14/session_011/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D14/session_011/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..8dcee3290133f1c3f81c462ccd2102a69b6ded58 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D14/session_011/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3703ad2ddfbf8d228c0d4263f2e43670aaa5980c762bfb8fb46d20f95d7ff96 +size 1984892 diff --git a/actions/locomotion_posture_dynamics/D14/session_011/motions/smplx.npz b/actions/locomotion_posture_dynamics/D14/session_011/motions/smplx.npz index 110e1a73b4d3340763f3b258a1a14c4ab7656174..0f8d41d8b7403ea1033ca0a9378d12fb491bb311 100644 --- a/actions/locomotion_posture_dynamics/D14/session_011/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D14/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a7b2142c34464b3ade5f1ce38a5ec0774003a2697b850b6921ca00c734000e5a -size 3199676 +oid sha256:6d47e62e39961d47461915d74270ac4b12858a6c4681003404b09ce0283b059e +size 5608147 diff --git a/actions/locomotion_posture_dynamics/D14/session_012/annotations.json b/actions/locomotion_posture_dynamics/D14/session_012/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..24d934a5383f13b0a718c9c91a7b1b1d925751af --- /dev/null +++ b/actions/locomotion_posture_dynamics/D14/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": "D14", + "instruction": "Mime a tennis serve with no racket: toss, reach up, strike and follow through. 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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/D14/session_012/cameras/slam.npz b/actions/locomotion_posture_dynamics/D14/session_012/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..bd6152c666c78c02b47ede103af42424c9796a7a --- /dev/null +++ b/actions/locomotion_posture_dynamics/D14/session_012/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc1e6636830127e31912f3b81e0558a34f7358b63a4b021e479ea9ace64dbf77 +size 540648 diff --git a/actions/locomotion_posture_dynamics/D14/session_012/meta.json b/actions/locomotion_posture_dynamics/D14/session_012/meta.json index 439d876dc9acb4530da0be82f57e2e208b8fecd4..0bc634ffb978a0031b83f7e1a5340903cc2fe5f1 100644 --- a/actions/locomotion_posture_dynamics/D14/session_012/meta.json +++ b/actions/locomotion_posture_dynamics/D14/session_012/meta.json @@ -509,5 +509,9 @@ "family": "locomotion_posture_dynamics", "primitive": "D14", "source_session": "20260930/D14/20260930_053549_session47" + }, + "task": { + "primitive": "D14", + "instruction": "Mime a tennis serve with no racket: toss, reach up, strike and follow through. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D14/session_012/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D14/session_012/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..cf0adb9755b8e0774bd42b485e95a6b9d4921fa1 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D14/session_012/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85065a1dcae390b1f450fdea0b26a49a84f18e7bc0b8a211ccbbb6b03a3c04dd +size 1898756 diff --git a/actions/locomotion_posture_dynamics/D14/session_013/annotations.json b/actions/locomotion_posture_dynamics/D14/session_013/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..0e03725defc548fb7d72b23f12c223cfb9afb6a9 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D14/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": "D14", + "instruction": "Mime a tennis serve with no racket: toss, reach up, strike and follow through. 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0000000000000000000000000000000000000000..6eb223a540ed9595c27c10d0be9b67049630cc8b --- /dev/null +++ b/actions/locomotion_posture_dynamics/D14/session_013/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25a7ca42063dc62ce778c2c22bcd3a91e6f4dcfbfca2b5f9fd3918accb39fad8 +size 398950 diff --git a/actions/locomotion_posture_dynamics/D14/session_013/meta.json b/actions/locomotion_posture_dynamics/D14/session_013/meta.json index 729ad9bc93f57024d1bb18d162c9a7f40127cd9e..a3876e2368b16440224ba769ef103375000d800d 100644 --- a/actions/locomotion_posture_dynamics/D14/session_013/meta.json +++ b/actions/locomotion_posture_dynamics/D14/session_013/meta.json @@ -325,8 +325,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": 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": 1.4551900000990419 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 22.24, + "offset_rotvec": [ + 0.1699, + -0.3386, + 0.0844 + ], + "dev_deg": { + "median": 18.11, + "p90": 41.8 + }, + "samples": 915, + "accepted": 731, + "wrist_pos_err_mm_median": 68.6, + "per_camera": { + "head": { + "samples": 915, + "accepted": 731, + "gate_deg": 30.0, + "offset_deg": 22.24, + "tier": "primary", + "dev_deg_median": 18.11, + "wrist_pos_err_mm_median": 68.6 + } + }, + "frames_by_state": { + "ace_sample": 3140, + "interpolated": 4952, + "mean_hand": 184, + "no_body_fit": 8 + }, + 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6.9, + "p90": 9.9 + }, + "registered": { + "median": 7.1, + "p90": 9.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:10:17.480083+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/D14/session_013", "family": "locomotion_posture_dynamics", "primitive": "D14", "source_session": "20261013/D14/20261013_113144_session205" + }, + "task": { + "primitive": "D14", + "instruction": "Mime a tennis serve with no racket: toss, reach up, strike and follow through. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D14/session_013/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D14/session_013/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..dbd91a57d60a34b4b1385598705c3075d5589192 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D14/session_013/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:821c5e9ba9977267a988c6577d49f7b80241969bfaf793646e7b7bf26eeaace1 +size 1265833 diff --git a/actions/locomotion_posture_dynamics/D14/session_013/motions/smplx.npz b/actions/locomotion_posture_dynamics/D14/session_013/motions/smplx.npz index c2c435134b8209053373ba7da0845be4a2bca68a..6481b15543a17658157dc01bdf07c649bb5267a5 100644 --- a/actions/locomotion_posture_dynamics/D14/session_013/motions/smplx.npz +++ 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-11.9273 27.5326 1.16057 -1.31845 1.15801 2.40469 -12.9508 -7.64991 0.67393 27.047 0.911256 167.484 -170.49 147.688 1.1795 -3.77939 1.19171 +9.08774 83.391 4.32568 2.1324 0.669525 -86.1008 178.822 -179.3 -178.278 178.257 -178.955 -177.43 2.02069 2.70656 -1.19257 2.02069 2.70656 -1.19257 160.628 176.069 -178.036 135.31 155.171 155.185 170.698 169.696 169.813 4.65792 -9.92235 8.76217 27.977 8.66564 -0.161988 37.1288 14.5681 18.8162 0.781247 11.522 15.3603 178.834 -175.697 166.761 179.316 -167.138 -173.501 179.292 179.968 179.567 173.765 -170.967 177.521 0.541107 20.3292 1.15032 4.43836 -11.9292 27.5341 1.1605 -1.31478 1.15801 2.39135 -12.9517 -7.64046 0.673721 27.0587 0.911351 167.504 -170.484 147.694 1.17946 -3.77743 1.19171 diff --git a/actions/locomotion_posture_dynamics/D14/session_014/raw/mocap/Body0.csv b/actions/locomotion_posture_dynamics/D14/session_014/raw/mocap/Body0.csv new file mode 100644 index 0000000000000000000000000000000000000000..38e24427d089497f46e4b922116f174e5bfedffd --- /dev/null +++ b/actions/locomotion_posture_dynamics/D14/session_014/raw/mocap/Body0.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f520febef3e50f8a8b611b566243b4016846eab86567e087a9e73e8ede89eddb +size 72691341 diff --git a/actions/locomotion_posture_dynamics/D14/session_014/raw/mocap/Body0.trc b/actions/locomotion_posture_dynamics/D14/session_014/raw/mocap/Body0.trc new file mode 100644 index 0000000000000000000000000000000000000000..55326efd0ad908126a9720046dc701317cddd7dc --- /dev/null +++ b/actions/locomotion_posture_dynamics/D14/session_014/raw/mocap/Body0.trc @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc83043d253134942455b51ba0c3b765e259d231e20fa299416143151c5d17b5 +size 15717140 diff --git a/actions/locomotion_posture_dynamics/D14/session_014/raw/mocap/LittleBox5.csv 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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/D15/session_001/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D15/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..f2d517f3cd6e563d687c7da7bced3e3d0bac90a3 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D15/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:191fc9bff1cbdecd06c15627f06d6b1ed971b72b8308be9ec512a1f7be38a2a9 +size 2684703 diff --git a/actions/locomotion_posture_dynamics/D15/session_001/motions/smplx.npz b/actions/locomotion_posture_dynamics/D15/session_001/motions/smplx.npz index ea2ce39047ac0641e712b551d61a720bb804d134..c9708969535ef9681306e1c220e6be62e1bcd532 100644 --- a/actions/locomotion_posture_dynamics/D15/session_001/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D15/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9c3db29b867dc6a6b867a4736a611836abcc7706e20713429066a3e38f20ee3d -size 3642655 +oid sha256:7624c9ce85c36fcd1d9f066f595559c7861534b36a7a56ca1edd4e486fecb844 +size 6737664 diff --git a/actions/locomotion_posture_dynamics/D15/session_002/annotations.json b/actions/locomotion_posture_dynamics/D15/session_002/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..a75c84c22752af39b9c6b18b9e5e9e0a57b6acd4 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D15/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": "D15", + "instruction": "Mime tennis groundstrokes with no racket, alternating forehand and backhand. 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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/D15/session_002/cameras/slam.npz b/actions/locomotion_posture_dynamics/D15/session_002/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..3f1f37d615db29027f7353c60ff94dd431a7ae4f --- /dev/null +++ b/actions/locomotion_posture_dynamics/D15/session_002/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31a16118e33ea95214e05c324e1336862fe83b4bfbfd9dcd2ae5d771b7fc37ab +size 369344 diff --git a/actions/locomotion_posture_dynamics/D15/session_002/meta.json b/actions/locomotion_posture_dynamics/D15/session_002/meta.json index d75a5b5c8323f11c71c44cef46ca4a6f744f1537..ef63d451664b550c683b7964a5f344cff750ad75 100644 --- a/actions/locomotion_posture_dynamics/D15/session_002/meta.json +++ b/actions/locomotion_posture_dynamics/D15/session_002/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": { @@ -524,10 +524,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.7361279307444644 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.34, + "offset_rotvec": [ + -0.0683, + -0.1633, + -0.0346 + ], + "dev_deg": { + "median": 28.53, + "p90": 46.93 + }, + "samples": 756, + "accepted": 418, + "wrist_pos_err_mm_median": 154.7, + "per_camera": { + "head": { + "samples": 756, + "accepted": 418, + "gate_deg": 30.0, + "offset_deg": 10.34, + "tier": "primary", + "dev_deg_median": 28.53, + "wrist_pos_err_mm_median": 154.7 + } + }, + "frames_by_state": { + "ace_sample": 1686, + "interpolated": 1802, + "mean_hand": 4188, + "no_body_fit": 8 + }, + "observed_fraction": 0.4539, + "observed_fraction_of_valid": 0.4544, + "palm_axis_vs_markers_deg": { + "gsi": 24.85, + "smplx": 1.66 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 15.1, + "p90": 21.2 + }, + "registered": { + "median": 15.9, + "p90": 20.2 + } + } + }, + "right": { + "offset_deg": 13.24, + "offset_rotvec": [ + 0.0449, + 0.2264, + 0.0125 + ], + "dev_deg": { + "median": 20.56, + "p90": 44.77 + }, + "samples": 909, + "accepted": 662, + "wrist_pos_err_mm_median": 135.7, + "per_camera": { + "head": { + "samples": 909, + "accepted": 662, + "gate_deg": 30.0, + "offset_deg": 13.24, + "tier": "primary", + "dev_deg_median": 20.56, + "wrist_pos_err_mm_median": 135.7 + } + }, + "frames_by_state": { + "ace_sample": 2733, + "interpolated": 1706, + "mean_hand": 3237, + "no_body_fit": 8 + }, + "observed_fraction": 0.5777, + "observed_fraction_of_valid": 0.5783, + "palm_axis_vs_markers_deg": { + "gsi": 20.13, + "smplx": 2.27 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.9, + "p90": 6.6 + }, + "registered": { + "median": 4.9, + "p90": 6.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T14:07:59.641416+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/D15/session_002", "family": "locomotion_posture_dynamics", "primitive": "D15", "source_session": "20260907/D15/20260907_040534_session64" + }, + "task": { + "primitive": "D15", + "instruction": "Mime tennis groundstrokes with no racket, alternating forehand and backhand. 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0000000000000000000000000000000000000000..918c039f25e1797ee44ac582895a90729f7e2899 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D15/session_004/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44f53cc1f0172a1efb329753674a34b166d6f888fbcdbc46e646740cf3c46dc2 +size 341729 diff --git a/actions/locomotion_posture_dynamics/D15/session_004/meta.json b/actions/locomotion_posture_dynamics/D15/session_004/meta.json index 7619310c8da30ae12ec105dea4324095abb8e978..b577f8b319357626c634ffca1165128a55d83111 100644 --- a/actions/locomotion_posture_dynamics/D15/session_004/meta.json +++ b/actions/locomotion_posture_dynamics/D15/session_004/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": 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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/D15/session_004/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D15/session_004/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..14e9c7c147c62ee7de7958ec9e9341d55a3de3e4 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D15/session_004/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:853c0e4c0a91d27eaf5e8b72bc0de59d11e2e1022b93e52d52594a1d0dbf7474 +size 1389342 diff --git a/actions/locomotion_posture_dynamics/D15/session_004/motions/smplx.npz b/actions/locomotion_posture_dynamics/D15/session_004/motions/smplx.npz index 0468dfb7e712f2051faf7f751c91b14a1d795d41..dc6071cc5cfe4b2cce9680bd30a437a734619947 100644 --- a/actions/locomotion_posture_dynamics/D15/session_004/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D15/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:67a0a2ca987531c8a8031be28d643c30674b6b8bc06aafe559272b0797d98d9a -size 2741952 +oid sha256:0acc7bb6c1036c67c333dbaf2ef2c91e47688d774576e4796b5633eb6b3b35de +size 4590455 diff --git a/actions/locomotion_posture_dynamics/D15/session_005/annotations.json b/actions/locomotion_posture_dynamics/D15/session_005/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..865a4750f9bb0850530884eeb11b3183d62d632d --- /dev/null +++ b/actions/locomotion_posture_dynamics/D15/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": "D15", + "instruction": "Mime tennis groundstrokes with no racket, alternating forehand and backhand. 