diff --git a/actions/locomanipulation/LM47/session_002/motions/smplx.npz b/actions/locomanipulation/LM47/session_002/motions/smplx.npz index fc3c72a3eca02c4e2888c21a9675af2aeca1afb2..22ffc48bb5a723d672db70de1a15733ddbdf5e05 100644 --- a/actions/locomanipulation/LM47/session_002/motions/smplx.npz +++ b/actions/locomanipulation/LM47/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:79ecdcb99a3d59eac76d9619016184a5667e3a19ca623be28e6da81d83bc8a54 -size 5006812 +oid sha256:327cd1a7298af0485c0389bbfc97d8484db158fc324237fac1980de8bfe9e16e +size 8464043 diff --git a/actions/locomanipulation/LM47/session_003/meta.json b/actions/locomanipulation/LM47/session_003/meta.json index d3ae83836c5a06b4cac8e490f18ce827242060d6..e70a90e90d00f6528c2e4f29455c0a109fbecb01 100644 --- a/actions/locomanipulation/LM47/session_003/meta.json +++ b/actions/locomanipulation/LM47/session_003/meta.json @@ -338,8 +338,8 @@ "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": { @@ -410,14 +410,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02575, - 0.26943, - 0.80116 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 170.1, - "opposite_sign_bend_deg": 25.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.96, + "inlier_spread_deg": 8.73, + "marker_Q_to_gsi_deg": { + "1": 169.2, + "-1": 13.2 + } + }, + "wrist_bend_deg_median": 163.1, + "opposite_sign_bend_deg": 35.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.75, "hand_vs_marker_frame_deg": { "before": 177.94, @@ -429,15 +440,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 163.2, + "twist_moved_deg": -159.76, "wrist_twist_deg_after": { - "median": 10.51, + "median": -3.44, "iqr": [ - 1.9, - 19.6 + -12.4, + 7.8 ] }, - "wrist_total_deg_median_after": 35.3, + "wrist_total_deg_median_after": 25.9, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -450,10 +461,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.959, + "inlier_spread_deg": 7.56, + "marker_Q_to_gsi_deg": { + "1": 5.4, + "-1": 176.4 + } + }, "wrist_bend_deg_median": 23.6, "opposite_sign_bend_deg": 174.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -484,7 +506,7 @@ }, "frames_used": 1308 }, - "generated_at_utc": "2026-10-28T06:14:54.377452+00:00", + "generated_at_utc": "2026-11-06T13:37:32.236357+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -528,6 +550,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8653516553873509 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 12.88, + "offset_rotvec": [ + -0.2024, + -0.0946, + 0.0253 + ], + "dev_deg": { + "median": 8.96, + "p90": 21.33 + }, + "samples": 3125, + "accepted": 3001, + "wrist_pos_err_mm_median": 55.4, + "per_camera": { + "head": { + "samples": 3125, + "accepted": 3001, + "gate_deg": 30.0, + "offset_deg": 12.88, + "tier": "primary", + "dev_deg_median": 8.96, + "wrist_pos_err_mm_median": 55.4 + } + }, + "frames_by_state": { + "ace_sample": 12060, + "interpolated": 668, + "mean_hand": 348, + "no_body_fit": 8 + }, + "observed_fraction": 0.9728, + "observed_fraction_of_valid": 0.9734, + "palm_axis_vs_markers_deg": { + "gsi": 12.82, + "smplx": 2.62 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.3, + "p90": 15.8 + }, + "registered": { + "median": 9.7, + "p90": 16.0 + } + } + }, + "right": { + "offset_deg": 4.21, + "offset_rotvec": [ + -0.06, + -0.0017, + 0.0424 + ], + "dev_deg": { + "median": 8.0, + "p90": 20.07 + }, + "samples": 3118, + "accepted": 2996, + "wrist_pos_err_mm_median": 54.4, + "per_camera": { + "head": { + "samples": 3118, + "accepted": 2996, + "gate_deg": 30.0, + "offset_deg": 4.21, + "tier": "primary", + "dev_deg_median": 8.0, + "wrist_pos_err_mm_median": 54.4 + } + }, + "frames_by_state": { + "ace_sample": 12018, + "interpolated": 566, + "mean_hand": 492, + "no_body_fit": 8 + }, + "observed_fraction": 0.9618, + "observed_fraction_of_valid": 0.9624, + "palm_axis_vs_markers_deg": { + "gsi": 8.06, + "smplx": 1.84 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.4, + "p90": 9.3 + }, + "registered": { + "median": 6.6, + "p90": 8.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:30:00.739378+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/locomanipulation/LM47/session_003", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM47/session_003/motions/smplx.npz b/actions/locomanipulation/LM47/session_003/motions/smplx.npz index ab700d2a9702fd9cb0f6df72187ac67c959d88f4..9c1647b32cd4304a832e31c261ba2c2be6c5e0dd 100644 --- a/actions/locomanipulation/LM47/session_003/motions/smplx.npz +++ b/actions/locomanipulation/LM47/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2c69bf0c8f401e04879e2403c6406316c5aa8efb74ba950ec5843841f8d194a3 -size 4996908 +oid sha256:88f5899c9459295089d9a2be0853471c9bbae23eb8637acf1a5aeb000f460392 +size 9271510 diff --git a/actions/locomanipulation/LM47/session_004/meta.json b/actions/locomanipulation/LM47/session_004/meta.json index 1b07158fc123368e2f6ebd21dc67436997c350a1..9c34c53481c0aa002d565189473f0b4d7bcb92d5 100644 --- a/actions/locomanipulation/LM47/session_004/meta.json +++ b/actions/locomanipulation/LM47/session_004/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": { @@ -396,14 +396,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02575, - 0.26943, - 0.80116 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 170.0, - "opposite_sign_bend_deg": 25.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.957, + "inlier_spread_deg": 9.1, + "marker_Q_to_gsi_deg": { + "1": 169.8, + "-1": 14.1 + } + }, + "wrist_bend_deg_median": 160.6, + "opposite_sign_bend_deg": 36.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.61, "hand_vs_marker_frame_deg": { "before": 177.57, @@ -415,15 +426,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 159.99, + "twist_moved_deg": -157.0, "wrist_twist_deg_after": { - "median": 12.47, + "median": -2.99, "iqr": [ - 2.2, - 22.7 + -14.9, + 8.1 ] }, - "wrist_total_deg_median_after": 36.8, + "wrist_total_deg_median_after": 26.4, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -436,10 +447,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - -0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.971, + "inlier_spread_deg": 8.57, + "marker_Q_to_gsi_deg": { + "1": 5.9, + "-1": 175.4 + } + }, "wrist_bend_deg_median": 22.4, "opposite_sign_bend_deg": 172.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -456,7 +478,7 @@ "forearm_twist": { "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -4.6, 10.4 @@ -470,7 +492,7 @@ }, "frames_used": 1308 }, - "generated_at_utc": "2026-10-28T06:14:54.665023+00:00", + "generated_at_utc": "2026-11-06T13:37:43.535769+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -514,6 +536,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.915065508686869 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 13.64, + "offset_rotvec": [ + -0.1865, + -0.1382, + 0.0525 + ], + "dev_deg": { + "median": 9.48, + "p90": 20.4 + }, + "samples": 3115, + "accepted": 2978, + "wrist_pos_err_mm_median": 65.8, + "per_camera": { + "head": { + "samples": 3115, + "accepted": 2978, + "gate_deg": 30.0, + "offset_deg": 13.64, + "tier": "primary", + "dev_deg_median": 9.48, + "wrist_pos_err_mm_median": 65.8 + } + }, + "frames_by_state": { + "ace_sample": 11954, + "interpolated": 798, + "mean_hand": 324, + "no_body_fit": 8 + }, + "observed_fraction": 0.9746, + "observed_fraction_of_valid": 0.9752, + "palm_axis_vs_markers_deg": { + "gsi": 13.9, + "smplx": 2.43 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.3, + "p90": 15.7 + }, + "registered": { + "median": 8.7, + "p90": 16.1 + } + } + }, + "right": { + "offset_deg": 5.82, + "offset_rotvec": [ + -0.093, + 0.0357, + 0.0197 + ], + "dev_deg": { + "median": 8.74, + "p90": 16.76 + }, + "samples": 3145, + "accepted": 3053, + "wrist_pos_err_mm_median": 61.8, + "per_camera": { + "head": { + "samples": 3145, + "accepted": 3053, + "gate_deg": 30.0, + "offset_deg": 5.82, + "tier": "primary", + "dev_deg_median": 8.74, + "wrist_pos_err_mm_median": 61.8 + } + }, + "frames_by_state": { + "ace_sample": 12239, + "interpolated": 376, + "mean_hand": 461, + "no_body_fit": 8 + }, + "observed_fraction": 0.9642, + "observed_fraction_of_valid": 0.9647, + "palm_axis_vs_markers_deg": { + "gsi": 8.43, + "smplx": 1.9 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.8, + "p90": 8.6 + }, + "registered": { + "median": 6.0, + "p90": 7.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:29:55.140384+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/locomanipulation/LM47/session_004", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM47/session_004/motions/smplx.npz b/actions/locomanipulation/LM47/session_004/motions/smplx.npz index c765b4a7c3dc296019f6d9308100f3e17062d0ca..1db58e74ee18ea6add0c4e959baa8b5a25713026 100644 --- a/actions/locomanipulation/LM47/session_004/motions/smplx.npz +++ b/actions/locomanipulation/LM47/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fbe32ea5b65d6fe7e9cc7693d809ac32bfb8591f8a0a54e9a8655b784d801a12 -size 5013531 +oid sha256:ff3d988bbeb3f2d5ec92c94f56a69aaf1486e796db0eb325332db36abec13cdf +size 9304742 diff --git a/actions/locomanipulation/LM48/session_001/meta.json b/actions/locomanipulation/LM48/session_001/meta.json index 1f99cd6a65acabc9b8467d2405e9f6528e7d5184..c6703e93feb23eba178dd3d8f231ed88793d2fb9 100644 --- a/actions/locomanipulation/LM48/session_001/meta.json +++ b/actions/locomanipulation/LM48/session_001/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": { @@ -398,14 +398,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02575, - 0.26943, - 0.80116 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 172.0, - "opposite_sign_bend_deg": 25.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.963, + "inlier_spread_deg": 9.23, + "marker_Q_to_gsi_deg": { + "1": 169.9, + "-1": 13.0 + } + }, + "wrist_bend_deg_median": 168.1, + "opposite_sign_bend_deg": 35.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.14, "hand_vs_marker_frame_deg": { "before": 177.59, @@ -417,15 +428,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 167.87, + "twist_moved_deg": -164.98, "wrist_twist_deg_after": { - "median": 3.88, + "median": -2.89, "iqr": [ - -2.5, - 10.0 + -10.9, + 1.6 ] }, - "wrist_total_deg_median_after": 35.2, + "wrist_total_deg_median_after": 26.7, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -437,11 +448,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, - -0.0, + 0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.989, + "inlier_spread_deg": 8.66, + "marker_Q_to_gsi_deg": { + "1": 8.0, + "-1": 173.6 + } + }, "wrist_bend_deg_median": 16.8, "opposite_sign_bend_deg": 174.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -456,9 +478,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -4.4, 6.1 @@ -472,7 +494,7 @@ }, "frames_used": 1295 }, - "generated_at_utc": "2026-10-28T06:14:54.818320+00:00", + "generated_at_utc": "2026-11-06T13:37:47.235649+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -516,6 +538,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9165200340975247 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 12.36, + "offset_rotvec": [ + -0.1936, + -0.0934, + 0.0188 + ], + "dev_deg": { + "median": 9.62, + "p90": 20.78 + }, + "samples": 3029, + "accepted": 2907, + "wrist_pos_err_mm_median": 86.1, + "per_camera": { + "head": { + "samples": 3029, + "accepted": 2907, + "gate_deg": 30.0, + "offset_deg": 12.36, + "tier": "primary", + "dev_deg_median": 9.62, + "wrist_pos_err_mm_median": 86.1 + } + }, + "frames_by_state": { + "ace_sample": 11712, + "interpolated": 1192, + "mean_hand": 46, + "no_body_fit": 134 + }, + "observed_fraction": 0.9862, + "observed_fraction_of_valid": 0.9964, + "palm_axis_vs_markers_deg": { + "gsi": 12.73, + "smplx": 2.67 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.2, + "p90": 15.2 + }, + "registered": { + "median": 10.1, + "p90": 15.7 + } + } + }, + "right": { + "offset_deg": 6.38, + "offset_rotvec": [ + -0.0964, + -0.0124, + 0.0543 + ], + "dev_deg": { + "median": 8.74, + "p90": 15.56 + }, + "samples": 3113, + "accepted": 3077, + "wrist_pos_err_mm_median": 100.4, + "per_camera": { + "head": { + "samples": 3113, + "accepted": 3077, + "gate_deg": 30.0, + "offset_deg": 6.38, + "tier": "primary", + "dev_deg_median": 8.74, + "wrist_pos_err_mm_median": 100.4 + } + }, + "frames_by_state": { + "ace_sample": 12358, + "interpolated": 430, + "mean_hand": 162, + "no_body_fit": 134 + }, + "observed_fraction": 0.9774, + "observed_fraction_of_valid": 0.9875, + "palm_axis_vs_markers_deg": { + "gsi": 9.23, + "smplx": 1.35 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.3, + "p90": 9.0 + }, + "registered": { + "median": 6.3, + "p90": 9.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:30:00.142786+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/locomanipulation/LM48/session_001", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM48/session_001/motions/smplx.npz b/actions/locomanipulation/LM48/session_001/motions/smplx.npz index 5850a9c6359e0fa2459df9e372f6352083e530ca..af56f4b30d7a60c6e3239febe23e0b52ea17084c 100644 --- a/actions/locomanipulation/LM48/session_001/motions/smplx.npz +++ b/actions/locomanipulation/LM48/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5c9b5e769b31c78dd203ccc0a538220c78d2f0e456bd1dfabb77875eb2ed4e57 -size 4998395 +oid sha256:3239b00e931054d74797aa7ef69df7ee7620583084131bbe4e9a297619ac7036 +size 9325357 diff --git a/actions/locomanipulation/LM48/session_002/meta.json b/actions/locomanipulation/LM48/session_002/meta.json index 79547fb3efeaaa1a4c8d8477edd19a2a77e9b997..e36d9136c980ae3a175266d6b3752c39253d6b42 100644 --- a/actions/locomanipulation/LM48/session_002/meta.json +++ b/actions/locomanipulation/LM48/session_002/meta.json @@ -338,8 +338,8 @@ "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": { @@ -409,10 +409,21 @@ 0.26943, 0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 171.9, - "opposite_sign_bend_deg": 25.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.958, + "inlier_spread_deg": 10.81, + "marker_Q_to_gsi_deg": { + "1": 169.3, + "-1": 12.7 + } + }, + "wrist_bend_deg_median": 165.5, + "opposite_sign_bend_deg": 34.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.79, "hand_vs_marker_frame_deg": { "before": 176.73, @@ -424,15 +435,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 166.33, + "twist_moved_deg": -161.81, "wrist_twist_deg_after": { - "median": 6.29, + "median": -4.52, "iqr": [ - -3.8, - 12.2 + -17.5, + 0.3 ] }, - "wrist_total_deg_median_after": 34.5, + "wrist_total_deg_median_after": 26.9, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -449,6 +460,17 @@ 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.982, + "inlier_spread_deg": 9.13, + "marker_Q_to_gsi_deg": { + "1": 8.1, + "-1": 174.4 + } + }, "wrist_bend_deg_median": 20.5, "opposite_sign_bend_deg": 172.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -479,7 +501,7 @@ }, "frames_used": 1309 }, - "generated_at_utc": "2026-10-28T06:14:58.638864+00:00", + "generated_at_utc": "2026-11-06T13:37:47.040920+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -523,6 +545,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0317628903617504 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 12.67, + "offset_rotvec": [ + -0.2094, + -0.0665, + 0.0246 + ], + "dev_deg": { + "median": 11.28, + "p90": 22.49 + }, + "samples": 3105, + "accepted": 2969, + "wrist_pos_err_mm_median": 77.7, + "per_camera": { + "head": { + "samples": 3105, + "accepted": 2969, + "gate_deg": 30.0, + "offset_deg": 12.67, + "tier": "primary", + "dev_deg_median": 11.28, + "wrist_pos_err_mm_median": 77.7 + } + }, + "frames_by_state": { + "ace_sample": 11940, + "interpolated": 788, + "mean_hand": 356, + "no_body_fit": 0 + }, + "observed_fraction": 0.9728, + "observed_fraction_of_valid": 0.9728, + "palm_axis_vs_markers_deg": { + "gsi": 13.52, + "smplx": 3.8 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.7, + "p90": 15.4 + }, + "registered": { + "median": 8.1, + "p90": 15.9 + } + } + }, + "right": { + "offset_deg": 6.03, + "offset_rotvec": [ + -0.0901, + -0.0123, + 0.053 + ], + "dev_deg": { + "median": 9.71, + "p90": 17.32 + }, + "samples": 3049, + "accepted": 2987, + "wrist_pos_err_mm_median": 96.7, + "per_camera": { + "head": { + "samples": 3049, + "accepted": 2987, + "gate_deg": 30.0, + "offset_deg": 6.03, + "tier": "primary", + "dev_deg_median": 9.71, + "wrist_pos_err_mm_median": 96.7 + } + }, + "frames_by_state": { + "ace_sample": 11992, + "interpolated": 476, + "mean_hand": 616, + "no_body_fit": 0 + }, + "observed_fraction": 0.9529, + "observed_fraction_of_valid": 0.9529, + "palm_axis_vs_markers_deg": { + "gsi": 9.32, + "smplx": 2.27 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.0, + "p90": 7.3 + }, + "registered": { + "median": 6.3, + "p90": 7.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:30:00.439831+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/locomanipulation/LM48/session_002", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM48/session_002/motions/smplx.npz b/actions/locomanipulation/LM48/session_002/motions/smplx.npz index 885a185c659823a1a3dadc6b347b2442439fec7c..ece6933a8743dc29ca605dfc4caa654f6f5092d4 100644 --- a/actions/locomanipulation/LM48/session_002/motions/smplx.npz +++ b/actions/locomanipulation/LM48/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:be44981951da7e281d4a7a0f5b8dc9e3e39f449c2c8fd4fda7ba07be1ed93f69 -size 5047179 +oid sha256:71b675be2b4181d5f0d4bdbfed80057a38de56a1274df14f00598589c445e9d6 +size 9318188 diff --git a/actions/locomanipulation/LM48/session_003/meta.json b/actions/locomanipulation/LM48/session_003/meta.json index 78cd375e83f11438e3ff180b417bf956ba1f405a..8a69d483796a5e17d0ba5ac5b422163f9198d5a3 100644 --- a/actions/locomanipulation/LM48/session_003/meta.json +++ b/actions/locomanipulation/LM48/session_003/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": { @@ -415,10 +415,21 @@ 0.26943, 0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 172.4, - "opposite_sign_bend_deg": 24.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2911, + "inlier_frac": 0.95, + "inlier_spread_deg": 9.24, + "marker_Q_to_gsi_deg": { + "1": 169.4, + "-1": 14.1 + } + }, + "wrist_bend_deg_median": 168.3, + "opposite_sign_bend_deg": 34.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.29, "hand_vs_marker_frame_deg": { "before": 177.27, @@ -430,15 +441,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 168.35, + "twist_moved_deg": -165.14, "wrist_twist_deg_after": { - "median": 4.39, + "median": -3.21, "iqr": [ - -0.3, - 11.4 + -8.5, + 2.4 ] }, - "wrist_total_deg_median_after": 34.6, + "wrist_total_deg_median_after": 24.9, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -455,6 +466,17 @@ 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2936, + "inlier_frac": 0.987, + "inlier_spread_deg": 8.37, + "marker_Q_to_gsi_deg": { + "1": 10.6, + "-1": 172.2 + } + }, "wrist_bend_deg_median": 19.6, "opposite_sign_bend_deg": 174.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -485,7 +507,7 @@ }, "frames_used": 1248 }, - "generated_at_utc": "2026-10-28T06:15:00.275467+00:00", + "generated_at_utc": "2026-11-06T13:37:50.435538+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -529,6 +551,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0414065434101758 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 13.16, + "offset_rotvec": [ + -0.1993, + -0.1138, + 0.01 + ], + "dev_deg": { + "median": 9.44, + "p90": 23.58 + }, + "samples": 2911, + "accepted": 2762, + "wrist_pos_err_mm_median": 86.4, + "per_camera": { + "head": { + "samples": 2911, + "accepted": 2762, + "gate_deg": 30.0, + "offset_deg": 13.16, + "tier": "primary", + "dev_deg_median": 9.44, + "wrist_pos_err_mm_median": 86.4 + } + }, + "frames_by_state": { + "ace_sample": 11098, + "interpolated": 774, + "mean_hand": 604, + "no_body_fit": 8 + }, + "observed_fraction": 0.951, + "observed_fraction_of_valid": 0.9516, + "palm_axis_vs_markers_deg": { + "gsi": 12.9, + "smplx": 3.08 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.0, + "p90": 15.2 + }, + "registered": { + "median": 8.8, + "p90": 15.7 + } + } + }, + "right": { + "offset_deg": 9.76, + "offset_rotvec": [ + -0.1532, + 0.0038, + 0.0746 + ], + "dev_deg": { + "median": 8.51, + "p90": 15.67 + }, + "samples": 2936, + "accepted": 2898, + "wrist_pos_err_mm_median": 95.8, + "per_camera": { + "head": { + "samples": 2936, + "accepted": 2898, + "gate_deg": 30.0, + "offset_deg": 9.76, + "tier": "primary", + "dev_deg_median": 8.51, + "wrist_pos_err_mm_median": 95.8 + } + }, + "frames_by_state": { + "ace_sample": 11622, + "interpolated": 518, + "mean_hand": 336, + "no_body_fit": 8 + }, + "observed_fraction": 0.9724, + "observed_fraction_of_valid": 0.9731, + "palm_axis_vs_markers_deg": { + "gsi": 9.9, + "smplx": 1.45 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.3, + "p90": 7.8 + }, + "registered": { + "median": 6.4, + "p90": 8.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:30:00.042456+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/locomanipulation/LM48/session_003", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM48/session_003/motions/smplx.npz b/actions/locomanipulation/LM48/session_003/motions/smplx.npz index bad520fdf94840ccfc5d643e1058e0cd3ece3bf3..4f5c80951dd17a06e215b220df296dc5143f0c6f 100644 --- a/actions/locomanipulation/LM48/session_003/motions/smplx.npz +++ b/actions/locomanipulation/LM48/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c67fd6c25c520ff8d10eac099f2c924736038be463c509a249983bc102c980c6 -size 4809764 +oid sha256:7c16f07254e4e137856f319938888fc91ab3bf824ca924fe0a4746a41d190c2a +size 8890925 diff --git a/actions/locomanipulation/LM48/session_011/meta.json b/actions/locomanipulation/LM48/session_011/meta.json index c1c68c3add09d5b953f09c2f081868b1aa4613aa..ed7b5eb04338b3f70efa3e28042b79f96b896c95 100644 --- a/actions/locomanipulation/LM48/session_011/meta.json +++ b/actions/locomanipulation/LM48/session_011/meta.json @@ -353,8 +353,8 @@ "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": { @@ -413,19 +413,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - 2.98163, - -0.44128, - -0.88585 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 172.6, - "opposite_sign_bend_deg": 59.5, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.686, + "inlier_spread_deg": 13.84, + "marker_Q_to_gsi_deg": { + "1": 24.9, + "-1": 165.4 + } + }, + "wrist_bend_deg_median": 27.2, + "opposite_sign_bend_deg": 167.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.05, "hand_vs_marker_frame_deg": { - "before": 179.31, + "before": 2.05, "after": 2.05 }, "markers_on_wrist": [ @@ -433,15 +444,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -168.72, + "twist_moved_deg": -8.37, "wrist_twist_deg_after": { - "median": -8.37, + "median": -0.0, "iqr": [ - -16.7, - -2.8 + -8.3, + 5.6 ] }, - "wrist_total_deg_median_after": 27.2, + "wrist_total_deg_median_after": 27.0, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -452,19 +463,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + -2.98331, + -0.42685, + -0.88729 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 38.3, - "opposite_sign_bend_deg": 168.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.8, + "inlier_spread_deg": 13.33, + "marker_Q_to_gsi_deg": { + "1": 158.5, + "-1": 22.9 + } + }, + "wrist_bend_deg_median": 172.3, + "opposite_sign_bend_deg": 37.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.18, "hand_vs_marker_frame_deg": { - "before": 4.18, + "before": 177.19, "after": 4.18 }, "markers_on_wrist": [ @@ -472,15 +494,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -5.09, + "twist_moved_deg": 42.29, "wrist_twist_deg_after": { - "median": -0.0, + "median": 134.01, "iqr": [ - -6.7, - 7.4 + 128.7, + 143.0 ] }, - "wrist_total_deg_median_after": 37.7, + "wrist_total_deg_median_after": 135.4, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -489,10 +511,120 @@ }, "frames_used": 1430 }, - "generated_at_utc": "2026-10-28T06:49:37.376563+00:00", + "generated_at_utc": "2026-11-06T14:18:01.536656+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 34.89, + "offset_rotvec": [ + 0.3976, + -0.4513, + 0.095 + ], + "dev_deg": { + "median": 23.13, + "p90": 37.12 + }, + "samples": 3489, + "accepted": 2498, + "wrist_pos_err_mm_median": 30.4, + "per_camera": { + "head": { + "samples": 3489, + "accepted": 2498, + "gate_deg": 30.0, + "offset_deg": 34.89, + "tier": "primary", + "dev_deg_median": 23.13, + "wrist_pos_err_mm_median": 30.4 + } + }, + "frames_by_state": { + "ace_sample": 10106, + "interpolated": 2178, + "mean_hand": 2015, + "no_body_fit": 433 + }, + "observed_fraction": 0.8338, + "observed_fraction_of_valid": 0.8591, + "palm_axis_vs_markers_deg": { + "gsi": 30.24, + "smplx": 1.33 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.2, + "p90": 9.0 + }, + "registered": { + "median": 5.6, + "p90": 8.4 + } + } + }, + "right": { + "offset_deg": 29.32, + "offset_rotvec": [ + 0.5015, + 0.1014, + 0.0017 + ], + "dev_deg": { + "median": 17.03, + "p90": 148.03 + }, + "samples": 3473, + "accepted": 2789, + "wrist_pos_err_mm_median": 53.1, + "per_camera": { + "head": { + "samples": 3473, + "accepted": 2789, + "gate_deg": 30.0, + "offset_deg": 29.32, + "tier": "primary", + "dev_deg_median": 17.03, + "wrist_pos_err_mm_median": 53.1 + } + }, + "frames_by_state": { + "ace_sample": 11192, + "interpolated": 518, + "mean_hand": 2589, + "no_body_fit": 433 + }, + "observed_fraction": 0.7949, + "observed_fraction_of_valid": 0.8189, + "palm_axis_vs_markers_deg": { + "gsi": 25.07, + "smplx": 3.7 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.1, + "p90": 6.4 + }, + "registered": { + "median": 5.7, + "p90": 8.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:53:20.740446+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/locomanipulation/LM48/session_011", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM48/session_011/motions/smplx.npz b/actions/locomanipulation/LM48/session_011/motions/smplx.npz index af81c9cf26db103aaef0c76b21cefb1761f31829..0315c8efdd97c64210bf03d666e790501392dc3d 100644 --- a/actions/locomanipulation/LM48/session_011/motions/smplx.npz +++ b/actions/locomanipulation/LM48/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:01f89b7f61bf3a142c9786a370926590fada59185a2104d6bc944747be710506 -size 5512451 +oid sha256:df1c4e7679a15752e468d541ce268394d938aa2ff03203ee94f6cdb03f2c0ce7 +size 9637713 diff --git a/actions/locomanipulation/LM48/session_012/meta.json b/actions/locomanipulation/LM48/session_012/meta.json index 3831da3e53d786799a7f28da30565df6b57850ba..80c8f20d66060fe632cebf67ab9e757b975f8948 100644 --- a/actions/locomanipulation/LM48/session_012/meta.json +++ b/actions/locomanipulation/LM48/session_012/meta.json @@ -353,8 +353,8 @@ "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": { @@ -418,19 +418,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - 2.98163, - -0.44128, - -0.88585 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 171.2, - "opposite_sign_bend_deg": 58.7, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.758, + "inlier_spread_deg": 12.65, + "marker_Q_to_gsi_deg": { + "1": 26.2, + "-1": 164.5 + } + }, + "wrist_bend_deg_median": 25.8, + "opposite_sign_bend_deg": 168.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.74, "hand_vs_marker_frame_deg": { - "before": 179.08, + "before": 1.74, "after": 1.74 }, "markers_on_wrist": [ @@ -439,15 +450,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -169.26, + "twist_moved_deg": -5.81, "wrist_twist_deg_after": { - "median": -5.81, + "median": -0.0, "iqr": [ - -19.7, - -1.7 + -13.8, + 4.1 ] }, - "wrist_total_deg_median_after": 25.8, + "wrist_total_deg_median_after": 25.4, "markers_on_forearm": [ "LElbowIn", "LForearm", @@ -458,19 +469,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 2.98331, + 0.42685, + 0.88729 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 34.4, - "opposite_sign_bend_deg": 173.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.509, + "inlier_spread_deg": 9.83, + "marker_Q_to_gsi_deg": { + "1": 159.7, + "-1": 22.2 + } + }, + "wrist_bend_deg_median": 173.1, + "opposite_sign_bend_deg": 34.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.24, "hand_vs_marker_frame_deg": { - "before": 3.24, + "before": 178.37, "after": 3.24 }, "markers_on_wrist": [ @@ -478,15 +500,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.04, + "twist_moved_deg": -146.43, "wrist_twist_deg_after": { - "median": -0.0, + "median": -32.73, "iqr": [ - -8.9, - 5.9 + -43.6, + -28.0 ] }, - "wrist_total_deg_median_after": 34.5, + "wrist_total_deg_median_after": 45.8, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -495,10 +517,120 @@ }, "frames_used": 1397 }, - "generated_at_utc": "2026-10-28T06:49:37.673977+00:00", + "generated_at_utc": "2026-11-06T14:18:01.472754+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 34.41, + "offset_rotvec": [ + 0.3634, + -0.4688, + 0.0939 + ], + "dev_deg": { + "median": 19.22, + "p90": 33.81 + }, + "samples": 3439, + "accepted": 2869, + "wrist_pos_err_mm_median": 33.0, + "per_camera": { + "head": { + "samples": 3439, + "accepted": 2869, + "gate_deg": 30.0, + "offset_deg": 34.41, + "tier": "primary", + "dev_deg_median": 19.22, + "wrist_pos_err_mm_median": 33.0 + } + }, + "frames_by_state": { + "ace_sample": 11596, + "interpolated": 1636, + "mean_hand": 730, + "no_body_fit": 190 + }, + "observed_fraction": 0.935, + "observed_fraction_of_valid": 0.9477, + "palm_axis_vs_markers_deg": { + "gsi": 29.68, + "smplx": 1.48 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.3, + "p90": 8.1 + }, + "registered": { + "median": 6.1, + "p90": 10.1 + } + } + }, + "right": { + "offset_deg": 52.93, + "offset_rotvec": [ + 0.8929, + 0.1934, + 0.1375 + ], + "dev_deg": { + "median": 48.99, + "p90": 154.3 + }, + "samples": 3365, + "accepted": 741, + "wrist_pos_err_mm_median": 60.5, + "per_camera": { + "head": { + "samples": 3365, + "accepted": 741, + "gate_deg": 30.0, + "offset_deg": 52.93, + "tier": "primary", + "dev_deg_median": 48.99, + "wrist_pos_err_mm_median": 60.5 + } + }, + "frames_by_state": { + "ace_sample": 2976, + "interpolated": 1018, + "mean_hand": 9968, + "no_body_fit": 190 + }, + "observed_fraction": 0.2822, + "observed_fraction_of_valid": 0.2861, + "palm_axis_vs_markers_deg": { + "gsi": 34.04, + "smplx": 3.19 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 3.3, + "p90": 5.5 + }, + "registered": { + "median": 3.0, + "p90": 4.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:53:12.646523+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/locomanipulation/LM48/session_012", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM48/session_012/motions/smplx.npz b/actions/locomanipulation/LM48/session_012/motions/smplx.npz index 4607116c608bab1c62286c5c7769b8da463d5e4c..b571947e8325f5fd52b1f52a997c5a192667ddf1 100644 --- a/actions/locomanipulation/LM48/session_012/motions/smplx.npz +++ b/actions/locomanipulation/LM48/session_012/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7613f0a441a843b31b386568576ddf5c04b71245911bc7691a92a7f741fc84c6 -size 5378793 +oid sha256:49bf56f4d6fcec090ec66a7c1c3e39c3e24b951eaead6425ebdc493b55f6979c +size 8408875 diff --git a/actions/locomanipulation/LM51/session_001/meta.json b/actions/locomanipulation/LM51/session_001/meta.json index 30abbb768f905386d8f7e92f329fb44e8865929f..655c4b8d315e185ca26c6f9af8576f0752ba0f21 100644 --- a/actions/locomanipulation/LM51/session_001/meta.json +++ b/actions/locomanipulation/LM51/session_001/meta.json @@ -338,8 +338,8 @@ "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": { @@ -398,19 +398,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -3.02575, + 0.26943, + 0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 42.2, - "opposite_sign_bend_deg": 170.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.728, + "inlier_spread_deg": 15.09, + "marker_Q_to_gsi_deg": { + "1": 170.9, + "-1": 11.8 + } + }, + "wrist_bend_deg_median": 171.7, + "opposite_sign_bend_deg": 42.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 8.12, "hand_vs_marker_frame_deg": { - "before": 8.12, + "before": 178.85, "after": 8.12 }, "markers_on_wrist": [ @@ -418,15 +429,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 1.55, + "twist_moved_deg": -168.08, "wrist_twist_deg_after": { - "median": 0.0, + "median": -5.29, "iqr": [ - -7.0, - 12.0 + -11.2, + 0.4 ] }, - "wrist_total_deg_median_after": 43.3, + "wrist_total_deg_median_after": 38.5, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -439,11 +450,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.926, + "inlier_spread_deg": 11.39, + "marker_Q_to_gsi_deg": { + "1": 7.6, + "-1": 175.3 + } + }, "wrist_bend_deg_median": 28.8, "opposite_sign_bend_deg": 169.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -457,9 +479,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -8.8, 8.8 @@ -474,7 +496,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:15:01.082083+00:00", + "generated_at_utc": "2026-11-06T13:38:05.735655+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -582,6 +604,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 8.33, + "offset_rotvec": [ + 0.0433, + -0.0658, + -0.1222 + ], + "dev_deg": { + "median": 24.53, + "p90": 130.35 + }, + "samples": 4214, + "accepted": 2721, + "wrist_pos_err_mm_median": 60.5, + "per_camera": { + "head": { + "samples": 4214, + "accepted": 2721, + "gate_deg": 30.0, + "offset_deg": 8.33, + "tier": "primary", + "dev_deg_median": 24.53, + "wrist_pos_err_mm_median": 60.5 + } + }, + "frames_by_state": { + "ace_sample": 10912, + "interpolated": 1192, + "mean_hand": 5180, + "no_body_fit": 0 + }, + "observed_fraction": 0.7003, + "observed_fraction_of_valid": 0.7003, + "palm_axis_vs_markers_deg": { + "gsi": 15.93, + "smplx": 2.43 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.2, + "p90": 13.8 + }, + "registered": { + "median": 9.2, + "p90": 14.2 + } + } + }, + "right": { + "offset_deg": 8.57, + "offset_rotvec": [ + -0.1022, + -0.102, + 0.039 + ], + "dev_deg": { + "median": 11.89, + "p90": 26.32 + }, + "samples": 4068, + "accepted": 3764, + "wrist_pos_err_mm_median": 36.6, + "per_camera": { + "head": { + "samples": 4068, + "accepted": 3764, + "gate_deg": 30.0, + "offset_deg": 8.57, + "tier": "primary", + "dev_deg_median": 11.89, + "wrist_pos_err_mm_median": 36.6 + } + }, + "frames_by_state": { + "ace_sample": 15080, + "interpolated": 624, + "mean_hand": 1580, + "no_body_fit": 0 + }, + "observed_fraction": 0.9086, + "observed_fraction_of_valid": 0.9086, + "palm_axis_vs_markers_deg": { + "gsi": 14.11, + "smplx": 4.22 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.0, + "p90": 13.8 + }, + "registered": { + "median": 8.9, + "p90": 13.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:30:04.240227+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/locomanipulation/LM51/session_001", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM51/session_001/motions/smplx.npz b/actions/locomanipulation/LM51/session_001/motions/smplx.npz index 8369bb92e5573ffe57cdeed77750db5a620e9b86..36784db5333589582d81af58fecc74b0ea388d74 100644 --- a/actions/locomanipulation/LM51/session_001/motions/smplx.npz +++ b/actions/locomanipulation/LM51/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:41a0544108c47be284ef996475da76a340becc653d906e00df2011ecaaef860d -size 6545836 +oid sha256:945dafa99164096b5178598d50a3608870f1207e574e5e23ab87f0f85fc26b32 +size 11401855 diff --git a/actions/locomanipulation/LM51/session_002/meta.json b/actions/locomanipulation/LM51/session_002/meta.json index 0a799cc5e9387617ab81746053b8bb62911cf666..08178dcefdb149f769fb45443b7ad5c57657d7d4 100644 --- a/actions/locomanipulation/LM51/session_002/meta.json +++ b/actions/locomanipulation/LM51/session_002/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": { @@ -384,19 +384,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 48.4, - "opposite_sign_bend_deg": 167.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.648, + "inlier_spread_deg": 15.67, + "marker_Q_to_gsi_deg": { + "1": 172.7, + "-1": 8.5 + } + }, + "wrist_bend_deg_median": 165.2, + "opposite_sign_bend_deg": 48.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 9.81, "hand_vs_marker_frame_deg": { - "before": 9.81, + "before": 178.53, "after": 9.81 }, "markers_on_wrist": [ @@ -404,15 +415,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -3.82, + "twist_moved_deg": -148.3, "wrist_twist_deg_after": { - "median": -0.0, + "median": -22.85, "iqr": [ - -10.6, - 23.1 + -34.2, + -6.6 ] }, - "wrist_total_deg_median_after": 48.3, + "wrist_total_deg_median_after": 45.4, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -426,10 +437,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.903, + "inlier_spread_deg": 9.99, + "marker_Q_to_gsi_deg": { + "1": 6.0, + "-1": 179.5 + } + }, "wrist_bend_deg_median": 30.0, "opposite_sign_bend_deg": 167.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -445,7 +467,7 @@ "forearm_twist": { "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -8.5, 14.4 @@ -460,7 +482,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:15:01.147615+00:00", + "generated_at_utc": "2026-11-06T13:38:08.542278+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -576,6 +598,116 @@ }, "applied": 4 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 6.8, + "offset_rotvec": [ + -0.0625, + -0.0872, + -0.0509 + ], + "dev_deg": { + "median": 22.93, + "p90": 108.21 + }, + "samples": 4069, + "accepted": 2574, + "wrist_pos_err_mm_median": 66.7, + "per_camera": { + "head": { + "samples": 4069, + "accepted": 2574, + "gate_deg": 30.0, + "offset_deg": 6.8, + "tier": "primary", + "dev_deg_median": 22.93, + "wrist_pos_err_mm_median": 66.7 + } + }, + "frames_by_state": { + "ace_sample": 10314, + "interpolated": 1042, + "mean_hand": 7128, + "no_body_fit": 0 + }, + "observed_fraction": 0.6144, + "observed_fraction_of_valid": 0.6144, + "palm_axis_vs_markers_deg": { + "gsi": 16.22, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 6.79, + "offset_rotvec": [ + -0.0576, + -0.0891, + 0.0526 + ], + "dev_deg": { + "median": 11.54, + "p90": 27.31 + }, + "samples": 4380, + "accepted": 3985, + "wrist_pos_err_mm_median": 39.7, + "per_camera": { + "head": { + "samples": 4380, + "accepted": 3985, + "gate_deg": 30.0, + "offset_deg": 6.79, + "tier": "primary", + "dev_deg_median": 11.54, + "wrist_pos_err_mm_median": 39.7 + } + }, + "frames_by_state": { + "ace_sample": 15958, + "interpolated": 698, + "mean_hand": 1828, + "no_body_fit": 0 + }, + "observed_fraction": 0.9011, + "observed_fraction_of_valid": 0.9011, + "palm_axis_vs_markers_deg": { + "gsi": 12.58, + "smplx": 3.21 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.3, + "p90": 13.0 + }, + "registered": { + "median": 7.4, + "p90": 12.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:30:05.239332+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/locomanipulation/LM51/session_002", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM51/session_002/motions/smplx.npz b/actions/locomanipulation/LM51/session_002/motions/smplx.npz index ea35e24f9ee6925dbc17b9ad976505efdf1375ff..8721a10c64544bffaede1def163dd94259a64563 100644 --- a/actions/locomanipulation/LM51/session_002/motions/smplx.npz +++ b/actions/locomanipulation/LM51/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4c461242241a8004ec6675277b5e4b1595fe7b8440297ec026e78f3e056bb22f -size 7010714 +oid sha256:9d0dda45d910cc0a61a4fc21c317f60e8f9fa71493964bcffb5d2e75cc258989 +size 11915087 diff --git a/actions/locomanipulation/LM54/session_001/meta.json b/actions/locomanipulation/LM54/session_001/meta.json index 18ae1359ce099bac57f96a13bee909bf27eb6b9e..687ce06d2a528534b3a8845b727319ab1b27b1f9 100644 --- a/actions/locomanipulation/LM54/session_001/meta.json +++ b/actions/locomanipulation/LM54/session_001/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": 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": { @@ -436,10 +436,21 @@ 0.4392, 0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 173.3, - "opposite_sign_bend_deg": 26.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.827, + "inlier_spread_deg": 11.53, + "marker_Q_to_gsi_deg": { + "1": 174.7, + "-1": 17.5 + } + }, + "wrist_bend_deg_median": 163.5, + "opposite_sign_bend_deg": 42.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.86, "hand_vs_marker_frame_deg": { "before": 179.35, @@ -451,15 +462,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -163.99, + "twist_moved_deg": 163.55, "wrist_twist_deg_after": { - "median": -15.85, + "median": 0.44, "iqr": [ - -28.6, - -10.7 + -8.8, + 8.8 ] }, - "wrist_total_deg_median_after": 41.3, + "wrist_total_deg_median_after": 25.7, "markers_on_forearm": [ "LForearm", "LWristIn" @@ -472,10 +483,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - 0.0, + -0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.908, + "inlier_spread_deg": 10.17, + "marker_Q_to_gsi_deg": { + "1": 9.4, + "-1": 178.0 + } + }, "wrist_bend_deg_median": 15.6, "opposite_sign_bend_deg": 176.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -491,7 +513,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -3.0, 4.1 @@ -506,10 +528,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:46:56.610174+00:00", + "generated_at_utc": "2026-11-06T14:12:59.467977+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 18.77, + "offset_rotvec": [ + 0.0867, + -0.3123, + -0.048 + ], + "dev_deg": { + "median": 14.4, + "p90": 75.1 + }, + "samples": 3658, + "accepted": 3059, + "wrist_pos_err_mm_median": 44.7, + "per_camera": { + "head": { + "samples": 3658, + "accepted": 3059, + "gate_deg": 30.0, + "offset_deg": 18.77, + "tier": "primary", + "dev_deg_median": 14.4, + "wrist_pos_err_mm_median": 44.7 + } + }, + "frames_by_state": { + "ace_sample": 12342, + "interpolated": 1866, + "mean_hand": 3444, + "no_body_fit": 8 + }, + "observed_fraction": 0.8045, + "observed_fraction_of_valid": 0.8049, + "palm_axis_vs_markers_deg": { + "gsi": 19.94, + "smplx": 1.08 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.8, + "p90": 10.9 + }, + "registered": { + "median": 8.4, + "p90": 10.6 + } + } + }, + "right": { + "offset_deg": 9.44, + "offset_rotvec": [ + -0.0662, + 0.0461, + 0.1437 + ], + "dev_deg": { + "median": 11.33, + "p90": 28.12 + }, + "samples": 3631, + "accepted": 3310, + "wrist_pos_err_mm_median": 52.5, + "per_camera": { + "head": { + "samples": 3631, + "accepted": 3310, + "gate_deg": 30.0, + "offset_deg": 9.44, + "tier": "primary", + "dev_deg_median": 11.33, + "wrist_pos_err_mm_median": 52.5 + } + }, + "frames_by_state": { + "ace_sample": 13463, + "interpolated": 3268, + "mean_hand": 921, + "no_body_fit": 8 + }, + "observed_fraction": 0.9474, + "observed_fraction_of_valid": 0.9478, + "palm_axis_vs_markers_deg": { + "gsi": 9.5, + "smplx": 0.94 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.7, + "p90": 6.0 + }, + "registered": { + "median": 4.5, + "p90": 5.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:44:09.141606+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/locomanipulation/LM54/session_001", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM54/session_001/motions/smplx.npz b/actions/locomanipulation/LM54/session_001/motions/smplx.npz index ac6aadbfc6d266722d5c7b1e949b3188de92efd0..f9e9507bcb776f2661ae93ac5ea807953c2ab303 100644 --- a/actions/locomanipulation/LM54/session_001/motions/smplx.npz +++ b/actions/locomanipulation/LM54/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d3ab7d66252c1dffe820682dcfa32e593bf68d9ea8762f2afed6a8eadb3df900 -size 6809177 +oid sha256:86562703bcd9657b066ee8e6c6a7cf4bc9b2e032c0707b0e1dc9865d30572ee3 +size 12154388 diff --git a/actions/locomanipulation/LM54/session_002/meta.json b/actions/locomanipulation/LM54/session_002/meta.json index 24273003f7e5fc8b5f73174d289c26d08d05176b..41bd86eb7020d6e389efa499f3f2afc89739491d 100644 --- a/actions/locomanipulation/LM54/session_002/meta.json +++ b/actions/locomanipulation/LM54/session_002/meta.json @@ -353,8 +353,8 @@ "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": { @@ -420,14 +420,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + 3.02707, + -0.2415, + -0.80507 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 166.9, - "opposite_sign_bend_deg": 28.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.946, + "inlier_spread_deg": 7.79, + "marker_Q_to_gsi_deg": { + "1": 170.3, + "-1": 17.4 + } + }, + "wrist_bend_deg_median": 162.2, + "opposite_sign_bend_deg": 33.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.99, "hand_vs_marker_frame_deg": { "before": 178.63, @@ -438,15 +449,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 161.81, + "twist_moved_deg": -159.77, "wrist_twist_deg_after": { - "median": 11.6, + "median": -2.04, "iqr": [ - 5.4, - 33.8 + -9.2, + 18.6 ] }, - "wrist_total_deg_median_after": 34.6, + "wrist_total_deg_median_after": 27.7, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -460,16 +471,27 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - 0.0, - 0.0 + -1e-05, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.929, + "inlier_spread_deg": 8.69, + "marker_Q_to_gsi_deg": { + "1": 13.4, + "-1": 173.0 + } + }, "wrist_bend_deg_median": 19.4, "opposite_sign_bend_deg": 170.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.58, "hand_vs_marker_frame_deg": { - "before": 3.57, + "before": 3.58, "after": 3.58 }, "markers_on_wrist": [ @@ -478,9 +500,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.01, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -13.5, 8.5 @@ -494,10 +516,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:48:00.821252+00:00", + "generated_at_utc": "2026-11-06T14:16:22.661182+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.53, + "offset_rotvec": [ + -0.1423, + -0.1957, + 0.1872 + ], + "dev_deg": { + "median": 8.19, + "p90": 19.61 + }, + "samples": 4625, + "accepted": 4373, + "wrist_pos_err_mm_median": 40.3, + "per_camera": { + "head": { + "samples": 4625, + "accepted": 4373, + "gate_deg": 30.0, + "offset_deg": 17.53, + "tier": "primary", + "dev_deg_median": 8.19, + "wrist_pos_err_mm_median": 40.3 + } + }, + "frames_by_state": { + "ace_sample": 17524, + "interpolated": 372, + "mean_hand": 718, + "no_body_fit": 10 + }, + "observed_fraction": 0.9609, + "observed_fraction_of_valid": 0.9614, + "palm_axis_vs_markers_deg": { + "gsi": 16.3, + "smplx": 1.96 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.4, + "p90": 13.0 + }, + "registered": { + "median": 10.7, + "p90": 13.9 + } + } + }, + "right": { + "offset_deg": 13.5, + "offset_rotvec": [ + -0.0656, + -0.1155, + -0.1947 + ], + "dev_deg": { + "median": 9.17, + "p90": 20.66 + }, + "samples": 4424, + "accepted": 4070, + "wrist_pos_err_mm_median": 39.3, + "per_camera": { + "head": { + "samples": 4424, + "accepted": 4070, + "gate_deg": 30.0, + "offset_deg": 13.5, + "tier": "primary", + "dev_deg_median": 9.17, + "wrist_pos_err_mm_median": 39.3 + } + }, + "frames_by_state": { + "ace_sample": 16280, + "interpolated": 112, + "mean_hand": 2222, + "no_body_fit": 10 + }, + "observed_fraction": 0.8802, + "observed_fraction_of_valid": 0.8806, + "palm_axis_vs_markers_deg": { + "gsi": 12.21, + "smplx": 2.54 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.0, + "p90": 11.1 + }, + "registered": { + "median": 8.9, + "p90": 10.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:51:17.941142+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/locomanipulation/LM54/session_002", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM54/session_002/motions/smplx.npz b/actions/locomanipulation/LM54/session_002/motions/smplx.npz index d5eb81dc2dd9a4f3da611b04cf476a6ff8110d56..58dff29f186b28879b461eb53b033a9c21ee742d 100644 --- a/actions/locomanipulation/LM54/session_002/motions/smplx.npz +++ b/actions/locomanipulation/LM54/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2310f6643251efeceda5d9b35604b6f4a1a643cd2f6acf33bb96845967cbc5a3 -size 7146062 +oid sha256:8a3dafcc30ceb03c235eae332bdf01be7bc2e378970dc2634b5cf1036486de3b +size 12942020 diff --git a/actions/locomanipulation/LM54/session_003/meta.json b/actions/locomanipulation/LM54/session_003/meta.json index e2cf181005861d5ec37bf06804b7bcf3af96510e..3e87a6c117277c37af3af2535b2c9386ca1c7906 100644 --- a/actions/locomanipulation/LM54/session_003/meta.json +++ b/actions/locomanipulation/LM54/session_003/meta.json @@ -353,8 +353,8 @@ "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": { @@ -423,19 +423,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + 3.02707, + -0.24149, + -0.80508 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 37.4, - "opposite_sign_bend_deg": 161.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.961, + "inlier_spread_deg": 9.12, + "marker_Q_to_gsi_deg": { + "1": 173.3, + "-1": 15.1 + } + }, + "wrist_bend_deg_median": 171.4, + "opposite_sign_bend_deg": 36.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.74, "hand_vs_marker_frame_deg": { - "before": 3.74, + "before": 178.53, "after": 3.74 }, "markers_on_wrist": [ @@ -444,15 +455,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 11.88, + "twist_moved_deg": -146.65, "wrist_twist_deg_after": { - "median": 0.0, + "median": -26.24, "iqr": [ - -6.5, - 24.3 + -34.9, + -3.2 ] }, - "wrist_total_deg_median_after": 38.6, + "wrist_total_deg_median_after": 34.8, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -464,11 +475,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, - 0.0 + -1e-05, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.913, + "inlier_spread_deg": 10.47, + "marker_Q_to_gsi_deg": { + "1": 10.7, + "-1": 176.0 + } + }, "wrist_bend_deg_median": 18.3, "opposite_sign_bend_deg": 167.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -483,7 +505,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.05, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -499,7 +521,7 @@ }, "frames_used": 1464 }, - "generated_at_utc": "2026-10-28T06:48:01.184201+00:00", + "generated_at_utc": "2026-11-06T14:16:32.547851+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -539,6 +561,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 15.05, + "offset_rotvec": [ + -0.102, + -0.1965, + 0.1415 + ], + "dev_deg": { + "median": 9.38, + "p90": 18.48 + }, + "samples": 4743, + "accepted": 4556, + "wrist_pos_err_mm_median": 48.2, + "per_camera": { + "head": { + "samples": 4743, + "accepted": 4556, + "gate_deg": 30.0, + "offset_deg": 15.05, + "tier": "primary", + "dev_deg_median": 9.38, + "wrist_pos_err_mm_median": 48.2 + } + }, + "frames_by_state": { + "ace_sample": 18240, + "interpolated": 92, + "mean_hand": 652, + "no_body_fit": 0 + }, + "observed_fraction": 0.9657, + "observed_fraction_of_valid": 0.9657, + "palm_axis_vs_markers_deg": { + "gsi": 15.75, + "smplx": 2.85 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.4, + "p90": 12.6 + }, + "registered": { + "median": 8.2, + "p90": 11.7 + } + } + }, + "right": { + "offset_deg": 10.37, + "offset_rotvec": [ + -0.0004, + -0.1112, + -0.1428 + ], + "dev_deg": { + "median": 11.54, + "p90": 28.25 + }, + "samples": 4600, + "accepted": 4213, + "wrist_pos_err_mm_median": 41.8, + "per_camera": { + "head": { + "samples": 4600, + "accepted": 4213, + "gate_deg": 30.0, + "offset_deg": 10.37, + "tier": "primary", + "dev_deg_median": 11.54, + "wrist_pos_err_mm_median": 41.8 + } + }, + "frames_by_state": { + "ace_sample": 16886, + "interpolated": 602, + "mean_hand": 1496, + "no_body_fit": 0 + }, + "observed_fraction": 0.9212, + "observed_fraction_of_valid": 0.9212, + "palm_axis_vs_markers_deg": { + "gsi": 13.59, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:51:21.235547+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/locomanipulation/LM54/session_003", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM54/session_003/motions/smplx.npz b/actions/locomanipulation/LM54/session_003/motions/smplx.npz index 4b4c570d1693f6fe54e7b71e62cd80b8a02c6593..bae41e214f1b3f38cad0a71f00a642601c866de2 100644 --- a/actions/locomanipulation/LM54/session_003/motions/smplx.npz +++ b/actions/locomanipulation/LM54/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3fbabe40a1a5f607ce64780988967817c9bdddcaf2247878a1a0cfa5acd15a5f -size 7289027 +oid sha256:675a18790895d422ffa8b10211fa5543e03212280f49bac6a76d0c39f9cbf030 +size 13329045 diff --git a/actions/locomanipulation/LM56/session_001/meta.json b/actions/locomanipulation/LM56/session_001/meta.json index 946afd9860836c7e728a85d2eb7892a7d5d485e2..41f8582f423797407fef454c9ca0c009398e0e87 100644 --- a/actions/locomanipulation/LM56/session_001/meta.json +++ b/actions/locomanipulation/LM56/session_001/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": { @@ -407,11 +407,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, + -0.0, 0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.903, + "inlier_spread_deg": 10.62, + "marker_Q_to_gsi_deg": { + "1": 12.2, + "-1": 174.8 + } + }, "wrist_bend_deg_median": 38.3, "opposite_sign_bend_deg": 171.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -446,19 +457,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - 0.0 + -2.98604, + -0.43137, + -0.87584 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 43.2, - "opposite_sign_bend_deg": 170.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2950, + "inlier_frac": 0.676, + "inlier_spread_deg": 9.14, + "marker_Q_to_gsi_deg": { + "1": 174.5, + "-1": 14.3 + } + }, + "wrist_bend_deg_median": 171.1, + "opposite_sign_bend_deg": 43.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.76, "hand_vs_marker_frame_deg": { - "before": 6.76, + "before": 179.08, "after": 6.76 }, "markers_on_wrist": [ @@ -466,15 +488,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.74, + "twist_moved_deg": 168.13, "wrist_twist_deg_after": { - "median": -0.0, + "median": 2.81, "iqr": [ - -9.9, - 3.5 + -0.7, + 10.3 ] }, - "wrist_total_deg_median_after": 44.4, + "wrist_total_deg_median_after": 47.0, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -483,7 +505,7 @@ }, "frames_used": 1210 }, - "generated_at_utc": "2026-10-28T06:17:27.430021+00:00", + "generated_at_utc": "2026-11-06T13:44:41.744456+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -596,6 +618,116 @@ }, "applied": 4 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 12.22, + "offset_rotvec": [ + -0.0885, + 0.1861, + -0.0548 + ], + "dev_deg": { + "median": 11.25, + "p90": 30.15 + }, + "samples": 3081, + "accepted": 2770, + "wrist_pos_err_mm_median": 32.2, + "per_camera": { + "head": { + "samples": 3081, + "accepted": 2770, + "gate_deg": 30.0, + "offset_deg": 12.22, + "tier": "primary", + "dev_deg_median": 11.25, + "wrist_pos_err_mm_median": 32.2 + } + }, + "frames_by_state": { + "ace_sample": 11124, + "interpolated": 1046, + "mean_hand": 1408, + "no_body_fit": 106 + }, + "observed_fraction": 0.8894, + "observed_fraction_of_valid": 0.8963, + "palm_axis_vs_markers_deg": { + "gsi": 16.7, + "smplx": 2.0 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.3, + "p90": 13.3 + }, + "registered": { + "median": 8.5, + "p90": 12.5 + } + } + }, + "right": { + "offset_deg": 13.41, + "offset_rotvec": [ + -0.1714, + -0.0426, + 0.1536 + ], + "dev_deg": { + "median": 13.71, + "p90": 173.57 + }, + "samples": 2950, + "accepted": 1997, + "wrist_pos_err_mm_median": 34.4, + "per_camera": { + "head": { + "samples": 2950, + "accepted": 1997, + "gate_deg": 30.0, + "offset_deg": 13.41, + "tier": "primary", + "dev_deg_median": 13.71, + "wrist_pos_err_mm_median": 34.4 + } + }, + "frames_by_state": { + "ace_sample": 8006, + "interpolated": 770, + "mean_hand": 4802, + "no_body_fit": 106 + }, + "observed_fraction": 0.6413, + "observed_fraction_of_valid": 0.6463, + "palm_axis_vs_markers_deg": { + "gsi": 11.33, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:45:35.640214+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/locomanipulation/LM56/session_001", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM56/session_001/motions/smplx.npz b/actions/locomanipulation/LM56/session_001/motions/smplx.npz index e39253e4a7dfb069e3b588ef5892118566cec3bf..8d359467ab2877a806079f986b963ef31a0c040f 100644 --- a/actions/locomanipulation/LM56/session_001/motions/smplx.npz +++ b/actions/locomanipulation/LM56/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1f2631afd1ef7b90a3d2606ea23b8d4a2169a2d5ef35731ce19c3eab8fa06bee -size 5248352 +oid sha256:21bf09e165f874bdfd50b3e3d82f4c7f3bd96b847868bdf762d13a05efb37964 +size 8904358 diff --git a/actions/locomanipulation/LM58/session_001/meta.json b/actions/locomanipulation/LM58/session_001/meta.json index 2ceca794dd6c4643212a01e970b49bc12293c533..f55171b4152f7fc3577b2bb46a7db5b570fde5ae 100644 --- a/actions/locomanipulation/LM58/session_001/meta.json +++ b/actions/locomanipulation/LM58/session_001/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": { @@ -387,14 +387,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02575, - 0.26943, - 0.80116 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 168.0, - "opposite_sign_bend_deg": 25.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.923, + "inlier_spread_deg": 13.74, + "marker_Q_to_gsi_deg": { + "1": 172.8, + "-1": 9.6 + } + }, + "wrist_bend_deg_median": 142.0, + "opposite_sign_bend_deg": 62.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.26, "hand_vs_marker_frame_deg": { "before": 179.04, @@ -405,15 +416,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 139.26, + "twist_moved_deg": -139.24, "wrist_twist_deg_after": { - "median": 40.48, + "median": -0.02, "iqr": [ - 25.1, - 51.8 + -9.1, + 13.0 ] }, - "wrist_total_deg_median_after": 62.9, + "wrist_total_deg_median_after": 25.5, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -431,6 +442,17 @@ 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.97, + "inlier_spread_deg": 10.15, + "marker_Q_to_gsi_deg": { + "1": 7.4, + "-1": 179.2 + } + }, "wrist_bend_deg_median": 21.1, "opposite_sign_bend_deg": 170.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -446,7 +468,7 @@ "forearm_twist": { "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -8.7, 8.4 @@ -461,7 +483,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:15:01.212445+00:00", + "generated_at_utc": "2026-11-06T13:38:04.743893+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -505,6 +527,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.103574144145273 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.83, + "offset_rotvec": [ + -0.1258, + -0.0851, + 0.08 + ], + "dev_deg": { + "median": 14.45, + "p90": 28.49 + }, + "samples": 4104, + "accepted": 3792, + "wrist_pos_err_mm_median": 43.6, + "per_camera": { + "head": { + "samples": 4104, + "accepted": 3792, + "gate_deg": 30.0, + "offset_deg": 9.83, + "tier": "primary", + "dev_deg_median": 14.45, + "wrist_pos_err_mm_median": 43.6 + } + }, + "frames_by_state": { + "ace_sample": 15219, + "interpolated": 828, + "mean_hand": 629, + "no_body_fit": 8 + }, + "observed_fraction": 0.9618, + "observed_fraction_of_valid": 0.9623, + "palm_axis_vs_markers_deg": { + "gsi": 12.0, + "smplx": 2.44 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.5, + "p90": 14.3 + }, + "registered": { + "median": 9.2, + "p90": 13.3 + } + } + }, + "right": { + "offset_deg": 7.31, + "offset_rotvec": [ + 0.0106, + -0.1272, + -0.0003 + ], + "dev_deg": { + "median": 10.31, + "p90": 20.83 + }, + "samples": 4056, + "accepted": 3970, + "wrist_pos_err_mm_median": 29.5, + "per_camera": { + "head": { + "samples": 4056, + "accepted": 3970, + "gate_deg": 30.0, + "offset_deg": 7.31, + "tier": "primary", + "dev_deg_median": 10.31, + "wrist_pos_err_mm_median": 29.5 + } + }, + "frames_by_state": { + "ace_sample": 15877, + "interpolated": 58, + "mean_hand": 741, + "no_body_fit": 8 + }, + "observed_fraction": 0.9551, + "observed_fraction_of_valid": 0.9556, + "palm_axis_vs_markers_deg": { + "gsi": 11.74, + "smplx": 2.94 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.1, + "p90": 10.7 + }, + "registered": { + "median": 8.7, + "p90": 9.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:29:56.134833+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/locomanipulation/LM58/session_001", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM58/session_001/motions/smplx.npz b/actions/locomanipulation/LM58/session_001/motions/smplx.npz index fa2fa9f8876f83938740e04c74ca4f1751a7f70b..a393bb1160b2bbbe4882d45d26d9040aecc4d327 100644 --- a/actions/locomanipulation/LM58/session_001/motions/smplx.npz +++ b/actions/locomanipulation/LM58/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6205cb8e0d67437b8cb2cf0c93ebb4ad624030f40d945275a863f96cfc69c174 -size 6345490 +oid sha256:a691082ab30fb7d7f9274a4cc29596f2846dc255912ddbf78277796d632acaec +size 11760036 diff --git a/actions/locomanipulation/LM58/session_002/meta.json b/actions/locomanipulation/LM58/session_002/meta.json index ddb975ba021db96d681ff7ec03e7333e53bfa532..44569156fc2a1bbbad5ad340ffdd1436d0298144 100644 --- a/actions/locomanipulation/LM58/session_002/meta.json +++ b/actions/locomanipulation/LM58/session_002/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": { @@ -401,14 +401,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02575, - 0.26943, - 0.80116 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 167.8, - "opposite_sign_bend_deg": 21.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.891, + "inlier_spread_deg": 11.34, + "marker_Q_to_gsi_deg": { + "1": 173.1, + "-1": 10.4 + } + }, + "wrist_bend_deg_median": 133.0, + "opposite_sign_bend_deg": 64.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.9, "hand_vs_marker_frame_deg": { "before": 178.82, @@ -419,15 +430,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 131.32, + "twist_moved_deg": -131.32, "wrist_twist_deg_after": { - "median": 47.13, + "median": 0.0, "iqr": [ - 28.5, - 57.7 + -13.6, + 10.9 ] }, - "wrist_total_deg_median_after": 64.1, + "wrist_total_deg_median_after": 21.3, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -445,6 +456,17 @@ 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2906, + "inlier_frac": 0.874, + "inlier_spread_deg": 9.07, + "marker_Q_to_gsi_deg": { + "1": 8.1, + "-1": 176.9 + } + }, "wrist_bend_deg_median": 25.6, "opposite_sign_bend_deg": 166.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -475,7 +497,7 @@ }, "frames_used": 1368 }, - "generated_at_utc": "2026-10-28T06:15:00.976375+00:00", + "generated_at_utc": "2026-11-06T13:38:12.535854+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -519,6 +541,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0927297884074532 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 8.82, + "offset_rotvec": [ + -0.0953, + -0.092, + 0.0785 + ], + "dev_deg": { + "median": 12.3, + "p90": 29.39 + }, + "samples": 3098, + "accepted": 2824, + "wrist_pos_err_mm_median": 48.1, + "per_camera": { + "head": { + "samples": 3098, + "accepted": 2824, + "gate_deg": 30.0, + "offset_deg": 8.82, + "tier": "primary", + "dev_deg_median": 12.3, + "wrist_pos_err_mm_median": 48.1 + } + }, + "frames_by_state": { + "ace_sample": 11312, + "interpolated": 436, + "mean_hand": 1928, + "no_body_fit": 8 + }, + "observed_fraction": 0.8585, + "observed_fraction_of_valid": 0.859, + "palm_axis_vs_markers_deg": { + "gsi": 10.11, + "smplx": 2.67 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.8, + "p90": 14.9 + }, + "registered": { + "median": 12.8, + "p90": 14.5 + } + } + }, + "right": { + "offset_deg": 6.46, + "offset_rotvec": [ + 0.0106, + -0.1082, + 0.0299 + ], + "dev_deg": { + "median": 11.71, + "p90": 33.64 + }, + "samples": 2906, + "accepted": 2568, + "wrist_pos_err_mm_median": 27.4, + "per_camera": { + "head": { + "samples": 2906, + "accepted": 2568, + "gate_deg": 30.0, + "offset_deg": 6.46, + "tier": "primary", + "dev_deg_median": 11.71, + "wrist_pos_err_mm_median": 27.4 + } + }, + "frames_by_state": { + "ace_sample": 10292, + "interpolated": 464, + "mean_hand": 2920, + "no_body_fit": 8 + }, + "observed_fraction": 0.786, + "observed_fraction_of_valid": 0.7865, + "palm_axis_vs_markers_deg": { + "gsi": 14.62, + "smplx": 2.39 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.9, + "p90": 8.7 + }, + "registered": { + "median": 5.5, + "p90": 8.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:32:13.839240+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/locomanipulation/LM58/session_002", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM58/session_002/motions/smplx.npz b/actions/locomanipulation/LM58/session_002/motions/smplx.npz index 83abc98dfbb7e2856583678bd6192e089ec82f04..312e0cae937a03f11882478790d1f8770482563e 100644 --- a/actions/locomanipulation/LM58/session_002/motions/smplx.npz +++ b/actions/locomanipulation/LM58/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:571a160c9ae5f2d5c86b5c8809089576349480806d801d189fa4bc0fea35121d -size 5201602 +oid sha256:4c4b7c5f5362fe72e0a0a69525fa079f8e76f0b693d9d63962cf62f0332e94f8 +size 9061445 diff --git a/actions/locomanipulation/LM59/session_001/meta.json b/actions/locomanipulation/LM59/session_001/meta.json index e45ae36c3a1dd1b5e62324853576241d1596298e..940e58dad70b3d28bb32bce6df907c5da47215c5 100644 --- a/actions/locomanipulation/LM59/session_001/meta.json +++ b/actions/locomanipulation/LM59/session_001/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": { @@ -406,10 +406,21 @@ 0.26943, 0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 168.1, - "opposite_sign_bend_deg": 24.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2781, + "inlier_frac": 0.918, + "inlier_spread_deg": 11.72, + "marker_Q_to_gsi_deg": { + "1": 176.5, + "-1": 5.6 + } + }, + "wrist_bend_deg_median": 156.2, + "opposite_sign_bend_deg": 44.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.97, "hand_vs_marker_frame_deg": { "before": 178.61, @@ -420,15 +431,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 155.05, + "twist_moved_deg": -151.54, "wrist_twist_deg_after": { - "median": 17.46, + "median": -3.52, "iqr": [ - 4.7, - 32.4 + -18.9, + 10.6 ] }, - "wrist_total_deg_median_after": 44.9, + "wrist_total_deg_median_after": 25.3, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -441,11 +452,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, - -0.0, + 0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2610, + "inlier_frac": 0.954, + "inlier_spread_deg": 9.87, + "marker_Q_to_gsi_deg": { + "1": 4.4, + "-1": 176.9 + } + }, "wrist_bend_deg_median": 25.4, "opposite_sign_bend_deg": 167.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -459,7 +481,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -476,7 +498,7 @@ }, "frames_used": 1369 }, - "generated_at_utc": "2026-10-28T06:15:01.837201+00:00", + "generated_at_utc": "2026-11-06T13:38:12.045382+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -520,6 +542,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.2494470512774933 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 4.76, + "offset_rotvec": [ + -0.0609, + -0.055, + 0.0123 + ], + "dev_deg": { + "median": 12.55, + "p90": 27.76 + }, + "samples": 2781, + "accepted": 2551, + "wrist_pos_err_mm_median": 31.1, + "per_camera": { + "head": { + "samples": 2781, + "accepted": 2551, + "gate_deg": 30.0, + "offset_deg": 4.76, + "tier": "primary", + "dev_deg_median": 12.55, + "wrist_pos_err_mm_median": 31.1 + } + }, + "frames_by_state": { + "ace_sample": 10226, + "interpolated": 490, + "mean_hand": 2968, + "no_body_fit": 0 + }, + "observed_fraction": 0.7831, + "observed_fraction_of_valid": 0.7831, + "palm_axis_vs_markers_deg": { + "gsi": 11.1, + "smplx": 3.2 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.3, + "p90": 9.9 + }, + "registered": { + "median": 6.6, + "p90": 10.2 + } + } + }, + "right": { + "offset_deg": 4.49, + "offset_rotvec": [ + 0.0338, + 0.012, + 0.0697 + ], + "dev_deg": { + "median": 10.29, + "p90": 24.14 + }, + "samples": 2610, + "accepted": 2493, + "wrist_pos_err_mm_median": 24.8, + "per_camera": { + "head": { + "samples": 2610, + "accepted": 2493, + "gate_deg": 30.0, + "offset_deg": 4.49, + "tier": "primary", + "dev_deg_median": 10.29, + "wrist_pos_err_mm_median": 24.8 + } + }, + "frames_by_state": { + "ace_sample": 9974, + "interpolated": 390, + "mean_hand": 3320, + "no_body_fit": 0 + }, + "observed_fraction": 0.7574, + "observed_fraction_of_valid": 0.7574, + "palm_axis_vs_markers_deg": { + "gsi": 9.32, + "smplx": 3.02 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.2, + "p90": 12.7 + }, + "registered": { + "median": 7.1, + "p90": 11.