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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/D15/session_005/cameras/slam.npz b/actions/locomotion_posture_dynamics/D15/session_005/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..4cad66a84b415b7f1f63c268b6f225068db10b33 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D15/session_005/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8523474c08a858c66378f85379e5b1b2772fdd73303e87a3828adfbefacd06d +size 341705 diff --git a/actions/locomotion_posture_dynamics/D15/session_005/meta.json b/actions/locomotion_posture_dynamics/D15/session_005/meta.json index 16eeb31c9205d67cee7fff89e3713297afd90af6..0d6b446d20e929b246154a1d0e5b7bbe1d453ec1 100644 --- a/actions/locomotion_posture_dynamics/D15/session_005/meta.json +++ b/actions/locomotion_posture_dynamics/D15/session_005/meta.json @@ -341,8 +341,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -532,10 +532,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.3148464880258104 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 23.63, + "offset_rotvec": [ + 0.3192, + -0.1793, + 0.1897 + ], + "dev_deg": { + "median": 16.52, + "p90": 31.28 + }, + "samples": 1173, + "accepted": 1024, + "wrist_pos_err_mm_median": 181.9, + "per_camera": { + "head": { + "samples": 1173, + "accepted": 1024, + "gate_deg": 30.0, + "offset_deg": 23.63, + "tier": "primary", + "dev_deg_median": 16.52, + "wrist_pos_err_mm_median": 181.9 + } + }, + "frames_by_state": { + "ace_sample": 4280, + "interpolated": 2524, + "mean_hand": 280, + "no_body_fit": 0 + }, + "observed_fraction": 0.9605, + "observed_fraction_of_valid": 0.9605, + "palm_axis_vs_markers_deg": { + "gsi": 19.32, + "smplx": 0.41 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.0, + "p90": 10.8 + }, + "registered": { + "median": 6.7, + "p90": 7.8 + } + } + }, + "right": { + "offset_deg": 7.98, + "offset_rotvec": [ + 0.0304, + 0.134, + -0.023 + ], + "dev_deg": { + "median": 14.95, + "p90": 37.75 + }, + "samples": 717, + "accepted": 615, + "wrist_pos_err_mm_median": 118.6, + "per_camera": { + "head": { + "samples": 717, + "accepted": 615, + "gate_deg": 30.0, + "offset_deg": 7.98, + "tier": "primary", + "dev_deg_median": 14.95, + "wrist_pos_err_mm_median": 118.6 + } + }, + "frames_by_state": { + "ace_sample": 2556, + "interpolated": 3240, + "mean_hand": 1288, + "no_body_fit": 0 + }, + "observed_fraction": 0.8182, + "observed_fraction_of_valid": 0.8182, + "palm_axis_vs_markers_deg": { + "gsi": 12.06, + "smplx": 1.47 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.4, + "p90": 18.0 + }, + "registered": { + "median": 11.6, + "p90": 16.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T16:54:35.219604+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/D15/session_005", "family": "locomotion_posture_dynamics", "primitive": "D15", "source_session": "20260912/D15/20260912_053159_session20" + }, + "task": { + "primitive": "D15", + "instruction": "Mime tennis groundstrokes with no racket, alternating forehand and backhand. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D15/session_005/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D15/session_005/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..39055d819e449f08b55e20b53ac5714b4203a553 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D15/session_005/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:236c01e1e70060bf3e866c69817971417e7c28a61b694470e1af92042213c39a +size 1350645 diff --git a/actions/locomotion_posture_dynamics/D15/session_005/motions/smplx.npz b/actions/locomotion_posture_dynamics/D15/session_005/motions/smplx.npz index 6c55b08aebfdb8a3052100fb4f026df8440e4b44..9306c395ea409d0ad2ae249d98fd18638164c0f1 100644 --- a/actions/locomotion_posture_dynamics/D15/session_005/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D15/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:55a44f4100bdee8f35fb664fbcabeead2da3fd57c0948d6f63cc3f48edbed7c8 -size 2723085 +oid sha256:44c4999adae8e51fa3ec671424984ed68b4efe6f40b1e561f619ed5d051a7168 +size 4906945 diff --git a/actions/locomotion_posture_dynamics/D15/session_006/annotations.json b/actions/locomotion_posture_dynamics/D15/session_006/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..0df5794c4547eec15f65a811ab4d04c45236e143 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D15/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": "D15", + "instruction": "Mime tennis groundstrokes with no racket, alternating forehand and backhand. Repeat the movement at your own pace until the operator says stop; do not rush.", + "segments": [ + { + "id": "segment1", + "duration_s": 58.966733, + "video": "left_eye", + "video_t_start": 0.03893639457755205 + } + ], + "episodes": [ + { + "id": "fa6ff041-86e4-498c-bd26-cb4762e7b412", + "segment": "segment1", + "action": "D15", + "quality": "valid", + "start_s": 0, + "end_s": 26.332, + "t_start": 0.0389, + "t_end": 26.3709, + "instruction": "Mime tennis groundstrokes with no racket, alternating forehand and backhand. Repeat the movement at your own pace until the operator says stop; do not rush." + }, + { + "id": "12552f69-00cf-42df-ac8b-48b45e2236b3", + "segment": "segment1", + "action": "D15", + "quality": "valid", + "start_s": 26.555, + "end_s": 50.549, + "t_start": 26.5939, + "t_end": 50.5879, + "instruction": "Mime tennis groundstrokes with no racket, alternating forehand and backhand. Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D15/session_006/cameras/slam.npz b/actions/locomotion_posture_dynamics/D15/session_006/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..1cf82d901b657b0976f8b94167270f1fb89ee16c --- /dev/null +++ b/actions/locomotion_posture_dynamics/D15/session_006/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7cbe94ffebdc8ee806957142e16c233ebb2330410b0e558fcad81c117874cb2 +size 341367 diff --git a/actions/locomotion_posture_dynamics/D15/session_006/meta.json b/actions/locomotion_posture_dynamics/D15/session_006/meta.json index 09dfc30028b8d204887632f813d1aebaafa269af..182848e16e8193c908ddf62794af5ea873d3d285 100644 --- a/actions/locomotion_posture_dynamics/D15/session_006/meta.json +++ b/actions/locomotion_posture_dynamics/D15/session_006/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": { @@ -512,10 +512,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0028117763896143 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 12.06, + "offset_rotvec": [ + 0.1686, + 0.0705, + -0.1045 + ], + "dev_deg": { + "median": 13.48, + "p90": 26.79 + }, + "samples": 1137, + "accepted": 1054, + "wrist_pos_err_mm_median": 156.4, + "per_camera": { + "head": { + "samples": 1137, + "accepted": 1054, + "gate_deg": 30.0, + "offset_deg": 12.06, + "tier": "primary", + "dev_deg_median": 13.48, + "wrist_pos_err_mm_median": 156.4 + } + }, + "frames_by_state": { + "ace_sample": 4338, + "interpolated": 1834, + "mean_hand": 912, + "no_body_fit": 0 + }, + "observed_fraction": 0.8713, + "observed_fraction_of_valid": 0.8713, + "palm_axis_vs_markers_deg": { + "gsi": 20.08, + "smplx": 0.8 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.4, + "p90": 12.4 + }, + "registered": { + "median": 10.7, + "p90": 13.4 + } + } + }, + "right": { + "offset_deg": 8.21, + "offset_rotvec": [ + 0.0692, + -0.0541, + 0.1133 + ], + "dev_deg": { + "median": 33.18, + "p90": 62.0 + }, + "samples": 814, + "accepted": 369, + "wrist_pos_err_mm_median": 327.3, + "per_camera": { + "head": { + "samples": 814, + "accepted": 369, + "gate_deg": 30.0, + "offset_deg": 8.21, + "tier": "primary", + "dev_deg_median": 33.18, + "wrist_pos_err_mm_median": 327.3 + } + }, + "frames_by_state": { + "ace_sample": 1508, + "interpolated": 1600, + "mean_hand": 3976, + "no_body_fit": 0 + }, + "observed_fraction": 0.4387, + "observed_fraction_of_valid": 0.4387, + "palm_axis_vs_markers_deg": { + "gsi": 35.67, + "smplx": 0.85 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.7, + "p90": 10.4 + }, + "registered": { + "median": 8.9, + "p90": 11.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T17:46:58.535713+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/D15/session_006", "family": "locomotion_posture_dynamics", "primitive": "D15", "source_session": "20260914/D15/20260914_083304_session43" + }, + "task": { + "primitive": "D15", + "instruction": "Mime tennis groundstrokes with no racket, alternating forehand and backhand. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D15/session_006/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D15/session_006/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..8b3602d5f2a6b0646084721700dbb66f9dc0d609 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D15/session_006/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32c99a406a115634c03dac0adc62618173507b3c5d8e71ca354aabaad1c87a68 +size 1376092 diff --git a/actions/locomotion_posture_dynamics/D15/session_006/motions/smplx.npz b/actions/locomotion_posture_dynamics/D15/session_006/motions/smplx.npz index 86eb64aa789d98182abdcb297bd7ca3c67abf55e..4f44e1b72ac17c6296ecec00d7149a643e12d0cb 100644 --- a/actions/locomotion_posture_dynamics/D15/session_006/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D15/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c102844c7cbb7d3ef8c645ec95447586c368ae055abb477890665585700ee61a -size 2705159 +oid sha256:dd5c7ccb2dcb648cacdea8ca56e9d0d492b8a0a83398fb6a38189a589553c401 +size 4467433 diff --git a/actions/locomotion_posture_dynamics/D15/session_007/annotations.json b/actions/locomotion_posture_dynamics/D15/session_007/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..daa78bc14455db1dfabe646c02519c7be0541acd --- /dev/null +++ b/actions/locomotion_posture_dynamics/D15/session_007/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": "D15", + "instruction": "Mime tennis groundstrokes with no racket, alternating forehand and backhand. 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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/D15/session_007/cameras/slam.npz b/actions/locomotion_posture_dynamics/D15/session_007/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..d134f2e9abe70d05c253417546c3f653f26392e4 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D15/session_007/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9acd8ef14d162d2c73f95a1cd5924e67831530ed4f218b291363f3ff47be495d +size 313841 diff --git a/actions/locomotion_posture_dynamics/D15/session_007/meta.json b/actions/locomotion_posture_dynamics/D15/session_007/meta.json index bbc39269b6c601fe0620a5d31a1909526c31aa77..1d451ce1813dc08ec8818064f9f48e492d372838 100644 --- a/actions/locomotion_posture_dynamics/D15/session_007/meta.json +++ b/actions/locomotion_posture_dynamics/D15/session_007/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": { @@ -512,10 +512,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.5782071675669342 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 3.28, + "offset_rotvec": [ + 0.0178, + 0.0012, + 0.0544 + ], + "dev_deg": { + "median": 15.15, + "p90": 26.76 + }, + "samples": 1158, + "accepted": 1087, + "wrist_pos_err_mm_median": 168.5, + "per_camera": { + "head": { + "samples": 1158, + "accepted": 1087, + "gate_deg": 30.0, + "offset_deg": 3.28, + "tier": "primary", + "dev_deg_median": 15.15, + "wrist_pos_err_mm_median": 168.5 + } + }, + "frames_by_state": { + "ace_sample": 4498, + "interpolated": 1922, + "mean_hand": 42, + "no_body_fit": 22 + }, + "observed_fraction": 0.9901, + "observed_fraction_of_valid": 0.9935, + "palm_axis_vs_markers_deg": { + "gsi": 12.1, + "smplx": 0.78 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.7, + "p90": 12.5 + }, + "registered": { + "median": 10.9, + "p90": 16.6 + } + } + }, + "right": { + "offset_deg": 9.68, + "offset_rotvec": [ + 0.0101, + 0.1585, + -0.0578 + ], + "dev_deg": { + "median": 17.8, + "p90": 52.18 + }, + "samples": 627, + "accepted": 467, + "wrist_pos_err_mm_median": 182.9, + "per_camera": { + "head": { + "samples": 627, + "accepted": 467, + "gate_deg": 30.0, + "offset_deg": 9.68, + "tier": "primary", + "dev_deg_median": 17.8, + "wrist_pos_err_mm_median": 182.9 + } + }, + "frames_by_state": { + "ace_sample": 1870, + "interpolated": 1414, + "mean_hand": 3178, + "no_body_fit": 22 + }, + "observed_fraction": 0.5065, + "observed_fraction_of_valid": 0.5082, + "palm_axis_vs_markers_deg": { + "gsi": 17.48, + "smplx": 1.57 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.1, + "p90": 12.5 + }, + "registered": { + "median": 8.2, + "p90": 10.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T23:04:49.191750+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/D15/session_007", "family": "locomotion_posture_dynamics", "primitive": "D15", "source_session": "20260917/D15/20260917_055235_session93" + }, + "task": { + "primitive": "D15", + "instruction": "Mime tennis groundstrokes with no racket, alternating forehand and backhand. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D15/session_007/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D15/session_007/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..7bb3e579c3f8ce91c8dbcc0a5fd9d7a31bcf8112 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D15/session_007/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e60f7542be48166ff3213c8e9d5128900fc745b06be24de949f8d714e2c937e6 +size 1272729 diff --git a/actions/locomotion_posture_dynamics/D15/session_007/motions/smplx.npz b/actions/locomotion_posture_dynamics/D15/session_007/motions/smplx.npz index 04f7ba4dd9ca552328461da6d39ce938a1ca8174..95cbcb76d021c4e19060b61cd27a6f236fb0b0df 100644 --- a/actions/locomotion_posture_dynamics/D15/session_007/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D15/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e09831a1ea10a0782d6dc1f6d0b489cc94023c08ecf68e8cdea228fc305d98fa -size 2480399 +oid sha256:ba535c08677b1345b95f3165f49b5d75c6a660b9cf403daabb9d036ee23d2991 +size 4259350 diff --git a/actions/locomotion_posture_dynamics/D15/session_008/annotations.json b/actions/locomotion_posture_dynamics/D15/session_008/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..59db6744f828f45423df1ca436b8768da1d43b3d --- /dev/null +++ b/actions/locomotion_posture_dynamics/D15/session_008/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": "D15", + "instruction": "Mime tennis groundstrokes with no racket, alternating forehand and backhand. 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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/D15/session_008/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D15/session_008/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..1f0c63eb1aa95d7fec7026a1b57d9b9005c6f112 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D15/session_008/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3396039a2d18fb4d4e16db632a24ab0ed8646c07555ee2f541e387e71a616779 +size 1313072 diff --git a/actions/locomotion_posture_dynamics/D15/session_009/annotations.json b/actions/locomotion_posture_dynamics/D15/session_009/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..7efd26fbcadd5e771ddfd77a41ab3cadebafcf02 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D15/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": "D15", + "instruction": "Mime tennis groundstrokes with no racket, alternating forehand and backhand. 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file mode 100644 index 0000000000000000000000000000000000000000..289f6faddcca914e9587ebf54020b420d86277df --- /dev/null +++ b/actions/locomotion_posture_dynamics/D15/session_010/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54e3196a32c612f40f2470025a7042ed618d561afa1b819e36efe684d9118fc5 +size 399935 diff --git a/actions/locomotion_posture_dynamics/D15/session_010/meta.json b/actions/locomotion_posture_dynamics/D15/session_010/meta.json index 81bb111e7522ccb6d51e878d0eb673bbf14301e9..a8edfd79ec9422e990d52975c384e71e410a1c2b 100644 --- a/actions/locomotion_posture_dynamics/D15/session_010/meta.json +++ b/actions/locomotion_posture_dynamics/D15/session_010/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": 1.4091888248329818 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 6.38, + "offset_rotvec": [ + -0.0404, + 0.0117, + -0.1031 + ], + "dev_deg": { + "median": 6.17, + "p90": 19.79 + }, + "samples": 1696, + "accepted": 1626, + "wrist_pos_err_mm_median": 60.2, + "per_camera": { + "head": { + "samples": 1696, + "accepted": 1626, + "gate_deg": 30.0, + "offset_deg": 6.38, + "tier": "primary", + "dev_deg_median": 6.17, + "wrist_pos_err_mm_median": 60.2 + } + }, + "frames_by_state": { + "ace_sample": 6627, + "interpolated": 1612, + "mean_hand": 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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/D15/session_010/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D15/session_010/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..478bd94612b2932a69e33f701e4f2bd3d5ae5bf9 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D15/session_010/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1577dc9a008749f644252081e0d7f9ba1a3601c0f52b25d94be906bed7ade3b6 +size 2042927 diff --git a/actions/locomotion_posture_dynamics/D15/session_010/motions/smplx.npz b/actions/locomotion_posture_dynamics/D15/session_010/motions/smplx.npz index 9f664b02efcc4217b4265702e07b00a180f88e64..2d1b6e21fd756cd00111089dac621b69f733528d 100644 --- a/actions/locomotion_posture_dynamics/D15/session_010/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D15/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d77af5321ba9cb337cc3d372ccfdbbf1b33c24e791fb05252672295d49ad7f9d -size 3187570 +oid sha256:56e2002327e62b9b6b64d189489e3a33b2dbf8dbf8cce9d28eb1e73858dc2790 +size 5773648 diff --git a/actions/locomotion_posture_dynamics/D15/session_011/annotations.json b/actions/locomotion_posture_dynamics/D15/session_011/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..d70b4822fc5f466f98d9d1e7cf04208950f3c9ae --- /dev/null +++ b/actions/locomotion_posture_dynamics/D15/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": "D15", + "instruction": "Mime tennis groundstrokes with no racket, alternating forehand and backhand. 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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/D15/session_011/cameras/slam.npz b/actions/locomotion_posture_dynamics/D15/session_011/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..eebe0bac7f2d5b207acdc7f2733630b6a0840694 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D15/session_011/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:260be4d607fa07baad6cb3a9104e4266d710ba17aadd8aa43e7afcf773f72b74 +size 370204 diff --git a/actions/locomotion_posture_dynamics/D15/session_011/meta.json b/actions/locomotion_posture_dynamics/D15/session_011/meta.json index 9e425f04b4a6e832a75ea14678e792efae5c6d67..cbb52b3847541a9b3c66fd555c7e1ded4b288139 100644 --- a/actions/locomotion_posture_dynamics/D15/session_011/meta.json +++ b/actions/locomotion_posture_dynamics/D15/session_011/meta.json @@ -324,8 +324,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -526,10 +526,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.5309714674478418 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 32.51, + "offset_rotvec": [ + 0.4452, + -0.3517, + -0.0113 + ], + "dev_deg": { + "median": 17.42, + "p90": 33.0 + }, + "samples": 1214, + "accepted": 1057, + "wrist_pos_err_mm_median": 185.7, + "per_camera": { + "head": { + "samples": 1214, + "accepted": 1057, + "gate_deg": 30.0, + "offset_deg": 32.51, + "tier": "primary", + "dev_deg_median": 17.42, + "wrist_pos_err_mm_median": 185.7 + } + }, + "frames_by_state": { + "ace_sample": 4408, + "interpolated": 2512, + "mean_hand": 757, + "no_body_fit": 7 + }, + "observed_fraction": 0.9006, + "observed_fraction_of_valid": 0.9014, + "palm_axis_vs_markers_deg": { + "gsi": 43.68, + "smplx": 0.53 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.9, + "p90": 7.9 + }, + "registered": { + "median": 6.8, + "p90": 8.1 + } + } + }, + "right": { + "offset_deg": 21.06, + "offset_rotvec": [ + 0.2177, + 0.271, + 0.1196 + ], + "dev_deg": { + "median": 19.94, + "p90": 56.87 + }, + "samples": 919, + "accepted": 674, + "wrist_pos_err_mm_median": 149.5, + "per_camera": { + "head": { + "samples": 919, + "accepted": 674, + "gate_deg": 30.0, + "offset_deg": 21.06, + "tier": "primary", + "dev_deg_median": 19.94, + "wrist_pos_err_mm_median": 149.5 + } + }, + "frames_by_state": { + "ace_sample": 2752, + "interpolated": 2552, + "mean_hand": 2373, + "no_body_fit": 7 + }, + "observed_fraction": 0.6903, + "observed_fraction_of_valid": 0.6909, + "palm_axis_vs_markers_deg": { + "gsi": 31.34, + "smplx": 1.07 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.8, + "p90": 9.2 + }, + "registered": { + "median": 7.4, + "p90": 10.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:41:28.713764+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/D15/session_011", "family": "locomotion_posture_dynamics", "primitive": "D15", "source_session": "20260923/D15/20260923_105511_session30" + }, + "task": { + "primitive": "D15", + "instruction": "Mime tennis groundstrokes with no racket, alternating forehand and backhand. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D15/session_011/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D15/session_011/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..f974d974fb709fbb8e3c5f7e4e1fbc5dacfc12b8 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D15/session_011/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:076e2f484a2ccf62beb8faeff85a897d0345ef38e96548fdad6a2ca6acaca11e +size 1515136 diff --git a/actions/locomotion_posture_dynamics/D15/session_011/motions/smplx.npz b/actions/locomotion_posture_dynamics/D15/session_011/motions/smplx.npz index b6092debe7cd5849211b7eea6123b3b19e2160d0..b64c223ac740e51e79d4a24f58f5cdd2aa7a7390 100644 --- a/actions/locomotion_posture_dynamics/D15/session_011/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D15/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:977428f6543f7a4c5f32ea0c8f9abd08a4e65926c5785b0e2f6aba034daf220c -size 2941172 +oid sha256:9fd1f64ea7460b8028e7b5265b8fd79fb96652345379ba17cca3ed22d3dc8993 +size 5175701 diff --git a/actions/locomotion_posture_dynamics/D15/session_012/annotations.json b/actions/locomotion_posture_dynamics/D15/session_012/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..94c312e0ce10d749ad056e5208e950845b3b9340 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D15/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": "D15", + "instruction": "Mime tennis groundstrokes with no racket, alternating forehand and backhand. 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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/D15/session_012/cameras/slam.npz b/actions/locomotion_posture_dynamics/D15/session_012/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..69d90c51eafea254f291e148d61012cff7937f28 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D15/session_012/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d8e89cb97e34566a276b7198d0f5d710bb7f6cec366d6fc2094471bef856a2a +size 399166 diff --git a/actions/locomotion_posture_dynamics/D15/session_012/meta.json b/actions/locomotion_posture_dynamics/D15/session_012/meta.json index 45f92d15f06e4e92cbda5676c28577913bb7057d..dff9e2fe5195ade8179fdec8f4acd5e5a9079e2f 100644 --- a/actions/locomotion_posture_dynamics/D15/session_012/meta.json +++ b/actions/locomotion_posture_dynamics/D15/session_012/meta.json @@ -324,8 +324,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "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": 1.5123601163333313 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 24.32, + "offset_rotvec": [ + 0.2406, + 0.2543, + -0.2402 + ], + "dev_deg": { + "median": 13.1, + "p90": 41.76 + }, + "samples": 1898, + "accepted": 1606, + "wrist_pos_err_mm_median": 81.8, + "per_camera": { + "head": { + "samples": 1898, + "accepted": 1606, + "gate_deg": 30.0, + "offset_deg": 24.32, + "tier": "primary", + "dev_deg_median": 13.1, + "wrist_pos_err_mm_median": 81.8 + } + }, + "frames_by_state": { + "ace_sample": 6442, + "interpolated": 764, + "mean_hand": 1078, + "no_body_fit": 0 + }, + "observed_fraction": 0.8699, + "observed_fraction_of_valid": 0.8699, + "palm_axis_vs_markers_deg": { + "gsi": 25.62, + "smplx": 1.39 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.8, + "p90": 9.8 + }, + "registered": { + "median": 8.3, + "p90": 9.2 + } + } + }, + "right": { + "offset_deg": 13.56, + "offset_rotvec": [ + 0.213, + 0.0378, + 0.096 + ], + "dev_deg": { + "median": 18.6, + "p90": 51.36 + }, + "samples": 833, + "accepted": 617, + "wrist_pos_err_mm_median": 91.9, + "per_camera": { + "head": { + "samples": 833, + "accepted": 617, + "gate_deg": 30.0, + "offset_deg": 13.56, + "tier": "primary", + "dev_deg_median": 18.6, + "wrist_pos_err_mm_median": 91.9 + } + }, + "frames_by_state": { + "ace_sample": 2466, + "interpolated": 1278, + "mean_hand": 4540, + "no_body_fit": 0 + }, + "observed_fraction": 0.452, + "observed_fraction_of_valid": 0.452, + "palm_axis_vs_markers_deg": { + "gsi": 20.46, + "smplx": 2.64 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.9, + "p90": 18.1 + }, + "registered": { + "median": 8.4, + "p90": 15.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:28:11.844055+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/D15/session_012", "family": "locomotion_posture_dynamics", "primitive": "D15", "source_session": "20260929/D15/20260929_085714_session159" + }, + "task": { + "primitive": "D15", + "instruction": "Mime tennis groundstrokes with no racket, alternating forehand and backhand. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D15/session_012/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D15/session_012/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..44e92ff523f6e884e1c6b2f5ecf4bc19ba301f40 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D15/session_012/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:405867921e3fa352eae0b7b2b07aefab03936059987a1a90acfbdf1a147249b5 +size 1912334 diff --git a/actions/locomotion_posture_dynamics/D15/session_012/motions/smplx.npz b/actions/locomotion_posture_dynamics/D15/session_012/motions/smplx.npz index 162fa9b970afab5940b4c95d01c0c4950036f73a..1041d084e27108b0a68c6b53a7016135e576226f 100644 --- a/actions/locomotion_posture_dynamics/D15/session_012/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D15/session_012/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:571f05d25a31c9587d18d23307dd6782cbbd8801d67c38aa8d3913f4f17c8988 -size 3179673 +oid sha256:d291326f5aa83595fb8547ac581e249fe9cef9b59b850a23d43cbe324cd5d76e +size 5236081 diff --git a/actions/locomotion_posture_dynamics/D15/session_013/annotations.json b/actions/locomotion_posture_dynamics/D15/session_013/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..9291068a294651307383266c28970e745a56f44a --- /dev/null +++ b/actions/locomotion_posture_dynamics/D15/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": "D15", + "instruction": "Mime tennis groundstrokes with no racket, alternating forehand and backhand. 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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/D16/session_001/annotations.json b/actions/locomotion_posture_dynamics/D16/session_001/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..b5cd3ff2227779f9235a4a95931096e5be7fc942 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D16/session_001/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": "D16", + "instruction": "Mime a baseball swing with no bat: set your stance, stride, swing through. 