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:31:59.538963+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/locomanipulation/LM59/session_001", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM59/session_001/motions/smplx.npz b/actions/locomanipulation/LM59/session_001/motions/smplx.npz index 6bf244a8d13c4b48720b7e94698d8a7d0e6a6b64..af1531691260e9a725ef292681c6a30ed65d3c3d 100644 --- a/actions/locomanipulation/LM59/session_001/motions/smplx.npz +++ b/actions/locomanipulation/LM59/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:69f688b3ec2afd7705aa700dce27220cfc081271a917602499ae127b37593aa5 -size 5247388 +oid sha256:bc98cf3e1738d1e6f795a291c8952a6dd006dc850bc5a7fa23b20850b1471cde +size 8932593 diff --git a/actions/locomanipulation/LM59/session_002/meta.json b/actions/locomanipulation/LM59/session_002/meta.json index a4373a16fe01f09ea8206009234db4584e910794..09e3f42ee2d034a87683b290adec33681f156d53 100644 --- a/actions/locomanipulation/LM59/session_002/meta.json +++ b/actions/locomanipulation/LM59/session_002/meta.json @@ -341,8 +341,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -412,10 +412,21 @@ 0.26943, 0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 167.2, - "opposite_sign_bend_deg": 27.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2792, + "inlier_frac": 0.969, + "inlier_spread_deg": 14.88, + "marker_Q_to_gsi_deg": { + "1": 176.6, + "-1": 4.6 + } + }, + "wrist_bend_deg_median": 162.9, + "opposite_sign_bend_deg": 39.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 8.87, "hand_vs_marker_frame_deg": { "before": 174.68, @@ -427,15 +438,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 159.69, + "twist_moved_deg": -154.19, "wrist_twist_deg_after": { - "median": 6.4, + "median": -5.49, "iqr": [ - 0.2, - 20.6 + -18.1, + 2.0 ] }, - "wrist_total_deg_median_after": 39.0, + "wrist_total_deg_median_after": 30.5, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -448,10 +459,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2782, + "inlier_frac": 0.768, + "inlier_spread_deg": 9.03, + "marker_Q_to_gsi_deg": { + "1": 2.8, + "-1": 177.5 + } + }, "wrist_bend_deg_median": 22.4, "opposite_sign_bend_deg": 169.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -482,7 +504,7 @@ }, "frames_used": 1308 }, - "generated_at_utc": "2026-10-28T06:15:01.863316+00:00", + "generated_at_utc": "2026-11-06T13:38:17.935423+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -526,6 +548,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.2232265039265864 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 4.22, + "offset_rotvec": [ + -0.0564, + -0.0473, + 0.0036 + ], + "dev_deg": { + "median": 15.05, + "p90": 23.55 + }, + "samples": 2792, + "accepted": 2704, + "wrist_pos_err_mm_median": 36.5, + "per_camera": { + "head": { + "samples": 2792, + "accepted": 2704, + "gate_deg": 30.0, + "offset_deg": 4.22, + "tier": "primary", + "dev_deg_median": 15.05, + "wrist_pos_err_mm_median": 36.5 + } + }, + "frames_by_state": { + "ace_sample": 10818, + "interpolated": 202, + "mean_hand": 2056, + "no_body_fit": 8 + }, + "observed_fraction": 0.8423, + "observed_fraction_of_valid": 0.8428, + "palm_axis_vs_markers_deg": { + "gsi": 12.68, + "smplx": 6.54 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.7, + "p90": 10.0 + }, + "registered": { + "median": 7.4, + "p90": 10.8 + } + } + }, + "right": { + "offset_deg": 6.07, + "offset_rotvec": [ + 0.0514, + 0.0231, + 0.0896 + ], + "dev_deg": { + "median": 12.45, + "p90": 35.32 + }, + "samples": 2782, + "accepted": 2163, + "wrist_pos_err_mm_median": 38.3, + "per_camera": { + "head": { + "samples": 2782, + "accepted": 2163, + "gate_deg": 30.0, + "offset_deg": 6.07, + "tier": "primary", + "dev_deg_median": 12.45, + "wrist_pos_err_mm_median": 38.3 + } + }, + "frames_by_state": { + "ace_sample": 8638, + "interpolated": 234, + "mean_hand": 4204, + "no_body_fit": 8 + }, + "observed_fraction": 0.6781, + "observed_fraction_of_valid": 0.6785, + "palm_axis_vs_markers_deg": { + "gsi": 9.42, + "smplx": 2.41 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.6, + "p90": 14.1 + }, + "registered": { + "median": 9.3, + "p90": 13.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:32:15.340456+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/locomanipulation/LM59/session_002", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM59/session_002/motions/smplx.npz b/actions/locomanipulation/LM59/session_002/motions/smplx.npz index 04eddafa589d207668ccfe6254cf4aeff8443f6a..adce77bd6158874142c8204a422b09bb4b997943 100644 --- a/actions/locomanipulation/LM59/session_002/motions/smplx.npz +++ b/actions/locomanipulation/LM59/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c81a191480923ad35b774d7d3745d2bb50d34060342e64faf30ebac3dfa738af -size 4993235 +oid sha256:5508426ffdb31c35f75060656237fa71bf1cb9bfd139a5c21a3531bd458530c4 +size 8464117 diff --git a/actions/locomanipulation/LM60/session_004/meta.json b/actions/locomanipulation/LM60/session_004/meta.json index 1c1606407a7c1b50a2982a4226598dfbaaddb894..103a8dbe5fd115a7a8e3d009c3e530c0eeb4f893 100644 --- a/actions/locomanipulation/LM60/session_004/meta.json +++ b/actions/locomanipulation/LM60/session_004/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": { @@ -386,19 +386,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - -2.98601, - 0.43444, - 0.87442 + -0.0, + -0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 176.3, - "opposite_sign_bend_deg": 23.6, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.907, + "inlier_spread_deg": 13.55, + "marker_Q_to_gsi_deg": { + "1": 32.0, + "-1": 148.4 + } + }, + "wrist_bend_deg_median": 21.1, + "opposite_sign_bend_deg": 175.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.66, "hand_vs_marker_frame_deg": { - "before": 179.81, + "before": 0.66, "after": 0.66 }, "markers_on_wrist": [ @@ -406,12 +417,12 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -175.64, + "twist_moved_deg": -0.66, "wrist_twist_deg_after": { - "median": -0.66, + "median": -0.0, "iqr": [ - -2.4, - 0.8 + -1.7, + 1.5 ] }, "wrist_total_deg_median_after": 21.1, @@ -426,19 +437,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + 2.98749, + 0.42128, + 0.87581 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 34.1, - "opposite_sign_bend_deg": 172.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2872, + "inlier_frac": 0.883, + "inlier_spread_deg": 11.25, + "marker_Q_to_gsi_deg": { + "1": 173.1, + "-1": 17.4 + } + }, + "wrist_bend_deg_median": 173.0, + "opposite_sign_bend_deg": 34.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.68, "hand_vs_marker_frame_deg": { - "before": 1.68, + "before": 179.38, "after": 1.68 }, "markers_on_wrist": [ @@ -446,15 +468,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.64, + "twist_moved_deg": 172.22, "wrist_twist_deg_after": { - "median": 0.0, + "median": 0.46, "iqr": [ - -3.2, - 3.3 + -2.2, + 3.5 ] }, - "wrist_total_deg_median_after": 34.3, + "wrist_total_deg_median_after": 25.4, "markers_on_forearm": [ "RElbow", "RElbowIn", @@ -465,7 +487,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:24:05.968222+00:00", + "generated_at_utc": "2026-11-06T13:53:30.035215+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -509,6 +531,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8327641943517947 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 29.58, + "offset_rotvec": [ + 0.4456, + -0.0931, + -0.2434 + ], + "dev_deg": { + "median": 12.34, + "p90": 32.39 + }, + "samples": 3100, + "accepted": 2690, + "wrist_pos_err_mm_median": 134.1, + "per_camera": { + "head": { + "samples": 3100, + "accepted": 2690, + "gate_deg": 30.0, + "offset_deg": 29.58, + "tier": "primary", + "dev_deg_median": 12.34, + "wrist_pos_err_mm_median": 134.1 + } + }, + "frames_by_state": { + "ace_sample": 11162, + "interpolated": 6694, + "mean_hand": 25, + "no_body_fit": 3 + }, + "observed_fraction": 0.9984, + "observed_fraction_of_valid": 0.9986, + "palm_axis_vs_markers_deg": { + "gsi": 32.03, + "smplx": 0.44 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.2, + "p90": 17.9 + }, + "registered": { + "median": 13.7, + "p90": 16.6 + } + } + }, + "right": { + "offset_deg": 19.6, + "offset_rotvec": [ + 0.1372, + 0.3126, + -0.0205 + ], + "dev_deg": { + "median": 13.07, + "p90": 30.66 + }, + "samples": 2872, + "accepted": 2564, + "wrist_pos_err_mm_median": 355.9, + "per_camera": { + "head": { + "samples": 2872, + "accepted": 2564, + "gate_deg": 30.0, + "offset_deg": 19.6, + "tier": "primary", + "dev_deg_median": 13.07, + "wrist_pos_err_mm_median": 355.9 + } + }, + "frames_by_state": { + "ace_sample": 10664, + "interpolated": 6952, + "mean_hand": 265, + "no_body_fit": 3 + }, + "observed_fraction": 0.985, + "observed_fraction_of_valid": 0.9852, + "palm_axis_vs_markers_deg": { + "gsi": 19.98, + "smplx": 0.94 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.9, + "p90": 6.1 + }, + "registered": { + "median": 6.1, + "p90": 7.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:02:28.646700+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/locomanipulation/LM60/session_004", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM60/session_004/motions/smplx.npz b/actions/locomanipulation/LM60/session_004/motions/smplx.npz index e7da20c7e9b14303031824446c3621e122428927..62b907fe654be433227f039add3596e213baa493 100644 --- a/actions/locomanipulation/LM60/session_004/motions/smplx.npz +++ b/actions/locomanipulation/LM60/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:007200fc020ae26b0a0519527b27bee20a078c0dec28fdcedc9b34a1104fc3e7 -size 6904692 +oid sha256:1804e4862e24806a8d45ccae249c261abed8f418b038b6947f49a0b8b9ba4d50 +size 12879564 diff --git a/actions/locomanipulation/LM60/session_005/meta.json b/actions/locomanipulation/LM60/session_005/meta.json index 10266d1898f2e59005329a1c6b0fd1cff291ef66..8bb6b2910e70d3909387eb338234dd04b984de78 100644 --- a/actions/locomanipulation/LM60/session_005/meta.json +++ b/actions/locomanipulation/LM60/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": { @@ -395,14 +395,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 177.7, - "opposite_sign_bend_deg": 25.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.974, + "inlier_spread_deg": 4.85, + "marker_Q_to_gsi_deg": { + "1": 175.9, + "-1": 8.3 + } + }, + "wrist_bend_deg_median": 176.7, + "opposite_sign_bend_deg": 13.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.78, "hand_vs_marker_frame_deg": { "before": 179.53, @@ -413,15 +424,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 176.89, + "twist_moved_deg": -176.22, "wrist_twist_deg_after": { - "median": 0.81, + "median": -0.67, "iqr": [ - -0.6, - 2.2 + -2.1, + 0.6 ] }, - "wrist_total_deg_median_after": 13.5, + "wrist_total_deg_median_after": 25.7, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -435,10 +446,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - 0.0, + -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.909, + "inlier_spread_deg": 8.41, + "marker_Q_to_gsi_deg": { + "1": 7.9, + "-1": 175.0 + } + }, "wrist_bend_deg_median": 23.9, "opposite_sign_bend_deg": 176.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -470,7 +492,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:25:54.266430+00:00", + "generated_at_utc": "2026-11-06T13:58:31.135708+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -514,6 +536,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.7689042488834998 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 14.0, + "offset_rotvec": [ + -0.1508, + 0.1762, + -0.0769 + ], + "dev_deg": { + "median": 5.99, + "p90": 20.67 + }, + "samples": 3611, + "accepted": 3462, + "wrist_pos_err_mm_median": 168.8, + "per_camera": { + "head": { + "samples": 3611, + "accepted": 3462, + "gate_deg": 30.0, + "offset_deg": 14.0, + "tier": "primary", + "dev_deg_median": 5.99, + "wrist_pos_err_mm_median": 168.8 + } + }, + "frames_by_state": { + "ace_sample": 14049, + "interpolated": 2426, + "mean_hand": 201, + "no_body_fit": 8 + }, + "observed_fraction": 0.9875, + "observed_fraction_of_valid": 0.9879, + "palm_axis_vs_markers_deg": { + "gsi": 10.23, + "smplx": 0.63 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.5, + "p90": 9.1 + }, + "registered": { + "median": 8.5, + "p90": 9.1 + } + } + }, + "right": { + "offset_deg": 8.11, + "offset_rotvec": [ + 0.1276, + -0.0611, + -0.0001 + ], + "dev_deg": { + "median": 10.13, + "p90": 27.34 + }, + "samples": 3437, + "accepted": 3164, + "wrist_pos_err_mm_median": 134.7, + "per_camera": { + "head": { + "samples": 3437, + "accepted": 3164, + "gate_deg": 30.0, + "offset_deg": 8.11, + "tier": "primary", + "dev_deg_median": 10.13, + "wrist_pos_err_mm_median": 134.7 + } + }, + "frames_by_state": { + "ace_sample": 12907, + "interpolated": 3588, + "mean_hand": 181, + "no_body_fit": 8 + }, + "observed_fraction": 0.9887, + "observed_fraction_of_valid": 0.9891, + "palm_axis_vs_markers_deg": { + "gsi": 12.98, + "smplx": 0.9 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.5, + "p90": 12.7 + }, + "registered": { + "median": 8.9, + "p90": 11.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:13:39.039948+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/locomanipulation/LM60/session_005", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM60/session_005/motions/smplx.npz b/actions/locomanipulation/LM60/session_005/motions/smplx.npz index 58fa37b7d42f23f048411d3dc07b00440220830b..6007dbf6dd0c06f74e793a06e694a81a80290569 100644 --- a/actions/locomanipulation/LM60/session_005/motions/smplx.npz +++ b/actions/locomanipulation/LM60/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a39a75b9c5a6b8df6cc135733e7a60b4eb223edc6c6b70130106a9fafe8423bd -size 6411760 +oid sha256:6936910d338981b5708201c491267b56de3c513e9006f10c4038aca44caddc03 +size 11944542 diff --git a/actions/locomanipulation/LM61/session_005/meta.json b/actions/locomanipulation/LM61/session_005/meta.json index f295aa18bda3a05202bb3d1866541552ac85d662..51137a8f7c6d151a0c4c81ce2e96b9c6cdc69ef4 100644 --- a/actions/locomanipulation/LM61/session_005/meta.json +++ b/actions/locomanipulation/LM61/session_005/meta.json @@ -387,19 +387,26 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + 0.0, + 0.0, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 177.5, - "opposite_sign_bend_deg": 34.9, + "q_source": "markers (GSI not reliable)", + "gsi": { + "reliable": false, + "frames": 299, + "inlier_frac": 0.401, + "inlier_spread_deg": 10.77 + }, + "wrist_bend_deg_median": 8.2, + "opposite_sign_bend_deg": 175.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.21, "hand_vs_marker_frame_deg": { - "before": 179.28, + "before": 1.21, "after": 1.21 }, "markers_on_wrist": [ @@ -407,15 +414,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 175.58, + "twist_moved_deg": 2.41, "wrist_twist_deg_after": { - "median": 2.41, + "median": 0.0, "iqr": [ - 0.6, - 5.2 + -1.8, + 2.8 ] }, - "wrist_total_deg_median_after": 8.1, + "wrist_total_deg_median_after": 8.0, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -429,10 +436,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - 0.0, + -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 267, + "inlier_frac": 0.667, + "inlier_spread_deg": 17.35, + "marker_Q_to_gsi_deg": { + "1": 16.1, + "-1": 179.2 + } + }, "wrist_bend_deg_median": 25.8, "opposite_sign_bend_deg": 175.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -446,7 +464,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -463,7 +481,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:25:54.390405+00:00", + "generated_at_utc": "2026-11-06T13:58:31.044228+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/locomanipulation/LM61/session_005/motions/smplx.npz b/actions/locomanipulation/LM61/session_005/motions/smplx.npz index e0e13bfceebea44bca8c88cfbfbc0e970541826f..eeb70f2d0108883bceb3f656ba1eeeb1f0faf142 100644 --- a/actions/locomanipulation/LM61/session_005/motions/smplx.npz +++ b/actions/locomanipulation/LM61/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6253edd0afe3f2a1b537d69ef4709fb28cc5dca83ac10a60646b284c914853c5 -size 6610825 +oid sha256:8e7e9e0701e60644918d56e0fb5ca5c0a8f7aaec2caba51fbc478a0d3a2cc78a +size 6611402 diff --git a/actions/locomanipulation/LM62/session_004/meta.json b/actions/locomanipulation/LM62/session_004/meta.json index 9bfc6e5d9e68d147fc02b51a168c7a417299847e..f8f29f2bb64406ded39a5edd44ee228b2c82bec3 100644 --- a/actions/locomanipulation/LM62/session_004/meta.json +++ b/actions/locomanipulation/LM62/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 (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -392,19 +392,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 14.5, - "opposite_sign_bend_deg": 169.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.748, + "inlier_spread_deg": 8.93, + "marker_Q_to_gsi_deg": { + "1": 174.4, + "-1": 7.1 + } + }, + "wrist_bend_deg_median": 172.0, + "opposite_sign_bend_deg": 13.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.7, "hand_vs_marker_frame_deg": { - "before": 3.7, + "before": 178.26, "after": 3.7 }, "markers_on_wrist": [ @@ -412,15 +423,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 4.81, + "twist_moved_deg": -82.56, "wrist_twist_deg_after": { - "median": 0.02, + "median": -93.36, "iqr": [ - -9.1, - 9.6 + -103.3, + -83.6 ] }, - "wrist_total_deg_median_after": 14.8, + "wrist_total_deg_median_after": 98.9, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -433,11 +444,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.99, + "inlier_spread_deg": 5.63, + "marker_Q_to_gsi_deg": { + "1": 10.1, + "-1": 173.3 + } + }, "wrist_bend_deg_median": 44.7, "opposite_sign_bend_deg": 173.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -454,7 +476,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -10.3, 3.0 @@ -469,7 +491,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:22:49.061891+00:00", + "generated_at_utc": "2026-11-06T13:51:03.935969+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -566,6 +588,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.14, + "offset_rotvec": [ + -0.1373, + -0.0615, + 0.0532 + ], + "dev_deg": { + "median": 11.53, + "p90": 166.25 + }, + "samples": 4420, + "accepted": 3245, + "wrist_pos_err_mm_median": 51.0, + "per_camera": { + "head": { + "samples": 4420, + "accepted": 3245, + "gate_deg": 30.0, + "offset_deg": 9.14, + "tier": "primary", + "dev_deg_median": 11.53, + "wrist_pos_err_mm_median": 51.0 + } + }, + "frames_by_state": { + "ace_sample": 12940, + "interpolated": 224, + "mean_hand": 4720, + "no_body_fit": 0 + }, + "observed_fraction": 0.7361, + "observed_fraction_of_valid": 0.7361, + "palm_axis_vs_markers_deg": { + "gsi": 8.02, + "smplx": 2.2 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 15.3, + "p90": 16.3 + }, + "registered": { + "median": 15.3, + "p90": 16.4 + } + } + }, + "right": { + "offset_deg": 10.27, + "offset_rotvec": [ + -0.135, + -0.0645, + 0.0987 + ], + "dev_deg": { + "median": 5.58, + "p90": 12.26 + }, + "samples": 4404, + "accepted": 4359, + "wrist_pos_err_mm_median": 51.3, + "per_camera": { + "head": { + "samples": 4404, + "accepted": 4359, + "gate_deg": 30.0, + "offset_deg": 10.27, + "tier": "primary", + "dev_deg_median": 5.58, + "wrist_pos_err_mm_median": 51.3 + } + }, + "frames_by_state": { + "ace_sample": 17456, + "interpolated": 352, + "mean_hand": 76, + "no_body_fit": 0 + }, + "observed_fraction": 0.9958, + "observed_fraction_of_valid": 0.9958, + "palm_axis_vs_markers_deg": { + "gsi": 8.34, + "smplx": 0.84 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.1, + "p90": 16.1 + }, + "registered": { + "median": 8.8, + "p90": 15.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:58:11.552337+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/locomanipulation/LM62/session_004", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM62/session_004/motions/smplx.npz b/actions/locomanipulation/LM62/session_004/motions/smplx.npz index 734ebdffdd0481c7fae9ac8f56d4bb9501abfde3..eae307719b3040bd58d5387da04ccacd0dae1c1c 100644 --- a/actions/locomanipulation/LM62/session_004/motions/smplx.npz +++ b/actions/locomanipulation/LM62/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0c578c1ec970e0d852dd6301dc33a728cab5a4ba25d3ac9b3c2a85b07bde20cc -size 6834506 +oid sha256:aa593e419b16204717aad384c2524c01533fab099e5c56820f4e0c5874fe12d3 +size 12202037 diff --git a/actions/locomanipulation/LM62/session_011/meta.json b/actions/locomanipulation/LM62/session_011/meta.json index e116c5aee1f2e11c73b76f946ac5bb83c8a6b40a..54cccf71c2f92c85c94b68b063de7540da1e3ce7 100644 --- a/actions/locomanipulation/LM62/session_011/meta.json +++ b/actions/locomanipulation/LM62/session_011/meta.json @@ -376,8 +376,8 @@ "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": { @@ -436,19 +436,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - 0.0, - 0.0 + 2.98315, + -0.44501, + -0.87886 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 30.8, - "opposite_sign_bend_deg": 172.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.992, + "inlier_spread_deg": 7.09, + "marker_Q_to_gsi_deg": { + "1": 164.4, + "-1": 18.7 + } + }, + "wrist_bend_deg_median": 172.2, + "opposite_sign_bend_deg": 30.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.07, "hand_vs_marker_frame_deg": { - "before": 1.07, + "before": 179.34, "after": 1.07 }, "markers_on_wrist": [ @@ -456,15 +467,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": -171.89, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.31, "iqr": [ - -2.9, - 1.9 + -3.2, + 1.6 ] }, - "wrist_total_deg_median_after": 30.8, + "wrist_total_deg_median_after": 28.2, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -477,11 +488,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ + -0.0, 0.0, - 0.0, - -0.0 + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.998, + "inlier_spread_deg": 5.67, + "marker_Q_to_gsi_deg": { + "1": 19.3, + "-1": 165.8 + } + }, "wrist_bend_deg_median": 16.7, "opposite_sign_bend_deg": 176.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -495,9 +517,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -1.2, 3.3 @@ -512,7 +534,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:44:11.799753+00:00", + "generated_at_utc": "2026-11-06T14:09:36.537634+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -552,6 +574,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 18.97, + "offset_rotvec": [ + -0.2064, + 0.153, + 0.2088 + ], + "dev_deg": { + "median": 7.05, + "p90": 14.76 + }, + "samples": 4022, + "accepted": 3992, + "wrist_pos_err_mm_median": 62.3, + "per_camera": { + "head": { + "samples": 4022, + "accepted": 3992, + "gate_deg": 30.0, + "offset_deg": 18.97, + "tier": "primary", + "dev_deg_median": 7.05, + "wrist_pos_err_mm_median": 62.3 + } + }, + "frames_by_state": { + "ace_sample": 15969, + "interpolated": 90, + "mean_hand": 33, + "no_body_fit": 8 + }, + "observed_fraction": 0.9975, + "observed_fraction_of_valid": 0.9979, + "palm_axis_vs_markers_deg": { + "gsi": 17.85, + "smplx": 1.0 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.3, + "p90": 14.8 + }, + "registered": { + "median": 8.7, + "p90": 14.0 + } + } + }, + "right": { + "offset_deg": 19.3, + "offset_rotvec": [ + -0.177, + -0.2268, + -0.175 + ], + "dev_deg": { + "median": 5.61, + "p90": 9.04 + }, + "samples": 3991, + "accepted": 3984, + "wrist_pos_err_mm_median": 45.1, + "per_camera": { + "head": { + "samples": 3991, + "accepted": 3984, + "gate_deg": 30.0, + "offset_deg": 19.3, + "tier": "primary", + "dev_deg_median": 5.61, + "wrist_pos_err_mm_median": 45.1 + } + }, + "frames_by_state": { + "ace_sample": 15949, + "interpolated": 138, + "mean_hand": 5, + "no_body_fit": 8 + }, + "observed_fraction": 0.9992, + "observed_fraction_of_valid": 0.9997, + "palm_axis_vs_markers_deg": { + "gsi": 17.21, + "smplx": 0.57 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.9, + "p90": 26.7 + }, + "registered": { + "median": 14.4, + "p90": 26.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:37:02.336932+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/locomanipulation/LM62/session_011", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM62/session_011/motions/smplx.npz b/actions/locomanipulation/LM62/session_011/motions/smplx.npz index 1ff744f9eae750f462fc410206114b6ba7d677fb..8713b6fe1a32509029bbab4dadd7d26612b81ceb 100644 --- a/actions/locomanipulation/LM62/session_011/motions/smplx.npz +++ b/actions/locomanipulation/LM62/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4c756f7a6d544e55b1b502e1d9d70f0a2f663bb6ac123c06a42fdfc65ebdc6eb -size 6199059 +oid sha256:932c68c0dc09c79952fa7847e767f4e2c74e7764db1ba74316a624a75584d685 +size 11546708 diff --git a/actions/locomanipulation/LM63/session_006/meta.json b/actions/locomanipulation/LM63/session_006/meta.json index 085f65a5edbb72b980b27f792e51b144e0524d93..d61e639908d039245252fcbdeec5b4211458c8c9 100644 --- a/actions/locomanipulation/LM63/session_006/meta.json +++ b/actions/locomanipulation/LM63/session_006/meta.json @@ -377,8 +377,8 @@ "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": { @@ -449,14 +449,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 2.98163, + 2.98164, -0.44128, - -0.88585 + -0.88584 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 175.9, - "opposite_sign_bend_deg": 15.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.991, + "inlier_spread_deg": 3.75, + "marker_Q_to_gsi_deg": { + "1": 179.4, + "-1": 12.4 + } + }, + "wrist_bend_deg_median": 175.7, + "opposite_sign_bend_deg": 32.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.76, "hand_vs_marker_frame_deg": { "before": 179.77, @@ -468,15 +479,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 175.74, + "twist_moved_deg": -175.68, "wrist_twist_deg_after": { - "median": 0.01, + "median": -0.06, "iqr": [ -1.0, - 0.9 + 0.7 ] }, - "wrist_total_deg_median_after": 32.3, + "wrist_total_deg_median_after": 15.5, "markers_on_forearm": [ "LElbowIn", "LForearm", @@ -489,11 +500,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 1.0, + "inlier_spread_deg": 3.67, + "marker_Q_to_gsi_deg": { + "1": 31.3, + "-1": 168.2 + } + }, "wrist_bend_deg_median": 38.8, "opposite_sign_bend_deg": 174.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -508,9 +530,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -1.0, 1.2 @@ -525,10 +547,120 @@ }, "frames_used": 1489 }, - "generated_at_utc": "2026-10-28T06:41:15.840105+00:00", + "generated_at_utc": "2026-11-06T14:06:41.068912+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 12.34, + "offset_rotvec": [ + 0.0009, + 0.2066, + -0.061 + ], + "dev_deg": { + "median": 3.76, + "p90": 6.56 + }, + "samples": 3691, + "accepted": 3658, + "wrist_pos_err_mm_median": 30.8, + "per_camera": { + "head": { + "samples": 3691, + "accepted": 3658, + "gate_deg": 30.0, + "offset_deg": 12.34, + "tier": "primary", + "dev_deg_median": 3.76, + "wrist_pos_err_mm_median": 30.8 + } + }, + "frames_by_state": { + "ace_sample": 14636, + "interpolated": 68, + "mean_hand": 180, + "no_body_fit": 0 + }, + "observed_fraction": 0.9879, + "observed_fraction_of_valid": 0.9879, + "palm_axis_vs_markers_deg": { + "gsi": 12.05, + "smplx": 0.65 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 15.2, + "p90": 18.7 + }, + "registered": { + "median": 14.6, + "p90": 17.8 + } + } + }, + "right": { + "offset_deg": 31.25, + "offset_rotvec": [ + 0.1478, + -0.3367, + 0.4029 + ], + "dev_deg": { + "median": 3.67, + "p90": 6.02 + }, + "samples": 3717, + "accepted": 3717, + "wrist_pos_err_mm_median": 34.5, + "per_camera": { + "head": { + "samples": 3717, + "accepted": 3717, + "gate_deg": 30.0, + "offset_deg": 31.25, + "tier": "primary", + "dev_deg_median": 3.67, + "wrist_pos_err_mm_median": 34.5 + } + }, + "frames_by_state": { + "ace_sample": 14870, + "interpolated": 2, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9992, + "observed_fraction_of_valid": 0.9992, + "palm_axis_vs_markers_deg": { + "gsi": 25.2, + "smplx": 0.55 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.8, + "p90": 19.6 + }, + "registered": { + "median": 13.4, + "p90": 17.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:31:28.441450+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/locomanipulation/LM63/session_006", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM63/session_006/motions/smplx.npz b/actions/locomanipulation/LM63/session_006/motions/smplx.npz index 3954e0d05825aa4b1e9004c93e81d11081f81a16..140ce58d8fbcd66930d187468d05e22509e7279b 100644 --- a/actions/locomanipulation/LM63/session_006/motions/smplx.npz +++ b/actions/locomanipulation/LM63/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:cbfa73d5d59443104aef83de2429776adb9d45b8d2e8b7f6fd0f62c64a49a011 -size 5746549 +oid sha256:98f09964bf6b3ad0dbea45b5187a82f8e273dc038283bbfea6fe96f21c0389b6 +size 10729330 diff --git a/actions/locomanipulation/LM65/session_003/meta.json b/actions/locomanipulation/LM65/session_003/meta.json index fa1a8d24c266c474a76bebadfb2c0cfacb9da05c..c207da4b7330a447cda9abfad98b2bab5697ad2d 100644 --- a/actions/locomanipulation/LM65/session_003/meta.json +++ b/actions/locomanipulation/LM65/session_003/meta.json @@ -439,8 +439,15 @@ 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 74.8, - "opposite_sign_bend_deg": 160.5, + "q_source": "markers (GSI not reliable)", + "gsi": { + "reliable": false, + "frames": 3000, + "inlier_frac": 0.254, + "inlier_spread_deg": 17.25 + }, + "wrist_bend_deg_median": 76.8, + "opposite_sign_bend_deg": 144.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 9.64, "hand_vs_marker_frame_deg": { @@ -452,15 +459,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 21.83, + "twist_moved_deg": 0.12, "wrist_twist_deg_after": { - "median": 0.12, + "median": -0.0, "iqr": [ - -35.0, - 39.9 + -35.1, + 39.8 ] }, - "wrist_total_deg_median_after": 76.4, + "wrist_total_deg_median_after": 76.5, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -474,10 +481,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - 0.0, - -0.0 + -0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.726, + "inlier_spread_deg": 11.99, + "marker_Q_to_gsi_deg": { + "1": 0.3, + "-1": 179.9 + } + }, "wrist_bend_deg_median": 31.7, "opposite_sign_bend_deg": 170.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -508,7 +526,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:46:57.558330+00:00", + "generated_at_utc": "2026-11-06T14:12:58.942949+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/locomanipulation/LM65/session_003/motions/smplx.npz b/actions/locomanipulation/LM65/session_003/motions/smplx.npz index 64b5133ec073e9ad0b3b0677db8fe9c7d93ed37b..5dbf3b0cdd031562601d01af0d5062591482a706 100644 --- a/actions/locomanipulation/LM65/session_003/motions/smplx.npz +++ b/actions/locomanipulation/LM65/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4924d6521a950c582d49bece40da2c6a3b4b03ac50d41d4c9c20eb0515a0bae9 -size 5944065 +oid sha256:6e887ec28ee9dcbbc0cfb987f38141ab0cfa2ad46bfba78d47d2895ce048fb0d +size 5943990 diff --git a/actions/locomanipulation/LM65/session_004/meta.json b/actions/locomanipulation/LM65/session_004/meta.json index 458227ad018b126b592e4fcfdcdd0761c9b59d8b..6b1b70dcf8ef574b725de79291fba88e6e47a4b9 100644 --- a/actions/locomanipulation/LM65/session_004/meta.json +++ b/actions/locomanipulation/LM65/session_004/meta.json @@ -353,8 +353,8 @@ "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": { @@ -413,19 +413,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + 2.98662, + -0.4392, + -0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 45.6, - "opposite_sign_bend_deg": 149.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.787, + "inlier_spread_deg": 10.94, + "marker_Q_to_gsi_deg": { + "1": 175.6, + "-1": 5.5 + } + }, + "wrist_bend_deg_median": 173.1, + "opposite_sign_bend_deg": 39.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.66, "hand_vs_marker_frame_deg": { - "before": 2.66, + "before": 179.04, "after": 2.66 }, "markers_on_wrist": [ @@ -433,15 +444,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 27.15, + "twist_moved_deg": -161.26, "wrist_twist_deg_after": { - "median": 0.01, + "median": -12.88, "iqr": [ - -9.0, - 7.4 + -21.1, + -3.2 ] }, - "wrist_total_deg_median_after": 39.2, + "wrist_total_deg_median_after": 32.9, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -454,11 +465,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, + -0.0, 0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.87, + "inlier_spread_deg": 10.35, + "marker_Q_to_gsi_deg": { + "1": 8.2, + "-1": 177.5 + } + }, "wrist_bend_deg_median": 20.6, "opposite_sign_bend_deg": 175.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -472,7 +494,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.05, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -490,7 +512,7 @@ }, "frames_used": 1464 }, - "generated_at_utc": "2026-10-28T06:46:57.849823+00:00", + "generated_at_utc": "2026-11-06T14:13:09.836449+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -596,6 +618,116 @@ }, "applied": 7 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 5.49, + "offset_rotvec": [ + 0.0647, + -0.0447, + -0.0548 + ], + "dev_deg": { + "median": 13.45, + "p90": 57.86 + }, + "samples": 3267, + "accepted": 2563, + "wrist_pos_err_mm_median": 37.9, + "per_camera": { + "head": { + "samples": 3267, + "accepted": 2563, + "gate_deg": 30.0, + "offset_deg": 5.49, + "tier": "primary", + "dev_deg_median": 13.45, + "wrist_pos_err_mm_median": 37.9 + } + }, + "frames_by_state": { + "ace_sample": 10344, + "interpolated": 2096, + "mean_hand": 2197, + "no_body_fit": 7 + }, + "observed_fraction": 0.8495, + "observed_fraction_of_valid": 0.8499, + "palm_axis_vs_markers_deg": { + "gsi": 10.74, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 6.92, + "offset_rotvec": [ + -0.0207, + -0.0937, + 0.0733 + ], + "dev_deg": { + "median": 11.9, + "p90": 33.34 + }, + "samples": 3173, + "accepted": 2794, + "wrist_pos_err_mm_median": 41.0, + "per_camera": { + "head": { + "samples": 3173, + "accepted": 2794, + "gate_deg": 30.0, + "offset_deg": 6.92, + "tier": "primary", + "dev_deg_median": 11.9, + "wrist_pos_err_mm_median": 41.0 + } + }, + "frames_by_state": { + "ace_sample": 11278, + "interpolated": 2034, + "mean_hand": 1325, + "no_body_fit": 7 + }, + "observed_fraction": 0.909, + "observed_fraction_of_valid": 0.9095, + "palm_axis_vs_markers_deg": { + "gsi": 12.21, + "smplx": 1.7 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.2, + "p90": 12.2 + }, + "registered": { + "median": 7.0, + "p90": 10.