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0000000000000000000000000000000000000000..04828b6277ab14aee1c45db2ff388adef5379d42 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D16/session_001/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d3f213ca3c77da83fa040256b50b49f01b38a384833e579fcbcc0962f2ea035 +size 340494 diff --git a/actions/locomotion_posture_dynamics/D16/session_001/meta.json b/actions/locomotion_posture_dynamics/D16/session_001/meta.json index e0ad237433791d5bae9f12097eaaa2bfc7ac2f5b..5a39d0a9d7fe13fd6701b81a1805276551ad7095 100644 --- a/actions/locomotion_posture_dynamics/D16/session_001/meta.json +++ b/actions/locomotion_posture_dynamics/D16/session_001/meta.json @@ -348,8 +348,8 @@ "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/D16/session_001/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D16/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..a7d87c914f6f1324fc3b94631cfb9d55c9474464 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D16/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:caef5c86b34ae92d80c075a8369eb733280543c221ce1997ae57dc22b8dacd6f +size 1401369 diff --git a/actions/locomotion_posture_dynamics/D16/session_001/motions/smplx.npz b/actions/locomotion_posture_dynamics/D16/session_001/motions/smplx.npz index 227dd26117863b06c3fc654f1d708090b816678f..288c1f87b198b0603af889f9ea88f218530a173a 100644 --- a/actions/locomotion_posture_dynamics/D16/session_001/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D16/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:684c34d7c3c87c9effc94e4901b17910bf731177f57e0aa8493b52283183168e -size 2731872 +oid sha256:be93b5410f7cc062a435772fdc26c3f59d1ebafc77002f78edd29ebb3aaff33c +size 4418004 diff --git a/actions/locomotion_posture_dynamics/D16/session_002/annotations.json b/actions/locomotion_posture_dynamics/D16/session_002/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..216bbcf851eb6b649ea02bb8006ddef11c611c22 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D16/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": "D16", + "instruction": "Mime a baseball swing with no bat: set your stance, stride, swing through. 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--- /dev/null +++ b/actions/locomotion_posture_dynamics/D16/session_004/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6254cdfa314e74a2526091fc81d1ff1274f8ddfcb6794e6fe681095c9fff6df +size 342468 diff --git a/actions/locomotion_posture_dynamics/D16/session_004/meta.json b/actions/locomotion_posture_dynamics/D16/session_004/meta.json index da3723cecfd25d252a4af373da4fc1356e81ee4c..073bb481f98ffcd8892027b827f36d728c0e83c9 100644 --- a/actions/locomotion_posture_dynamics/D16/session_004/meta.json +++ b/actions/locomotion_posture_dynamics/D16/session_004/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 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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/D16/session_004/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D16/session_004/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..b99ee256e788e7d3f3baefc1fa9f9eb0f7bb9308 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D16/session_004/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1272a742f2f5a6a1f08dd24cec7b0cb4e888595c05b0632bec26715a6948829 +size 1332845 diff --git a/actions/locomotion_posture_dynamics/D16/session_004/motions/smplx.npz b/actions/locomotion_posture_dynamics/D16/session_004/motions/smplx.npz index f67afd15eeadfe859b282ca9a6c329db8ed38e01..bdaa86f3837a7c7fc182011e87653e0dd397db7d 100644 --- a/actions/locomotion_posture_dynamics/D16/session_004/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D16/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7646efe11228c3b2dbfa5c8d92ea45aec592180cb482a9ec6e31cf0fe0bfc132 -size 2732023 +oid sha256:10ecd8192608707a2ae32985b1794849840aa8ce953480a9b9f7220f83fce4b4 +size 4635692 diff --git a/actions/locomotion_posture_dynamics/D16/session_005/annotations.json b/actions/locomotion_posture_dynamics/D16/session_005/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..a8095ca1f904e1a836a863a1294eb2f9747c0717 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D16/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": "D16", + "instruction": "Mime a baseball swing with no bat: set your stance, stride, swing through. 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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/D16/session_005/cameras/slam.npz b/actions/locomotion_posture_dynamics/D16/session_005/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..4a8f3a24c73e1c63bc666efe4b1f44f9418ef562 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D16/session_005/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6942e326043ac89abea0b45e40fbfa5aa3dc79d125e328467cf87671dc48b31b +size 398041 diff --git a/actions/locomotion_posture_dynamics/D16/session_005/meta.json b/actions/locomotion_posture_dynamics/D16/session_005/meta.json index 69597a5b998056389b21cecc2a040470fccc07d1..6b38fea3ca1e926fe38465fd69b758c40d05d4ad 100644 --- a/actions/locomotion_posture_dynamics/D16/session_005/meta.json +++ b/actions/locomotion_posture_dynamics/D16/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": { @@ -531,10 +531,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9746136708321227 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.82, + "offset_rotvec": [ + -0.0625, + -0.1338, + 0.1176 + ], + "dev_deg": { + "median": 17.44, + "p90": 37.57 + }, + "samples": 1381, + "accepted": 1102, + "wrist_pos_err_mm_median": 110.0, + "per_camera": { + "head": { + "samples": 1381, + "accepted": 1102, + "gate_deg": 30.0, + "offset_deg": 10.82, + "tier": "primary", + "dev_deg_median": 17.44, + "wrist_pos_err_mm_median": 110.0 + } + }, + "frames_by_state": { + "ace_sample": 4564, + "interpolated": 3140, + "mean_hand": 580, + "no_body_fit": 0 + }, + "observed_fraction": 0.93, + "observed_fraction_of_valid": 0.93, + "palm_axis_vs_markers_deg": { + "gsi": 17.91, + "smplx": 1.42 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.8, + "p90": 9.2 + }, + "registered": { + "median": 7.5, + "p90": 10.7 + } + } + }, + "right": { + "offset_deg": 11.41, + "offset_rotvec": [ + 0.1023, + 0.1536, + 0.0747 + ], + "dev_deg": { + "median": 16.88, + "p90": 64.65 + }, + "samples": 761, + "accepted": 483, + "wrist_pos_err_mm_median": 92.7, + "per_camera": { + "head": { + "samples": 761, + "accepted": 483, + "gate_deg": 30.0, + "offset_deg": 11.41, + "tier": "primary", + "dev_deg_median": 16.88, + "wrist_pos_err_mm_median": 92.7 + } + }, + "frames_by_state": { + "ace_sample": 1878, + "interpolated": 1070, + "mean_hand": 5336, + "no_body_fit": 0 + }, + "observed_fraction": 0.3559, + "observed_fraction_of_valid": 0.3559, + "palm_axis_vs_markers_deg": { + "gsi": 16.41, + "smplx": 1.04 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.0, + "p90": 18.8 + }, + "registered": { + "median": 11.1, + "p90": 17.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T16:54:24.124515+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/D16/session_005", "family": "locomotion_posture_dynamics", "primitive": "D16", "source_session": "20260912/D16/20260912_053334_session21" + }, + "task": { + "primitive": "D16", + "instruction": "Mime a baseball swing with no bat: set your stance, stride, swing through. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D16/session_005/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D16/session_005/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..03ffed95d477ab5bc350b8e8f71aa9b78907efb4 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D16/session_005/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0f9700fec9d074586652ee2686003635c36c0f4f78e66eb715e0e024bec7fb9 +size 1524754 diff --git a/actions/locomotion_posture_dynamics/D16/session_005/motions/smplx.npz b/actions/locomotion_posture_dynamics/D16/session_005/motions/smplx.npz index bbb99e10b50ebae88a37e0da1a570a31b5345698..6b0dfb45fe19c55a417ea4baea3de088f26fb01a 100644 --- a/actions/locomotion_posture_dynamics/D16/session_005/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D16/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8bf7d464b6d6ae4f29538bb4d313b78debc5df5245e296d9cabb40cfa43516ed -size 3174092 +oid sha256:8cee09d44f24e43a321f86600c020d845b4b7862926308885c8fd80efb2141c6 +size 5211586 diff --git a/actions/locomotion_posture_dynamics/D16/session_006/annotations.json b/actions/locomotion_posture_dynamics/D16/session_006/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..d7d368fb6c60ab2a89fdfd4b84afd1d801a8c13f --- /dev/null +++ b/actions/locomotion_posture_dynamics/D16/session_006/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D16", + "instruction": "Mime a baseball swing with no bat: set your stance, stride, swing through. 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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/D16/session_006/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D16/session_006/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..3229cbd9d2243c6b210a18c1c52772964b0d53f4 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D16/session_006/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:875a0bec0076e2c948786d667be77bca1f0e972c52db3b4bba892de245c53bb0 +size 1199814 diff --git a/actions/locomotion_posture_dynamics/D16/session_006/motions/smplx.npz b/actions/locomotion_posture_dynamics/D16/session_006/motions/smplx.npz index 8f91d508da7e374d61a7e84eddf219a1e9521c47..40b8962752e5baf684c78170d3f909ed13c445cf 100644 --- a/actions/locomotion_posture_dynamics/D16/session_006/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D16/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:876cb62976b26e48450bbc616ae9602126a4f8e1dc6492b0034e58b5e610c26f -size 2726351 +oid sha256:eadf1b5fe23f22dce73832e17e3a8cab0807167aba11b95a851161361d4ca0ef +size 4462850 diff --git a/actions/locomotion_posture_dynamics/D16/session_007/annotations.json b/actions/locomotion_posture_dynamics/D16/session_007/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..bad683f1926b1d72feea8ae81d152f695edac020 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D16/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": "D16", + "instruction": "Mime a baseball swing with no bat: set your stance, stride, swing through. 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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/D16/session_011/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D16/session_011/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..282e598806dddd01e1987435ba2fa02d16764af7 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D16/session_011/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c14eff10931f9050d9f794cefef4a18710cde879b3c8c1235639217a454f702 +size 763453 diff --git a/actions/locomotion_posture_dynamics/D16/session_011/motions/smplx.npz b/actions/locomotion_posture_dynamics/D16/session_011/motions/smplx.npz index c950d315b38d23f219c8a46b6ac22ed8e84753f3..c288d4b40a507313686aeced0f6513dc6bd605b7 100644 --- a/actions/locomotion_posture_dynamics/D16/session_011/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D16/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c31ddcac0406ea7628764ed765d857208684eaf35473006a1d5bc429e821e29e -size 2722925 +oid sha256:b8af32c197ec9bf908a27145c12dd8318cd998e20b0b119defdf242d48a51de3 +size 3824455 diff --git a/actions/locomotion_posture_dynamics/D16/session_012/annotations.json b/actions/locomotion_posture_dynamics/D16/session_012/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..466c659d89edb00b444f388047e304e84ecac484 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D16/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": "D16", + "instruction": "Mime a baseball swing with no bat: set your stance, stride, swing through. 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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/D16/session_012/cameras/slam.npz b/actions/locomotion_posture_dynamics/D16/session_012/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..378cfb06e89602bd228a13e0d480d313ca72ed2b --- /dev/null +++ b/actions/locomotion_posture_dynamics/D16/session_012/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1d750d32c4326ebbd2f7556ec8999becc3492b9f6ab968ca46965e1b439c8ed +size 428039 diff --git a/actions/locomotion_posture_dynamics/D16/session_012/meta.json b/actions/locomotion_posture_dynamics/D16/session_012/meta.json index a96389320ba98465ea75f421f96ee3526672a4e1..62516c84148ea464e52bb7b54b828429c168002b 100644 --- a/actions/locomotion_posture_dynamics/D16/session_012/meta.json +++ b/actions/locomotion_posture_dynamics/D16/session_012/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": { @@ -504,10 +504,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.537945918272283 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 37.86, + "offset_rotvec": [ + 0.6561, + -0.074, + -0.0276 + ], + "dev_deg": { + "median": 31.07, + "p90": 84.07 + }, + "samples": 856, + "accepted": 403, + "wrist_pos_err_mm_median": 89.5, + "per_camera": { + "head": { + "samples": 856, + "accepted": 403, + "gate_deg": 30.0, + "offset_deg": 37.86, + "tier": "primary", + "dev_deg_median": 31.07, + "wrist_pos_err_mm_median": 89.5 + } + }, + "frames_by_state": { + "ace_sample": 1618, + "interpolated": 1382, + "mean_hand": 5880, + "no_body_fit": 4 + }, + "observed_fraction": 0.3377, + "observed_fraction_of_valid": 0.3378, + "palm_axis_vs_markers_deg": { + "gsi": 40.74, + "smplx": 1.34 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.5, + "p90": 16.2 + }, + "registered": { + "median": 7.5, + "p90": 14.2 + } + } + }, + "right": { + "offset_deg": 16.0, + "offset_rotvec": [ + 0.2546, + 0.0804, + -0.082 + ], + "dev_deg": { + "median": 16.59, + "p90": 37.72 + }, + "samples": 990, + "accepted": 815, + "wrist_pos_err_mm_median": 89.1, + "per_camera": { + "head": { + "samples": 990, + "accepted": 815, + "gate_deg": 30.0, + "offset_deg": 16.0, + "tier": "primary", + "dev_deg_median": 16.59, + "wrist_pos_err_mm_median": 89.1 + } + }, + "frames_by_state": { + "ace_sample": 3276, + "interpolated": 1336, + "mean_hand": 4268, + "no_body_fit": 4 + }, + "observed_fraction": 0.5191, + "observed_fraction_of_valid": 0.5194, + "palm_axis_vs_markers_deg": { + "gsi": 15.67, + "smplx": 0.96 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.6, + "p90": 6.8 + }, + "registered": { + "median": 5.0, + "p90": 6.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:28:10.291248+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/D16/session_012", "family": "locomotion_posture_dynamics", "primitive": "D16", "source_session": "20260929/D16/20260929_085922_session160" + }, + "task": { + "primitive": "D16", + "instruction": "Mime a baseball swing with no bat: set your stance, stride, swing through. 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0000000000000000000000000000000000000000..930a09c3e1902f9d7f4adcb162f87eee27511838 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D16/session_013/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:19efe8d575d86f73e1fd93327eb156ce77a079826236fc313cbdd190f58d0e3c +size 370512 diff --git a/actions/locomotion_posture_dynamics/D16/session_013/meta.json b/actions/locomotion_posture_dynamics/D16/session_013/meta.json index 9a1ae5b9a327979977e78707aab5ef54095ea203..0e2a7f5e89cd97bc6942eb9fecb28b6582e6f0e6 100644 --- a/actions/locomotion_posture_dynamics/D16/session_013/meta.json +++ b/actions/locomotion_posture_dynamics/D16/session_013/meta.json @@ -333,8 +333,8 @@ "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/D16/session_013/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D16/session_013/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..5dbb77f9de870177bb781dc619ca1132734cce11 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D16/session_013/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58732c703ef12088ccc362261cf5bdfb8eafba4baa3670933246cd72f219cb44 +size 1614260 diff --git a/actions/locomotion_posture_dynamics/D16/session_013/motions/smplx.npz b/actions/locomotion_posture_dynamics/D16/session_013/motions/smplx.npz index 04e098d0b3191fcdba30af271510a40b9d7f59f7..607a498deac103872fd1b71444d6b0d630366b08 100644 --- a/actions/locomotion_posture_dynamics/D16/session_013/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D16/session_013/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2c4ca8a52a6eec79725df416f6cad5a5c1e9a07158a8a7722f0c5de43c7c2c1a -size 2946042 +oid sha256:59f295f761b094f166f2924eaf79bc3fd1cd2fd01276affca4b6a347af64bbe7 +size 3945769 diff --git a/actions/locomotion_posture_dynamics/D16/session_014/annotations.json b/actions/locomotion_posture_dynamics/D16/session_014/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..7190b24ca64f5228f78de2294525ab4449629e44 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D16/session_014/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": "D16", + "instruction": "Mime a baseball swing with no bat: set your stance, stride, swing through. 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file mode 100644 index 0000000000000000000000000000000000000000..9341e59e4858b4784a7c0a76f02932dc9e17b3bd --- /dev/null +++ b/actions/locomotion_posture_dynamics/D16/session_014/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ccba441fa052bf26cce5867d4c37ef3e235654fdeca4d5c545ad2649ed1d3fec +size 619254 diff --git a/actions/locomotion_posture_dynamics/D16/session_014/meta.json b/actions/locomotion_posture_dynamics/D16/session_014/meta.json index 40eee90fda1569821f282f7b7faaf4cf1b53e8de..7f3fd35ef38e7c6e766b5f0911bda0e9eaacc6fb 100644 --- a/actions/locomotion_posture_dynamics/D16/session_014/meta.json +++ b/actions/locomotion_posture_dynamics/D16/session_014/meta.json @@ -374,8 +374,8 @@ "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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mode 100644 index 0000000000000000000000000000000000000000..5e7b76efe9f4eb9820b74c68dd26a47a2007be9f --- /dev/null +++ b/actions/locomotion_posture_dynamics/D17/session_001/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bcbe31c91b3e04670802482e8de3f0dfd68386d1ab56cb13f34666adcdf99f3e +size 339958 diff --git a/actions/locomotion_posture_dynamics/D17/session_001/meta.json b/actions/locomotion_posture_dynamics/D17/session_001/meta.json index 8749f1cf57cf58edbf592d652812430987f68675..61cecf5c8e9fc0385e069232c3883448ed2b47bb 100644 --- a/actions/locomotion_posture_dynamics/D17/session_001/meta.json +++ b/actions/locomotion_posture_dynamics/D17/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, 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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/D17/session_001/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D17/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..090230571d7e7089597b04668282a0e80413a398 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D17/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6edf81a86d9564b53b6e698020d394c67a16eac633a9a185416717039af6662 +size 1955337 diff --git a/actions/locomotion_posture_dynamics/D17/session_001/motions/smplx.npz b/actions/locomotion_posture_dynamics/D17/session_001/motions/smplx.npz index df77f98908926b5a47ec8d0cddca9c1f17d09ea4..81d84b47e809c10be8ee83d7b1124e624a72392a 100644 --- a/actions/locomotion_posture_dynamics/D17/session_001/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D17/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ca7a4a8fd306173a6ea10bd9b633ed496522f97482ee34f213bf34f5d6e6e335 -size 2721282 +oid sha256:cb0b06fb5d64284e99b55263515c4dc24ca5416a075ae2ed22a6f2908cafdb54 +size 5004491 diff --git a/actions/locomotion_posture_dynamics/D17/session_002/annotations.json b/actions/locomotion_posture_dynamics/D17/session_002/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..f0dc42d28b389fd11fdb8f57f775d8b7e93811bf --- /dev/null +++ b/actions/locomotion_posture_dynamics/D17/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": "D17", + "instruction": "Mime throwing a ball overhand as far as you can, with no ball. 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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/D17/session_002/cameras/slam.npz b/actions/locomotion_posture_dynamics/D17/session_002/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..fafabac6bf9c42b6b6f0b46a23737e70f229c450 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D17/session_002/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:900db3225f00cca47e9933e6390326e6e850ad1e0f458b5a135ca296c919b097 +size 369511 diff --git a/actions/locomotion_posture_dynamics/D17/session_002/meta.json b/actions/locomotion_posture_dynamics/D17/session_002/meta.json index 3732126fcebaa09fe47ba1836a8257f6ad5a0edb..bd5b0bff865e05b05f606b6907a88df21b1bbf18 100644 --- a/actions/locomotion_posture_dynamics/D17/session_002/meta.json +++ b/actions/locomotion_posture_dynamics/D17/session_002/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": { @@ -513,10 +513,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1037072352181303 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 8.91, + "offset_rotvec": [ + -0.1395, + -0.0078, + -0.0682 + ], + "dev_deg": { + "median": 26.35, + "p90": 52.9 + }, + "samples": 1185, + "accepted": 650, + "wrist_pos_err_mm_median": 168.9, + "per_camera": { + "head": { + "samples": 1185, + "accepted": 650, + "gate_deg": 30.0, + "offset_deg": 8.91, + "tier": "primary", + "dev_deg_median": 26.35, + "wrist_pos_err_mm_median": 168.9 + } + }, + "frames_by_state": { + "ace_sample": 2602, + "interpolated": 1062, + "mean_hand": 4012, + "no_body_fit": 8 + }, + "observed_fraction": 0.4768, + "observed_fraction_of_valid": 0.4773, + "palm_axis_vs_markers_deg": { + "gsi": 18.92, + "smplx": 1.93 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.8, + "p90": 7.8 + }, + "registered": { + "median": 6.7, + "p90": 8.8 + } + } + }, + "right": { + "offset_deg": 11.02, + "offset_rotvec": [ + 0.0343, + 0.1871, + -0.029 + ], + "dev_deg": { + "median": 22.58, + "p90": 49.92 + }, + "samples": 1004, + "accepted": 672, + "wrist_pos_err_mm_median": 133.7, + "per_camera": { + "head": { + "samples": 1004, + "accepted": 672, + "gate_deg": 30.0, + "offset_deg": 11.02, + "tier": "primary", + "dev_deg_median": 22.58, + "wrist_pos_err_mm_median": 133.7 + } + }, + "frames_by_state": { + "ace_sample": 2757, + "interpolated": 1426, + "mean_hand": 3493, + "no_body_fit": 8 + }, + "observed_fraction": 0.5444, + "observed_fraction_of_valid": 0.5449, + "palm_axis_vs_markers_deg": { + "gsi": 16.42, + "smplx": 0.86 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.8, + "p90": 11.4 + }, + "registered": { + "median": 9.6, + "p90": 11.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T14:10:09.726038+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/D17/session_002", "family": "locomotion_posture_dynamics", "primitive": "D17", "source_session": "20260907/D17/20260907_040821_session66" + }, + "task": { + "primitive": "D17", + "instruction": "Mime throwing a ball overhand as far as you can, with no ball. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D17/session_002/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D17/session_002/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..8e55d64df2b5f6fd8a4aeb81dfa1208a50e2e706 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D17/session_002/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b1171857994918e2c2dae8da7d14234c7c51ba3548f698c220b8cb4bd3b221b +size 1553549 diff --git a/actions/locomotion_posture_dynamics/D17/session_002/motions/smplx.npz b/actions/locomotion_posture_dynamics/D17/session_002/motions/smplx.npz index 3cde8a48641300d39e71106758d94a91d2de09ce..43d28231e22f1eeae289029d5725d1b627419d7c 100644 --- a/actions/locomotion_posture_dynamics/D17/session_002/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D17/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c0eeab73be02667c0c2f019ad64e1bbc17e16492bf4d5db92a568b520b8f051d -size 2954609 +oid sha256:f71b07b7fbce92f68281f0eecef1b4d18e861d7f687352a114939f2e1f23174a +size 4516952 diff --git a/actions/locomotion_posture_dynamics/D17/session_003/annotations.json b/actions/locomotion_posture_dynamics/D17/session_003/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..2661b963a52c5ef376167aaa5b8b3bc7d520a0eb --- /dev/null +++ b/actions/locomotion_posture_dynamics/D17/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": "D17", + "instruction": "Mime throwing a ball overhand as far as you can, with no ball. 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0000000000000000000000000000000000000000..3f82c3e24689f85f893a1a3dda89759f9807df4c --- /dev/null +++ b/actions/locomotion_posture_dynamics/D17/session_003/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa4706d8c3c2288370acf5b94065389ef77f7307bca790ef584ebdfad21e85c8 +size 340755 diff --git a/actions/locomotion_posture_dynamics/D17/session_003/meta.json b/actions/locomotion_posture_dynamics/D17/session_003/meta.json index 9067a5c3307dcedcac455bffc8b1a08e7f3fa4ff..31bc0f894ef6998135420bf659f2ea51b1a236d9 100644 --- a/actions/locomotion_posture_dynamics/D17/session_003/meta.json +++ b/actions/locomotion_posture_dynamics/D17/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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0000000000000000000000000000000000000000..248a651c0da8be866ac0f51919b00d79f58f1544 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D17/session_004/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86eb7957783873ecc629a79469b4c1aea3470b0a39b2923b22f4e1d56deb19b6 +size 341776 diff --git a/actions/locomotion_posture_dynamics/D17/session_004/meta.json b/actions/locomotion_posture_dynamics/D17/session_004/meta.json index c89301dd7fce1680ecfddecc4c86c904221d7006..0bf7c402fa3d82131ea03736b83dd179366f08b7 100644 --- a/actions/locomotion_posture_dynamics/D17/session_004/meta.json +++ b/actions/locomotion_posture_dynamics/D17/session_004/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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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D17/session_004/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D17/session_004/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..629c9130c7bfc59d60741508bca02bb7cb5e0959 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D17/session_004/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55e4957e8bf331701d58446f97e99230d0f1e1e23adf230c6c4e90d843b48eb8 +size 1384067 diff --git a/actions/locomotion_posture_dynamics/D17/session_004/motions/smplx.npz b/actions/locomotion_posture_dynamics/D17/session_004/motions/smplx.npz index 23d49e781f417eaef3a965fc8235cfbf24b8ac09..965b50d233581cc61f78b2a7b106882de1d370df 100644 --- a/actions/locomotion_posture_dynamics/D17/session_004/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D17/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:bb4c517958cade2b9d7a50a8be174c04de4e120c1bc600bb07517d7a272b2514 -size 2734254 +oid sha256:3e45fb90fe696a274e0fe8e09a201ca9ef2bad3207e8e43321154605c6cdbd09 +size 4691647 diff --git a/actions/locomotion_posture_dynamics/D17/session_005/annotations.json b/actions/locomotion_posture_dynamics/D17/session_005/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..dfd46301e8a59cc8415ccf5dfe0fc615e37ceeb2 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D17/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": "D17", + "instruction": "Mime throwing a ball overhand as far as you can, with no ball. 