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:44:34.447586+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/locomanipulation/LM65/session_004", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM65/session_004/motions/smplx.npz b/actions/locomanipulation/LM65/session_004/motions/smplx.npz index ab74adf3b20d1975d16d2220c8fd106be79465d6..6459131364667a2e4bdddcf069d3a82db48df5ba 100644 --- a/actions/locomanipulation/LM65/session_004/motions/smplx.npz +++ b/actions/locomanipulation/LM65/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:66d162b74b6d7715b907baea7c762a4364e69c5334f539b1832f554d336b0d50 -size 5638592 +oid sha256:6e6e9924c941dbf9d8be51fcc962d02cda5fa37c82374eda8f75aa49b145d7c8 +size 10110219 diff --git a/actions/locomanipulation/LM65/session_005/meta.json b/actions/locomanipulation/LM65/session_005/meta.json index f5d7d89cc3b6cbc234ef979191a9ab1851bd7886..6c1926f92a48d0e9bc798838a0abfaad7255e466 100644 --- a/actions/locomanipulation/LM65/session_005/meta.json +++ b/actions/locomanipulation/LM65/session_005/meta.json @@ -353,8 +353,8 @@ "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": { @@ -413,19 +413,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + -2.98662, + 0.4392, + 0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 36.5, - "opposite_sign_bend_deg": 168.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.797, + "inlier_spread_deg": 9.94, + "marker_Q_to_gsi_deg": { + "1": 176.7, + "-1": 6.5 + } + }, + "wrist_bend_deg_median": 174.3, + "opposite_sign_bend_deg": 36.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.95, "hand_vs_marker_frame_deg": { - "before": 2.95, + "before": 179.05, "after": 2.95 }, "markers_on_wrist": [ @@ -433,15 +444,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 7.25, + "twist_moved_deg": -168.83, "wrist_twist_deg_after": { - "median": -0.0, + "median": -5.61, "iqr": [ - -5.8, - 6.3 + -10.8, + 0.9 ] }, - "wrist_total_deg_median_after": 36.5, + "wrist_total_deg_median_after": 23.9, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -455,10 +466,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - 0.0, + -0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.877, + "inlier_spread_deg": 11.41, + "marker_Q_to_gsi_deg": { + "1": 7.4, + "-1": 177.9 + } + }, "wrist_bend_deg_median": 17.7, "opposite_sign_bend_deg": 175.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -490,7 +512,7 @@ }, "frames_used": 1417 }, - "generated_at_utc": "2026-10-28T06:46:58.394523+00:00", + "generated_at_utc": "2026-11-06T14:13:11.038577+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -585,6 +607,116 @@ }, "applied": 6 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 4.74, + "offset_rotvec": [ + -0.059, + -0.0461, + -0.0352 + ], + "dev_deg": { + "median": 13.3, + "p90": 59.01 + }, + "samples": 3229, + "accepted": 2571, + "wrist_pos_err_mm_median": 37.5, + "per_camera": { + "head": { + "samples": 3229, + "accepted": 2571, + "gate_deg": 30.0, + "offset_deg": 4.74, + "tier": "primary", + "dev_deg_median": 13.3, + "wrist_pos_err_mm_median": 37.5 + } + }, + "frames_by_state": { + "ace_sample": 10344, + "interpolated": 1504, + "mean_hand": 2316, + "no_body_fit": 0 + }, + "observed_fraction": 0.8365, + "observed_fraction_of_valid": 0.8365, + "palm_axis_vs_markers_deg": { + "gsi": 10.74, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 6.19, + "offset_rotvec": [ + -0.0241, + -0.0681, + 0.0803 + ], + "dev_deg": { + "median": 12.97, + "p90": 32.43 + }, + "samples": 3294, + "accepted": 2907, + "wrist_pos_err_mm_median": 39.5, + "per_camera": { + "head": { + "samples": 3294, + "accepted": 2907, + "gate_deg": 30.0, + "offset_deg": 6.19, + "tier": "primary", + "dev_deg_median": 12.97, + "wrist_pos_err_mm_median": 39.5 + } + }, + "frames_by_state": { + "ace_sample": 11724, + "interpolated": 1494, + "mean_hand": 946, + "no_body_fit": 0 + }, + "observed_fraction": 0.9332, + "observed_fraction_of_valid": 0.9332, + "palm_axis_vs_markers_deg": { + "gsi": 12.84, + "smplx": 1.95 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.3, + "p90": 11.3 + }, + "registered": { + "median": 9.1, + "p90": 10.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:44:36.352460+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/locomanipulation/LM65/session_005", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM65/session_005/motions/smplx.npz b/actions/locomanipulation/LM65/session_005/motions/smplx.npz index ffa8960d0dc249cfee5ca207e7c76c8b0934ae27..4a7551ba528c389dc3ca13efde7b5d449e6b2ed7 100644 --- a/actions/locomanipulation/LM65/session_005/motions/smplx.npz +++ b/actions/locomanipulation/LM65/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9d472faa734fec176fb643b9a6cfcd102ba23fd641fcb6215d2da67a90e7034b -size 5451859 +oid sha256:ab59e7c9270f3b8b4db336861a7436c1da6b5b83e8b4999ce8497fe8ac07810a +size 9813497 diff --git a/actions/locomanipulation/LM65/session_006/meta.json b/actions/locomanipulation/LM65/session_006/meta.json index 1c581e056ed44af66b9c49b7a3a6f6c3cf5bacd3..6cd48aef28e7661285abb0e3533a817d54dff29e 100644 --- a/actions/locomanipulation/LM65/session_006/meta.json +++ b/actions/locomanipulation/LM65/session_006/meta.json @@ -353,8 +353,8 @@ "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": { @@ -418,35 +418,46 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + -3.02706, + 0.24148, + 0.80508 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 39.5, - "opposite_sign_bend_deg": 168.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", - "marker_frame_spread_deg": 7.26, + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.856, + "inlier_spread_deg": 12.58, + "marker_Q_to_gsi_deg": { + "1": 172.4, + "-1": 13.7 + } + }, + "wrist_bend_deg_median": 168.0, + "opposite_sign_bend_deg": 39.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", + "marker_frame_spread_deg": 7.25, "hand_vs_marker_frame_deg": { - "before": 7.26, - "after": 7.26 + "before": 179.04, + "after": 7.25 }, "markers_on_wrist": [ "LHandIn", "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": -160.43, "wrist_twist_deg_after": { - "median": 0.0, + "median": -9.4, "iqr": [ - -5.4, - 16.4 + -17.3, + 1.6 ] }, - "wrist_total_deg_median_after": 39.5, + "wrist_total_deg_median_after": 31.2, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -459,12 +470,23 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, - 0.0 + -1e-05, + -2e-05 ], "in_out_sign": 1, - "wrist_bend_deg_median": 20.9, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.961, + "inlier_spread_deg": 9.93, + "marker_Q_to_gsi_deg": { + "1": 12.2, + "-1": 176.3 + } + }, + "wrist_bend_deg_median": 21.0, "opposite_sign_bend_deg": 172.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.88, @@ -478,7 +500,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.05, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -494,7 +516,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:48:03.393991+00:00", + "generated_at_utc": "2026-11-06T14:16:29.472351+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -556,6 +578,116 @@ }, "applied": 3 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 14.18, + "offset_rotvec": [ + -0.126, + -0.1516, + 0.1495 + ], + "dev_deg": { + "median": 13.56, + "p90": 55.75 + }, + "samples": 3775, + "accepted": 3254, + "wrist_pos_err_mm_median": 29.1, + "per_camera": { + "head": { + "samples": 3775, + "accepted": 3254, + "gate_deg": 30.0, + "offset_deg": 14.18, + "tier": "primary", + "dev_deg_median": 13.56, + "wrist_pos_err_mm_median": 29.1 + } + }, + "frames_by_state": { + "ace_sample": 13034, + "interpolated": 210, + "mean_hand": 2240, + "no_body_fit": 0 + }, + "observed_fraction": 0.8553, + "observed_fraction_of_valid": 0.8553, + "palm_axis_vs_markers_deg": { + "gsi": 15.95, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 12.63, + "offset_rotvec": [ + -0.022, + -0.1393, + -0.1694 + ], + "dev_deg": { + "median": 9.88, + "p90": 22.29 + }, + "samples": 3868, + "accepted": 3711, + "wrist_pos_err_mm_median": 35.1, + "per_camera": { + "head": { + "samples": 3868, + "accepted": 3711, + "gate_deg": 30.0, + "offset_deg": 12.63, + "tier": "primary", + "dev_deg_median": 9.88, + "wrist_pos_err_mm_median": 35.1 + } + }, + "frames_by_state": { + "ace_sample": 14918, + "interpolated": 434, + "mean_hand": 132, + "no_body_fit": 0 + }, + "observed_fraction": 0.9915, + "observed_fraction_of_valid": 0.9915, + "palm_axis_vs_markers_deg": { + "gsi": 13.14, + "smplx": 2.42 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.1, + "p90": 8.6 + }, + "registered": { + "median": 5.9, + "p90": 8.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:51:19.745626+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/locomanipulation/LM65/session_006", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM65/session_006/motions/smplx.npz b/actions/locomanipulation/LM65/session_006/motions/smplx.npz index c0d6c596830e304bfce583d103fc4167f11cb398..a8629918ebc3796cbff67b5471b6775287e4fcd7 100644 --- a/actions/locomanipulation/LM65/session_006/motions/smplx.npz +++ b/actions/locomanipulation/LM65/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:daa76bf1b087b1b71185fd9ba65428e9dc635e410856fc5f8e1d85d1e1a71b5c -size 5959129 +oid sha256:3bff6cad8fc38ce44de844f69f868a30ebcda82c4142a9a503e36f5041ccb8d1 +size 10819806 diff --git a/actions/locomanipulation/LM66/session_011/meta.json b/actions/locomanipulation/LM66/session_011/meta.json index 7afd2880c8f55da3e14d8bc8730a3fbb16c0639b..37994b6836a3ff9e16764975625884bdbea878ec 100644 --- a/actions/locomanipulation/LM66/session_011/meta.json +++ b/actions/locomanipulation/LM66/session_011/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": { @@ -400,14 +400,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 172.2, - "opposite_sign_bend_deg": 38.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2511, + "inlier_frac": 0.881, + "inlier_spread_deg": 10.89, + "marker_Q_to_gsi_deg": { + "1": 170.6, + "-1": 10.2 + } + }, + "wrist_bend_deg_median": 171.0, + "opposite_sign_bend_deg": 25.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.1, "hand_vs_marker_frame_deg": { "before": 177.72, @@ -419,15 +430,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 171.67, + "twist_moved_deg": -170.04, "wrist_twist_deg_after": { - "median": 2.8, + "median": -0.81, "iqr": [ - -2.1, - 6.5 + -3.7, + 1.8 ] }, - "wrist_total_deg_median_after": 25.4, + "wrist_total_deg_median_after": 39.1, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -440,10 +451,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2466, + "inlier_frac": 0.991, + "inlier_spread_deg": 7.2, + "marker_Q_to_gsi_deg": { + "1": 8.9, + "-1": 172.6 + } + }, "wrist_bend_deg_median": 27.7, "opposite_sign_bend_deg": 175.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -460,7 +482,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -5.0, 3.3 @@ -474,7 +496,7 @@ }, "frames_used": 1008 }, - "generated_at_utc": "2026-10-28T06:22:48.303683+00:00", + "generated_at_utc": "2026-11-06T13:50:54.636172+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -518,6 +540,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.896172733017237 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 13.28, + "offset_rotvec": [ + -0.2037, + -0.031, + 0.106 + ], + "dev_deg": { + "median": 12.22, + "p90": 143.51 + }, + "samples": 2511, + "accepted": 2205, + "wrist_pos_err_mm_median": 32.2, + "per_camera": { + "head": { + "samples": 2511, + "accepted": 2205, + "gate_deg": 30.0, + "offset_deg": 13.28, + "tier": "primary", + "dev_deg_median": 12.22, + "wrist_pos_err_mm_median": 32.2 + } + }, + "frames_by_state": { + "ace_sample": 8838, + "interpolated": 114, + "mean_hand": 1124, + "no_body_fit": 8 + }, + "observed_fraction": 0.8877, + "observed_fraction_of_valid": 0.8884, + "palm_axis_vs_markers_deg": { + "gsi": 11.39, + "smplx": 2.67 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.1, + "p90": 15.0 + }, + "registered": { + "median": 8.8, + "p90": 13.1 + } + } + }, + "right": { + "offset_deg": 9.36, + "offset_rotvec": [ + -0.1305, + -0.0982, + -0.005 + ], + "dev_deg": { + "median": 7.23, + "p90": 12.54 + }, + "samples": 2466, + "accepted": 2444, + "wrist_pos_err_mm_median": 25.3, + "per_camera": { + "head": { + "samples": 2466, + "accepted": 2444, + "gate_deg": 30.0, + "offset_deg": 9.36, + "tier": "primary", + "dev_deg_median": 7.23, + "wrist_pos_err_mm_median": 25.3 + } + }, + "frames_by_state": { + "ace_sample": 9797, + "interpolated": 274, + "mean_hand": 5, + "no_body_fit": 8 + }, + "observed_fraction": 0.9987, + "observed_fraction_of_valid": 0.9995, + "palm_axis_vs_markers_deg": { + "gsi": 11.04, + "smplx": 2.25 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.3, + "p90": 15.8 + }, + "registered": { + "median": 10.3, + "p90": 14.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:57:51.238334+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/locomanipulation/LM66/session_011", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM66/session_011/motions/smplx.npz b/actions/locomanipulation/LM66/session_011/motions/smplx.npz index 15726f13e760e0dae6f1933be116a1b8148735fc..d90e56b9d6d67b81dcb5716275865ca221fd6bd7 100644 --- a/actions/locomanipulation/LM66/session_011/motions/smplx.npz +++ b/actions/locomanipulation/LM66/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:47b1dcb1888f9915da9615e3a78cf6a75304994bed33759fe5e4c09a8d6e1914 -size 3871878 +oid sha256:e22006ced063034e03b88f7b1269cfbcdbf7e585b4dfe724e54bd68c0395667a +size 7069989 diff --git a/actions/locomanipulation/LM66/session_012/meta.json b/actions/locomanipulation/LM66/session_012/meta.json index fb7d5335b67344d3099d2060aba569cd025054ae..eee9324e22215b2b601a3d1b34de61e3bbc66a3d 100644 --- a/actions/locomanipulation/LM66/session_012/meta.json +++ b/actions/locomanipulation/LM66/session_012/meta.json @@ -330,8 +330,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -406,10 +406,21 @@ 0.2415, 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 174.9, - "opposite_sign_bend_deg": 23.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2518, + "inlier_frac": 0.996, + "inlier_spread_deg": 6.59, + "marker_Q_to_gsi_deg": { + "1": 173.9, + "-1": 8.6 + } + }, + "wrist_bend_deg_median": 172.3, + "opposite_sign_bend_deg": 25.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.43, "hand_vs_marker_frame_deg": { "before": 178.53, @@ -421,15 +432,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 174.46, + "twist_moved_deg": -171.69, "wrist_twist_deg_after": { - "median": 0.31, + "median": -2.77, "iqr": [ - -10.4, - 3.3 + -11.6, + -0.1 ] }, - "wrist_total_deg_median_after": 25.8, + "wrist_total_deg_median_after": 24.1, "markers_on_forearm": [ "LElbow", "LForearm", @@ -447,6 +458,17 @@ -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2458, + "inlier_frac": 0.993, + "inlier_spread_deg": 7.36, + "marker_Q_to_gsi_deg": { + "1": 7.1, + "-1": 173.9 + } + }, "wrist_bend_deg_median": 24.3, "opposite_sign_bend_deg": 176.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -463,7 +485,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -1.9, 3.1 @@ -477,7 +499,7 @@ }, "frames_used": 1009 }, - "generated_at_utc": "2026-10-28T06:22:50.604751+00:00", + "generated_at_utc": "2026-11-06T13:50:58.836486+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -521,6 +543,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8132431783947461 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 8.59, + "offset_rotvec": [ + -0.0951, + -0.0873, + 0.0764 + ], + "dev_deg": { + "median": 6.57, + "p90": 15.22 + }, + "samples": 2518, + "accepted": 2507, + "wrist_pos_err_mm_median": 31.9, + "per_camera": { + "head": { + "samples": 2518, + "accepted": 2507, + "gate_deg": 30.0, + "offset_deg": 8.59, + "tier": "primary", + "dev_deg_median": 6.57, + "wrist_pos_err_mm_median": 31.9 + } + }, + "frames_by_state": { + "ace_sample": 10036, + "interpolated": 36, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9988, + "observed_fraction_of_valid": 0.9988, + "palm_axis_vs_markers_deg": { + "gsi": 7.67, + "smplx": 1.7 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.1, + "p90": 9.0 + }, + "registered": { + "median": 6.7, + "p90": 8.2 + } + } + }, + "right": { + "offset_deg": 8.24, + "offset_rotvec": [ + -0.1292, + -0.063, + 0.0031 + ], + "dev_deg": { + "median": 7.4, + "p90": 14.13 + }, + "samples": 2458, + "accepted": 2442, + "wrist_pos_err_mm_median": 25.4, + "per_camera": { + "head": { + "samples": 2458, + "accepted": 2442, + "gate_deg": 30.0, + "offset_deg": 8.24, + "tier": "primary", + "dev_deg_median": 7.4, + "wrist_pos_err_mm_median": 25.4 + } + }, + "frames_by_state": { + "ace_sample": 9790, + "interpolated": 158, + "mean_hand": 136, + "no_body_fit": 0 + }, + "observed_fraction": 0.9865, + "observed_fraction_of_valid": 0.9865, + "palm_axis_vs_markers_deg": { + "gsi": 9.97, + "smplx": 1.91 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.0, + "p90": 14.8 + }, + "registered": { + "median": 12.7, + "p90": 14.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:58:02.536382+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/locomanipulation/LM66/session_012", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM66/session_012/motions/smplx.npz b/actions/locomanipulation/LM66/session_012/motions/smplx.npz index 8d8a41904fec55622dc8c12177b5956d9d7e118d..fb57c4d0888819843b625a7cde3e28ad490483b7 100644 --- a/actions/locomanipulation/LM66/session_012/motions/smplx.npz +++ b/actions/locomanipulation/LM66/session_012/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:bdb065a70c2e4354e4e3aa441e30a4e81b4686552e93884a897734baa4c6e01f -size 3859525 +oid sha256:ec55d247a24c66e90d06009b31fe034fb5553209834557da0032a44952f6b055 +size 7232331 diff --git a/actions/locomanipulation/LM68/session_008/meta.json b/actions/locomanipulation/LM68/session_008/meta.json index c130026cca859c630ac22a9d3b16a647d2349374..d96faa4cf51f333b9e74b54baaeda369e9953fab 100644 --- a/actions/locomanipulation/LM68/session_008/meta.json +++ b/actions/locomanipulation/LM68/session_008/meta.json @@ -379,8 +379,8 @@ "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": { @@ -449,20 +449,31 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 134.19, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -2.09751, + 0.8649, + 0.58103 ], "in_out_sign": 1, - "wrist_bend_deg_median": 47.4, - "opposite_sign_bend_deg": 155.1, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.841, + "inlier_spread_deg": 11.0, + "marker_Q_to_gsi_deg": { + "1": 134.2, + "-1": 52.9 + } + }, + "wrist_bend_deg_median": 125.1, + "opposite_sign_bend_deg": 177.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.11, "hand_vs_marker_frame_deg": { "before": 1.11, - "after": 1.11 + "after": 134.23 }, "markers_on_wrist": [ "LWristIn", @@ -470,15 +481,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 22.27, + "twist_moved_deg": -124.24, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.04, "iqr": [ - -2.7, - 4.4 + -1.5, + 4.2 ] }, - "wrist_total_deg_median_after": 42.9, + "wrist_total_deg_median_after": 19.7, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -490,11 +501,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 1.0, + "inlier_spread_deg": 5.44, + "marker_Q_to_gsi_deg": { + "1": 36.2, + "-1": 144.3 + } + }, "wrist_bend_deg_median": 17.4, "opposite_sign_bend_deg": 176.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -511,7 +533,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -3.7, 2.0 @@ -525,7 +547,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:41:16.856312+00:00", + "generated_at_utc": "2026-11-06T14:07:00.039426+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -588,6 +610,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 2.91, + "offset_rotvec": [ + -0.0478, + 0.0134, + -0.0107 + ], + "dev_deg": { + "median": 13.71, + "p90": 34.03 + }, + "samples": 3678, + "accepted": 3114, + "wrist_pos_err_mm_median": 32.5, + "per_camera": { + "head": { + "samples": 3678, + "accepted": 3114, + "gate_deg": 30.0, + "offset_deg": 2.91, + "tier": "primary", + "dev_deg_median": 13.71, + "wrist_pos_err_mm_median": 32.5 + } + }, + "frames_by_state": { + "ace_sample": 12498, + "interpolated": 882, + "mean_hand": 1840, + "no_body_fit": 0 + }, + "observed_fraction": 0.8791, + "observed_fraction_of_valid": 0.8791, + "palm_axis_vs_markers_deg": { + "gsi": 46.65, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 36.12, + "offset_rotvec": [ + 0.6063, + -0.0144, + 0.1723 + ], + "dev_deg": { + "median": 5.46, + "p90": 13.65 + }, + "samples": 3775, + "accepted": 3775, + "wrist_pos_err_mm_median": 33.0, + "per_camera": { + "head": { + "samples": 3775, + "accepted": 3775, + "gate_deg": 30.0, + "offset_deg": 36.12, + "tier": "primary", + "dev_deg_median": 5.46, + "wrist_pos_err_mm_median": 33.0 + } + }, + "frames_by_state": { + "ace_sample": 15124, + "interpolated": 84, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9992, + "observed_fraction_of_valid": 0.9992, + "palm_axis_vs_markers_deg": { + "gsi": 37.59, + "smplx": 1.0 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.4, + "p90": 24.6 + }, + "registered": { + "median": 13.8, + "p90": 23.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:31:24.246529+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/locomanipulation/LM68/session_008", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM68/session_008/motions/smplx.npz b/actions/locomanipulation/LM68/session_008/motions/smplx.npz index bfb101e9ca97b2d2b698adc0a069095c5902be76..6401f0297736b8c2d3a5412f8801112c1c538c45 100644 --- a/actions/locomanipulation/LM68/session_008/motions/smplx.npz +++ b/actions/locomanipulation/LM68/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:bbb0d4cf6b7ddbcfd743c55f2161ba0776226af175feae4317ae3a100c2c1cb7 -size 5850020 +oid sha256:d8a05ff36ef117f790cfa5653c306de4d50cd74e20f79dc9116b2236f1ae4625 +size 10698252 diff --git a/actions/locomanipulation/LM68/session_009/meta.json b/actions/locomanipulation/LM68/session_009/meta.json index 29d6573bc9a6567e233e9c94047d865349f629ac..6eb8095854c551ca1571891099375577af78002f 100644 --- a/actions/locomanipulation/LM68/session_009/meta.json +++ b/actions/locomanipulation/LM68/session_009/meta.json @@ -378,8 +378,8 @@ "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": { @@ -448,20 +448,31 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 132.36, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + -2.03867, + 0.92493, + 0.57015 ], "in_out_sign": 1, - "wrist_bend_deg_median": 43.7, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.87, + "inlier_spread_deg": 10.12, + "marker_Q_to_gsi_deg": { + "1": 132.4, + "-1": 56.4 + } + }, + "wrist_bend_deg_median": 119.5, "opposite_sign_bend_deg": 174.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.01, "hand_vs_marker_frame_deg": { "before": 1.01, - "after": 1.01 + "after": 132.42 }, "markers_on_wrist": [ "LWristIn", @@ -469,15 +480,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -118.36, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ - -1.5, - 2.5 + -1.8, + 2.2 ] }, - "wrist_total_deg_median_after": 43.8, + "wrist_total_deg_median_after": 20.7, "markers_on_forearm": [ "LElbowIn", "LForearm", @@ -491,10 +502,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - -0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.991, + "inlier_spread_deg": 3.66, + "marker_Q_to_gsi_deg": { + "1": 37.0, + "-1": 143.2 + } + }, "wrist_bend_deg_median": 27.7, "opposite_sign_bend_deg": 175.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -511,7 +533,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -1.6, 1.5 @@ -526,7 +548,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:41:17.021568+00:00", + "generated_at_utc": "2026-11-06T14:07:20.370158+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -566,6 +588,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 4.13, + "offset_rotvec": [ + -0.0711, + 0.0058, + -0.0106 + ], + "dev_deg": { + "median": 12.53, + "p90": 31.36 + }, + "samples": 3753, + "accepted": 3323, + "wrist_pos_err_mm_median": 39.1, + "per_camera": { + "head": { + "samples": 3753, + "accepted": 3323, + "gate_deg": 30.0, + "offset_deg": 4.13, + "tier": "primary", + "dev_deg_median": 12.53, + "wrist_pos_err_mm_median": 39.1 + } + }, + "frames_by_state": { + "ace_sample": 13354, + "interpolated": 878, + "mean_hand": 892, + "no_body_fit": 0 + }, + "observed_fraction": 0.941, + "observed_fraction_of_valid": 0.941, + "palm_axis_vs_markers_deg": { + "gsi": 46.98, + "smplx": 47.66 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 18.2, + "p90": 30.6 + }, + "registered": { + "median": 18.2, + "p90": 30.5 + } + } + }, + "right": { + "offset_deg": 37.06, + "offset_rotvec": [ + 0.6244, + 0.0394, + 0.1639 + ], + "dev_deg": { + "median": 3.72, + "p90": 7.41 + }, + "samples": 3744, + "accepted": 3706, + "wrist_pos_err_mm_median": 38.4, + "per_camera": { + "head": { + "samples": 3744, + "accepted": 3706, + "gate_deg": 30.0, + "offset_deg": 37.06, + "tier": "primary", + "dev_deg_median": 3.72, + "wrist_pos_err_mm_median": 38.4 + } + }, + "frames_by_state": { + "ace_sample": 14826, + "interpolated": 54, + "mean_hand": 244, + "no_body_fit": 0 + }, + "observed_fraction": 0.9839, + "observed_fraction_of_valid": 0.9839, + "palm_axis_vs_markers_deg": { + "gsi": 36.66, + "smplx": 0.63 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.0, + "p90": 22.2 + }, + "registered": { + "median": 14.5, + "p90": 22.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:31:27.839119+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/locomanipulation/LM68/session_009", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM68/session_009/motions/smplx.npz b/actions/locomanipulation/LM68/session_009/motions/smplx.npz index 9ff593473606d8e9890457d8141fb96d6967960c..33f0c021e76196ca9f431bc414fb63fb513be3cd 100644 --- a/actions/locomanipulation/LM68/session_009/motions/smplx.npz +++ b/actions/locomanipulation/LM68/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:307a7d22e38213e0eabfd2b5b3b3e6a91fb6b7fa6bd3f92a2f582b04cd2f061c -size 5804028 +oid sha256:b4964643018de370d973c877fd20f3481052e5a36212fb6dc5253c6175dd5ff6 +size 10710969 diff --git a/actions/locomanipulation/LM68/session_011/meta.json b/actions/locomanipulation/LM68/session_011/meta.json index 3b76ec14f1226b0be551b4d957f8aaf086669a2c..be583d1db33588abef42f649e9997573a715303d 100644 --- a/actions/locomanipulation/LM68/session_011/meta.json +++ b/actions/locomanipulation/LM68/session_011/meta.json @@ -378,8 +378,8 @@ "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": { @@ -443,19 +443,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - 0.0, - 0.0 + 2.98315, + -0.44501, + -0.87886 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 45.0, - "opposite_sign_bend_deg": 167.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.948, + "inlier_spread_deg": 8.92, + "marker_Q_to_gsi_deg": { + "1": 177.0, + "-1": 7.8 + } + }, + "wrist_bend_deg_median": 167.5, + "opposite_sign_bend_deg": 44.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.44, "hand_vs_marker_frame_deg": { - "before": 2.44, + "before": 178.76, "after": 2.44 }, "markers_on_wrist": [ @@ -464,15 +475,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.68, + "twist_moved_deg": -157.62, "wrist_twist_deg_after": { - "median": -0.0, + "median": -18.49, "iqr": [ - -13.5, - 7.3 + -31.3, + -6.8 ] }, - "wrist_total_deg_median_after": 45.1, + "wrist_total_deg_median_after": 27.7, "markers_on_forearm": [ "LElbow", "LForearm", @@ -485,11 +496,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, + -0.0, 0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.996, + "inlier_spread_deg": 8.9, + "marker_Q_to_gsi_deg": { + "1": 18.0, + "-1": 169.7 + } + }, "wrist_bend_deg_median": 16.5, "opposite_sign_bend_deg": 175.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -503,9 +525,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -2.6, 2.5 @@ -520,7 +542,7 @@ }, "frames_used": 1417 }, - "generated_at_utc": "2026-10-28T06:44:12.110645+00:00", + "generated_at_utc": "2026-11-06T14:09:36.344541+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -560,6 +582,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 7.92, + "offset_rotvec": [ + -0.0236, + -0.0095, + 0.1359 + ], + "dev_deg": { + "median": 9.21, + "p90": 17.13 + }, + "samples": 3472, + "accepted": 3287, + "wrist_pos_err_mm_median": 50.4, + "per_camera": { + "head": { + "samples": 3472, + "accepted": 3287, + "gate_deg": 30.0, + "offset_deg": 7.92, + "tier": "primary", + "dev_deg_median": 9.21, + "wrist_pos_err_mm_median": 50.4 + } + }, + "frames_by_state": { + "ace_sample": 13156, + "interpolated": 124, + "mean_hand": 882, + "no_body_fit": 2 + }, + "observed_fraction": 0.9376, + "observed_fraction_of_valid": 0.9377, + "palm_axis_vs_markers_deg": { + "gsi": 6.55, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 18.05, + "offset_rotvec": [ + -0.1336, + -0.28, + -0.055 + ], + "dev_deg": { + "median": 8.91, + "p90": 14.37 + }, + "samples": 3504, + "accepted": 3489, + "wrist_pos_err_mm_median": 30.8, + "per_camera": { + "head": { + "samples": 3504, + "accepted": 3489, + "gate_deg": 30.0, + "offset_deg": 18.05, + "tier": "primary", + "dev_deg_median": 8.91, + "wrist_pos_err_mm_median": 30.8 + } + }, + "frames_by_state": { + "ace_sample": 13972, + "interpolated": 180, + "mean_hand": 10, + "no_body_fit": 2 + }, + "observed_fraction": 0.9992, + "observed_fraction_of_valid": 0.9993, + "palm_axis_vs_markers_deg": { + "gsi": 19.63, + "smplx": 1.9 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 17.5, + "p90": 29.3 + }, + "registered": { + "median": 17.2, + "p90": 28.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:37:09.147513+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/locomanipulation/LM68/session_011", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM68/session_011/motions/smplx.npz b/actions/locomanipulation/LM68/session_011/motions/smplx.npz index 72b639148cd21d596b3c1581584c3dd33e03eb1b..edc7046477027a34484fa05a0d642ed8c766a06d 100644 --- a/actions/locomanipulation/LM68/session_011/motions/smplx.npz +++ b/actions/locomanipulation/LM68/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:bc3b1db96ba0703640952ac1046b57848971038bae82200d73dc298942dcace0 -size 5447491 +oid sha256:fbc31acd1924efe64c446f8e5abcf75db93a91e70dec6ce2ff47c15f59719059 +size 10053309 diff --git a/actions/locomanipulation/LM69/session_003/meta.json b/actions/locomanipulation/LM69/session_003/meta.json index d902a805ec05487be54279b2777aa44c61e1f979..cc156197d57ecc101c845dbd166546d0bb9483bf 100644 --- a/actions/locomanipulation/LM69/session_003/meta.json +++ b/actions/locomanipulation/LM69/session_003/meta.json @@ -325,8 +325,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -392,14 +392,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02575, - 0.26943, - 0.80116 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 177.4, - "opposite_sign_bend_deg": 16.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.996, + "inlier_spread_deg": 5.29, + "marker_Q_to_gsi_deg": { + "1": 179.4, + "-1": 9.2 + } + }, + "wrist_bend_deg_median": 174.8, + "opposite_sign_bend_deg": 20.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.85, "hand_vs_marker_frame_deg": { "before": 179.61, @@ -410,15 +421,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 174.6, + "twist_moved_deg": -174.14, "wrist_twist_deg_after": { - "median": 2.97, + "median": -0.94, "iqr": [ - 0.1, - 5.5 + -3.7, + 1.7 ] }, - "wrist_total_deg_median_after": 21.2, + "wrist_total_deg_median_after": 17.7, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -432,10 +443,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.999, + "inlier_spread_deg": 4.52, + "marker_Q_to_gsi_deg": { + "1": 4.2, + "-1": 179.6 + } + }, "wrist_bend_deg_median": 16.0, "opposite_sign_bend_deg": 176.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -466,7 +488,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:15:02.310578+00:00", + "generated_at_utc": "2026-11-06T13:38:27.947277+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -510,6 +532,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.196826807839304 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.14, + "offset_rotvec": [ + -0.0038, + -0.144, + 0.0684 + ], + "dev_deg": { + "median": 5.26, + "p90": 10.71 + }, + "samples": 4018, + "accepted": 4002, + "wrist_pos_err_mm_median": 36.0, + "per_camera": { + "head": { + "samples": 4018, + "accepted": 4002, + "gate_deg": 30.0, + "offset_deg": 9.14, + "tier": "primary", + "dev_deg_median": 5.26, + "wrist_pos_err_mm_median": 36.0 + } + }, + "frames_by_state": { + "ace_sample": 16014, + "interpolated": 58, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9993, + "observed_fraction_of_valid": 0.9993, + "palm_axis_vs_markers_deg": { + "gsi": 7.98, + "smplx": 0.62 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.2, + "p90": 13.5 + }, + "registered": { + "median": 12.9, + "p90": 13.7 + } + } + }, + "right": { + "offset_deg": 4.21, + "offset_rotvec": [ + -0.0094, + 0.0635, + 0.0359 + ], + "dev_deg": { + "median": 4.52, + "p90": 9.28 + }, + "samples": 3965, + "accepted": 3963, + "wrist_pos_err_mm_median": 29.0, + "per_camera": { + "head": { + "samples": 3965, + "accepted": 3963, + "gate_deg": 30.0, + "offset_deg": 4.21, + "tier": "primary", + "dev_deg_median": 4.52, + "wrist_pos_err_mm_median": 29.0 + } + }, + "frames_by_state": { + "ace_sample": 15850, + "interpolated": 6, + "mean_hand": 228, + "no_body_fit": 0 + }, + "observed_fraction": 0.9858, + "observed_fraction_of_valid": 0.9858, + "palm_axis_vs_markers_deg": { + "gsi": 4.59, + "smplx": 0.87 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.3, + "p90": 9.3 + }, + "registered": { + "median": 8.4, + "p90": 9.