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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/D17/session_005/cameras/slam.npz b/actions/locomotion_posture_dynamics/D17/session_005/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..4ddb43506313556ca516fb8b5a9596863aac80ce --- /dev/null +++ b/actions/locomotion_posture_dynamics/D17/session_005/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:718313b3228e20490ea6598bb968d179d1a5e58b1a11ef13dd2113397408a4cc +size 340876 diff --git a/actions/locomotion_posture_dynamics/D17/session_005/meta.json b/actions/locomotion_posture_dynamics/D17/session_005/meta.json index 5a812e81a4d5f24dcbbb63947ceb5973177707a0..dd8103bb6b6dc19c42f269c0ec3c7752d6b40a37 100644 --- a/actions/locomotion_posture_dynamics/D17/session_005/meta.json +++ b/actions/locomotion_posture_dynamics/D17/session_005/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": { @@ -520,10 +520,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1177664672358416 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 27.14, + "offset_rotvec": [ + 0.4028, + -0.182, + 0.1706 + ], + "dev_deg": { + "median": 12.92, + "p90": 30.67 + }, + "samples": 788, + "accepted": 707, + "wrist_pos_err_mm_median": 150.0, + "per_camera": { + "head": { + "samples": 788, + "accepted": 707, + "gate_deg": 30.0, + "offset_deg": 27.14, + "tier": "primary", + "dev_deg_median": 12.92, + "wrist_pos_err_mm_median": 150.0 + } + }, + "frames_by_state": { + "ace_sample": 2918, + "interpolated": 2130, + "mean_hand": 2036, + "no_body_fit": 0 + }, + "observed_fraction": 0.7126, + "observed_fraction_of_valid": 0.7126, + "palm_axis_vs_markers_deg": { + "gsi": 23.85, + "smplx": 0.45 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.9, + "p90": 6.9 + }, + "registered": { + "median": 3.7, + "p90": 5.8 + } + } + }, + "right": { + "offset_deg": 20.7, + "offset_rotvec": [ + 0.1943, + 0.2448, + 0.1813 + ], + "dev_deg": { + "median": 23.64, + "p90": 53.82 + }, + "samples": 532, + "accepted": 342, + "wrist_pos_err_mm_median": 120.9, + "per_camera": { + "head": { + "samples": 532, + "accepted": 342, + "gate_deg": 30.0, + "offset_deg": 20.7, + "tier": "primary", + "dev_deg_median": 23.64, + "wrist_pos_err_mm_median": 120.9 + } + }, + "frames_by_state": { + "ace_sample": 1368, + "interpolated": 2032, + "mean_hand": 3684, + "no_body_fit": 0 + }, + "observed_fraction": 0.48, + "observed_fraction_of_valid": 0.48, + "palm_axis_vs_markers_deg": { + "gsi": 19.09, + "smplx": 2.05 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 15.9, + "p90": 20.3 + }, + "registered": { + "median": 14.8, + "p90": 19.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T16:54:37.823319+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/D17/session_005", "family": "locomotion_posture_dynamics", "primitive": "D17", "source_session": "20260912/D17/20260912_053507_session22" + }, + "task": { + "primitive": "D17", + "instruction": "Mime throwing a ball overhand as far as you can, with no ball. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D17/session_005/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D17/session_005/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..c469bf432813022e31750d2832cb87fbe5d2c772 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D17/session_005/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a24817cebd04e558474c0e2562396851ad851c098fdda066d02c77a8ea44b3a +size 977090 diff --git a/actions/locomotion_posture_dynamics/D17/session_005/motions/smplx.npz b/actions/locomotion_posture_dynamics/D17/session_005/motions/smplx.npz index 9ea8f94718e95ecbc5baf72c0f0458719de3ac1b..af0acc392396e060836fa24df64f6a70ca110bd5 100644 --- a/actions/locomotion_posture_dynamics/D17/session_005/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D17/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c9302c4cae1ef4bb1d5ff493bdf2a402ce18ce08c1043930eb85835ead93672d -size 2703797 +oid sha256:fdf074828a99e64e947ccce8371624c4077b92124ce6098f29adae36e4d01353 +size 4416580 diff --git a/actions/locomotion_posture_dynamics/D17/session_006/annotations.json b/actions/locomotion_posture_dynamics/D17/session_006/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..9800885b08e96071a405e0cc64e92de1a6f9916e --- /dev/null +++ b/actions/locomotion_posture_dynamics/D17/session_006/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D17", + "instruction": "Mime throwing a ball overhand as far as you can, with no ball. 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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/D17/session_006/cameras/slam.npz b/actions/locomotion_posture_dynamics/D17/session_006/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..d070d0ca3ea0b6b4a567d50c294b05342432fae3 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D17/session_006/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c40f9bf1fb90700b65c145ea437c96665661af782b00f4f00867887e7ea8a3b2 +size 341528 diff --git a/actions/locomotion_posture_dynamics/D17/session_006/meta.json b/actions/locomotion_posture_dynamics/D17/session_006/meta.json index a67f55d88c90981115546b56628a65e7cb0ad409..1e505f1570f3814fd4dd9c2e37a5504d6826ee04 100644 --- a/actions/locomotion_posture_dynamics/D17/session_006/meta.json +++ b/actions/locomotion_posture_dynamics/D17/session_006/meta.json @@ -324,8 +324,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -509,10 +509,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0802130308086828 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 7.68, + "offset_rotvec": [ + 0.0947, + 0.0684, + -0.0658 + ], + "dev_deg": { + "median": 13.91, + "p90": 30.54 + }, + "samples": 1189, + "accepted": 1063, + "wrist_pos_err_mm_median": 108.9, + "per_camera": { + "head": { + "samples": 1189, + "accepted": 1063, + "gate_deg": 30.0, + "offset_deg": 7.68, + "tier": "primary", + "dev_deg_median": 13.91, + "wrist_pos_err_mm_median": 108.9 + } + }, + "frames_by_state": { + "ace_sample": 4350, + "interpolated": 2034, + "mean_hand": 692, + "no_body_fit": 8 + }, + "observed_fraction": 0.9012, + "observed_fraction_of_valid": 0.9022, + "palm_axis_vs_markers_deg": { + "gsi": 15.34, + "smplx": 1.6 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.2, + "p90": 13.0 + }, + "registered": { + "median": 10.6, + "p90": 14.2 + } + } + }, + "right": { + "offset_deg": 4.76, + "offset_rotvec": [ + -0.0415, + -0.0719, + -0.0044 + ], + "dev_deg": { + "median": 13.01, + "p90": 43.83 + }, + "samples": 1164, + "accepted": 949, + "wrist_pos_err_mm_median": 93.8, + "per_camera": { + "head": { + "samples": 1164, + "accepted": 949, + "gate_deg": 30.0, + "offset_deg": 4.76, + "tier": "primary", + "dev_deg_median": 13.01, + "wrist_pos_err_mm_median": 93.8 + } + }, + "frames_by_state": { + "ace_sample": 3824, + "interpolated": 1280, + "mean_hand": 1972, + "no_body_fit": 8 + }, + "observed_fraction": 0.7205, + "observed_fraction_of_valid": 0.7213, + "palm_axis_vs_markers_deg": { + "gsi": 11.98, + "smplx": 1.11 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.5, + "p90": 13.8 + }, + "registered": { + "median": 8.8, + "p90": 12.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T17:47:05.619085+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/D17/session_006", "family": "locomotion_posture_dynamics", "primitive": "D17", "source_session": "20260914/D17/20260914_071843_session10" + }, + "task": { + "primitive": "D17", + "instruction": "Mime throwing a ball overhand as far as you can, with no ball. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D17/session_006/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D17/session_006/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..4eb1e24c9a845a8548800e9abe7c577aa7c11234 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D17/session_006/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:095d8f2e42bd06c0172abce5bdd8dd24c14a026117b14243b93ad9defb5830c6 +size 1642325 diff --git a/actions/locomotion_posture_dynamics/D17/session_006/motions/smplx.npz b/actions/locomotion_posture_dynamics/D17/session_006/motions/smplx.npz index c90078f9cc72492016fcc311adc95706dbe67127..4b7d85246a36bfc55e86a0c53f2580cd8fa1a412 100644 --- a/actions/locomotion_posture_dynamics/D17/session_006/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D17/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8c692c22d0f79c1efb3d2416c3551c258121ee18433701c4831876594a317234 -size 2722918 +oid sha256:b6368a8ef561367cd1af5c141f1081fe90304854e9e6082f3e933144c439917e +size 4810745 diff --git a/actions/locomotion_posture_dynamics/D17/session_007/annotations.json b/actions/locomotion_posture_dynamics/D17/session_007/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..c1c0cb221a923949559870c484b63bc315edff5e --- /dev/null +++ b/actions/locomotion_posture_dynamics/D17/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": "D17", + "instruction": "Mime throwing a ball overhand as far as you can, with no ball. 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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/D17/session_007/cameras/slam.npz b/actions/locomotion_posture_dynamics/D17/session_007/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..e971de0c0a621c4fc98551b82c748d301a5934fb --- /dev/null +++ b/actions/locomotion_posture_dynamics/D17/session_007/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6391892dd4ae8ad18278baee7f087795697afdd284eaa3b3def48883749026c +size 313272 diff --git a/actions/locomotion_posture_dynamics/D17/session_007/meta.json b/actions/locomotion_posture_dynamics/D17/session_007/meta.json index f95a5da2832a36c107cc64923551471c18b0f345..8ce46ec54ee6c88a861c17e71dcf64a4af8e0bcc 100644 --- a/actions/locomotion_posture_dynamics/D17/session_007/meta.json +++ b/actions/locomotion_posture_dynamics/D17/session_007/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": { @@ -513,10 +513,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.573506153775162 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.07, + "offset_rotvec": [ + -0.0537, + -0.016, + 0.1665 + ], + "dev_deg": { + "median": 13.28, + "p90": 25.09 + }, + "samples": 1020, + "accepted": 961, + "wrist_pos_err_mm_median": 196.8, + "per_camera": { + "head": { + "samples": 1020, + "accepted": 961, + "gate_deg": 30.0, + "offset_deg": 10.07, + "tier": "primary", + "dev_deg_median": 13.28, + "wrist_pos_err_mm_median": 196.8 + } + }, + "frames_by_state": { + "ace_sample": 4000, + "interpolated": 2388, + "mean_hand": 96, + "no_body_fit": 0 + }, + "observed_fraction": 0.9852, + "observed_fraction_of_valid": 0.9852, + "palm_axis_vs_markers_deg": { + "gsi": 12.03, + "smplx": 1.18 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.2, + "p90": 7.3 + }, + "registered": { + "median": 7.3, + "p90": 8.6 + } + } + }, + "right": { + "offset_deg": 21.17, + "offset_rotvec": [ + -0.1163, + 0.2938, + -0.1917 + ], + "dev_deg": { + "median": 19.31, + "p90": 42.37 + }, + "samples": 702, + "accepted": 552, + "wrist_pos_err_mm_median": 145.1, + "per_camera": { + "head": { + "samples": 702, + "accepted": 552, + "gate_deg": 30.0, + "offset_deg": 21.17, + "tier": "primary", + "dev_deg_median": 19.31, + "wrist_pos_err_mm_median": 145.1 + } + }, + "frames_by_state": { + "ace_sample": 2278, + "interpolated": 1902, + "mean_hand": 2304, + "no_body_fit": 0 + }, + "observed_fraction": 0.6447, + "observed_fraction_of_valid": 0.6447, + "palm_axis_vs_markers_deg": { + "gsi": 22.36, + "smplx": 0.8 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.9, + "p90": 8.5 + }, + "registered": { + "median": 5.7, + "p90": 7.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T23:04:47.815260+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/D17/session_007", "family": "locomotion_posture_dynamics", "primitive": "D17", "source_session": "20260917/D17/20260917_055627_session95" + }, + "task": { + "primitive": "D17", + "instruction": "Mime throwing a ball overhand as far as you can, with no ball. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D17/session_007/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D17/session_007/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..ad06b1555c9570cb12b3101d8b996bd6c31b9f89 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D17/session_007/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7cf57cb724761e9515f169e796391ef8193bc87d8571509184e0a543a69744ce +size 1231253 diff --git a/actions/locomotion_posture_dynamics/D17/session_007/motions/smplx.npz b/actions/locomotion_posture_dynamics/D17/session_007/motions/smplx.npz index 745bcfb24f69459d060572d2e57f6c5fa105bf38..38d28331969d6938bf9a157115db4a74d752d085 100644 --- a/actions/locomotion_posture_dynamics/D17/session_007/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D17/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ac35749006c8756f2f6dc8d150208dc21800127cf39c7a0a077e18e8f9e80cbb -size 2482591 +oid sha256:68eedea6d652f2b99f825b3962b4b14be2025ea667a61a31f7fbc0a4ce40bce5 +size 4404043 diff --git a/actions/locomotion_posture_dynamics/D17/session_008/annotations.json b/actions/locomotion_posture_dynamics/D17/session_008/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..20927aa68484ac7d99d2d7416dd46f67181fa1e0 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D17/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": "D17", + "instruction": "Mime throwing a ball overhand as far as you can, with no ball. 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/dev/null +++ b/actions/locomotion_posture_dynamics/D17/session_010/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9384a523179b5ec5ee3b530f6c87ed7704620f85aebb5ef80678ca0e649c05cb +size 340316 diff --git a/actions/locomotion_posture_dynamics/D17/session_010/meta.json b/actions/locomotion_posture_dynamics/D17/session_010/meta.json index 8d94d15f22faac0c9f53fe687291d89f6277166f..1227e368e6494a24a47f11b4e036681866910023 100644 --- a/actions/locomotion_posture_dynamics/D17/session_010/meta.json +++ b/actions/locomotion_posture_dynamics/D17/session_010/meta.json @@ -281,8 +281,8 @@ "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/D17/session_010/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D17/session_010/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..a7e67589df2b92a186fcff5d2c48b7dd1743c2c5 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D17/session_010/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d489195dbf3373e64c4de1013739e3eee41f539445b1d105c7ad78fba60bd5a2 +size 1039341 diff --git a/actions/locomotion_posture_dynamics/D17/session_010/motions/smplx.npz b/actions/locomotion_posture_dynamics/D17/session_010/motions/smplx.npz index b436bbeb5950f67c338965a2ea7178bc09094c63..037b3ad49fa7a915c49af155f158732d3a59451c 100644 --- a/actions/locomotion_posture_dynamics/D17/session_010/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D17/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b670c7fa0ee0a00c67ecd9c532d83ea61e79e0bb3376a61f96cc6b99c1afb5d1 -size 2725500 +oid sha256:9c5962a8548dcac7e05a9b9c1bd29a157c983d98a40a1c7df9e82000e8116542 +size 4233589 diff --git a/actions/locomotion_posture_dynamics/D17/session_011/annotations.json b/actions/locomotion_posture_dynamics/D17/session_011/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..89569f3ffacbc37af144558129b929b2b4357a98 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D17/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": "D17", + "instruction": "Mime throwing a ball overhand as far as you can, with no ball. 