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:32:22.037718+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/locomanipulation/LM69/session_003", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM69/session_003/motions/smplx.npz b/actions/locomanipulation/LM69/session_003/motions/smplx.npz index 3c068f51e85b6c1a384b38e3aee66142670d7a76..d35c8dce819c038cdb8a57b4e4855c30fc1188ca 100644 --- a/actions/locomanipulation/LM69/session_003/motions/smplx.npz +++ b/actions/locomanipulation/LM69/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:20891d408839e99a50cd87eb03b0354c30f051085e7d882a463b3405e0fce156 -size 6157015 +oid sha256:218f4bf17e700348da3623af32abbc92b042b432d93c640c82a6435f91992035 +size 11530291 diff --git a/actions/locomanipulation/LM69/session_004/meta.json b/actions/locomanipulation/LM69/session_004/meta.json index aed500370ba8ffe121077b5556f96692906853ac..b9bc063121d4efe1c09e40affe5fc054aa7e23ef 100644 --- a/actions/locomanipulation/LM69/session_004/meta.json +++ b/actions/locomanipulation/LM69/session_004/meta.json @@ -325,8 +325,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -392,14 +392,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02575, - 0.26943, - 0.80116 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 176.7, - "opposite_sign_bend_deg": 24.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 1.0, + "inlier_spread_deg": 6.22, + "marker_Q_to_gsi_deg": { + "1": 179.2, + "-1": 13.1 + } + }, + "wrist_bend_deg_median": 175.0, + "opposite_sign_bend_deg": 18.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.55, "hand_vs_marker_frame_deg": { "before": 179.62, @@ -410,15 +421,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 175.4, + "twist_moved_deg": -174.08, "wrist_twist_deg_after": { - "median": 1.38, + "median": -1.21, "iqr": [ - -1.3, - 3.6 + -4.0, + 0.8 ] }, - "wrist_total_deg_median_after": 18.3, + "wrist_total_deg_median_after": 24.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -431,11 +442,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ + 0.0, -0.0, - -0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.998, + "inlier_spread_deg": 5.53, + "marker_Q_to_gsi_deg": { + "1": 5.7, + "-1": 178.1 + } + }, "wrist_bend_deg_median": 20.7, "opposite_sign_bend_deg": 175.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -450,9 +472,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -2.6, 2.1 @@ -466,7 +488,7 @@ }, "frames_used": 1428 }, - "generated_at_utc": "2026-10-28T06:15:02.211779+00:00", + "generated_at_utc": "2026-11-06T13:38:33.236503+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -510,6 +532,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.219995747574563 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 12.88, + "offset_rotvec": [ + 0.004, + -0.1913, + 0.1179 + ], + "dev_deg": { + "median": 6.25, + "p90": 12.47 + }, + "samples": 3568, + "accepted": 3568, + "wrist_pos_err_mm_median": 33.5, + "per_camera": { + "head": { + "samples": 3568, + "accepted": 3568, + "gate_deg": 30.0, + "offset_deg": 12.88, + "tier": "primary", + "dev_deg_median": 6.25, + "wrist_pos_err_mm_median": 33.5 + } + }, + "frames_by_state": { + "ace_sample": 14271, + "interpolated": 0, + "mean_hand": 5, + "no_body_fit": 8 + }, + "observed_fraction": 0.9991, + "observed_fraction_of_valid": 0.9996, + "palm_axis_vs_markers_deg": { + "gsi": 10.95, + "smplx": 0.76 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.5, + "p90": 11.4 + }, + "registered": { + "median": 11.1, + "p90": 12.7 + } + } + }, + "right": { + "offset_deg": 5.65, + "offset_rotvec": [ + 0.0248, + 0.0952, + -0.0057 + ], + "dev_deg": { + "median": 5.54, + "p90": 9.65 + }, + "samples": 3516, + "accepted": 3510, + "wrist_pos_err_mm_median": 39.0, + "per_camera": { + "head": { + "samples": 3516, + "accepted": 3510, + "gate_deg": 30.0, + "offset_deg": 5.65, + "tier": "primary", + "dev_deg_median": 5.54, + "wrist_pos_err_mm_median": 39.0 + } + }, + "frames_by_state": { + "ace_sample": 14035, + "interpolated": 0, + "mean_hand": 241, + "no_body_fit": 8 + }, + "observed_fraction": 0.9826, + "observed_fraction_of_valid": 0.9831, + "palm_axis_vs_markers_deg": { + "gsi": 6.82, + "smplx": 1.01 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.0, + "p90": 15.4 + }, + "registered": { + "median": 9.8, + "p90": 13.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:32:16.936501+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/locomanipulation/LM69/session_004", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM69/session_004/motions/smplx.npz b/actions/locomanipulation/LM69/session_004/motions/smplx.npz index 7ee6db432bbe26d75aedec35ee5a92c5ec5d5437..0348a1c4552e6b964e43093f6041b9ac6ba2d4ae 100644 --- a/actions/locomanipulation/LM69/session_004/motions/smplx.npz +++ b/actions/locomanipulation/LM69/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:517aaacfd981d3fbd79088dc9f1123968541da6b73b9a22db57b97375747d7e5 -size 5479384 +oid sha256:6b4f48fc1a402d80c8d289c9631059f398da9f6a8d501ecf2f9bcbaae9a2f1ca +size 10245090 diff --git a/actions/locomanipulation/LM69/session_007/meta.json b/actions/locomanipulation/LM69/session_007/meta.json index 357dae27494fcbbb1d28c99d26bb6e591e169e6c..bc5c66d8bd8b6405dc5acda677458d7d0c05470a 100644 --- a/actions/locomanipulation/LM69/session_007/meta.json +++ b/actions/locomanipulation/LM69/session_007/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": { @@ -387,14 +387,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 175.8, - "opposite_sign_bend_deg": 40.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 1.0, + "inlier_spread_deg": 3.89, + "marker_Q_to_gsi_deg": { + "1": 157.6, + "-1": 25.8 + } + }, + "wrist_bend_deg_median": 175.7, + "opposite_sign_bend_deg": 12.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.71, "hand_vs_marker_frame_deg": { "before": 179.62, @@ -405,15 +416,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 175.35, + "twist_moved_deg": -175.25, "wrist_twist_deg_after": { - "median": 0.84, + "median": -0.1, "iqr": [ - -0.5, - 3.4 + -1.3, + 1.9 ] }, - "wrist_total_deg_median_after": 12.5, + "wrist_total_deg_median_after": 40.8, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -428,9 +439,20 @@ "Q_rotvec": [ 0.0, -0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.996, + "inlier_spread_deg": 3.57, + "marker_Q_to_gsi_deg": { + "1": 11.2, + "-1": 174.6 + } + }, "wrist_bend_deg_median": 23.5, "opposite_sign_bend_deg": 176.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -461,7 +483,7 @@ }, "frames_used": 1308 }, - "generated_at_utc": "2026-10-28T06:25:54.521599+00:00", + "generated_at_utc": "2026-11-06T13:58:29.567189+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -505,6 +527,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.888173304298897 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 25.78, + "offset_rotvec": [ + -0.384, + 0.2341, + 0.015 + ], + "dev_deg": { + "median": 3.9, + "p90": 7.83 + }, + "samples": 3239, + "accepted": 3239, + "wrist_pos_err_mm_median": 26.9, + "per_camera": { + "head": { + "samples": 3239, + "accepted": 3239, + "gate_deg": 30.0, + "offset_deg": 25.78, + "tier": "primary", + "dev_deg_median": 3.9, + "wrist_pos_err_mm_median": 26.9 + } + }, + "frames_by_state": { + "ace_sample": 12956, + "interpolated": 0, + "mean_hand": 120, + "no_body_fit": 8 + }, + "observed_fraction": 0.9902, + "observed_fraction_of_valid": 0.9908, + "palm_axis_vs_markers_deg": { + "gsi": 26.43, + "smplx": 0.62 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.1, + "p90": 12.5 + }, + "registered": { + "median": 8.6, + "p90": 12.3 + } + } + }, + "right": { + "offset_deg": 11.28, + "offset_rotvec": [ + -0.0526, + -0.1614, + -0.0996 + ], + "dev_deg": { + "median": 3.64, + "p90": 8.01 + }, + "samples": 3232, + "accepted": 3216, + "wrist_pos_err_mm_median": 30.2, + "per_camera": { + "head": { + "samples": 3232, + "accepted": 3216, + "gate_deg": 30.0, + "offset_deg": 11.28, + "tier": "primary", + "dev_deg_median": 3.64, + "wrist_pos_err_mm_median": 30.2 + } + }, + "frames_by_state": { + "ace_sample": 12866, + "interpolated": 90, + "mean_hand": 120, + "no_body_fit": 8 + }, + "observed_fraction": 0.9902, + "observed_fraction_of_valid": 0.9908, + "palm_axis_vs_markers_deg": { + "gsi": 11.71, + "smplx": 1.26 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.4, + "p90": 14.0 + }, + "registered": { + "median": 9.2, + "p90": 13.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:13:32.643082+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/locomanipulation/LM69/session_007", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM69/session_007/motions/smplx.npz b/actions/locomanipulation/LM69/session_007/motions/smplx.npz index f70dc1add19f89f84b295a2c439145211cca14e4..5d999dfc46e36f81ea883c8195e142f9a81c101e 100644 --- a/actions/locomanipulation/LM69/session_007/motions/smplx.npz +++ b/actions/locomanipulation/LM69/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b8a8a4fbbc8e91faa59ffcd95fd726196a5f46d1348e4c92f62c8cfc45ec4f1d -size 5027079 +oid sha256:3ec476a4754e8485f9446a6908e46fea4887f3e03d1d80880cf601adda4f8ba9 +size 9370226 diff --git a/actions/locomanipulation/LM69/session_008/meta.json b/actions/locomanipulation/LM69/session_008/meta.json index 283624fbebb6b37fbaef0410f8b7493147bc9bf8..87c68d552d95041e102482dcaa6e3642a336bd02 100644 --- a/actions/locomanipulation/LM69/session_008/meta.json +++ b/actions/locomanipulation/LM69/session_008/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": { @@ -403,14 +403,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 176.8, - "opposite_sign_bend_deg": 43.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 1.0, + "inlier_spread_deg": 4.61, + "marker_Q_to_gsi_deg": { + "1": 162.8, + "-1": 21.2 + } + }, + "wrist_bend_deg_median": 175.2, + "opposite_sign_bend_deg": 11.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.18, "hand_vs_marker_frame_deg": { "before": 179.51, @@ -421,15 +432,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 174.78, + "twist_moved_deg": -174.6, "wrist_twist_deg_after": { - "median": 2.41, + "median": -0.18, "iqr": [ - -0.1, - 5.1 + -2.3, + 1.9 ] }, - "wrist_total_deg_median_after": 11.7, + "wrist_total_deg_median_after": 43.5, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -443,10 +454,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 1.0, + "inlier_spread_deg": 3.65, + "marker_Q_to_gsi_deg": { + "1": 12.0, + "-1": 173.4 + } + }, "wrist_bend_deg_median": 29.9, "opposite_sign_bend_deg": 176.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -477,7 +499,7 @@ }, "frames_used": 1369 }, - "generated_at_utc": "2026-10-28T06:25:54.574915+00:00", + "generated_at_utc": "2026-11-06T13:58:37.962404+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -521,6 +543,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0621067118739882 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 21.2, + "offset_rotvec": [ + -0.2905, + 0.2288, + 0.0124 + ], + "dev_deg": { + "median": 4.63, + "p90": 8.2 + }, + "samples": 3389, + "accepted": 3388, + "wrist_pos_err_mm_median": 24.2, + "per_camera": { + "head": { + "samples": 3389, + "accepted": 3388, + "gate_deg": 30.0, + "offset_deg": 21.2, + "tier": "primary", + "dev_deg_median": 4.63, + "wrist_pos_err_mm_median": 24.2 + } + }, + "frames_by_state": { + "ace_sample": 13554, + "interpolated": 2, + "mean_hand": 128, + "no_body_fit": 0 + }, + "observed_fraction": 0.9906, + "observed_fraction_of_valid": 0.9906, + "palm_axis_vs_markers_deg": { + "gsi": 21.75, + "smplx": 0.89 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.0, + "p90": 15.5 + }, + "registered": { + "median": 10.7, + "p90": 15.2 + } + } + }, + "right": { + "offset_deg": 12.01, + "offset_rotvec": [ + -0.0725, + -0.1595, + -0.1151 + ], + "dev_deg": { + "median": 3.63, + "p90": 6.73 + }, + "samples": 3362, + "accepted": 3362, + "wrist_pos_err_mm_median": 26.6, + "per_camera": { + "head": { + "samples": 3362, + "accepted": 3362, + "gate_deg": 30.0, + "offset_deg": 12.01, + "tier": "primary", + "dev_deg_median": 3.63, + "wrist_pos_err_mm_median": 26.6 + } + }, + "frames_by_state": { + "ace_sample": 13450, + "interpolated": 106, + "mean_hand": 128, + "no_body_fit": 0 + }, + "observed_fraction": 0.9906, + "observed_fraction_of_valid": 0.9906, + "palm_axis_vs_markers_deg": { + "gsi": 12.14, + "smplx": 0.5 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.8, + "p90": 12.0 + }, + "registered": { + "median": 9.6, + "p90": 11.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:13:49.541024+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/locomanipulation/LM69/session_008", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM69/session_008/motions/smplx.npz b/actions/locomanipulation/LM69/session_008/motions/smplx.npz index bfc508ed023bb0fb0e500a5b58918c807ef478d2..a355d4581594932992109b41f93dc429241fa7f7 100644 --- a/actions/locomanipulation/LM69/session_008/motions/smplx.npz +++ b/actions/locomanipulation/LM69/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:869e4ef26186d8e19d2b6a827f73360d4f6d550ffb8693037b0734020abd71aa -size 5225775 +oid sha256:52524404ba3e51aa4862909d7d34ee1bc282908c8364262669dd8d94f8fba498 +size 9773402 diff --git a/actions/locomanipulation/LM70/session_004/meta.json b/actions/locomanipulation/LM70/session_004/meta.json index 6e7d142d1279c57be523bc4184ff05d0441009a2..f8da8e6b7fa7f94da4b59a6e6da55d14b7f90233 100644 --- a/actions/locomanipulation/LM70/session_004/meta.json +++ b/actions/locomanipulation/LM70/session_004/meta.json @@ -329,8 +329,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, 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": { @@ -400,10 +400,21 @@ 0.26943, 0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 175.3, - "opposite_sign_bend_deg": 20.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.998, + "inlier_spread_deg": 5.48, + "marker_Q_to_gsi_deg": { + "1": 178.5, + "-1": 11.9 + } + }, + "wrist_bend_deg_median": 175.1, + "opposite_sign_bend_deg": 23.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.3, "hand_vs_marker_frame_deg": { "before": 179.4, @@ -414,15 +425,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 174.58, + "twist_moved_deg": -174.11, "wrist_twist_deg_after": { - "median": 0.59, + "median": -1.2, "iqr": [ - -2.2, - 2.7 + -4.1, + 0.9 ] }, - "wrist_total_deg_median_after": 23.7, + "wrist_total_deg_median_after": 20.8, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -436,10 +447,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.998, + "inlier_spread_deg": 5.88, + "marker_Q_to_gsi_deg": { + "1": 4.1, + "-1": 178.2 + } + }, "wrist_bend_deg_median": 19.8, "opposite_sign_bend_deg": 174.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -454,9 +476,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -4.5, 11.4 @@ -470,7 +492,7 @@ }, "frames_used": 1368 }, - "generated_at_utc": "2026-10-28T06:15:06.779848+00:00", + "generated_at_utc": "2026-11-06T13:38:39.938138+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -514,6 +536,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.194293079589235 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 11.89, + "offset_rotvec": [ + -0.0073, + -0.1677, + 0.122 + ], + "dev_deg": { + "median": 5.52, + "p90": 9.77 + }, + "samples": 3418, + "accepted": 3412, + "wrist_pos_err_mm_median": 44.0, + "per_camera": { + "head": { + "samples": 3418, + "accepted": 3412, + "gate_deg": 30.0, + "offset_deg": 11.89, + "tier": "primary", + "dev_deg_median": 5.52, + "wrist_pos_err_mm_median": 44.0 + } + }, + "frames_by_state": { + "ace_sample": 13649, + "interpolated": 22, + "mean_hand": 5, + "no_body_fit": 8 + }, + "observed_fraction": 0.999, + "observed_fraction_of_valid": 0.9996, + "palm_axis_vs_markers_deg": { + "gsi": 9.5, + "smplx": 0.88 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.4, + "p90": 11.6 + }, + "registered": { + "median": 10.8, + "p90": 11.6 + } + } + }, + "right": { + "offset_deg": 4.02, + "offset_rotvec": [ + 0.023, + 0.0661, + 0.0044 + ], + "dev_deg": { + "median": 5.89, + "p90": 10.21 + }, + "samples": 3360, + "accepted": 3354, + "wrist_pos_err_mm_median": 30.4, + "per_camera": { + "head": { + "samples": 3360, + "accepted": 3354, + "gate_deg": 30.0, + "offset_deg": 4.02, + "tier": "primary", + "dev_deg_median": 5.89, + "wrist_pos_err_mm_median": 30.4 + } + }, + "frames_by_state": { + "ace_sample": 13411, + "interpolated": 0, + "mean_hand": 265, + "no_body_fit": 8 + }, + "observed_fraction": 0.98, + "observed_fraction_of_valid": 0.9806, + "palm_axis_vs_markers_deg": { + "gsi": 5.34, + "smplx": 1.61 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.9, + "p90": 7.5 + }, + "registered": { + "median": 7.1, + "p90": 8.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:32:14.636716+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/locomanipulation/LM70/session_004", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM70/session_004/motions/smplx.npz b/actions/locomanipulation/LM70/session_004/motions/smplx.npz index 685fcb60f7d546f3d029d752327530f1a7135684..4d7b8a075218407fdf27778976695a1339d8ed82 100644 --- a/actions/locomanipulation/LM70/session_004/motions/smplx.npz +++ b/actions/locomanipulation/LM70/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3eb56086099afe831760c52c3ea0ebbaaf61de214fafa3962dc2073fedd1cb7e -size 5222147 +oid sha256:b89c20a31049151cac5a8b796929e1bfe4b163caa5b27f86c4966557d6e94efc +size 9777693 diff --git a/actions/locomanipulation/LM70/session_007/meta.json b/actions/locomanipulation/LM70/session_007/meta.json index d6d5d9f4857377fa5b4785132e766bccc0ef7e6a..81de1c86461557b9705051bbca20b496ae02311c 100644 --- a/actions/locomanipulation/LM70/session_007/meta.json +++ b/actions/locomanipulation/LM70/session_007/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": { @@ -386,14 +386,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 178.0, - "opposite_sign_bend_deg": 41.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.98, + "inlier_spread_deg": 3.06, + "marker_Q_to_gsi_deg": { + "1": 157.9, + "-1": 25.8 + } + }, + "wrist_bend_deg_median": 177.2, + "opposite_sign_bend_deg": 8.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.89, "hand_vs_marker_frame_deg": { "before": 179.49, @@ -404,15 +415,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 177.1, + "twist_moved_deg": -176.57, "wrist_twist_deg_after": { - "median": 0.94, + "median": -0.53, "iqr": [ - -0.7, - 2.2 + -2.2, + 0.8 ] }, - "wrist_total_deg_median_after": 9.0, + "wrist_total_deg_median_after": 41.9, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -425,11 +436,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + -0.0, + -0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 1.0, + "inlier_spread_deg": 3.31, + "marker_Q_to_gsi_deg": { + "1": 12.9, + "-1": 173.3 + } + }, "wrist_bend_deg_median": 24.7, "opposite_sign_bend_deg": 176.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -443,7 +465,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -460,7 +482,7 @@ }, "frames_used": 1307 }, - "generated_at_utc": "2026-10-28T06:26:00.180948+00:00", + "generated_at_utc": "2026-11-06T13:58:31.159339+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -540,6 +562,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8928940771755687 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 25.14, + "offset_rotvec": [ + -0.3574, + 0.2534, + 0.0234 + ], + "dev_deg": { + "median": 3.41, + "p90": 5.59 + }, + "samples": 3266, + "accepted": 3199, + "wrist_pos_err_mm_median": 24.2, + "per_camera": { + "head": { + "samples": 3266, + "accepted": 3199, + "gate_deg": 30.0, + "offset_deg": 25.14, + "tier": "primary", + "dev_deg_median": 3.41, + "wrist_pos_err_mm_median": 24.2 + } + }, + "frames_by_state": { + "ace_sample": 12796, + "interpolated": 0, + "mean_hand": 273, + "no_body_fit": 15 + }, + "observed_fraction": 0.978, + "observed_fraction_of_valid": 0.9791, + "palm_axis_vs_markers_deg": { + "gsi": 26.6, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 12.91, + "offset_rotvec": [ + -0.074, + -0.185, + -0.105 + ], + "dev_deg": { + "median": 3.3, + "p90": 6.46 + }, + "samples": 3244, + "accepted": 3244, + "wrist_pos_err_mm_median": 26.1, + "per_camera": { + "head": { + "samples": 3244, + "accepted": 3244, + "gate_deg": 30.0, + "offset_deg": 12.91, + "tier": "primary", + "dev_deg_median": 3.3, + "wrist_pos_err_mm_median": 26.1 + } + }, + "frames_by_state": { + "ace_sample": 12978, + "interpolated": 86, + "mean_hand": 5, + "no_body_fit": 15 + }, + "observed_fraction": 0.9985, + "observed_fraction_of_valid": 0.9996, + "palm_axis_vs_markers_deg": { + "gsi": 13.49, + "smplx": 0.75 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.8, + "p90": 12.6 + }, + "registered": { + "median": 9.6, + "p90": 12.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:15:38.538444+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/locomanipulation/LM70/session_007", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM70/session_007/motions/smplx.npz b/actions/locomanipulation/LM70/session_007/motions/smplx.npz index d1cfc16adbaaa973186ca071c72ab22390bc499f..c364427086fca3f115522befebe2393448253611 100644 --- a/actions/locomanipulation/LM70/session_007/motions/smplx.npz +++ b/actions/locomanipulation/LM70/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2e4e7f6a037c349a35fd598ff7ea5a410aee5b82b2256bc2174ee7033b7b1f96 -size 5021702 +oid sha256:f0ff2b62d2d4e3e3c380a64b091f6a1c9dc86bb950d040d9ee9d6c668f37102b +size 9344323 diff --git a/actions/locomanipulation/LM70/session_008/meta.json b/actions/locomanipulation/LM70/session_008/meta.json index 123d43ced1f127b650de5f3be82391ebd4724449..3c3504eba9e491defaaa20d8bef93d1ab9c58f9d 100644 --- a/actions/locomanipulation/LM70/session_008/meta.json +++ b/actions/locomanipulation/LM70/session_008/meta.json @@ -325,8 +325,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -392,14 +392,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 176.5, - "opposite_sign_bend_deg": 36.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.959, + "inlier_spread_deg": 4.95, + "marker_Q_to_gsi_deg": { + "1": 149.0, + "-1": 33.3 + } + }, + "wrist_bend_deg_median": 176.3, + "opposite_sign_bend_deg": 10.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.28, "hand_vs_marker_frame_deg": { "before": 179.4, @@ -410,15 +421,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 176.22, + "twist_moved_deg": -175.87, "wrist_twist_deg_after": { - "median": 0.62, + "median": -0.36, "iqr": [ - -1.3, - 2.0 + -2.0, + 1.0 ] }, - "wrist_total_deg_median_after": 10.5, + "wrist_total_deg_median_after": 36.5, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -431,11 +442,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, + -0.0, + -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.998, + "inlier_spread_deg": 5.44, + "marker_Q_to_gsi_deg": { + "1": 10.2, + "-1": 171.7 + } + }, "wrist_bend_deg_median": 26.9, "opposite_sign_bend_deg": 176.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -450,7 +472,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -466,7 +488,7 @@ }, "frames_used": 1429 }, - "generated_at_utc": "2026-10-28T06:26:00.730146+00:00", + "generated_at_utc": "2026-11-06T13:58:39.075240+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -510,6 +532,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9710225312613749 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 33.33, + "offset_rotvec": [ + -0.5761, + 0.0521, + -0.0619 + ], + "dev_deg": { + "median": 5.14, + "p90": 11.82 + }, + "samples": 3448, + "accepted": 3303, + "wrist_pos_err_mm_median": 36.5, + "per_camera": { + "head": { + "samples": 3448, + "accepted": 3303, + "gate_deg": 30.0, + "offset_deg": 33.33, + "tier": "primary", + "dev_deg_median": 5.14, + "wrist_pos_err_mm_median": 36.5 + } + }, + "frames_by_state": { + "ace_sample": 13224, + "interpolated": 172, + "mean_hand": 888, + "no_body_fit": 0 + }, + "observed_fraction": 0.9378, + "observed_fraction_of_valid": 0.9378, + "palm_axis_vs_markers_deg": { + "gsi": 30.95, + "smplx": 0.87 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.9, + "p90": 9.1 + }, + "registered": { + "median": 7.7, + "p90": 10.1 + } + } + }, + "right": { + "offset_deg": 10.32, + "offset_rotvec": [ + -0.126, + -0.1186, + -0.05 + ], + "dev_deg": { + "median": 5.43, + "p90": 9.86 + }, + "samples": 3414, + "accepted": 3408, + "wrist_pos_err_mm_median": 47.1, + "per_camera": { + "head": { + "samples": 3414, + "accepted": 3408, + "gate_deg": 30.0, + "offset_deg": 10.32, + "tier": "primary", + "dev_deg_median": 5.43, + "wrist_pos_err_mm_median": 47.1 + } + }, + "frames_by_state": { + "ace_sample": 13638, + "interpolated": 150, + "mean_hand": 496, + "no_body_fit": 0 + }, + "observed_fraction": 0.9653, + "observed_fraction_of_valid": 0.9653, + "palm_axis_vs_markers_deg": { + "gsi": 11.76, + "smplx": 0.9 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.6, + "p90": 10.5 + }, + "registered": { + "median": 8.1, + "p90": 9.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:15:39.239347+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/locomanipulation/LM70/session_008", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM70/session_008/motions/smplx.npz b/actions/locomanipulation/LM70/session_008/motions/smplx.npz index ad33386b5c89a82909f40eece397edc207add89c..176e4ce9ee73bc354ee0e06c856ede427c510b76 100644 --- a/actions/locomanipulation/LM70/session_008/motions/smplx.npz +++ b/actions/locomanipulation/LM70/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0e67b7b59b20b203c422098b685a96d5df79bb2ab3f63f1cb2e2d17d79925e06 -size 5508674 +oid sha256:08216e3ebd99e5123992245668bd91f6a956ddec5ed5b1cd92e5271aaae5c0fa +size 10073992 diff --git a/actions/locomanipulation/LM70/session_021/meta.json b/actions/locomanipulation/LM70/session_021/meta.json index 480c79420194e2ba186757e38d95a2368e23a900..8f5a27aa9a7c69e4ef1dc0d10b7c59fe3955b060 100644 --- a/actions/locomanipulation/LM70/session_021/meta.json +++ b/actions/locomanipulation/LM70/session_021/meta.json @@ -353,8 +353,8 @@ "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": { @@ -418,19 +418,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - 2.98827, - -0.45012, - -0.85862 + 0.0, + -0.0, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 176.6, - "opposite_sign_bend_deg": 44.5, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2810, + "inlier_frac": 0.867, + "inlier_spread_deg": 10.63, + "marker_Q_to_gsi_deg": { + "1": 11.5, + "-1": 179.7 + } + }, + "wrist_bend_deg_median": 13.0, + "opposite_sign_bend_deg": 174.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.29, "hand_vs_marker_frame_deg": { - "before": 177.97, + "before": 4.29, "after": 4.29 }, "markers_on_wrist": [ @@ -439,15 +450,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 173.45, + "twist_moved_deg": 6.38, "wrist_twist_deg_after": { - "median": 6.38, + "median": -0.0, "iqr": [ - 4.0, - 10.9 + -2.4, + 4.5 ] }, - "wrist_total_deg_median_after": 13.0, + "wrist_total_deg_median_after": 9.2, "markers_on_forearm": [ "LElbow", "LElbowIn", @@ -459,19 +470,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + 2.98981, + 0.43689, + 0.86009 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 41.4, - "opposite_sign_bend_deg": 176.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2724, + "inlier_frac": 0.807, + "inlier_spread_deg": 12.37, + "marker_Q_to_gsi_deg": { + "1": 169.5, + "-1": 10.8 + } + }, + "wrist_bend_deg_median": 176.6, + "opposite_sign_bend_deg": 41.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.06, "hand_vs_marker_frame_deg": { - "before": 2.06, + "before": 178.82, "after": 2.06 }, "markers_on_wrist": [ @@ -479,15 +501,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.04, + "twist_moved_deg": 175.83, "wrist_twist_deg_after": { - "median": 0.0, + "median": 1.74, "iqr": [ - -2.6, - 2.5 + -0.1, + 4.0 ] }, - "wrist_total_deg_median_after": 41.4, + "wrist_total_deg_median_after": 12.4, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -496,10 +518,120 @@ }, "frames_used": 1183 }, - "generated_at_utc": "2026-10-28T06:49:45.489491+00:00", + "generated_at_utc": "2026-11-06T14:17:58.566491+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 12.92, + "offset_rotvec": [ + 0.081, + -0.137, + 0.1598 + ], + "dev_deg": { + "median": 12.63, + "p90": 36.95 + }, + "samples": 2810, + "accepted": 2440, + "wrist_pos_err_mm_median": 38.5, + "per_camera": { + "head": { + "samples": 2810, + "accepted": 2440, + "gate_deg": 30.0, + "offset_deg": 12.92, + "tier": "primary", + "dev_deg_median": 12.63, + "wrist_pos_err_mm_median": 38.5 + } + }, + "frames_by_state": { + "ace_sample": 9828, + "interpolated": 940, + "mean_hand": 1056, + "no_body_fit": 8 + }, + "observed_fraction": 0.9101, + "observed_fraction_of_valid": 0.9107, + "palm_axis_vs_markers_deg": { + "gsi": 15.0, + "smplx": 4.22 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.0, + "p90": 7.1 + }, + "registered": { + "median": 5.2, + "p90": 8.3 + } + } + }, + "right": { + "offset_deg": 8.94, + "offset_rotvec": [ + 0.1518, + 0.0136, + 0.0333 + ], + "dev_deg": { + "median": 14.91, + "p90": 144.85 + }, + "samples": 2724, + "accepted": 2185, + "wrist_pos_err_mm_median": 37.4, + "per_camera": { + "head": { + "samples": 2724, + "accepted": 2185, + "gate_deg": 30.0, + "offset_deg": 8.94, + "tier": "primary", + "dev_deg_median": 14.91, + "wrist_pos_err_mm_median": 37.4 + } + }, + "frames_by_state": { + "ace_sample": 8790, + "interpolated": 958, + "mean_hand": 2076, + "no_body_fit": 8 + }, + "observed_fraction": 0.8239, + "observed_fraction_of_valid": 0.8244, + "palm_axis_vs_markers_deg": { + "gsi": 16.87, + "smplx": 1.76 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.0, + "p90": 6.6 + }, + "registered": { + "median": 5.4, + "p90": 7.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:53:15.542843+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/locomanipulation/LM70/session_021", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM70/session_021/motions/smplx.npz b/actions/locomanipulation/LM70/session_021/motions/smplx.npz index 86604e1bb66d6d7f7035622962703121e42a9a0c..7b848afb232180671a16112b8f06025ee27cd642 100644 --- a/actions/locomanipulation/LM70/session_021/motions/smplx.npz +++ b/actions/locomanipulation/LM70/session_021/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ca202128a5cd7a7e547d751a7787ec198827989c75ff266410148596635d5524 -size 4537057 +oid sha256:c2e7a29d2fbebef1fa35a451d9c78ddcaf8a589ad656997fdbc40a956705680d +size 8041827 diff --git a/actions/locomanipulation/LM71/session_001/meta.json b/actions/locomanipulation/LM71/session_001/meta.json index f1d7ce6c8a44e5a8ed1119f83de356feb241bd95..7fe14cb6fb498689a081863ad25bee39e6b9c181 100644 --- a/actions/locomanipulation/LM71/session_001/meta.json +++ b/actions/locomanipulation/LM71/session_001/meta.json @@ -317,8 +317,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -398,10 +398,21 @@ 0.26943, 0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 175.8, - "opposite_sign_bend_deg": 15.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 1.0, + "inlier_spread_deg": 8.51, + "marker_Q_to_gsi_deg": { + "1": 168.3, + "-1": 11.8 + } + }, + "wrist_bend_deg_median": 172.6, + "opposite_sign_bend_deg": 33.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.47, "hand_vs_marker_frame_deg": { "before": 178.42, @@ -413,15 +424,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 172.79, + "twist_moved_deg": -170.81, "wrist_twist_deg_after": { - "median": 3.21, + "median": -1.99, "iqr": [ - -0.5, - 6.8 + -6.0, + 2.4 ] }, - "wrist_total_deg_median_after": 33.1, + "wrist_total_deg_median_after": 15.3, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -438,6 +449,17 @@ 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.948, + "inlier_spread_deg": 14.94, + "marker_Q_to_gsi_deg": { + "1": 14.0, + "-1": 167.4 + } + }, "wrist_bend_deg_median": 20.5, "opposite_sign_bend_deg": 174.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -455,7 +477,7 @@ "forearm_twist": { "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -4.7, 5.1 @@ -468,7 +490,7 @@ }, "frames_used": 1369 }, - "generated_at_utc": "2026-10-28T06:15:06.724287+00:00", + "generated_at_utc": "2026-11-06T13:38:45.035702+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -512,6 +534,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.291170665932392 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 11.78, + "offset_rotvec": [ + -0.204, + -0.0032, + 0.0256 + ], + "dev_deg": { + "median": 8.52, + "p90": 13.99 + }, + "samples": 3369, + "accepted": 3369, + "wrist_pos_err_mm_median": 37.3, + "per_camera": { + "head": { + "samples": 3369, + "accepted": 3369, + "gate_deg": 30.0, + "offset_deg": 11.78, + "tier": "primary", + "dev_deg_median": 8.52, + "wrist_pos_err_mm_median": 37.3 + } + }, + "frames_by_state": { + "ace_sample": 13472, + "interpolated": 0, + "mean_hand": 211, + "no_body_fit": 0 + }, + "observed_fraction": 0.9846, + "observed_fraction_of_valid": 0.9846, + "palm_axis_vs_markers_deg": { + "gsi": 12.49, + "smplx": 3.25 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.7, + "p90": 8.7 + }, + "registered": { + "median": 5.4, + "p90": 8.5 + } + } + }, + "right": { + "offset_deg": 15.08, + "offset_rotvec": [ + 0.2267, + 0.1335, + 0.0078 + ], + "dev_deg": { + "median": 15.33, + "p90": 23.24 + }, + "samples": 3375, + "accepted": 3208, + "wrist_pos_err_mm_median": 31.3, + "per_camera": { + "head": { + "samples": 3375, + "accepted": 3208, + "gate_deg": 30.0, + "offset_deg": 15.08, + "tier": "primary", + "dev_deg_median": 15.33, + "wrist_pos_err_mm_median": 31.3 + } + }, + "frames_by_state": { + "ace_sample": 12864, + "interpolated": 676, + "mean_hand": 143, + "no_body_fit": 0 + }, + "observed_fraction": 0.9895, + "observed_fraction_of_valid": 0.9895, + "palm_axis_vs_markers_deg": { + "gsi": 15.99, + "smplx": 1.68 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.1, + "p90": 8.6 + }, + "registered": { + "median": 6.8, + "p90": 9.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:32:15.345421+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/locomanipulation/LM71/session_001", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM71/session_001/motions/smplx.npz b/actions/locomanipulation/LM71/session_001/motions/smplx.npz index 06ddfccdfe060377d73037bd119a7ade77eeff2d..355fb89b88296b05d3683a1f1126f362ec2dce32 100644 --- a/actions/locomanipulation/LM71/session_001/motions/smplx.npz +++ b/actions/locomanipulation/LM71/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5f492ed5afc6ddd1933c504d254fbae29d6852ea2ca9d037587c9c39202f4d0f -size 5277736 +oid sha256:7d93bca23694740fe720dff43a5d4c7e34c08740d370de988d51cecc12994bdb +size 9812928 diff --git a/actions/locomanipulation/LM71/session_002/meta.json b/actions/locomanipulation/LM71/session_002/meta.json index 827a2cd96b78810ab4131b9d85286d55b47d6f86..14829971506df17efe07d61838f013ee8d401bf8 100644 --- a/actions/locomanipulation/LM71/session_002/meta.json +++ b/actions/locomanipulation/LM71/session_002/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": { @@ -388,14 +388,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02575, - 0.26943, - 0.80116 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 175.1, - "opposite_sign_bend_deg": 28.