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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/D17/session_011/cameras/slam.npz b/actions/locomotion_posture_dynamics/D17/session_011/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..d6693a7468083f03f425136c03575fe41d998825 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D17/session_011/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6aa805d1fea7c27fa320bbd69ec0c6c7f9fe7a8105d6c056d2dba3ff228cbea2 +size 456685 diff --git a/actions/locomotion_posture_dynamics/D17/session_011/meta.json b/actions/locomotion_posture_dynamics/D17/session_011/meta.json index 417f9a48e716f0ce8aa4d707141a85caad67d2e1..deed2459d24d0042d712cd8d45c7bb02e9127fb2 100644 --- a/actions/locomotion_posture_dynamics/D17/session_011/meta.json +++ b/actions/locomotion_posture_dynamics/D17/session_011/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": { @@ -504,10 +504,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.528252174995718 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 28.85, + "offset_rotvec": [ + 0.3069, + 0.3145, + -0.2458 + ], + "dev_deg": { + "median": 12.91, + "p90": 53.11 + }, + "samples": 2259, + "accepted": 1747, + "wrist_pos_err_mm_median": 68.5, + "per_camera": { + "head": { + "samples": 2259, + "accepted": 1747, + "gate_deg": 30.0, + "offset_deg": 28.85, + "tier": "primary", + "dev_deg_median": 12.91, + "wrist_pos_err_mm_median": 68.5 + } + }, + "frames_by_state": { + "ace_sample": 7004, + "interpolated": 448, + "mean_hand": 2032, + "no_body_fit": 0 + }, + "observed_fraction": 0.7857, + "observed_fraction_of_valid": 0.7857, + "palm_axis_vs_markers_deg": { + "gsi": 32.3, + "smplx": 1.86 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.4, + "p90": 12.0 + }, + "registered": { + "median": 8.0, + "p90": 9.9 + } + } + }, + "right": { + "offset_deg": 16.25, + "offset_rotvec": [ + 0.1698, + 0.1263, + -0.1889 + ], + "dev_deg": { + "median": 20.12, + "p90": 43.54 + }, + "samples": 1306, + "accepted": 984, + "wrist_pos_err_mm_median": 115.0, + "per_camera": { + "head": { + "samples": 1306, + "accepted": 984, + "gate_deg": 30.0, + "offset_deg": 16.25, + "tier": "primary", + "dev_deg_median": 20.12, + "wrist_pos_err_mm_median": 115.0 + } + }, + "frames_by_state": { + "ace_sample": 3930, + "interpolated": 862, + "mean_hand": 4692, + "no_body_fit": 0 + }, + "observed_fraction": 0.5053, + "observed_fraction_of_valid": 0.5053, + "palm_axis_vs_markers_deg": { + "gsi": 14.97, + "smplx": 1.66 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.8, + "p90": 7.7 + }, + "registered": { + "median": 5.3, + "p90": 6.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:28:10.764147+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/D17/session_011", "family": "locomotion_posture_dynamics", "primitive": "D17", "source_session": "20260929/D17/20260929_090236_session162" + }, + "task": { + "primitive": "D17", + "instruction": "Mime throwing a ball overhand as far as you can, with no ball. 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0000000000000000000000000000000000000000..6484c6f1e4bf850ca31749f6406eb35a640e39cd --- /dev/null +++ b/actions/locomotion_posture_dynamics/D18/session_001/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d64c46d68a4c148fb26aaa74ba020ca384a7f92c3c7c41c244a09859b5253051 +size 376134 diff --git a/actions/locomotion_posture_dynamics/D18/session_001/meta.json b/actions/locomotion_posture_dynamics/D18/session_001/meta.json index 5b9f1119483bd9b4417e11a520ffacbd935cb6d5..3ed50cf6877489919747f34e6ce0d20cd7d391d0 100644 --- a/actions/locomotion_posture_dynamics/D18/session_001/meta.json +++ b/actions/locomotion_posture_dynamics/D18/session_001/meta.json @@ -348,8 +348,8 @@ "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/D18/session_001/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D18/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..454cfb6d51a4f80a8a1803c0d3c35100f5fcf665 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D18/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dcbbe4242ed430445ba31bc11b8fc0324a798843e371bae66088b82879c8a334 +size 2122611 diff --git a/actions/locomotion_posture_dynamics/D18/session_001/motions/smplx.npz b/actions/locomotion_posture_dynamics/D18/session_001/motions/smplx.npz index e0dda31a9f965da429cef3b27e69852be655a3a5..adec2318049b8ed4a59da48e6140cb97bb1fca94 100644 --- a/actions/locomotion_posture_dynamics/D18/session_001/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D18/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c60546724c1df8ac398e174d37eee4f94077a8222b6ad4c0c92a68c97aff7fab -size 2968871 +oid sha256:dc612a8736c8c30fe1864ac138ddc459a31981a231fecfe6985d6d77f31a8e3f +size 5513488 diff --git a/actions/locomotion_posture_dynamics/D18/session_002/annotations.json b/actions/locomotion_posture_dynamics/D18/session_002/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..09afb80d269af0471a32953e9fd8593124302590 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D18/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": "D18", + "instruction": "Mime a jump shot with no ball: catch, set, rise and release. 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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/D18/session_002/cameras/slam.npz b/actions/locomotion_posture_dynamics/D18/session_002/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..86bd32139ecd1f6e1418c154827cb89080bcb7a7 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D18/session_002/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08de4557073752303db1de8957bb8b35347c8dfd184c41700a88d6ad74c56b2e +size 369370 diff --git a/actions/locomotion_posture_dynamics/D18/session_002/meta.json b/actions/locomotion_posture_dynamics/D18/session_002/meta.json index 27d1d0707c8e300ba10ee503cbb4b56eb6483f87..3f46eba6067da09d64b7dd0430dc78b4b07b5648 100644 --- a/actions/locomotion_posture_dynamics/D18/session_002/meta.json +++ b/actions/locomotion_posture_dynamics/D18/session_002/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": { @@ -536,10 +536,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0312500641486182 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 13.6, + "offset_rotvec": [ + -0.1248, + -0.0511, + -0.1952 + ], + "dev_deg": { + "median": 20.93, + "p90": 53.37 + }, + "samples": 1282, + "accepted": 773, + "wrist_pos_err_mm_median": 151.6, + "per_camera": { + "head": { + "samples": 1282, + "accepted": 773, + "gate_deg": 30.0, + "offset_deg": 13.6, + "tier": "primary", + "dev_deg_median": 20.93, + "wrist_pos_err_mm_median": 151.6 + } + }, + "frames_by_state": { + "ace_sample": 3130, + "interpolated": 1430, + "mean_hand": 2885, + "no_body_fit": 239 + }, + "observed_fraction": 0.5934, + "observed_fraction_of_valid": 0.6125, + "palm_axis_vs_markers_deg": { + "gsi": 18.11, + "smplx": 2.0 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.3, + "p90": 7.6 + }, + "registered": { + "median": 4.9, + "p90": 7.7 + } + } + }, + "right": { + "offset_deg": 13.27, + "offset_rotvec": [ + -0.0634, + 0.16, + 0.155 + ], + "dev_deg": { + "median": 20.34, + "p90": 45.04 + }, + "samples": 1092, + "accepted": 794, + "wrist_pos_err_mm_median": 114.9, + "per_camera": { + "head": { + "samples": 1092, + "accepted": 794, + "gate_deg": 30.0, + "offset_deg": 13.27, + "tier": "primary", + "dev_deg_median": 20.34, + "wrist_pos_err_mm_median": 114.9 + } + }, + "frames_by_state": { + "ace_sample": 3272, + "interpolated": 1544, + "mean_hand": 2629, + "no_body_fit": 239 + }, + "observed_fraction": 0.6268, + "observed_fraction_of_valid": 0.6469, + "palm_axis_vs_markers_deg": { + "gsi": 11.96, + "smplx": 0.86 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.8, + "p90": 6.0 + }, + "registered": { + "median": 5.1, + "p90": 6.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T14:10:10.419252+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/D18/session_002", "family": "locomotion_posture_dynamics", "primitive": "D18", "source_session": "20260907/D18/20260907_040943_session67" + }, + "task": { + "primitive": "D18", + "instruction": "Mime a jump shot with no ball: catch, set, rise and release. 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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/D18/session_005/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D18/session_005/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..f4f0a1d31a3921a1684d8533079dfc7e3c703210 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D18/session_005/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9dd51ff694a0d14179a7b532616a2a937885a41aaf51e0500ac78c67b7b5ed18 +size 1747342 diff --git a/actions/locomotion_posture_dynamics/D18/session_005/motions/smplx.npz b/actions/locomotion_posture_dynamics/D18/session_005/motions/smplx.npz index a5d47347d26673aa6ece711bfbf0ec966db9117a..51bb1887c5282993a5720571dbae4c9db5847d07 100644 --- a/actions/locomotion_posture_dynamics/D18/session_005/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D18/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:88e0dc540798d52c2ad6123fb0dcfe8a4c98d489b2c39fdef8dd84e8096f4953 -size 2719867 +oid sha256:22b2899bccd42cf1f19cc1f0a94788277262082acfaf4e33917c4eda744a9d21 +size 4937249 diff --git a/actions/locomotion_posture_dynamics/D18/session_006/annotations.json b/actions/locomotion_posture_dynamics/D18/session_006/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..547648323ca209ddf296bef5dac5ae890e6316b8 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D18/session_006/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D18", + "instruction": "Mime a jump shot with no ball: catch, set, rise and release. 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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/D18/session_006/cameras/slam.npz b/actions/locomotion_posture_dynamics/D18/session_006/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..99f837108559825cc072071da79af63568587566 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D18/session_006/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4620b3d0c807acbbb28761450ab417c4cd20f583917c670ccece0aa22d11828a +size 341960 diff --git a/actions/locomotion_posture_dynamics/D18/session_006/meta.json b/actions/locomotion_posture_dynamics/D18/session_006/meta.json index 5b06141ffa8c9f0136984fa59eb12845ce173a8f..f95c4b8126ea3212b69279ed38908b8184767aa4 100644 --- a/actions/locomotion_posture_dynamics/D18/session_006/meta.json +++ b/actions/locomotion_posture_dynamics/D18/session_006/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": 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 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.7609546815002564 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.82, + "offset_rotvec": [ + 0.0304, + 0.1145, + -0.1239 + ], + "dev_deg": { + "median": 14.68, + "p90": 44.13 + }, + "samples": 870, + "accepted": 699, + "wrist_pos_err_mm_median": 92.4, + "per_camera": { + "head": { + "samples": 870, + "accepted": 699, + "gate_deg": 30.0, + "offset_deg": 9.82, + "tier": "primary", + "dev_deg_median": 14.68, + "wrist_pos_err_mm_median": 92.4 + } + }, + "frames_by_state": { + "ace_sample": 2838, + "interpolated": 2134, + "mean_hand": 2066, + "no_body_fit": 46 + }, + "observed_fraction": 0.7019, + "observed_fraction_of_valid": 0.7065, + "palm_axis_vs_markers_deg": { + "gsi": 13.0, + "smplx": 2.45 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.2, + "p90": 11.4 + }, + "registered": { + "median": 9.8, + "p90": 12.5 + } + } + }, + "right": { + "offset_deg": 18.64, + "offset_rotvec": [ + -0.0032, + -0.2781, + 0.1688 + ], + "dev_deg": { + "median": 22.31, + "p90": 73.03 + }, + "samples": 927, + "accepted": 611, + "wrist_pos_err_mm_median": 119.4, + "per_camera": { + "head": { + "samples": 927, + "accepted": 611, + "gate_deg": 30.0, + "offset_deg": 18.64, + "tier": "primary", + "dev_deg_median": 22.31, + "wrist_pos_err_mm_median": 119.4 + } + }, + "frames_by_state": { + "ace_sample": 2492, + "interpolated": 2232, + "mean_hand": 2314, + "no_body_fit": 46 + }, + "observed_fraction": 0.6669, + "observed_fraction_of_valid": 0.6712, + "palm_axis_vs_markers_deg": { + "gsi": 17.49, + "smplx": 2.05 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.7, + "p90": 12.9 + }, + "registered": { + "median": 7.5, + "p90": 10.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T17:46:59.533885+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/D18/session_006", "family": "locomotion_posture_dynamics", "primitive": "D18", "source_session": "20260914/D18/20260914_072019_session11" + }, + "task": { + "primitive": "D18", + "instruction": "Mime a jump shot with no ball: catch, set, rise and release. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D18/session_006/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D18/session_006/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..70767c51822cb01606ba1eadf1d7afe086fb68a9 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D18/session_006/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c8f0fe56bb3eb001febc68cc45d68954fe8e58926a3ea7ebf60105beb1704dc +size 1291134 diff --git a/actions/locomotion_posture_dynamics/D18/session_006/motions/smplx.npz b/actions/locomotion_posture_dynamics/D18/session_006/motions/smplx.npz index 1cff0e6d59f8958b51d7c41d5e2919d1bbacb75d..c1dc287692c3f2c06298d005fdcd8b6dba3f9fc9 100644 --- a/actions/locomotion_posture_dynamics/D18/session_006/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D18/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c7cd90b0b4df33df5cc1c501315db2a79b203b9f86de46b555494d37f35b3408 -size 2716060 +oid sha256:6ae64135e75846f1794a228ab93445d7774e4d3b26d161298036e43344bf4d20 +size 4565283 diff --git a/actions/locomotion_posture_dynamics/D18/session_007/annotations.json b/actions/locomotion_posture_dynamics/D18/session_007/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..c057d78f7d0e70f6f25673d062232b88c2b95226 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D18/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": "D18", + "instruction": "Mime a jump shot with no ball: catch, set, rise and release. 