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 1.0, + "inlier_spread_deg": 5.8, + "marker_Q_to_gsi_deg": { + "1": 179.5, + "-1": 11.9 + } + }, + "wrist_bend_deg_median": 174.3, + "opposite_sign_bend_deg": 20.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.37, "hand_vs_marker_frame_deg": { "before": 179.37, @@ -406,15 +417,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 174.5, + "twist_moved_deg": -173.42, "wrist_twist_deg_after": { - "median": 0.61, + "median": -1.03, "iqr": [ - -1.6, - 3.0 + -3.9, + 1.4 ] }, - "wrist_total_deg_median_after": 20.6, + "wrist_total_deg_median_after": 28.9, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -427,11 +438,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, - -0.0, + 0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 1.0, + "inlier_spread_deg": 3.39, + "marker_Q_to_gsi_deg": { + "1": 7.6, + "-1": 172.5 + } + }, "wrist_bend_deg_median": 24.8, "opposite_sign_bend_deg": 175.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -445,7 +467,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -462,7 +484,7 @@ }, "frames_used": 1308 }, - "generated_at_utc": "2026-10-28T06:15:06.982966+00:00", + "generated_at_utc": "2026-11-06T13:38:42.845514+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -506,6 +528,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.2638150845176142 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 11.87, + "offset_rotvec": [ + 0.0293, + -0.1608, + 0.1271 + ], + "dev_deg": { + "median": 5.79, + "p90": 10.06 + }, + "samples": 3238, + "accepted": 3238, + "wrist_pos_err_mm_median": 24.4, + "per_camera": { + "head": { + "samples": 3238, + "accepted": 3238, + "gate_deg": 30.0, + "offset_deg": 11.87, + "tier": "primary", + "dev_deg_median": 5.79, + "wrist_pos_err_mm_median": 24.4 + } + }, + "frames_by_state": { + "ace_sample": 12952, + "interpolated": 0, + "mean_hand": 124, + "no_body_fit": 8 + }, + "observed_fraction": 0.9899, + "observed_fraction_of_valid": 0.9905, + "palm_axis_vs_markers_deg": { + "gsi": 9.76, + "smplx": 1.02 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.4, + "p90": 9.2 + }, + "registered": { + "median": 8.9, + "p90": 10.1 + } + } + }, + "right": { + "offset_deg": 7.63, + "offset_rotvec": [ + 0.1189, + 0.0124, + 0.0588 + ], + "dev_deg": { + "median": 3.4, + "p90": 6.88 + }, + "samples": 3197, + "accepted": 3195, + "wrist_pos_err_mm_median": 23.9, + "per_camera": { + "head": { + "samples": 3197, + "accepted": 3195, + "gate_deg": 30.0, + "offset_deg": 7.63, + "tier": "primary", + "dev_deg_median": 3.4, + "wrist_pos_err_mm_median": 23.9 + } + }, + "frames_by_state": { + "ace_sample": 12778, + "interpolated": 6, + "mean_hand": 292, + "no_body_fit": 8 + }, + "observed_fraction": 0.9771, + "observed_fraction_of_valid": 0.9777, + "palm_axis_vs_markers_deg": { + "gsi": 8.83, + "smplx": 0.77 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.9, + "p90": 7.7 + }, + "registered": { + "median": 7.0, + "p90": 8.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:32:09.539283+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/locomanipulation/LM71/session_002", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM71/session_002/motions/smplx.npz b/actions/locomanipulation/LM71/session_002/motions/smplx.npz index f9d8ea7c447603d74cb63a95681f1425fe632224..d49a946ac9145b468bc9fc67e50ae7c9f719929e 100644 --- a/actions/locomanipulation/LM71/session_002/motions/smplx.npz +++ b/actions/locomanipulation/LM71/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3b65ed04f3338af22fdee1fa92b01f181b3f5a19f35a5e036ac70f937c8d051a -size 5027175 +oid sha256:dbacfcc33423145be4aca3f38fd6a17d09970c3308234aaeb866a06e49abe3a2 +size 9362062 diff --git a/actions/locomanipulation/LM72/session_003/meta.json b/actions/locomanipulation/LM72/session_003/meta.json index fd30633d27f3e8300923b14a9cf70b8da46a2c59..c76270ed91e4b31b73e0aa21b7438ce5b36b9b83 100644 --- a/actions/locomanipulation/LM72/session_003/meta.json +++ b/actions/locomanipulation/LM72/session_003/meta.json @@ -379,8 +379,8 @@ "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": { @@ -445,10 +445,21 @@ 0.42773, 0.87113 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 160.1, - "opposite_sign_bend_deg": 62.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.642, + "inlier_spread_deg": 7.95, + "marker_Q_to_gsi_deg": { + "1": 174.7, + "-1": 11.2 + } + }, + "wrist_bend_deg_median": 151.9, + "opposite_sign_bend_deg": 58.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 8.44, "hand_vs_marker_frame_deg": { "before": 175.23, @@ -459,15 +470,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 155.54, + "twist_moved_deg": -146.91, "wrist_twist_deg_after": { - "median": 1.88, + "median": -8.09, "iqr": [ - -14.6, - 12.4 + -65.3, + -2.8 ] }, - "wrist_total_deg_median_after": 58.3, + "wrist_total_deg_median_after": 63.2, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -482,9 +493,20 @@ "Q_rotvec": [ 0.0, 0.0, - -0.0 + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.928, + "inlier_spread_deg": 5.45, + "marker_Q_to_gsi_deg": { + "1": 10.9, + "-1": 172.9 + } + }, "wrist_bend_deg_median": 46.4, "opposite_sign_bend_deg": 167.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -500,7 +522,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -2.6, 4.2 @@ -516,10 +538,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:41:18.345295+00:00", + "generated_at_utc": "2026-11-06T14:07:22.167379+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.13, + "offset_rotvec": [ + -0.282, + -0.0992, + 0.0026 + ], + "dev_deg": { + "median": 16.4, + "p90": 162.42 + }, + "samples": 3422, + "accepted": 2194, + "wrist_pos_err_mm_median": 46.4, + "per_camera": { + "head": { + "samples": 3422, + "accepted": 2194, + "gate_deg": 30.0, + "offset_deg": 17.13, + "tier": "primary", + "dev_deg_median": 16.4, + "wrist_pos_err_mm_median": 46.4 + } + }, + "frames_by_state": { + "ace_sample": 8962, + "interpolated": 466, + "mean_hand": 5684, + "no_body_fit": 0 + }, + "observed_fraction": 0.6239, + "observed_fraction_of_valid": 0.6239, + "palm_axis_vs_markers_deg": { + "gsi": 10.89, + "smplx": 7.34 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.9, + "p90": 13.6 + }, + "registered": { + "median": 10.0, + "p90": 14.5 + } + } + }, + "right": { + "offset_deg": 11.58, + "offset_rotvec": [ + 0.1578, + -0.1257, + 0.0113 + ], + "dev_deg": { + "median": 5.95, + "p90": 16.83 + }, + "samples": 3458, + "accepted": 3206, + "wrist_pos_err_mm_median": 43.3, + "per_camera": { + "head": { + "samples": 3458, + "accepted": 3206, + "gate_deg": 30.0, + "offset_deg": 11.58, + "tier": "primary", + "dev_deg_median": 5.95, + "wrist_pos_err_mm_median": 43.3 + } + }, + "frames_by_state": { + "ace_sample": 13084, + "interpolated": 920, + "mean_hand": 1108, + "no_body_fit": 0 + }, + "observed_fraction": 0.9267, + "observed_fraction_of_valid": 0.9267, + "palm_axis_vs_markers_deg": { + "gsi": 11.58, + "smplx": 1.18 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.3, + "p90": 23.6 + }, + "registered": { + "median": 13.8, + "p90": 22.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:31:32.742089+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/locomanipulation/LM72/session_003", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM72/session_003/motions/smplx.npz b/actions/locomanipulation/LM72/session_003/motions/smplx.npz index 6a7a487c5ee2376c3ad9cc9abbc60d2c789425fd..6fd450023b225af131efb36add68176e148ec816 100644 --- a/actions/locomanipulation/LM72/session_003/motions/smplx.npz +++ b/actions/locomanipulation/LM72/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9f329a045eb546740516b4f6ce16c85b90662fe96ec57fd0e7791a562210cc42 -size 5799068 +oid sha256:b665b500028b72ab2f31c588c926c1274737f78d59d24c6a351c9c0adf7abdcd +size 9802706 diff --git a/actions/locomanipulation/LM73/session_008/meta.json b/actions/locomanipulation/LM73/session_008/meta.json index e0b426d76494cbbbc2ac41168e5e68e9f3cc9fb2..edbf0922e44786982e9cc2f3053ab3a53d9f43f0 100644 --- a/actions/locomanipulation/LM73/session_008/meta.json +++ b/actions/locomanipulation/LM73/session_008/meta.json @@ -342,8 +342,8 @@ "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": { @@ -409,14 +409,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 174.0, - "opposite_sign_bend_deg": 31.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.937, + "inlier_spread_deg": 7.81, + "marker_Q_to_gsi_deg": { + "1": 171.7, + "-1": 12.2 + } + }, + "wrist_bend_deg_median": 149.4, + "opposite_sign_bend_deg": 35.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.15, "hand_vs_marker_frame_deg": { "before": 178.86, @@ -427,15 +438,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 149.92, + "twist_moved_deg": -146.07, "wrist_twist_deg_after": { - "median": 24.74, + "median": -3.85, "iqr": [ - 8.8, - 32.1 + -17.4, + 2.1 ] }, - "wrist_total_deg_median_after": 35.7, + "wrist_total_deg_median_after": 34.6, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -449,10 +460,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - 0.0, - 0.0 + -0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.995, + "inlier_spread_deg": 8.13, + "marker_Q_to_gsi_deg": { + "1": 9.4, + "-1": 176.4 + } + }, "wrist_bend_deg_median": 29.1, "opposite_sign_bend_deg": 175.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -483,7 +505,7 @@ }, "frames_used": 1368 }, - "generated_at_utc": "2026-10-28T06:26:01.857645+00:00", + "generated_at_utc": "2026-11-06T13:58:39.337212+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -574,6 +596,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9135202140559103 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 12.51, + "offset_rotvec": [ + -0.1098, + 0.1866, + 0.0278 + ], + "dev_deg": { + "median": 8.45, + "p90": 19.13 + }, + "samples": 3321, + "accepted": 3110, + "wrist_pos_err_mm_median": 31.8, + "per_camera": { + "head": { + "samples": 3321, + "accepted": 3110, + "gate_deg": 30.0, + "offset_deg": 12.51, + "tier": "primary", + "dev_deg_median": 8.45, + "wrist_pos_err_mm_median": 31.8 + } + }, + "frames_by_state": { + "ace_sample": 12440, + "interpolated": 120, + "mean_hand": 1116, + "no_body_fit": 8 + }, + "observed_fraction": 0.9179, + "observed_fraction_of_valid": 0.9184, + "palm_axis_vs_markers_deg": { + "gsi": 13.0, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 9.89, + "offset_rotvec": [ + -0.0536, + -0.1517, + -0.0623 + ], + "dev_deg": { + "median": 8.16, + "p90": 15.28 + }, + "samples": 3316, + "accepted": 3300, + "wrist_pos_err_mm_median": 30.1, + "per_camera": { + "head": { + "samples": 3316, + "accepted": 3300, + "gate_deg": 30.0, + "offset_deg": 9.89, + "tier": "primary", + "dev_deg_median": 8.16, + "wrist_pos_err_mm_median": 30.1 + } + }, + "frames_by_state": { + "ace_sample": 13224, + "interpolated": 164, + "mean_hand": 288, + "no_body_fit": 8 + }, + "observed_fraction": 0.9784, + "observed_fraction_of_valid": 0.9789, + "palm_axis_vs_markers_deg": { + "gsi": 12.43, + "smplx": 2.43 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.6, + "p90": 16.8 + }, + "registered": { + "median": 11.1, + "p90": 16.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:15:40.140413+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/locomanipulation/LM73/session_008", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM73/session_008/motions/smplx.npz b/actions/locomanipulation/LM73/session_008/motions/smplx.npz index d0b796456ccaf53a7d71ebf2736b07318e6643a3..1f9e52bef238e77c9b115308c7dce250fdb3b23a 100644 --- a/actions/locomanipulation/LM73/session_008/motions/smplx.npz +++ b/actions/locomanipulation/LM73/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:91d3b9e3113f467ab9f3865ff28f0c79253482fef3d77d7c303543b91778952b -size 5251825 +oid sha256:b5df0533369bc6f8c9e015b7c2ee18d27c4d0eb90a8e55deb18f76eb69571b5b +size 9674960 diff --git a/actions/locomanipulation/LM73/session_009/meta.json b/actions/locomanipulation/LM73/session_009/meta.json index 708ffaae7ab041c596c762e8da5c12103838ca74..e59ac0346aec65e6fb5956927d7a4ca928826546 100644 --- a/actions/locomanipulation/LM73/session_009/meta.json +++ b/actions/locomanipulation/LM73/session_009/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": { @@ -406,14 +406,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 169.6, - "opposite_sign_bend_deg": 41.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.948, + "inlier_spread_deg": 12.46, + "marker_Q_to_gsi_deg": { + "1": 169.7, + "-1": 13.4 + } + }, + "wrist_bend_deg_median": 163.8, + "opposite_sign_bend_deg": 28.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.61, "hand_vs_marker_frame_deg": { "before": 178.71, @@ -424,15 +435,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 161.27, + "twist_moved_deg": -157.44, "wrist_twist_deg_after": { - "median": 11.09, + "median": -3.81, "iqr": [ - 2.7, - 20.9 + -13.2, + 3.6 ] }, - "wrist_total_deg_median_after": 29.4, + "wrist_total_deg_median_after": 39.6, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -445,11 +456,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, + -0.0, + -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.988, + "inlier_spread_deg": 8.88, + "marker_Q_to_gsi_deg": { + "1": 12.7, + "-1": 175.2 + } + }, "wrist_bend_deg_median": 40.5, "opposite_sign_bend_deg": 173.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -464,9 +486,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -13.7, 2.8 @@ -480,7 +502,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:26:01.328507+00:00", + "generated_at_utc": "2026-11-06T13:58:56.587988+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -524,6 +546,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.885915870241512 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.12, + "offset_rotvec": [ + -0.2058, + 0.2157, + 0.021 + ], + "dev_deg": { + "median": 12.07, + "p90": 24.25 + }, + "samples": 4341, + "accepted": 4082, + "wrist_pos_err_mm_median": 50.5, + "per_camera": { + "head": { + "samples": 4341, + "accepted": 4082, + "gate_deg": 30.0, + "offset_deg": 17.12, + "tier": "primary", + "dev_deg_median": 12.07, + "wrist_pos_err_mm_median": 50.5 + } + }, + "frames_by_state": { + "ace_sample": 16372, + "interpolated": 400, + "mean_hand": 1112, + "no_body_fit": 0 + }, + "observed_fraction": 0.9378, + "observed_fraction_of_valid": 0.9378, + "palm_axis_vs_markers_deg": { + "gsi": 18.51, + "smplx": 2.28 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.8, + "p90": 9.7 + }, + "registered": { + "median": 8.0, + "p90": 9.9 + } + } + }, + "right": { + "offset_deg": 13.61, + "offset_rotvec": [ + -0.0715, + -0.2152, + -0.0709 + ], + "dev_deg": { + "median": 8.7, + "p90": 15.5 + }, + "samples": 4306, + "accepted": 4256, + "wrist_pos_err_mm_median": 64.2, + "per_camera": { + "head": { + "samples": 4306, + "accepted": 4256, + "gate_deg": 30.0, + "offset_deg": 13.61, + "tier": "primary", + "dev_deg_median": 8.7, + "wrist_pos_err_mm_median": 64.2 + } + }, + "frames_by_state": { + "ace_sample": 17080, + "interpolated": 788, + "mean_hand": 16, + "no_body_fit": 0 + }, + "observed_fraction": 0.9991, + "observed_fraction_of_valid": 0.9991, + "palm_axis_vs_markers_deg": { + "gsi": 15.15, + "smplx": 2.7 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.3, + "p90": 18.5 + }, + "registered": { + "median": 9.4, + "p90": 17.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:15:46.242798+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/locomanipulation/LM73/session_009", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM73/session_009/motions/smplx.npz b/actions/locomanipulation/LM73/session_009/motions/smplx.npz index bb47f43a0ea79f3bc03c53d43c6d5165da451586..22e3561ece7287a40eb7a27b3ca0f72ea4ae8bf6 100644 --- a/actions/locomanipulation/LM73/session_009/motions/smplx.npz +++ b/actions/locomanipulation/LM73/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:11485a9653a35f90953d4e170428949e70e7ab9fb212a0fcf7b0595355e54b72 -size 6875935 +oid sha256:326075146e91f7bec9e80512ba09390207c1964f408738d87f3064a6fc7ea8ee +size 12711601 diff --git a/actions/locomanipulation/LM74/session_007/meta.json b/actions/locomanipulation/LM74/session_007/meta.json index ebc6e60638ec30961175d58894b2190038cb5a04..59ddd7b3c3da35dd69208a65f350b02de9de5e86 100644 --- a/actions/locomanipulation/LM74/session_007/meta.json +++ b/actions/locomanipulation/LM74/session_007/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": { @@ -403,14 +403,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 154.9, - "opposite_sign_bend_deg": 52.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.842, + "inlier_spread_deg": 9.29, + "marker_Q_to_gsi_deg": { + "1": 168.9, + "-1": 16.5 + } + }, + "wrist_bend_deg_median": 127.2, + "opposite_sign_bend_deg": 57.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.18, "hand_vs_marker_frame_deg": { "before": 177.94, @@ -421,15 +432,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -116.9, + "twist_moved_deg": 113.31, "wrist_twist_deg_after": { - "median": -62.09, + "median": 3.6, "iqr": [ - -86.4, - -30.9 + -18.5, + 37.3 ] }, - "wrist_total_deg_median_after": 63.0, + "wrist_total_deg_median_after": 51.4, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -442,11 +453,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, + -0.0, + -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.996, + "inlier_spread_deg": 7.24, + "marker_Q_to_gsi_deg": { + "1": 15.7, + "-1": 178.8 + } + }, "wrist_bend_deg_median": 25.1, "opposite_sign_bend_deg": 166.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -460,9 +482,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -13.7, 14.1 @@ -477,7 +499,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:26:01.919755+00:00", + "generated_at_utc": "2026-11-06T13:59:09.940534+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -579,6 +601,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.020667989793894 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 13.63, + "offset_rotvec": [ + -0.1454, + 0.1636, + -0.0933 + ], + "dev_deg": { + "median": 10.8, + "p90": 108.38 + }, + "samples": 3839, + "accepted": 3257, + "wrist_pos_err_mm_median": 20.1, + "per_camera": { + "head": { + "samples": 3839, + "accepted": 3257, + "gate_deg": 30.0, + "offset_deg": 13.63, + "tier": "primary", + "dev_deg_median": 10.8, + "wrist_pos_err_mm_median": 20.1 + } + }, + "frames_by_state": { + "ace_sample": 13014, + "interpolated": 110, + "mean_hand": 2360, + "no_body_fit": 0 + }, + "observed_fraction": 0.8476, + "observed_fraction_of_valid": 0.8476, + "palm_axis_vs_markers_deg": { + "gsi": 17.72, + "smplx": 2.6 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.3, + "p90": 13.8 + }, + "registered": { + "median": 10.3, + "p90": 14.3 + } + } + }, + "right": { + "offset_deg": 15.93, + "offset_rotvec": [ + 0.0, + -0.2771, + 0.0231 + ], + "dev_deg": { + "median": 7.36, + "p90": 13.01 + }, + "samples": 3781, + "accepted": 3768, + "wrist_pos_err_mm_median": 21.5, + "per_camera": { + "head": { + "samples": 3781, + "accepted": 3768, + "gate_deg": 30.0, + "offset_deg": 15.93, + "tier": "primary", + "dev_deg_median": 7.36, + "wrist_pos_err_mm_median": 21.5 + } + }, + "frames_by_state": { + "ace_sample": 15078, + "interpolated": 58, + "mean_hand": 348, + "no_body_fit": 0 + }, + "observed_fraction": 0.9775, + "observed_fraction_of_valid": 0.9775, + "palm_axis_vs_markers_deg": { + "gsi": 17.82, + "smplx": 2.83 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.0, + "p90": 17.3 + }, + "registered": { + "median": 9.7, + "p90": 16.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:15:46.645178+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/locomanipulation/LM74/session_007", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM74/session_007/motions/smplx.npz b/actions/locomanipulation/LM74/session_007/motions/smplx.npz index 3f88fbcff074c5077c9cbd69498046393173fb17..6e17947921a7b86708b2bda4b736cfc9e669a8ee 100644 --- a/actions/locomanipulation/LM74/session_007/motions/smplx.npz +++ b/actions/locomanipulation/LM74/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:74e69aad6391f1c47e301c904f006513d7fe1846dc411039d3864a5956985d4b -size 5947482 +oid sha256:73d67fe9e6dc231948c47a6c2cf2ed5efd25ca833b02897c7e3d00f097f28f5a +size 10730467 diff --git a/actions/locomanipulation/LM74/session_008/meta.json b/actions/locomanipulation/LM74/session_008/meta.json index b94f5b6009ab1170f10640a29009158cbfb973cd..e03a1632cb94a997ac5bcd646f43acc8015e634c 100644 --- a/actions/locomanipulation/LM74/session_008/meta.json +++ b/actions/locomanipulation/LM74/session_008/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": { @@ -396,10 +396,21 @@ -0.2415, -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 167.4, - "opposite_sign_bend_deg": 46.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.961, + "inlier_spread_deg": 9.08, + "marker_Q_to_gsi_deg": { + "1": 169.1, + "-1": 14.2 + } + }, + "wrist_bend_deg_median": 151.6, + "opposite_sign_bend_deg": 37.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.11, "hand_vs_marker_frame_deg": { "before": 178.18, @@ -410,15 +421,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 149.57, + "twist_moved_deg": -148.34, "wrist_twist_deg_after": { - "median": 27.02, + "median": -1.13, "iqr": [ - 17.2, - 45.7 + -8.1, + 14.3 ] }, - "wrist_total_deg_median_after": 37.8, + "wrist_total_deg_median_after": 47.2, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -432,10 +443,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - 0.0, + -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.997, + "inlier_spread_deg": 10.4, + "marker_Q_to_gsi_deg": { + "1": 19.3, + "-1": 178.7 + } + }, "wrist_bend_deg_median": 38.2, "opposite_sign_bend_deg": 173.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -450,9 +472,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -8.6, 24.8 @@ -466,7 +488,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:26:04.973129+00:00", + "generated_at_utc": "2026-11-06T13:59:21.036056+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -510,6 +532,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9074132406876717 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 14.11, + "offset_rotvec": [ + -0.1747, + 0.1717, + 0.0252 + ], + "dev_deg": { + "median": 9.87, + "p90": 22.43 + }, + "samples": 3861, + "accepted": 3711, + "wrist_pos_err_mm_median": 37.0, + "per_camera": { + "head": { + "samples": 3861, + "accepted": 3711, + "gate_deg": 30.0, + "offset_deg": 14.11, + "tier": "primary", + "dev_deg_median": 9.87, + "wrist_pos_err_mm_median": 37.0 + } + }, + "frames_by_state": { + "ace_sample": 14878, + "interpolated": 450, + "mean_hand": 156, + "no_body_fit": 0 + }, + "observed_fraction": 0.9899, + "observed_fraction_of_valid": 0.9899, + "palm_axis_vs_markers_deg": { + "gsi": 16.72, + "smplx": 2.94 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.0, + "p90": 11.5 + }, + "registered": { + "median": 9.2, + "p90": 12.1 + } + } + }, + "right": { + "offset_deg": 19.5, + "offset_rotvec": [ + 0.0006, + -0.3383, + 0.0361 + ], + "dev_deg": { + "median": 10.43, + "p90": 18.83 + }, + "samples": 3780, + "accepted": 3763, + "wrist_pos_err_mm_median": 75.5, + "per_camera": { + "head": { + "samples": 3780, + "accepted": 3763, + "gate_deg": 30.0, + "offset_deg": 19.5, + "tier": "primary", + "dev_deg_median": 10.43, + "wrist_pos_err_mm_median": 75.5 + } + }, + "frames_by_state": { + "ace_sample": 15066, + "interpolated": 162, + "mean_hand": 256, + "no_body_fit": 0 + }, + "observed_fraction": 0.9835, + "observed_fraction_of_valid": 0.9835, + "palm_axis_vs_markers_deg": { + "gsi": 21.65, + "smplx": 4.95 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 21.1, + "p90": 30.3 + }, + "registered": { + "median": 20.5, + "p90": 29.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:15:45.542952+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/locomanipulation/LM74/session_008", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM74/session_008/motions/smplx.npz b/actions/locomanipulation/LM74/session_008/motions/smplx.npz index f89501c34c9e1c5ff7ec2d01f8ad190e036a1b6a..bf188a01fd1c0e20bb8a176c191bda59744d6a3e 100644 --- a/actions/locomanipulation/LM74/session_008/motions/smplx.npz +++ b/actions/locomanipulation/LM74/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:72de71f7eb6f4c8c1fae5827ee373faf632dd523a1d877ef9918cf42eb395364 -size 5967552 +oid sha256:4a2b30857ff0b712afd56480619399879d3137a7098e7f531739bb84f19c5d59 +size 11103819 diff --git a/actions/locomanipulation/LM74/session_021/meta.json b/actions/locomanipulation/LM74/session_021/meta.json index f728beb3070e7bf5cccf7e50f7f70e19581ddefe..31a071ff1fa4857b3382d1df491cdf9884c4f2f9 100644 --- a/actions/locomanipulation/LM74/session_021/meta.json +++ b/actions/locomanipulation/LM74/session_021/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": 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": { @@ -425,19 +425,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 2.98839, + -0.43124, + -0.86787 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 53.5, - "opposite_sign_bend_deg": 162.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.679, + "inlier_spread_deg": 13.7, + "marker_Q_to_gsi_deg": { + "1": 165.2, + "-1": 25.1 + } + }, + "wrist_bend_deg_median": 161.1, + "opposite_sign_bend_deg": 47.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 7.19, "hand_vs_marker_frame_deg": { - "before": 7.19, + "before": 178.2, "after": 7.19 }, "markers_on_wrist": [ @@ -445,15 +456,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -22.46, + "twist_moved_deg": -149.36, "wrist_twist_deg_after": { - "median": -0.79, + "median": -18.46, "iqr": [ - -29.9, - 10.8 + -49.0, + -9.8 ] }, - "wrist_total_deg_median_after": 47.7, + "wrist_total_deg_median_after": 43.4, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -471,6 +482,17 @@ 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.925, + "inlier_spread_deg": 6.95, + "marker_Q_to_gsi_deg": { + "1": 32.9, + "-1": 164.9 + } + }, "wrist_bend_deg_median": 39.0, "opposite_sign_bend_deg": 174.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -486,7 +508,7 @@ "forearm_twist": { "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -5.5, 5.8 @@ -503,7 +525,7 @@ }, "frames_used": 1473 }, - "generated_at_utc": "2026-10-28T06:45:46.411873+00:00", + "generated_at_utc": "2026-11-06T14:10:32.235549+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -543,6 +565,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 25.49, + "offset_rotvec": [ + 0.2993, + -0.3262, + 0.0444 + ], + "dev_deg": { + "median": 19.6, + "p90": 166.9 + }, + "samples": 3623, + "accepted": 2599, + "wrist_pos_err_mm_median": 47.5, + "per_camera": { + "head": { + "samples": 3623, + "accepted": 2599, + "gate_deg": 30.0, + "offset_deg": 25.49, + "tier": "primary", + "dev_deg_median": 19.6, + "wrist_pos_err_mm_median": 47.5 + } + }, + "frames_by_state": { + "ace_sample": 10662, + "interpolated": 730, + "mean_hand": 4196, + "no_body_fit": 8 + }, + "observed_fraction": 0.7304, + "observed_fraction_of_valid": 0.7308, + "palm_axis_vs_markers_deg": { + "gsi": 29.95, + "smplx": 3.9 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.7, + "p90": 13.0 + }, + "registered": { + "median": 11.2, + "p90": 13.2 + } + } + }, + "right": { + "offset_deg": 32.85, + "offset_rotvec": [ + 0.2328, + -0.4237, + 0.3083 + ], + "dev_deg": { + "median": 7.21, + "p90": 19.56 + }, + "samples": 3596, + "accepted": 3314, + "wrist_pos_err_mm_median": 58.6, + "per_camera": { + "head": { + "samples": 3596, + "accepted": 3314, + "gate_deg": 30.0, + "offset_deg": 32.85, + "tier": "primary", + "dev_deg_median": 7.21, + "wrist_pos_err_mm_median": 58.6 + } + }, + "frames_by_state": { + "ace_sample": 13559, + "interpolated": 908, + "mean_hand": 1121, + "no_body_fit": 8 + }, + "observed_fraction": 0.9276, + "observed_fraction_of_valid": 0.9281, + "palm_axis_vs_markers_deg": { + "gsi": 32.62, + "smplx": 1.35 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.6, + "p90": 13.6 + }, + "registered": { + "median": 15.0, + "p90": 16.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:38:18.839486+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/locomanipulation/LM74/session_021", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM74/session_021/motions/smplx.npz b/actions/locomanipulation/LM74/session_021/motions/smplx.npz index 0f2d00e11eb7fa9eb5b3fb284cf1902d90321717..16fd220a5100150bf1d33b58811ff8f88aa02c49 100644 --- a/actions/locomanipulation/LM74/session_021/motions/smplx.npz +++ b/actions/locomanipulation/LM74/session_021/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:90318498e88efc03679c45c204a4a06888ada0704f1d25dedf8334f9d0238305 -size 5979070 +oid sha256:f15f9dee91294d09416b8f06ff8adaeb94694b5d5ff8b41ed67024b726a59e2c +size 10419663 diff --git a/actions/locomanipulation/LM74/session_022/meta.json b/actions/locomanipulation/LM74/session_022/meta.json index c4c9f7feb511c2c2aca6a31c3a69a6afbf2bf028..cb4ef2101e19ed5fd43bf955dedd2bef80af0c99 100644 --- a/actions/locomanipulation/LM74/session_022/meta.json +++ b/actions/locomanipulation/LM74/session_022/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": 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": { @@ -425,19 +425,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -2.98839, + 0.43124, + 0.86787 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 53.6, - "opposite_sign_bend_deg": 160.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.464, + "inlier_spread_deg": 12.61, + "marker_Q_to_gsi_deg": { + "1": 166.0, + "-1": 27.9 + } + }, + "wrist_bend_deg_median": 169.9, + "opposite_sign_bend_deg": 49.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 8.82, "hand_vs_marker_frame_deg": { - "before": 8.82, + "before": 178.61, "after": 8.82 }, "markers_on_wrist": [ @@ -445,15 +456,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -14.2, + "twist_moved_deg": -11.18, "wrist_twist_deg_after": { - "median": -2.76, + "median": -155.95, "iqr": [ - -19.3, - 16.0 + -168.6, + 1.3 ] }, - "wrist_total_deg_median_after": 49.2, + "wrist_total_deg_median_after": 164.0, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -467,10 +478,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.94, + "inlier_spread_deg": 10.32, + "marker_Q_to_gsi_deg": { + "1": 30.1, + "-1": 162.8 + } + }, "wrist_bend_deg_median": 39.6, "opposite_sign_bend_deg": 172.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -484,7 +506,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.15, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -503,7 +525,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:45:47.014010+00:00", + "generated_at_utc": "2026-11-06T14:10:35.436539+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -543,6 +565,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 28.71, + "offset_rotvec": [ + 0.3861, + -0.315, + -0.0526 + ], + "dev_deg": { + "median": 34.21, + "p90": 164.35 + }, + "samples": 4107, + "accepted": 1924, + "wrist_pos_err_mm_median": 45.7, + "per_camera": { + "head": { + "samples": 4107, + "accepted": 1924, + "gate_deg": 30.0, + "offset_deg": 28.71, + "tier": "primary", + "dev_deg_median": 34.21, + "wrist_pos_err_mm_median": 45.7 + } + }, + "frames_by_state": { + "ace_sample": 8048, + "interpolated": 1390, + "mean_hand": 8864, + "no_body_fit": 78 + }, + "observed_fraction": 0.5135, + "observed_fraction_of_valid": 0.5157, + "palm_axis_vs_markers_deg": { + "gsi": 42.28, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 30.11, + "offset_rotvec": [ + 0.3056, + -0.3603, + 0.2301 + ], + "dev_deg": { + "median": 10.78, + "p90": 23.39 + }, + "samples": 3952, + "accepted": 3727, + "wrist_pos_err_mm_median": 46.5, + "per_camera": { + "head": { + "samples": 3952, + "accepted": 3727, + "gate_deg": 30.0, + "offset_deg": 30.11, + "tier": "primary", + "dev_deg_median": 10.78, + "wrist_pos_err_mm_median": 46.5 + } + }, + "frames_by_state": { + "ace_sample": 15580, + "interpolated": 2034, + "mean_hand": 688, + "no_body_fit": 78 + }, + "observed_fraction": 0.9583, + "observed_fraction_of_valid": 0.9624, + "palm_axis_vs_markers_deg": { + "gsi": 32.08, + "smplx": 2.05 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.3, + "p90": 7.8 + }, + "registered": { + "median": 6.7, + "p90": 9.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:38:42.035157+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/locomanipulation/LM74/session_022", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM74/session_022/motions/smplx.npz b/actions/locomanipulation/LM74/session_022/motions/smplx.npz index 79deefeb5817b1843d6cfbdb3e52af7d10288dfd..c67987d206a364485c8c79c3139e10647f7327b4 100644 --- a/actions/locomanipulation/LM74/session_022/motions/smplx.npz +++ b/actions/locomanipulation/LM74/session_022/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ad4cdce918c4988b7eed5397ace97a2aafc41c0846fe9fe8b7d7312a1c04e6a6 -size 7054436 +oid sha256:b71a1b0a332ef6f2a69c9f5d95097f815b47a288ec561f4e53916a9d355cd211 +size 11720094 diff --git a/actions/locomanipulation/LM75/session_002/meta.json b/actions/locomanipulation/LM75/session_002/meta.json index bfea031816768bdf6f15128ba3a624ee375de0fe..b15d98d9f785cb7abfcc43f305b227b552f0e627 100644 --- a/actions/locomanipulation/LM75/session_002/meta.json +++ b/actions/locomanipulation/LM75/session_002/meta.json @@ -378,8 +378,8 @@ "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": { @@ -444,10 +444,21 @@ 0.42773, 0.87113 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 170.0, - "opposite_sign_bend_deg": 22.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2198, + "inlier_frac": 0.694, + "inlier_spread_deg": 15.3, + "marker_Q_to_gsi_deg": { + "1": 155.0, + "-1": 26.6 + } + }, + "wrist_bend_deg_median": 169.0, + "opposite_sign_bend_deg": 35.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.05, "hand_vs_marker_frame_deg": { "before": 176.49, @@ -458,15 +469,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 169.22, + "twist_moved_deg": -168.69, "wrist_twist_deg_after": { - "median": 4.65, + "median": -0.53, "iqr": [ - -0.1, - 10.3 + -3.6, + 6.6 ] }, - "wrist_total_deg_median_after": 35.7, + "wrist_total_deg_median_after": 23.0, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -479,11 +490,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, + -0.0, 0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.853, + "inlier_spread_deg": 10.95, + "marker_Q_to_gsi_deg": { + "1": 16.8, + "-1": 172.5 + } + }, "wrist_bend_deg_median": 16.8, "opposite_sign_bend_deg": 173.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -497,9 +519,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -4.8, 8.8 @@ -515,10 +537,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:41:21.606623+00:00", + "generated_at_utc": "2026-11-06T14:07:20.449962+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 21.56, + "offset_rotvec": [ + 0.2419, + -0.2365, + -0.1648 + ], + "dev_deg": { + "median": 21.68, + "p90": 164.89 + }, + "samples": 2198, + "accepted": 1432, + "wrist_pos_err_mm_median": 368.5, + "per_camera": { + "head": { + "samples": 2198, + "accepted": 1432, + "gate_deg": 30.0, + "offset_deg": 21.56, + "tier": "primary", + "dev_deg_median": 21.68, + "wrist_pos_err_mm_median": 368.5 + } + }, + "frames_by_state": { + "ace_sample": 5916, + "interpolated": 4660, + "mean_hand": 5500, + "no_body_fit": 0 + }, + "observed_fraction": 0.6579, + "observed_fraction_of_valid": 0.6579, + "palm_axis_vs_markers_deg": { + "gsi": 30.6, + "smplx": 3.52 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.9, + "p90": 13.0 + }, + "registered": { + "median": 6.4, + "p90": 12.7 + } + } + }, + "right": { + "offset_deg": 16.87, + "offset_rotvec": [ + 0.1649, + -0.2437, + 0.0067 + ], + "dev_deg": { + "median": 12.1, + "p90": 38.43 + }, + "samples": 3227, + "accepted": 2733, + "wrist_pos_err_mm_median": 36.3, + "per_camera": { + "head": { + "samples": 3227, + "accepted": 2733, + "gate_deg": 30.0, + "offset_deg": 16.87, + "tier": "primary", + "dev_deg_median": 12.1, + "wrist_pos_err_mm_median": 36.3 + } + }, + "frames_by_state": { + "ace_sample": 10988, + "interpolated": 2120, + "mean_hand": 2968, + "no_body_fit": 0 + }, + "observed_fraction": 0.8154, + "observed_fraction_of_valid": 0.8154, + "palm_axis_vs_markers_deg": { + "gsi": 20.01, + "smplx": 1.69 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.4, + "p90": 21.9 + }, + "registered": { + "median": 12.3, + "p90": 20.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:31:47.847165+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/locomanipulation/LM75/session_002", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM75/session_002/motions/smplx.npz b/actions/locomanipulation/LM75/session_002/motions/smplx.npz index 03091bf9207f303e41f31e58c7f8a0f277b77da3..fb2f8442304e5f9d8634194be6b9c701712057ff 100644 --- a/actions/locomanipulation/LM75/session_002/motions/smplx.npz +++ b/actions/locomanipulation/LM75/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6332f8465fbb9857b31c326a606cafa76f45323c1dad3846a2f881538d847b39 -size 6187644 +oid sha256:f813cccd7b8ad11d94b8977b3cf448904a97da9270ec75e72627904b219ed312 +size 10415680 diff --git a/actions/locomanipulation/LM75/session_003/meta.json b/actions/locomanipulation/LM75/session_003/meta.json index 97612183dd008b06839e0cba60b6078bdd0fcb87..4ecd98bb71b805fa81dc20f5521e191badc635e7 100644 --- a/actions/locomanipulation/LM75/session_003/meta.json +++ b/actions/locomanipulation/LM75/session_003/meta.json @@ -438,19 +438,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - -2.98794, - 0.42773, - 0.87113 + -0.0, + -0.0, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 171.0, - "opposite_sign_bend_deg": 35.3, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1858, + "inlier_frac": 0.602, + "inlier_spread_deg": 12.49, + "marker_Q_to_gsi_deg": { + "1": 28.1, + "-1": 153.4 + } + }, + "wrist_bend_deg_median": 15.5, + "opposite_sign_bend_deg": 171.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.55, "hand_vs_marker_frame_deg": { - "before": 175.13, + "before": 5.55, "after": 5.55 }, "markers_on_wrist": [ @@ -458,15 +469,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -169.97, + "twist_moved_deg": -0.4, "wrist_twist_deg_after": { - "median": -0.4, + "median": 0.0, "iqr": [ - -3.2, - 112.6 + -2.8, + 113.0 ] }, - "wrist_total_deg_median_after": 16.2, + "wrist_total_deg_median_after": 16.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -484,6 +495,17 @@ -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.843, + "inlier_spread_deg": 11.49, + "marker_Q_to_gsi_deg": { + "1": 18.3, + "-1": 170.6 + } + }, "wrist_bend_deg_median": 15.9, "opposite_sign_bend_deg": 173.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -499,7 +521,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -5.9, 9.6 @@ -515,7 +537,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:41:21.987024+00:00", + "generated_at_utc": "2026-11-06T14:07:21.648773+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/locomanipulation/LM75/session_003/motions/smplx.npz b/actions/locomanipulation/LM75/session_003/motions/smplx.npz index d5b795884f4fbf810332e50ba727ea68c6c606b3..39c1e26e19b7f8d7c059d64a90d1d5007c9f831d 100644 --- a/actions/locomanipulation/LM75/session_003/motions/smplx.npz +++ b/actions/locomanipulation/LM75/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f6b1705e0a129758121def73f97fe61cea4135ab7f89c39e81a50ead1272c028 -size 6368773 +oid sha256:fc6e1afcf25e5afb3607d5f80f243e577ca9e497120805ea7ace5b20acddd284 +size 6368788 diff --git a/actions/locomanipulation/LM75/session_004/meta.json b/actions/locomanipulation/LM75/session_004/meta.json index 7e68f06ac6d76499af0be3dfe493acf9605f8eec..dc82a20f7f9fafefef8f1cc898a8fba0273b1484 100644 --- a/actions/locomanipulation/LM75/session_004/meta.json +++ b/actions/locomanipulation/LM75/session_004/meta.json @@ -353,8 +353,8 @@ "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": { @@ -413,19 +413,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -3.02703, + 0.24152, + 0.80505 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 31.5, - "opposite_sign_bend_deg": 163.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.912, + "inlier_spread_deg": 7.82, + "marker_Q_to_gsi_deg": { + "1": 178.0, + "-1": 10.0 + } + }, + "wrist_bend_deg_median": 171.2, + "opposite_sign_bend_deg": 30.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.33, "hand_vs_marker_frame_deg": { - "before": 6.33, + "before": 179.0, "after": 6.33 }, "markers_on_wrist": [ @@ -433,15 +444,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 10.79, + "twist_moved_deg": -143.15, "wrist_twist_deg_after": { - "median": 0.0, + "median": -30.46, "iqr": [ - -12.2, - 23.9 + -41.6, + -6.8 ] }, - "wrist_total_deg_median_after": 35.3, + "wrist_total_deg_median_after": 43.6, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -454,11 +465,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, - 0.0, - 0.0 + -4e-05, + 1e-05, + -1e-05 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.975, + "inlier_spread_deg": 7.4, + "marker_Q_to_gsi_deg": { + "1": 13.7, + "-1": 178.5 + } + }, "wrist_bend_deg_median": 17.5, "opposite_sign_bend_deg": 174.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -472,9 +494,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -21.4, 3.6 @@ -489,7 +511,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:48:04.212764+00:00", + "generated_at_utc": "2026-11-06T14:16:37.383151+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -529,6 +551,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.68, + "offset_rotvec": [ + 0.0109, + -0.1182, + 0.1203 + ], + "dev_deg": { + "median": 8.67, + "p90": 20.78 + }, + "samples": 4278, + "accepted": 3908, + "wrist_pos_err_mm_median": 38.5, + "per_camera": { + "head": { + "samples": 4278, + "accepted": 3908, + "gate_deg": 30.0, + "offset_deg": 9.68, + "tier": "primary", + "dev_deg_median": 8.67, + "wrist_pos_err_mm_median": 38.5 + } + }, + "frames_by_state": { + "ace_sample": 15646, + "interpolated": 278, + "mean_hand": 1369, + "no_body_fit": 7 + }, + "observed_fraction": 0.9205, + "observed_fraction_of_valid": 0.9208, + "palm_axis_vs_markers_deg": { + "gsi": 8.37, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 13.99, + "offset_rotvec": [ + 0.0893, + -0.1862, + -0.1301 + ], + "dev_deg": { + "median": 7.41, + "p90": 14.22 + }, + "samples": 4264, + "accepted": 4162, + "wrist_pos_err_mm_median": 28.6, + "per_camera": { + "head": { + "samples": 4264, + "accepted": 4162, + "gate_deg": 30.0, + "offset_deg": 13.99, + "tier": "primary", + "dev_deg_median": 7.41, + "wrist_pos_err_mm_median": 28.6 + } + }, + "frames_by_state": { + "ace_sample": 16676, + "interpolated": 452, + "mean_hand": 165, + "no_body_fit": 7 + }, + "observed_fraction": 0.9901, + "observed_fraction_of_valid": 0.9905, + "palm_axis_vs_markers_deg": { + "gsi": 13.84, + "smplx": 1.18 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.1, + "p90": 9.4 + }, + "registered": { + "median": 5.4, + "p90": 8.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:51:17.037998+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/locomanipulation/LM75/session_004", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM75/session_004/motions/smplx.npz b/actions/locomanipulation/LM75/session_004/motions/smplx.npz index e421d56024d1648c8376f78e285c5e0ca0a5e34e..43d61c9a258ad1e3bdccafa11283f5647cb13ffb 100644 --- a/actions/locomanipulation/LM75/session_004/motions/smplx.npz +++ b/actions/locomanipulation/LM75/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4db3e7ff627448e65173be933f3b06d26c20abe70914915b47713b1d9d115627 -size 6559782 +oid sha256:e486d22268b9455a91092733ba96affc56eac185a4c41559c23b0d044d2bff80 +size 12113092 diff --git a/actions/locomanipulation/LM75/session_005/meta.json b/actions/locomanipulation/LM75/session_005/meta.json index 45ef661c82c26fa1a235bb709b4685343125dc00..75a9da7f9b3c4c199c137f73b1604cd14bc9b85d 100644 --- a/actions/locomanipulation/LM75/session_005/meta.json +++ b/actions/locomanipulation/LM75/session_005/meta.json @@ -353,8 +353,8 @@ "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": { @@ -413,19 +413,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -3.02702, + 0.24153, + 0.80505 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 28.7, - "opposite_sign_bend_deg": 173.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.927, + "inlier_spread_deg": 5.17, + "marker_Q_to_gsi_deg": { + "1": 173.2, + "-1": 13.7 + } + }, + "wrist_bend_deg_median": 175.2, + "opposite_sign_bend_deg": 28.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.93, "hand_vs_marker_frame_deg": { - "before": 3.93, + "before": 178.56, "after": 3.93 }, "markers_on_wrist": [ @@ -433,15 +444,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 3.13, + "twist_moved_deg": -156.35, "wrist_twist_deg_after": { - "median": 0.0, + "median": -20.46, "iqr": [ - -4.5, - 7.6 + -24.8, + -13.5 ] }, - "wrist_total_deg_median_after": 28.9, + "wrist_total_deg_median_after": 29.7, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -454,11 +465,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, - 0.0 + -4e-05, + 3e-05, + 1e-05 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.985, + "inlier_spread_deg": 5.87, + "marker_Q_to_gsi_deg": { + "1": 12.4, + "-1": 175.9 + } + }, "wrist_bend_deg_median": 15.1, "opposite_sign_bend_deg": 173.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -472,7 +494,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -489,7 +511,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:48:06.122577+00:00", + "generated_at_utc": "2026-11-06T14:16:57.337236+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -529,6 +551,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 12.89, + "offset_rotvec": [ + -0.0986, + -0.1898, + 0.0699 + ], + "dev_deg": { + "median": 5.64, + "p90": 13.55 + }, + "samples": 4117, + "accepted": 3832, + "wrist_pos_err_mm_median": 40.1, + "per_camera": { + "head": { + "samples": 4117, + "accepted": 3832, + "gate_deg": 30.0, + "offset_deg": 12.89, + "tier": "primary", + "dev_deg_median": 5.64, + "wrist_pos_err_mm_median": 40.1 + } + }, + "frames_by_state": { + "ace_sample": 15344, + "interpolated": 124, + "mean_hand": 1220, + "no_body_fit": 0 + }, + "observed_fraction": 0.9269, + "observed_fraction_of_valid": 0.9269, + "palm_axis_vs_markers_deg": { + "gsi": 13.38, + "smplx": 2.11 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.2, + "p90": 17.4 + }, + "registered": { + "median": 11.4, + "p90": 14.8 + } + } + }, + "right": { + "offset_deg": 12.15, + "offset_rotvec": [ + -0.014, + -0.1606, + -0.1377 + ], + "dev_deg": { + "median": 5.88, + "p90": 11.19 + }, + "samples": 4072, + "accepted": 4010, + "wrist_pos_err_mm_median": 25.8, + "per_camera": { + "head": { + "samples": 4072, + "accepted": 4010, + "gate_deg": 30.0, + "offset_deg": 12.15, + "tier": "primary", + "dev_deg_median": 5.88, + "wrist_pos_err_mm_median": 25.8 + } + }, + "frames_by_state": { + "ace_sample": 16060, + "interpolated": 316, + "mean_hand": 312, + "no_body_fit": 0 + }, + "observed_fraction": 0.9813, + "observed_fraction_of_valid": 0.9813, + "palm_axis_vs_markers_deg": { + "gsi": 12.31, + "smplx": 1.95 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.7, + "p90": 11.2 + }, + "registered": { + "median": 6.7, + "p90": 10.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:51:16.538579+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/locomanipulation/LM75/session_005", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM75/session_005/motions/smplx.npz b/actions/locomanipulation/LM75/session_005/motions/smplx.npz index 06be3f75a80bb1116ba63529e818e891babb4e0f..7e4ec22bc33fdef598792c1d10751b010c629e54 100644 --- a/actions/locomanipulation/LM75/session_005/motions/smplx.npz +++ b/actions/locomanipulation/LM75/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e7d0cc804ec2b86ad865dd409cbce24f82d6e2d1c3aedc8257fdf935ac704d47 -size 6300199 +oid sha256:e979eec1ec3a32d6b4e7af7ec5b43ddc1827d3ce9fe105b71d23abd2bdf3299a +size 11662261 diff --git a/actions/locomanipulation/LM76/session_008/meta.json b/actions/locomanipulation/LM76/session_008/meta.json index 2a43fd924a07e72c37cd79b77d25f061f7eb298b..2164ae736ff25a45c6970076e273323f605bef05 100644 --- a/actions/locomanipulation/LM76/session_008/meta.json +++ b/actions/locomanipulation/LM76/session_008/meta.json @@ -379,8 +379,8 @@ "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": { @@ -444,19 +444,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + -2.98442, + 0.43848, + 0.87784 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 31.0, - "opposite_sign_bend_deg": 170.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.422, + "inlier_spread_deg": 13.94, + "marker_Q_to_gsi_deg": { + "1": 168.0, + "-1": 13.9 + } + }, + "wrist_bend_deg_median": 170.7, + "opposite_sign_bend_deg": 31.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.39, "hand_vs_marker_frame_deg": { - "before": 3.39, + "before": 178.99, "after": 3.39 }, "markers_on_wrist": [ @@ -464,15 +475,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 1.8, + "twist_moved_deg": -146.26, "wrist_twist_deg_after": { - "median": 0.0, + "median": -32.44, "iqr": [ - -8.4, - 8.5 + -43.1, + -24.8 ] }, - "wrist_total_deg_median_after": 33.4, + "wrist_total_deg_median_after": 44.8, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -485,11 +496,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, + -0.0, -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.843, + "inlier_spread_deg": 13.91, + "marker_Q_to_gsi_deg": { + "1": 4.6, + "-1": 176.4 + } + }, "wrist_bend_deg_median": 23.6, "opposite_sign_bend_deg": 171.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -520,7 +542,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:41:22.648984+00:00", + "generated_at_utc": "2026-11-06T14:07:33.035960+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -604,6 +626,116 @@ }, "applied": 5 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 28.67, + "offset_rotvec": [ + 0.4964, + 0.0364, + 0.0504 + ], + "dev_deg": { + "median": 35.1, + "p90": 167.97 + }, + "samples": 4442, + "accepted": 1862, + "wrist_pos_err_mm_median": 41.2, + "per_camera": { + "head": { + "samples": 4442, + "accepted": 1862, + "gate_deg": 30.0, + "offset_deg": 28.67, + "tier": "primary", + "dev_deg_median": 35.1, + "wrist_pos_err_mm_median": 41.2 + } + }, + "frames_by_state": { + "ace_sample": 7514, + "interpolated": 2466, + "mean_hand": 10824, + "no_body_fit": 0 + }, + "observed_fraction": 0.4797, + "observed_fraction_of_valid": 0.4797, + "palm_axis_vs_markers_deg": { + "gsi": 44.12, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 4.88, + "offset_rotvec": [ + 0.0523, + 0.0671, + 0.0041 + ], + "dev_deg": { + "median": 15.27, + "p90": 35.62 + }, + "samples": 4664, + "accepted": 3969, + "wrist_pos_err_mm_median": 36.7, + "per_camera": { + "head": { + "samples": 4664, + "accepted": 3969, + "gate_deg": 30.0, + "offset_deg": 4.88, + "tier": "primary", + "dev_deg_median": 15.27, + "wrist_pos_err_mm_median": 36.7 + } + }, + "frames_by_state": { + "ace_sample": 15980, + "interpolated": 2168, + "mean_hand": 2656, + "no_body_fit": 0 + }, + "observed_fraction": 0.8723, + "observed_fraction_of_valid": 0.8723, + "palm_axis_vs_markers_deg": { + "gsi": 14.31, + "smplx": 4.64 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.0, + "p90": 8.6 + }, + "registered": { + "median": 6.8, + "p90": 8.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:32:15.147332+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/locomanipulation/LM76/session_008", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM76/session_008/motions/smplx.npz b/actions/locomanipulation/LM76/session_008/motions/smplx.npz index 936e878abb9868885dde2f9b1d6a1f669334be02..2554d986f10913d4ef90ac6cee6993274c0d11f0 100644 --- a/actions/locomanipulation/LM76/session_008/motions/smplx.npz +++ b/actions/locomanipulation/LM76/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4027984b47953071297846dd306a4d329f8f55d99d4c07dd07a7bc1a5d4c5567 -size 7992936 +oid sha256:3a45e3c571a37a53f981c974c497d401886c5f3466db6b86253c1d849fc30f02 +size 13045994 diff --git a/actions/locomanipulation/LM76/session_009/meta.json b/actions/locomanipulation/LM76/session_009/meta.json index 638c1ea067e921c29cc3e5b4e38ab1e238d32749..1f3548539879816b34528415756fd6674f15a74a 100644 --- a/actions/locomanipulation/LM76/session_009/meta.json +++ b/actions/locomanipulation/LM76/session_009/meta.json @@ -364,8 +364,8 @@ "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": { @@ -424,19 +424,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + 2.98442, + -0.43848, + -0.87784 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 33.6, - "opposite_sign_bend_deg": 171.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.498, + "inlier_spread_deg": 14.55, + "marker_Q_to_gsi_deg": { + "1": 162.9, + "-1": 17.8 + } + }, + "wrist_bend_deg_median": 171.9, + "opposite_sign_bend_deg": 33.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.65, "hand_vs_marker_frame_deg": { - "before": 5.65, + "before": 177.69, "after": 5.65 }, "markers_on_wrist": [ @@ -444,15 +455,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 2.07, + "twist_moved_deg": -121.58, "wrist_twist_deg_after": { - "median": 0.01, + "median": -57.28, "iqr": [ - -7.7, - 10.3 + -66.7, + -46.4 ] }, - "wrist_total_deg_median_after": 37.7, + "wrist_total_deg_median_after": 62.9, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -470,7 +481,18 @@ 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 20.6, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.81, + "inlier_spread_deg": 12.34, + "marker_Q_to_gsi_deg": { + "1": 5.0, + "-1": 176.2 + } + }, + "wrist_bend_deg_median": 20.7, "opposite_sign_bend_deg": 171.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.16, @@ -483,7 +505,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.03, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -501,7 +523,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:41:23.054640+00:00", + "generated_at_utc": "2026-11-06T14:07:29.736896+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -582,6 +604,116 @@ }, "applied": 5 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 20.15, + "offset_rotvec": [ + 0.3508, + -0.0059, + -0.0234 + ], + "dev_deg": { + "median": 29.74, + "p90": 166.55 + }, + "samples": 3805, + "accepted": 1909, + "wrist_pos_err_mm_median": 42.1, + "per_camera": { + "head": { + "samples": 3805, + "accepted": 1909, + "gate_deg": 30.0, + "offset_deg": 20.15, + "tier": "primary", + "dev_deg_median": 29.74, + "wrist_pos_err_mm_median": 42.1 + } + }, + "frames_by_state": { + "ace_sample": 7704, + "interpolated": 2256, + "mean_hand": 8413, + "no_body_fit": 7 + }, + "observed_fraction": 0.5419, + "observed_fraction_of_valid": 0.5421, + "palm_axis_vs_markers_deg": { + "gsi": 32.1, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 5.29, + "offset_rotvec": [ + 0.0298, + 0.0857, + 0.0176 + ], + "dev_deg": { + "median": 14.56, + "p90": 43.54 + }, + "samples": 4146, + "accepted": 3369, + "wrist_pos_err_mm_median": 40.2, + "per_camera": { + "head": { + "samples": 4146, + "accepted": 3369, + "gate_deg": 30.0, + "offset_deg": 5.29, + "tier": "primary", + "dev_deg_median": 14.56, + "wrist_pos_err_mm_median": 40.2 + } + }, + "frames_by_state": { + "ace_sample": 13558, + "interpolated": 2038, + "mean_hand": 2777, + "no_body_fit": 7 + }, + "observed_fraction": 0.8485, + "observed_fraction_of_valid": 0.8489, + "palm_axis_vs_markers_deg": { + "gsi": 14.6, + "smplx": 4.02 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 3.6, + "p90": 6.2 + }, + "registered": { + "median": 3.9, + "p90": 6.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:32:36.739969+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/locomanipulation/LM76/session_009", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM76/session_009/motions/smplx.npz b/actions/locomanipulation/LM76/session_009/motions/smplx.npz index 99122ba78e993e22479da14300b863ecdc08b930..d2eadecde07a802bb3216d1b7673419f49e9ff05 100644 --- a/actions/locomanipulation/LM76/session_009/motions/smplx.npz +++ b/actions/locomanipulation/LM76/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3d4cce46cc2cf8d2ea63c6a177d0eb2d65cf512d4b1b678b1823b788c6dca07c -size 7064654 +oid sha256:750fd480d096f2a63bc1ed437f21b35d110b472212ff5cf6dd09633a9e714116 +size 11635751 diff --git a/actions/locomanipulation/LM77/session_002/meta.json b/actions/locomanipulation/LM77/session_002/meta.json index 9c2f49740386f1e379610cdf5ef630e932f13f64..c6397e4fb58bc18cb3b4c50dfd2e11579c899992 100644 --- a/actions/locomanipulation/LM77/session_002/meta.json +++ b/actions/locomanipulation/LM77/session_002/meta.json @@ -378,8 +378,8 @@ "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": { @@ -438,19 +438,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + 2.98794, + -0.42773, + -0.87113 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 39.7, - "opposite_sign_bend_deg": 173.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.801, + "inlier_spread_deg": 11.58, + "marker_Q_to_gsi_deg": { + "1": 173.6, + "-1": 6.6 + } + }, + "wrist_bend_deg_median": 169.9, + "opposite_sign_bend_deg": 38.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.77, "hand_vs_marker_frame_deg": { - "before": 2.77, + "before": 178.96, "after": 2.77 }, "markers_on_wrist": [ @@ -458,15 +469,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -11.87, + "twist_moved_deg": -164.99, "wrist_twist_deg_after": { - "median": -0.0, + "median": -6.48, "iqr": [ - -7.8, - 7.3 + -14.1, + 0.7 ] }, - "wrist_total_deg_median_after": 39.6, + "wrist_total_deg_median_after": 30.3, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -479,11 +490,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, - -0.0 + 0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.93, + "inlier_spread_deg": 10.43, + "marker_Q_to_gsi_deg": { + "1": 15.4, + "-1": 174.4 + } + }, "wrist_bend_deg_median": 21.7, "opposite_sign_bend_deg": 170.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -499,7 +521,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -7.7, 9.9 @@ -515,7 +537,7 @@ }, "frames_used": 1465 }, - "generated_at_utc": "2026-10-28T06:41:22.861484+00:00", + "generated_at_utc": "2026-11-06T14:07:34.063080+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -588,6 +610,116 @@ }, "applied": 4 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 7.98, + "offset_rotvec": [ + -0.1231, + -0.0474, + 0.0448 + ], + "dev_deg": { + "median": 14.69, + "p90": 53.28 + }, + "samples": 3016, + "accepted": 2410, + "wrist_pos_err_mm_median": 43.6, + "per_camera": { + "head": { + "samples": 3016, + "accepted": 2410, + "gate_deg": 30.0, + "offset_deg": 7.98, + "tier": "primary", + "dev_deg_median": 14.69, + "wrist_pos_err_mm_median": 43.6 + } + }, + "frames_by_state": { + "ace_sample": 9724, + "interpolated": 2164, + "mean_hand": 2756, + "no_body_fit": 0 + }, + "observed_fraction": 0.8118, + "observed_fraction_of_valid": 0.8118, + "palm_axis_vs_markers_deg": { + "gsi": 13.31, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 15.14, + "offset_rotvec": [ + 0.1569, + -0.1981, + -0.0771 + ], + "dev_deg": { + "median": 10.91, + "p90": 23.86 + }, + "samples": 3029, + "accepted": 2819, + "wrist_pos_err_mm_median": 37.2, + "per_camera": { + "head": { + "samples": 3029, + "accepted": 2819, + "gate_deg": 30.0, + "offset_deg": 15.14, + "tier": "primary", + "dev_deg_median": 10.91, + "wrist_pos_err_mm_median": 37.2 + } + }, + "frames_by_state": { + "ace_sample": 11362, + "interpolated": 1742, + "mean_hand": 1540, + "no_body_fit": 0 + }, + "observed_fraction": 0.8948, + "observed_fraction_of_valid": 0.8948, + "palm_axis_vs_markers_deg": { + "gsi": 15.93, + "smplx": 1.5 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.4, + "p90": 21.2 + }, + "registered": { + "median": 12.7, + "p90": 19.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:32:41.935559+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/locomanipulation/LM77/session_002", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM77/session_002/motions/smplx.npz b/actions/locomanipulation/LM77/session_002/motions/smplx.npz index 3f1c3c20084c98b41fb7e6a3b08de317336ca46f..dc6d64bab047e009f2a3a15ace756635de0e480f 100644 --- a/actions/locomanipulation/LM77/session_002/motions/smplx.npz +++ b/actions/locomanipulation/LM77/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a37e2ea1378078531d3d2be571b5887ce14ac773c5f3d9e90dd90f44f5b62df4 -size 5643401 +oid sha256:2716cc7c7a3a127904fcdf95026c2828e4683ea405d15879cbb6ccca7db9f928 +size 10046484 diff --git a/actions/locomanipulation/LM77/session_003/meta.json b/actions/locomanipulation/LM77/session_003/meta.json index 87ff64f7b7ca8b7b06be2bf5b86849b9fdd7b476..e2ef185ca729b6be4f510d53e8859154dece4cdf 100644 --- a/actions/locomanipulation/LM77/session_003/meta.json +++ b/actions/locomanipulation/LM77/session_003/meta.json @@ -379,8 +379,8 @@ "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": { @@ -444,19 +444,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + -2.98794, + 0.42773, + 0.87113 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 41.7, - "opposite_sign_bend_deg": 166.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.73, + "inlier_spread_deg": 10.74, + "marker_Q_to_gsi_deg": { + "1": 171.3, + "-1": 8.8 + } + }, + "wrist_bend_deg_median": 166.3, + "opposite_sign_bend_deg": 41.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.16, "hand_vs_marker_frame_deg": { - "before": 3.16, + "before": 178.58, "after": 3.16 }, "markers_on_wrist": [ @@ -464,15 +475,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.08, + "twist_moved_deg": -163.86, "wrist_twist_deg_after": { - "median": 0.0, + "median": -4.37, "iqr": [ - -9.8, - 7.4 + -14.5, + 0.6 ] }, - "wrist_total_deg_median_after": 42.6, + "wrist_total_deg_median_after": 35.3, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -490,6 +501,17 @@ -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.875, + "inlier_spread_deg": 12.63, + "marker_Q_to_gsi_deg": { + "1": 10.7, + "-1": 178.0 + } + }, "wrist_bend_deg_median": 22.3, "opposite_sign_bend_deg": 170.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -506,7 +528,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -8.2, 9.2 @@ -521,7 +543,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:41:23.113546+00:00", + "generated_at_utc": "2026-11-06T14:07:34.136032+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -583,6 +605,116 @@ }, "applied": 3 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 11.03, + "offset_rotvec": [ + -0.1507, + 0.0226, + 0.1176 + ], + "dev_deg": { + "median": 13.93, + "p90": 146.96 + }, + "samples": 3098, + "accepted": 2235, + "wrist_pos_err_mm_median": 44.7, + "per_camera": { + "head": { + "samples": 3098, + "accepted": 2235, + "gate_deg": 30.0, + "offset_deg": 11.03, + "tier": "primary", + "dev_deg_median": 13.93, + "wrist_pos_err_mm_median": 44.7 + } + }, + "frames_by_state": { + "ace_sample": 9190, + "interpolated": 2006, + "mean_hand": 4264, + "no_body_fit": 0 + }, + "observed_fraction": 0.7242, + "observed_fraction_of_valid": 0.7242, + "palm_axis_vs_markers_deg": { + "gsi": 14.39, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 10.33, + "offset_rotvec": [ + 0.0868, + -0.1467, + -0.059 + ], + "dev_deg": { + "median": 13.51, + "p90": 34.16 + }, + "samples": 3137, + "accepted": 2752, + "wrist_pos_err_mm_median": 41.7, + "per_camera": { + "head": { + "samples": 3137, + "accepted": 2752, + "gate_deg": 30.0, + "offset_deg": 10.33, + "tier": "primary", + "dev_deg_median": 13.51, + "wrist_pos_err_mm_median": 41.7 + } + }, + "frames_by_state": { + "ace_sample": 11298, + "interpolated": 2518, + "mean_hand": 1644, + "no_body_fit": 0 + }, + "observed_fraction": 0.8937, + "observed_fraction_of_valid": 0.8937, + "palm_axis_vs_markers_deg": { + "gsi": 14.52, + "smplx": 1.79 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.9, + "p90": 21.4 + }, + "registered": { + "median": 10.7, + "p90": 20.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:33:11.634798+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/locomanipulation/LM77/session_003", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM77/session_003/motions/smplx.npz b/actions/locomanipulation/LM77/session_003/motions/smplx.npz index a5e373808ba693bbbb560466b351a675c2270c1a..eb7d5ccacc259227a6efc32c960571d2f7217260 100644 --- a/actions/locomanipulation/LM77/session_003/motions/smplx.npz +++ b/actions/locomanipulation/LM77/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:665010c9aed1a76433526247e877da03fecba93dfea3a72fbfdece9aa342728b -size 5963464 +oid sha256:9ec925d9a44c30530536f8225acc32691d6a95fb81feef85fa922e544e97acad +size 10339398 diff --git a/actions/locomanipulation/LM77/session_004/meta.json b/actions/locomanipulation/LM77/session_004/meta.json index 43ecea4886576368bfe18a726d50c9bd8b03e576..9b958e3d0228c5927d6c4f0ea8b435e4786e5831 100644 --- a/actions/locomanipulation/LM77/session_004/meta.json +++ b/actions/locomanipulation/LM77/session_004/meta.json @@ -379,8 +379,8 @@ "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": { @@ -444,19 +444,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + 2.98794, + -0.42773, + -0.87113 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 42.3, - "opposite_sign_bend_deg": 164.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2850, + "inlier_frac": 0.661, + "inlier_spread_deg": 12.53, + "marker_Q_to_gsi_deg": { + "1": 174.9, + "-1": 5.9 + } + }, + "wrist_bend_deg_median": 164.7, + "opposite_sign_bend_deg": 42.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.3, "hand_vs_marker_frame_deg": { - "before": 4.3, + "before": 177.57, "after": 4.3 }, "markers_on_wrist": [ @@ -464,15 +475,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.04, + "twist_moved_deg": -162.35, "wrist_twist_deg_after": { - "median": -0.0, + "median": -5.98, "iqr": [ - -10.0, - 7.4 + -21.1, + -0.5 ] }, - "wrist_total_deg_median_after": 43.0, + "wrist_total_deg_median_after": 37.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -490,6 +501,17 @@ -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2764, + "inlier_frac": 0.88, + "inlier_spread_deg": 13.2, + "marker_Q_to_gsi_deg": { + "1": 13.1, + "-1": 177.6 + } + }, "wrist_bend_deg_median": 19.6, "opposite_sign_bend_deg": 172.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -521,7 +543,7 @@ }, "frames_used": 1438 }, - "generated_at_utc": "2026-10-28T06:41:23.155036+00:00", + "generated_at_utc": "2026-11-06T14:07:34.343545+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -583,6 +605,116 @@ }, "applied": 3 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.47, + "offset_rotvec": [ + -0.0841, + -0.0849, + 0.1141 + ], + "dev_deg": { + "median": 18.79, + "p90": 165.92 + }, + "samples": 2850, + "accepted": 1891, + "wrist_pos_err_mm_median": 49.0, + "per_camera": { + "head": { + "samples": 2850, + "accepted": 1891, + "gate_deg": 30.0, + "offset_deg": 9.47, + "tier": "primary", + "dev_deg_median": 18.79, + "wrist_pos_err_mm_median": 49.0 + } + }, + "frames_by_state": { + "ace_sample": 7734, + "interpolated": 2202, + "mean_hand": 4444, + "no_body_fit": 0 + }, + "observed_fraction": 0.691, + "observed_fraction_of_valid": 0.691, + "palm_axis_vs_markers_deg": { + "gsi": 15.99, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 12.71, + "offset_rotvec": [ + 0.1125, + -0.1654, + -0.0958 + ], + "dev_deg": { + "median": 14.28, + "p90": 33.88 + }, + "samples": 2764, + "accepted": 2443, + "wrist_pos_err_mm_median": 45.5, + "per_camera": { + "head": { + "samples": 2764, + "accepted": 2443, + "gate_deg": 30.0, + "offset_deg": 12.71, + "tier": "primary", + "dev_deg_median": 14.28, + "wrist_pos_err_mm_median": 45.5 + } + }, + "frames_by_state": { + "ace_sample": 9924, + "interpolated": 1796, + "mean_hand": 2660, + "no_body_fit": 0 + }, + "observed_fraction": 0.815, + "observed_fraction_of_valid": 0.815, + "palm_axis_vs_markers_deg": { + "gsi": 16.76, + "smplx": 1.73 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 15.3, + "p90": 22.4 + }, + "registered": { + "median": 14.7, + "p90": 21.