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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/D18/session_007/cameras/slam.npz b/actions/locomotion_posture_dynamics/D18/session_007/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..791fb469465f8ac79cc64033398342f820110f17 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D18/session_007/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d679af84049e55e810b6d13c51719f920509d8c0f2b6b3b57260581892f123e +size 485127 diff --git a/actions/locomotion_posture_dynamics/D18/session_007/meta.json b/actions/locomotion_posture_dynamics/D18/session_007/meta.json index f2116ddc9b6b5e46acf29827e1158c2f76c54dc2..b7d87f69818bc08e3b3f24402b248796815849c2 100644 --- a/actions/locomotion_posture_dynamics/D18/session_007/meta.json +++ b/actions/locomotion_posture_dynamics/D18/session_007/meta.json @@ -329,8 +329,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -551,10 +551,124 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 18.17, + "offset_rotvec": [ + -0.2186, + 0.2007, + -0.1118 + ], + "dev_deg": { + "median": 17.72, + "p90": 52.88 + }, + "samples": 2061, + "accepted": 1656, + "wrist_pos_err_mm_median": 92.0, + "per_camera": { + "head": { + "samples": 2061, + "accepted": 1656, + "gate_deg": 30.0, + "offset_deg": 18.17, + "tier": "primary", + "dev_deg_median": 17.72, + "wrist_pos_err_mm_median": 92.0 + } + }, + "frames_by_state": { + "ace_sample": 6744, + "interpolated": 2520, + "mean_hand": 820, + "no_body_fit": 0 + }, + "observed_fraction": 0.9187, + "observed_fraction_of_valid": 0.9187, + "palm_axis_vs_markers_deg": { + "gsi": 14.51, + "smplx": 3.94 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.3, + "p90": 14.6 + }, + "registered": { + "median": 10.3, + "p90": 12.9 + } + } + }, + "right": { + "offset_deg": 5.91, + "offset_rotvec": [ + -0.0901, + 0.0491, + -0.0101 + ], + "dev_deg": { + "median": 13.62, + "p90": 38.48 + }, + "samples": 1995, + "accepted": 1705, + "wrist_pos_err_mm_median": 100.2, + "per_camera": { + "head": { + "samples": 1995, + "accepted": 1705, + "gate_deg": 30.0, + "offset_deg": 5.91, + "tier": "primary", + "dev_deg_median": 13.62, + "wrist_pos_err_mm_median": 100.2 + } + }, + "frames_by_state": { + "ace_sample": 6916, + "interpolated": 1928, + "mean_hand": 1240, + "no_body_fit": 0 + }, + "observed_fraction": 0.877, + "observed_fraction_of_valid": 0.877, + "palm_axis_vs_markers_deg": { + "gsi": 13.1, + "smplx": 3.8 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.6, + "p90": 11.4 + }, + "registered": { + "median": 7.7, + "p90": 10.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T23:04:48.667820+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/D18/session_007", "family": "locomotion_posture_dynamics", "primitive": "D18", "source_session": "20260917/D18/20260917_055801_session96" + }, + "task": { + "primitive": "D18", + "instruction": "Mime a jump shot with no ball: catch, set, rise and release. 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0000000000000000000000000000000000000000..3c18cd12f5fc9f77296fad24be73631adc4ef047 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D18/session_008/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7bc58a9659dfb2815cf2b0d050e43ac646a3ac071b35b421aee8f81a0bec77ce +size 342108 diff --git a/actions/locomotion_posture_dynamics/D18/session_008/meta.json b/actions/locomotion_posture_dynamics/D18/session_008/meta.json index ef7caa47eb8e08775801c08d569c961019dc28c9..d02ca37895581e55e36e696e29dc3715d5b6f4b0 100644 --- a/actions/locomotion_posture_dynamics/D18/session_008/meta.json +++ b/actions/locomotion_posture_dynamics/D18/session_008/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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100644 index 0000000000000000000000000000000000000000..eb38fb824f1b851f234c5de34a59ec30ef73a940 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D18/session_010/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:049610602a066d5d05e53ce47538e60726e656e20710d6a6968885625b6d0507 +size 370812 diff --git a/actions/locomotion_posture_dynamics/D18/session_010/meta.json b/actions/locomotion_posture_dynamics/D18/session_010/meta.json index 355131d98b4eaf199db2e3104c2071dbf78d15ac..60c07b0d07e6925b174bdf83476749d038565dd0 100644 --- a/actions/locomotion_posture_dynamics/D18/session_010/meta.json +++ b/actions/locomotion_posture_dynamics/D18/session_010/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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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D18/session_010/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D18/session_010/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..439df1179fa4d78fd0d6d31847462469b14c3353 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D18/session_010/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6155178829b82491d09ce84b6b815b02270438e97b80c32cea3990106a31e108 +size 1590217 diff --git a/actions/locomotion_posture_dynamics/D18/session_010/motions/smplx.npz b/actions/locomotion_posture_dynamics/D18/session_010/motions/smplx.npz index 0e3ec8453baf1f1488099358187bd9d0d8733710..22ec599eaf2b009a070b3a1f346332252a3fd3e5 100644 --- a/actions/locomotion_posture_dynamics/D18/session_010/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D18/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9b5ffd40b22d749fac776638e6269f30ad7ac240840370a5dec11c2c52d70f49 -size 2961254 +oid sha256:1dd6ade2072b07d4f25538a6c039ec1f35321deb6bd121487d5d854e95ffb9ac +size 4882034 diff --git a/actions/locomotion_posture_dynamics/D18/session_011/annotations.json b/actions/locomotion_posture_dynamics/D18/session_011/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..e734119c87e4186e5684327e9863e346d3c14552 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D18/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": "D18", + "instruction": "Mime a jump shot with no ball: catch, set, rise and release. 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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/D18/session_011/cameras/slam.npz b/actions/locomotion_posture_dynamics/D18/session_011/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..9a0d105c47a53bbab21d36edad35fea52e8c1019 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D18/session_011/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aac3cfae16502d8f3415a3f7ca6892942a6164143861a60e0af287762ba676b1 +size 341910 diff --git a/actions/locomotion_posture_dynamics/D18/session_011/meta.json b/actions/locomotion_posture_dynamics/D18/session_011/meta.json index 6c621e66c6fdc4677bad19ef33368c5a19323b3f..068e6ae61cfb743b4b1897f1e96eed336c16cb74 100644 --- a/actions/locomotion_posture_dynamics/D18/session_011/meta.json +++ b/actions/locomotion_posture_dynamics/D18/session_011/meta.json @@ -339,8 +339,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -542,10 +542,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.243257938794359 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 8.36, + "offset_rotvec": [ + 0.1174, + -0.0121, + -0.0858 + ], + "dev_deg": { + "median": 19.39, + "p90": 42.41 + }, + "samples": 1219, + "accepted": 884, + "wrist_pos_err_mm_median": 81.3, + "per_camera": { + "head": { + "samples": 1219, + "accepted": 884, + "gate_deg": 30.0, + "offset_deg": 8.36, + "tier": "primary", + "dev_deg_median": 19.39, + "wrist_pos_err_mm_median": 81.3 + } + }, + "frames_by_state": { + "ace_sample": 3668, + "interpolated": 2992, + "mean_hand": 424, + "no_body_fit": 0 + }, + "observed_fraction": 0.9401, + "observed_fraction_of_valid": 0.9401, + "palm_axis_vs_markers_deg": { + "gsi": 20.63, + "smplx": 3.0 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.7, + "p90": 6.4 + }, + "registered": { + "median": 5.0, + "p90": 6.6 + } + } + }, + "right": { + "offset_deg": 10.05, + "offset_rotvec": [ + -0.0263, + -0.0445, + 0.1677 + ], + "dev_deg": { + "median": 15.94, + "p90": 43.17 + }, + "samples": 1183, + "accepted": 928, + "wrist_pos_err_mm_median": 71.9, + "per_camera": { + "head": { + "samples": 1183, + "accepted": 928, + "gate_deg": 30.0, + "offset_deg": 10.05, + "tier": "primary", + "dev_deg_median": 15.94, + "wrist_pos_err_mm_median": 71.9 + } + }, + "frames_by_state": { + "ace_sample": 3820, + "interpolated": 2684, + "mean_hand": 580, + "no_body_fit": 0 + }, + "observed_fraction": 0.9181, + "observed_fraction_of_valid": 0.9181, + "palm_axis_vs_markers_deg": { + "gsi": 15.12, + "smplx": 3.15 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.9, + "p90": 7.1 + }, + "registered": { + "median": 4.8, + "p90": 7.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:41:20.645179+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/D18/session_011", "family": "locomotion_posture_dynamics", "primitive": "D18", "source_session": "20260923/D18/20260923_110013_session33" + }, + "task": { + "primitive": "D18", + "instruction": "Mime a jump shot with no ball: catch, set, rise and release. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D18/session_011/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D18/session_011/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..82089cbeb6347cc933e3023a5a70dd69eb43b409 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D18/session_011/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2b533263e235b249a6c16e92ef19b1fbca18b890477d742662ef1f287a425e0 +size 1671556 diff --git a/actions/locomotion_posture_dynamics/D18/session_011/motions/smplx.npz b/actions/locomotion_posture_dynamics/D18/session_011/motions/smplx.npz index fe38786e269c4c22771530bb8281f6542e41bcd1..0c6f4d6fc223be9f3f433ab648a61007f13650d8 100644 --- a/actions/locomotion_posture_dynamics/D18/session_011/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D18/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:bb891c34c175ac0f783711380f95107ea4f2ef206b53ae4317bd23859426b2fa -size 2723442 +oid sha256:98d089ccf3de402636217456612ce7e88bf595fadbd72d1b4b48aa2e2a23d585 +size 4983636 diff --git a/actions/locomotion_posture_dynamics/D18/session_012/annotations.json b/actions/locomotion_posture_dynamics/D18/session_012/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..5aacdba9462467e3a40f9eac6ea2c3066d915719 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D18/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": "D18", + "instruction": "Mime a jump shot with no ball: catch, set, rise and release. 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100644 index 0000000000000000000000000000000000000000..b67f6a300306484faffc946f5ecc7a806a0645b8 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D18/session_013/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72b37cad8e5858bb98715281b485df39206741605fbd1466a229a5a213d7b19b +size 428282 diff --git a/actions/locomotion_posture_dynamics/D18/session_013/meta.json b/actions/locomotion_posture_dynamics/D18/session_013/meta.json index 7e270a484cc523f115ccb65335701c2f464f4c0d..6a20fe90fb8c581352bdc68890d2cfd09612e202 100644 --- a/actions/locomotion_posture_dynamics/D18/session_013/meta.json +++ b/actions/locomotion_posture_dynamics/D18/session_013/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": { @@ -508,10 +508,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.8226443077781764 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 29.74, + "offset_rotvec": [ + 0.5136, + -0.0638, + 0.0396 + ], + "dev_deg": { + "median": 19.19, + "p90": 42.14 + }, + "samples": 1670, + "accepted": 1247, + "wrist_pos_err_mm_median": 50.9, + "per_camera": { + "head": { + "samples": 1670, + "accepted": 1247, + "gate_deg": 30.0, + "offset_deg": 29.74, + "tier": "primary", + "dev_deg_median": 19.19, + "wrist_pos_err_mm_median": 50.9 + } + }, + "frames_by_state": { + "ace_sample": 5085, + "interpolated": 2518, + "mean_hand": 1273, + "no_body_fit": 8 + }, + "observed_fraction": 0.8558, + "observed_fraction_of_valid": 0.8566, + "palm_axis_vs_markers_deg": { + "gsi": 30.17, + "smplx": 1.41 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.7, + "p90": 10.9 + }, + "registered": { + "median": 6.8, + "p90": 9.1 + } + } + }, + "right": { + "offset_deg": 16.68, + "offset_rotvec": [ + 0.2561, + 0.1301, + 0.0469 + ], + "dev_deg": { + "median": 12.06, + "p90": 37.22 + }, + "samples": 1648, + "accepted": 1337, + "wrist_pos_err_mm_median": 68.2, + "per_camera": { + "head": { + "samples": 1648, + "accepted": 1337, + "gate_deg": 30.0, + "offset_deg": 16.68, + "tier": "primary", + "dev_deg_median": 12.06, + "wrist_pos_err_mm_median": 68.2 + } + }, + "frames_by_state": { + "ace_sample": 5460, + "interpolated": 2788, + "mean_hand": 628, + "no_body_fit": 8 + }, + "observed_fraction": 0.9284, + "observed_fraction_of_valid": 0.9292, + "palm_axis_vs_markers_deg": { + "gsi": 18.98, + "smplx": 1.18 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.8, + "p90": 6.2 + }, + "registered": { + "median": 5.2, + "p90": 6.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:28:05.519006+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/D18/session_013", "family": "locomotion_posture_dynamics", "primitive": "D18", "source_session": "20260929/D18/20260929_101541_session190" + }, + "task": { + "primitive": "D18", + "instruction": "Mime a jump shot with no ball: catch, set, rise and release. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D18/session_013/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D18/session_013/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..db87637f659359ad03937291a7ee6b9961b532f7 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D18/session_013/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08cd3161bfbdeb7f350980936a525c2f983ed29ddda215b2ac633749de178342 +size 2295497