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:33:07.743947+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/locomanipulation/LM77/session_004", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM77/session_004/motions/smplx.npz b/actions/locomanipulation/LM77/session_004/motions/smplx.npz index d14b2b26816d01a143d65c232e374446831621f2..63894ac1262179e26c24eb3c7ea45200d1f0d8dc 100644 --- a/actions/locomanipulation/LM77/session_004/motions/smplx.npz +++ b/actions/locomanipulation/LM77/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:20b2a646359a481aae7706eadcdc1a8cabb3b4657933c7f8040ac66e2b571812 -size 5556916 +oid sha256:fd8862d56e0ae417a1bd26ccff339ebcdef0dff103c3d0899bf54c4bf9e886ef +size 9402697 diff --git a/actions/locomanipulation/LM77/session_008/meta.json b/actions/locomanipulation/LM77/session_008/meta.json index d76fac5307828d0636a79262a896fcb445fb78f1..6b2de4cd01cb0fcdae3ad74198a7580425c12438 100644 --- a/actions/locomanipulation/LM77/session_008/meta.json +++ b/actions/locomanipulation/LM77/session_008/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": 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": { @@ -435,19 +435,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + -2.98662, + 0.4392, + 0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 44.0, - "opposite_sign_bend_deg": 168.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.851, + "inlier_spread_deg": 10.58, + "marker_Q_to_gsi_deg": { + "1": 175.9, + "-1": 9.7 + } + }, + "wrist_bend_deg_median": 165.5, + "opposite_sign_bend_deg": 41.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.47, "hand_vs_marker_frame_deg": { - "before": 4.47, + "before": 178.63, "after": 4.47 }, "markers_on_wrist": [ @@ -456,15 +467,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -8.22, + "twist_moved_deg": -157.12, "wrist_twist_deg_after": { - "median": -0.01, + "median": -15.09, "iqr": [ - -13.5, - 9.0 + -28.9, + -4.2 ] }, - "wrist_total_deg_median_after": 41.8, + "wrist_total_deg_median_after": 35.9, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -478,9 +489,20 @@ "Q_rotvec": [ 0.0, 0.0, - -0.0 + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.907, + "inlier_spread_deg": 11.44, + "marker_Q_to_gsi_deg": { + "1": 6.0, + "-1": 177.7 + } + }, "wrist_bend_deg_median": 20.1, "opposite_sign_bend_deg": 172.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -497,7 +519,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -5.6, 8.5 @@ -512,7 +534,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:47:01.593841+00:00", + "generated_at_utc": "2026-11-06T14:13:25.035501+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -563,6 +585,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 11.89, + "offset_rotvec": [ + 0.0666, + -0.1928, + -0.0385 + ], + "dev_deg": { + "median": 12.39, + "p90": 79.18 + }, + "samples": 3898, + "accepted": 3349, + "wrist_pos_err_mm_median": 47.6, + "per_camera": { + "head": { + "samples": 3898, + "accepted": 3349, + "gate_deg": 30.0, + "offset_deg": 11.89, + "tier": "primary", + "dev_deg_median": 12.39, + "wrist_pos_err_mm_median": 47.6 + } + }, + "frames_by_state": { + "ace_sample": 13444, + "interpolated": 756, + "mean_hand": 2596, + "no_body_fit": 0 + }, + "observed_fraction": 0.8454, + "observed_fraction_of_valid": 0.8454, + "palm_axis_vs_markers_deg": { + "gsi": 14.16, + "smplx": 3.09 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.0, + "p90": 9.9 + }, + "registered": { + "median": 7.5, + "p90": 9.2 + } + } + }, + "right": { + "offset_deg": 4.95, + "offset_rotvec": [ + -0.0398, + -0.0259, + 0.0721 + ], + "dev_deg": { + "median": 12.58, + "p90": 27.66 + }, + "samples": 3912, + "accepted": 3576, + "wrist_pos_err_mm_median": 41.3, + "per_camera": { + "head": { + "samples": 3912, + "accepted": 3576, + "gate_deg": 30.0, + "offset_deg": 4.95, + "tier": "primary", + "dev_deg_median": 12.58, + "wrist_pos_err_mm_median": 41.3 + } + }, + "frames_by_state": { + "ace_sample": 14422, + "interpolated": 1754, + "mean_hand": 620, + "no_body_fit": 0 + }, + "observed_fraction": 0.9631, + "observed_fraction_of_valid": 0.9631, + "palm_axis_vs_markers_deg": { + "gsi": 10.96, + "smplx": 2.13 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.2, + "p90": 11.8 + }, + "registered": { + "median": 7.3, + "p90": 9.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:45:08.546843+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/locomanipulation/LM77/session_008", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM77/session_008/motions/smplx.npz b/actions/locomanipulation/LM77/session_008/motions/smplx.npz index 91d35e180ec5c8ab15d249319df14f44590358f6..127334d7d6a767d622c87097f9d085a07161deb8 100644 --- a/actions/locomanipulation/LM77/session_008/motions/smplx.npz +++ b/actions/locomanipulation/LM77/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:20a7b04a3179124935cfaec7e868f4752143d254d1ce3d23801c605868fe35a6 -size 6477629 +oid sha256:faeda05919d64d37fd9f4bd2bac97c029b4b2f308f94acd7a7095ac10d3b7fa6 +size 11658493 diff --git a/actions/locomanipulation/LM77/session_009/meta.json b/actions/locomanipulation/LM77/session_009/meta.json index a99c87f9444ad1aa11976654f785fdf5cb265245..f2a8c506623b7c13ffb987604fc11341e3147ead 100644 --- a/actions/locomanipulation/LM77/session_009/meta.json +++ b/actions/locomanipulation/LM77/session_009/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": 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": { @@ -430,19 +430,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + -2.98662, + 0.4392, + 0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 36.4, - "opposite_sign_bend_deg": 172.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.86, + "inlier_spread_deg": 11.39, + "marker_Q_to_gsi_deg": { + "1": 171.7, + "-1": 13.3 + } + }, + "wrist_bend_deg_median": 170.5, + "opposite_sign_bend_deg": 36.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.71, "hand_vs_marker_frame_deg": { - "before": 2.71, + "before": 178.95, "after": 2.71 }, "markers_on_wrist": [ @@ -450,15 +461,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -2.91, + "twist_moved_deg": -168.05, "wrist_twist_deg_after": { - "median": 0.0, + "median": -3.39, "iqr": [ - -9.2, - 4.6 + -11.4, + 0.2 ] }, - "wrist_total_deg_median_after": 36.2, + "wrist_total_deg_median_after": 31.9, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -476,6 +487,17 @@ -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.953, + "inlier_spread_deg": 11.44, + "marker_Q_to_gsi_deg": { + "1": 5.2, + "-1": 177.5 + } + }, "wrist_bend_deg_median": 18.3, "opposite_sign_bend_deg": 174.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -492,7 +514,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -4.9, 10.3 @@ -506,7 +528,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:47:02.113085+00:00", + "generated_at_utc": "2026-11-06T14:13:55.049882+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -557,6 +579,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 14.06, + "offset_rotvec": [ + 0.1304, + -0.2048, + -0.0361 + ], + "dev_deg": { + "median": 12.39, + "p90": 157.87 + }, + "samples": 3570, + "accepted": 3067, + "wrist_pos_err_mm_median": 37.6, + "per_camera": { + "head": { + "samples": 3570, + "accepted": 3067, + "gate_deg": 30.0, + "offset_deg": 14.06, + "tier": "primary", + "dev_deg_median": 12.39, + "wrist_pos_err_mm_median": 37.6 + } + }, + "frames_by_state": { + "ace_sample": 12386, + "interpolated": 1186, + "mean_hand": 1815, + "no_body_fit": 0 + }, + "observed_fraction": 0.882, + "observed_fraction_of_valid": 0.882, + "palm_axis_vs_markers_deg": { + "gsi": 18.02, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 4.74, + "offset_rotvec": [ + -0.0416, + -0.0212, + 0.0684 + ], + "dev_deg": { + "median": 12.01, + "p90": 23.9 + }, + "samples": 3489, + "accepted": 3323, + "wrist_pos_err_mm_median": 51.2, + "per_camera": { + "head": { + "samples": 3489, + "accepted": 3323, + "gate_deg": 30.0, + "offset_deg": 4.74, + "tier": "primary", + "dev_deg_median": 12.01, + "wrist_pos_err_mm_median": 51.2 + } + }, + "frames_by_state": { + "ace_sample": 13418, + "interpolated": 1346, + "mean_hand": 623, + "no_body_fit": 0 + }, + "observed_fraction": 0.9595, + "observed_fraction_of_valid": 0.9595, + "palm_axis_vs_markers_deg": { + "gsi": 10.39, + "smplx": 2.09 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.1, + "p90": 9.8 + }, + "registered": { + "median": 5.4, + "p90": 7.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:45:08.842341+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/locomanipulation/LM77/session_009", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM77/session_009/motions/smplx.npz b/actions/locomanipulation/LM77/session_009/motions/smplx.npz index 1ebf3115d7cf27662f5c4e6fbc0bca3b6cbd94ef..af92d19a65d07537894d794165371cce53e7f869 100644 --- a/actions/locomanipulation/LM77/session_009/motions/smplx.npz +++ b/actions/locomanipulation/LM77/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6fbb23fdcb8ae695e3b843a6dbc037e9af853baca249c7d2ff1900d06754f107 -size 5927433 +oid sha256:07db33e0f5159132191ab8d85178b3d6eb2d316c90782e8edf01a45f6b12ca68 +size 10742609 diff --git a/actions/locomanipulation/LM78/session_002/meta.json b/actions/locomanipulation/LM78/session_002/meta.json index 94ca0b531cf57b2d3fa0940bf51d449057681d67..42e72563ce889a720bc1a2c3dfbfda727b3648e8 100644 --- a/actions/locomanipulation/LM78/session_002/meta.json +++ b/actions/locomanipulation/LM78/session_002/meta.json @@ -378,8 +378,8 @@ "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": { @@ -449,10 +449,21 @@ 0.42773, 0.87113 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 169.7, - "opposite_sign_bend_deg": 30.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.667, + "inlier_spread_deg": 10.85, + "marker_Q_to_gsi_deg": { + "1": 172.4, + "-1": 8.9 + } + }, + "wrist_bend_deg_median": 154.2, + "opposite_sign_bend_deg": 42.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.34, "hand_vs_marker_frame_deg": { "before": 178.65, @@ -463,15 +474,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 157.51, + "twist_moved_deg": -149.0, "wrist_twist_deg_after": { - "median": 16.13, + "median": -8.46, "iqr": [ - 3.2, - 24.4 + -20.5, + 2.3 ] }, - "wrist_total_deg_median_after": 42.5, + "wrist_total_deg_median_after": 31.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -484,11 +495,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, - -0.0 + 0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.887, + "inlier_spread_deg": 12.35, + "marker_Q_to_gsi_deg": { + "1": 15.6, + "-1": 177.8 + } + }, "wrist_bend_deg_median": 21.3, "opposite_sign_bend_deg": 172.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -503,9 +525,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.01, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -5.1, 6.3 @@ -520,10 +542,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:41:23.350630+00:00", + "generated_at_utc": "2026-11-06T14:07:35.635969+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.85, + "offset_rotvec": [ + -0.1683, + -0.0536, + 0.0682 + ], + "dev_deg": { + "median": 15.94, + "p90": 155.28 + }, + "samples": 3112, + "accepted": 2041, + "wrist_pos_err_mm_median": 51.9, + "per_camera": { + "head": { + "samples": 3112, + "accepted": 2041, + "gate_deg": 30.0, + "offset_deg": 10.85, + "tier": "primary", + "dev_deg_median": 15.94, + "wrist_pos_err_mm_median": 51.9 + } + }, + "frames_by_state": { + "ace_sample": 8236, + "interpolated": 2292, + "mean_hand": 4704, + "no_body_fit": 0 + }, + "observed_fraction": 0.6912, + "observed_fraction_of_valid": 0.6912, + "palm_axis_vs_markers_deg": { + "gsi": 15.91, + "smplx": 2.96 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.9, + "p90": 9.4 + }, + "registered": { + "median": 6.1, + "p90": 9.1 + } + } + }, + "right": { + "offset_deg": 15.19, + "offset_rotvec": [ + 0.1081, + -0.2389, + -0.0389 + ], + "dev_deg": { + "median": 13.27, + "p90": 31.08 + }, + "samples": 3098, + "accepted": 2772, + "wrist_pos_err_mm_median": 37.0, + "per_camera": { + "head": { + "samples": 3098, + "accepted": 2772, + "gate_deg": 30.0, + "offset_deg": 15.19, + "tier": "primary", + "dev_deg_median": 13.27, + "wrist_pos_err_mm_median": 37.0 + } + }, + "frames_by_state": { + "ace_sample": 11172, + "interpolated": 1828, + "mean_hand": 2232, + "no_body_fit": 0 + }, + "observed_fraction": 0.8535, + "observed_fraction_of_valid": 0.8535, + "palm_axis_vs_markers_deg": { + "gsi": 18.73, + "smplx": 1.78 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 16.7, + "p90": 24.1 + }, + "registered": { + "median": 16.4, + "p90": 22.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:33:39.135931+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/locomanipulation/LM78/session_002", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM78/session_002/motions/smplx.npz b/actions/locomanipulation/LM78/session_002/motions/smplx.npz index 05eb15e8279916104cf5c9d855b3bc81a8f6117b..937164d90b8dc41d5a8dae4ffd198d5d5d4568cb 100644 --- a/actions/locomanipulation/LM78/session_002/motions/smplx.npz +++ b/actions/locomanipulation/LM78/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d27c809e9640fe2e0f26e7f00c19f842de6d3865713ea9a349856565def355f9 -size 5866848 +oid sha256:82b3eaed6f5925ac5b840c4163a2ae521b968e4c79185c8c47ce24e0d65376c1 +size 10064074 diff --git a/actions/locomanipulation/LM78/session_004/meta.json b/actions/locomanipulation/LM78/session_004/meta.json index d2505575ba8b5277d9a8e0e2f0f8220a3099096d..d95301600f5964b8bb0346a4ef3e14cf028e1b06 100644 --- a/actions/locomanipulation/LM78/session_004/meta.json +++ b/actions/locomanipulation/LM78/session_004/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": 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": { @@ -435,19 +435,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + 2.98662, + -0.4392, + -0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 37.4, - "opposite_sign_bend_deg": 172.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.928, + "inlier_spread_deg": 10.67, + "marker_Q_to_gsi_deg": { + "1": 173.4, + "-1": 13.9 + } + }, + "wrist_bend_deg_median": 171.9, + "opposite_sign_bend_deg": 37.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.55, "hand_vs_marker_frame_deg": { - "before": 2.55, + "before": 178.29, "after": 2.55 }, "markers_on_wrist": [ @@ -456,15 +467,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.76, + "twist_moved_deg": -170.08, "wrist_twist_deg_after": { - "median": -0.0, + "median": -3.82, "iqr": [ - -7.0, - 3.8 + -9.6, + 0.1 ] }, - "wrist_total_deg_median_after": 36.9, + "wrist_total_deg_median_after": 20.4, "markers_on_forearm": [ "LElbowIn", "LForearm", @@ -477,11 +488,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, + -0.0, + -0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.891, + "inlier_spread_deg": 12.06, + "marker_Q_to_gsi_deg": { + "1": 7.6, + "-1": 176.5 + } + }, "wrist_bend_deg_median": 15.3, "opposite_sign_bend_deg": 175.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -496,7 +518,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -513,7 +535,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:47:03.371117+00:00", + "generated_at_utc": "2026-11-06T14:13:54.866348+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -553,6 +575,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 14.68, + "offset_rotvec": [ + 0.0858, + -0.2385, + -0.0379 + ], + "dev_deg": { + "median": 11.28, + "p90": 24.71 + }, + "samples": 3923, + "accepted": 3649, + "wrist_pos_err_mm_median": 43.1, + "per_camera": { + "head": { + "samples": 3923, + "accepted": 3649, + "gate_deg": 30.0, + "offset_deg": 14.68, + "tier": "primary", + "dev_deg_median": 11.28, + "wrist_pos_err_mm_median": 43.1 + } + }, + "frames_by_state": { + "ace_sample": 14788, + "interpolated": 1768, + "mean_hand": 744, + "no_body_fit": 0 + }, + "observed_fraction": 0.957, + "observed_fraction_of_valid": 0.957, + "palm_axis_vs_markers_deg": { + "gsi": 16.48, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 6.8, + "offset_rotvec": [ + -0.0623, + -0.0502, + 0.0877 + ], + "dev_deg": { + "median": 13.5, + "p90": 31.16 + }, + "samples": 3912, + "accepted": 3501, + "wrist_pos_err_mm_median": 51.0, + "per_camera": { + "head": { + "samples": 3912, + "accepted": 3501, + "gate_deg": 30.0, + "offset_deg": 6.8, + "tier": "primary", + "dev_deg_median": 13.5, + "wrist_pos_err_mm_median": 51.0 + } + }, + "frames_by_state": { + "ace_sample": 14210, + "interpolated": 2154, + "mean_hand": 936, + "no_body_fit": 0 + }, + "observed_fraction": 0.9459, + "observed_fraction_of_valid": 0.9459, + "palm_axis_vs_markers_deg": { + "gsi": 12.51, + "smplx": 2.53 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.7, + "p90": 7.6 + }, + "registered": { + "median": 6.4, + "p90": 7.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:45:10.547635+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/locomanipulation/LM78/session_004", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM78/session_004/motions/smplx.npz b/actions/locomanipulation/LM78/session_004/motions/smplx.npz index 1449a67e3822d103121bcb20b2674d26d2df4c79..4ffd28fb094700943702c3f353a41cb1281f59e1 100644 --- a/actions/locomanipulation/LM78/session_004/motions/smplx.npz +++ b/actions/locomanipulation/LM78/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f219135d6793aaf82e393bc84039d93e57dd145f19c721d5bfbe6385a5b253c5 -size 6671023 +oid sha256:6d3585c51d0639fb7d565dc10ecedc402ccce5e04b88d3e57b1f5a67644a5ff5 +size 12239370 diff --git a/actions/locomanipulation/LM78/session_005/meta.json b/actions/locomanipulation/LM78/session_005/meta.json index ef3768b5171e23aae2930b8b6506e108ae6289e2..ae05905589418e920212e0c2fc04445da89e646d 100644 --- a/actions/locomanipulation/LM78/session_005/meta.json +++ b/actions/locomanipulation/LM78/session_005/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": 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": { @@ -435,19 +435,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + -2.98662, + 0.4392, + 0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 42.2, - "opposite_sign_bend_deg": 172.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2984, + "inlier_frac": 0.806, + "inlier_spread_deg": 11.05, + "marker_Q_to_gsi_deg": { + "1": 173.1, + "-1": 10.2 + } + }, + "wrist_bend_deg_median": 169.5, + "opposite_sign_bend_deg": 40.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.6, "hand_vs_marker_frame_deg": { - "before": 4.6, + "before": 178.64, "after": 4.6 }, "markers_on_wrist": [ @@ -456,15 +467,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -5.0, + "twist_moved_deg": -164.39, "wrist_twist_deg_after": { - "median": -0.0, + "median": -8.55, "iqr": [ - -13.4, - 4.6 + -20.1, + -2.9 ] }, - "wrist_total_deg_median_after": 40.2, + "wrist_total_deg_median_after": 30.9, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -477,10 +488,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - 0.0, - -0.0 + -0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.873, + "inlier_spread_deg": 13.12, + "marker_Q_to_gsi_deg": { + "1": 7.5, + "-1": 177.2 + } + }, "wrist_bend_deg_median": 14.2, "opposite_sign_bend_deg": 175.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -497,7 +519,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -3.1, 6.0 @@ -512,7 +534,7 @@ }, "frames_used": 1440 }, - "generated_at_utc": "2026-10-28T06:47:03.516954+00:00", + "generated_at_utc": "2026-11-06T14:13:55.469036+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -552,6 +574,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.0, + "offset_rotvec": [ + 0.0492, + -0.1457, + -0.0318 + ], + "dev_deg": { + "median": 12.82, + "p90": 169.46 + }, + "samples": 2984, + "accepted": 2391, + "wrist_pos_err_mm_median": 55.3, + "per_camera": { + "head": { + "samples": 2984, + "accepted": 2391, + "gate_deg": 30.0, + "offset_deg": 9.0, + "tier": "primary", + "dev_deg_median": 12.82, + "wrist_pos_err_mm_median": 55.3 + } + }, + "frames_by_state": { + "ace_sample": 9772, + "interpolated": 2044, + "mean_hand": 2580, + "no_body_fit": 0 + }, + "observed_fraction": 0.8208, + "observed_fraction_of_valid": 0.8208, + "palm_axis_vs_markers_deg": { + "gsi": 17.21, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 6.85, + "offset_rotvec": [ + -0.0479, + -0.0459, + 0.0994 + ], + "dev_deg": { + "median": 14.36, + "p90": 32.07 + }, + "samples": 3046, + "accepted": 2679, + "wrist_pos_err_mm_median": 48.5, + "per_camera": { + "head": { + "samples": 3046, + "accepted": 2679, + "gate_deg": 30.0, + "offset_deg": 6.85, + "tier": "primary", + "dev_deg_median": 14.36, + "wrist_pos_err_mm_median": 48.5 + } + }, + "frames_by_state": { + "ace_sample": 10979, + "interpolated": 2344, + "mean_hand": 1073, + "no_body_fit": 0 + }, + "observed_fraction": 0.9255, + "observed_fraction_of_valid": 0.9255, + "palm_axis_vs_markers_deg": { + "gsi": 13.24, + "smplx": 2.04 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.2, + "p90": 8.5 + }, + "registered": { + "median": 5.9, + "p90": 7.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:45:06.346873+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/locomanipulation/LM78/session_005", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM78/session_005/motions/smplx.npz b/actions/locomanipulation/LM78/session_005/motions/smplx.npz index cd2117d63b6f6b9c136b56f359981fa46a5531d9..90c71144618c697a05cf6785f1bfb83532fad6c7 100644 --- a/actions/locomanipulation/LM78/session_005/motions/smplx.npz +++ b/actions/locomanipulation/LM78/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:80a26aafb6c8059c30e222317671df18d274d9b7c8c1b94512ae2e9600856812 -size 5535132 +oid sha256:2879d92d24564d0a10f2d7728499b54bc686304276e5d0e74fd496d54c37d057 +size 9842211 diff --git a/actions/locomanipulation/LM79/session_015/meta.json b/actions/locomanipulation/LM79/session_015/meta.json index 86808a66a6a3ec3ae5f7bf7709b91606506ce467..2217a23cba24c38d25b5878dc74833560522041c 100644 --- a/actions/locomanipulation/LM79/session_015/meta.json +++ b/actions/locomanipulation/LM79/session_015/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": 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": { @@ -435,19 +435,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 31.0, - "opposite_sign_bend_deg": 158.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.67, + "inlier_spread_deg": 8.99, + "marker_Q_to_gsi_deg": { + "1": 174.4, + "-1": 9.9 + } + }, + "wrist_bend_deg_median": 167.3, + "opposite_sign_bend_deg": 26.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.55, "hand_vs_marker_frame_deg": { - "before": 5.55, + "before": 177.3, "after": 5.55 }, "markers_on_wrist": [ @@ -456,15 +467,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 23.56, + "twist_moved_deg": 143.77, "wrist_twist_deg_after": { - "median": 0.0, + "median": 33.65, "iqr": [ - -15.7, - 19.4 + 23.9, + 56.1 ] }, - "wrist_total_deg_median_after": 28.1, + "wrist_total_deg_median_after": 48.1, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -476,11 +487,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, + -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.983, + "inlier_spread_deg": 9.96, + "marker_Q_to_gsi_deg": { + "1": 11.0, + "-1": 171.9 + } + }, "wrist_bend_deg_median": 22.5, "opposite_sign_bend_deg": 172.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -511,7 +533,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:45:51.975683+00:00", + "generated_at_utc": "2026-11-06T14:10:42.337209+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -584,6 +606,116 @@ }, "applied": 4 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 14.65, + "offset_rotvec": [ + -0.0203, + 0.0631, + 0.2469 + ], + "dev_deg": { + "median": 14.95, + "p90": 176.48 + }, + "samples": 3880, + "accepted": 2591, + "wrist_pos_err_mm_median": 49.7, + "per_camera": { + "head": { + "samples": 3880, + "accepted": 2591, + "gate_deg": 30.0, + "offset_deg": 14.65, + "tier": "primary", + "dev_deg_median": 14.95, + "wrist_pos_err_mm_median": 49.7 + } + }, + "frames_by_state": { + "ace_sample": 10356, + "interpolated": 68, + "mean_hand": 5300, + "no_body_fit": 0 + }, + "observed_fraction": 0.6629, + "observed_fraction_of_valid": 0.6629, + "palm_axis_vs_markers_deg": { + "gsi": 12.74, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 11.61, + "offset_rotvec": [ + -0.1277, + -0.1462, + -0.058 + ], + "dev_deg": { + "median": 9.97, + "p90": 18.52 + }, + "samples": 3872, + "accepted": 3814, + "wrist_pos_err_mm_median": 34.0, + "per_camera": { + "head": { + "samples": 3872, + "accepted": 3814, + "gate_deg": 30.0, + "offset_deg": 11.61, + "tier": "primary", + "dev_deg_median": 9.97, + "wrist_pos_err_mm_median": 34.0 + } + }, + "frames_by_state": { + "ace_sample": 15294, + "interpolated": 258, + "mean_hand": 172, + "no_body_fit": 0 + }, + "observed_fraction": 0.9891, + "observed_fraction_of_valid": 0.9891, + "palm_axis_vs_markers_deg": { + "gsi": 14.65, + "smplx": 1.56 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.1, + "p90": 8.3 + }, + "registered": { + "median": 6.2, + "p90": 8.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:39:34.344663+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/locomanipulation/LM79/session_015", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM79/session_015/motions/smplx.npz b/actions/locomanipulation/LM79/session_015/motions/smplx.npz index d8d7a5aacaa5c5decd025b91becf83a46d9c4768..25cf43e94736ef01f6511128499b76254340de7c 100644 --- a/actions/locomanipulation/LM79/session_015/motions/smplx.npz +++ b/actions/locomanipulation/LM79/session_015/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7e1a83dc5678fa0efa3f12deec0057cf3a1b25de84ca47e0833cc0f476770306 -size 6030327 +oid sha256:3065fd2fcc72da5772195585f9784b2fd20c61d14d5b0b6f384f3eb0f2288bbd +size 10465411 diff --git a/actions/locomanipulation/LM80/session_008/meta.json b/actions/locomanipulation/LM80/session_008/meta.json index b0725a0c2a891abe9dd74270bd6b19f106538ca6..e1b6df7f296d007c1979f5fe672640b74114fa2f 100644 --- a/actions/locomanipulation/LM80/session_008/meta.json +++ b/actions/locomanipulation/LM80/session_008/meta.json @@ -387,19 +387,26 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - -2.98794, - 0.42773, - 0.87113 + -0.0, + -0.0, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 175.8, - "opposite_sign_bend_deg": 45.2, + "q_source": "markers (GSI not reliable)", + "gsi": { + "reliable": false, + "frames": 186, + "inlier_frac": 0.575, + "inlier_spread_deg": 14.45 + }, + "wrist_bend_deg_median": 13.1, + "opposite_sign_bend_deg": 174.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.12, "hand_vs_marker_frame_deg": { - "before": 179.69, + "before": 1.12, "after": 1.12 }, "markers_on_wrist": [ @@ -407,15 +414,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -173.99, + "twist_moved_deg": -2.05, "wrist_twist_deg_after": { - "median": -2.05, + "median": 0.0, "iqr": [ - -4.8, - 0.6 + -2.7, + 2.6 ] }, - "wrist_total_deg_median_after": 13.1, + "wrist_total_deg_median_after": 12.7, "markers_on_forearm": [ "LElbowIn", "LForearm", @@ -429,11 +436,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, + -0.0, + -0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.991, + "inlier_spread_deg": 8.05, + "marker_Q_to_gsi_deg": { + "1": 21.5, + "-1": 159.5 + } + }, "wrist_bend_deg_median": 15.6, "opposite_sign_bend_deg": 178.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -447,9 +465,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -1.4, 1.1 @@ -465,7 +483,7 @@ }, "frames_used": 1308 }, - "generated_at_utc": "2026-10-28T06:22:56.197003+00:00", + "generated_at_utc": "2026-11-06T13:51:05.636269+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/locomanipulation/LM80/session_008/motions/smplx.npz b/actions/locomanipulation/LM80/session_008/motions/smplx.npz index dd289bd6a1c232061c6c435d05a94fead315918e..74e66f1fe9a8337a0ae3eb398254ae3a6385db43 100644 --- a/actions/locomanipulation/LM80/session_008/motions/smplx.npz +++ b/actions/locomanipulation/LM80/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:111b90c70f831b01f12a949dfc848c00b5a50259d5bda669bd3bc5c54042c7c7 -size 5039471 +oid sha256:66ec50abfd3bf558718e9958e2f45476d403530982e09ec07cd9616de8c414d4 +size 5040110 diff --git a/actions/locomanipulation/LM80/session_009/meta.json b/actions/locomanipulation/LM80/session_009/meta.json index ff71d3ae8604fbffba195f89f509dcc4143fe1fd..47335e7aad13d26a0f97f29136c1a9a4f9ab4f7a 100644 --- a/actions/locomanipulation/LM80/session_009/meta.json +++ b/actions/locomanipulation/LM80/session_009/meta.json @@ -386,19 +386,26 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - -2.98794, - 0.42773, - 0.87113 + -0.0, + -0.0, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 175.5, - "opposite_sign_bend_deg": 46.5, + "q_source": "markers (GSI not reliable)", + "gsi": { + "reliable": false, + "frames": 220, + "inlier_frac": 0.586, + "inlier_spread_deg": 17.88 + }, + "wrist_bend_deg_median": 12.9, + "opposite_sign_bend_deg": 174.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.99, "hand_vs_marker_frame_deg": { - "before": 179.73, + "before": 0.99, "after": 0.99 }, "markers_on_wrist": [ @@ -406,15 +413,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -174.22, + "twist_moved_deg": -1.6, "wrist_twist_deg_after": { - "median": -1.6, + "median": 0.0, "iqr": [ - -5.7, - 0.1 + -4.1, + 1.7 ] }, - "wrist_total_deg_median_after": 12.9, + "wrist_total_deg_median_after": 12.6, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -428,10 +435,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - 0.0, - -0.0 + -0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.961, + "inlier_spread_deg": 8.5, + "marker_Q_to_gsi_deg": { + "1": 23.7, + "-1": 171.4 + } + }, "wrist_bend_deg_median": 35.2, "opposite_sign_bend_deg": 175.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -463,7 +481,7 @@ }, "frames_used": 1309 }, - "generated_at_utc": "2026-10-28T06:22:57.310752+00:00", + "generated_at_utc": "2026-11-06T13:51:12.940511+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/locomanipulation/LM80/session_009/motions/smplx.npz b/actions/locomanipulation/LM80/session_009/motions/smplx.npz index 80a0c8a690e96eb5374280521f83dd0fb7536786..8394c78c46e7693f1ec6778367190fceb81666fc 100644 --- a/actions/locomanipulation/LM80/session_009/motions/smplx.npz +++ b/actions/locomanipulation/LM80/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f162dffe2de26b827566656239a6d5ec800e0195aac0aec3aebca4b705c868f6 -size 5044938 +oid sha256:fee08fb454f2bf536675e480f15d580b5622fc18a12da221c94458ffa44ad61d +size 5044860 diff --git a/actions/locomanipulation/LM80/session_011/meta.json b/actions/locomanipulation/LM80/session_011/meta.json index b1cb4d817508188e7378a22c448868418b119f99..685a8ddf92d91b6b913874a3eef85f0b496a2ec8 100644 --- a/actions/locomanipulation/LM80/session_011/meta.json +++ b/actions/locomanipulation/LM80/session_011/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -386,19 +386,25 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - -2.98601, - 0.43444, - 0.87442 + 0.0, + -0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 163.5, - "opposite_sign_bend_deg": 21.2, + "q_source": "markers (GSI not reliable)", + "gsi": { + "reliable": false, + "frames": 89, + "reason": "too few GSI frames" + }, + "wrist_bend_deg_median": 52.9, + "opposite_sign_bend_deg": 156.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 9.91, "hand_vs_marker_frame_deg": { - "before": 177.57, + "before": 9.91, "after": 9.91 }, "markers_on_wrist": [ @@ -406,15 +412,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -155.97, + "twist_moved_deg": -17.55, "wrist_twist_deg_after": { - "median": -17.55, + "median": -0.0, "iqr": [ - -25.7, - -3.7 + -8.2, + 13.8 ] }, - "wrist_total_deg_median_after": 52.9, + "wrist_total_deg_median_after": 52.6, "markers_on_forearm": [ "LElbow", "LForearm", @@ -426,19 +432,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + -2.98749, + -0.42128, + -0.87581 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 38.8, - "opposite_sign_bend_deg": 174.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2280, + "inlier_frac": 0.883, + "inlier_spread_deg": 10.23, + "marker_Q_to_gsi_deg": { + "1": 171.9, + "-1": 16.6 + } + }, + "wrist_bend_deg_median": 174.7, + "opposite_sign_bend_deg": 38.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.14, "hand_vs_marker_frame_deg": { - "before": 1.14, + "before": 179.36, "after": 1.14 }, "markers_on_wrist": [ @@ -446,15 +463,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.23, + "twist_moved_deg": 174.53, "wrist_twist_deg_after": { - "median": 0.0, + "median": 0.25, "iqr": [ - -1.6, - 1.8 + -1.1, + 2.0 ] }, - "wrist_total_deg_median_after": 38.8, + "wrist_total_deg_median_after": 16.9, "markers_on_forearm": [ "RElbowIn", "RForearm", @@ -464,7 +481,7 @@ }, "frames_used": 1429 }, - "generated_at_utc": "2026-10-28T06:24:07.076935+00:00", + "generated_at_utc": "2026-11-06T13:53:28.035551+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -508,6 +525,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8169072648695812 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 89.94, + "offset_rotvec": [ + 1.5082, + -0.3128, + -0.3027 + ], + "dev_deg": { + "median": 24.21, + "p90": 57.71 + }, + "samples": 89, + "accepted": 56, + "wrist_pos_err_mm_median": 271.4, + "per_camera": { + "head": { + "samples": 89, + "accepted": 56, + "gate_deg": 30.0, + "offset_deg": 89.94, + "tier": "primary", + "dev_deg_median": 24.21, + "wrist_pos_err_mm_median": 271.4 + } + }, + "frames_by_state": { + "ace_sample": 168, + "interpolated": 256, + "mean_hand": 13860, + "no_body_fit": 0 + }, + "observed_fraction": 0.0297, + "observed_fraction_of_valid": 0.0297, + "palm_axis_vs_markers_deg": { + "gsi": 84.13, + "smplx": 173.29 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 16.5, + "p90": 30.1 + }, + "registered": { + "median": 16.1, + "p90": 29.8 + } + } + }, + "right": { + "offset_deg": 18.48, + "offset_rotvec": [ + 0.0013, + 0.2753, + 0.168 + ], + "dev_deg": { + "median": 11.67, + "p90": 34.56 + }, + "samples": 2280, + "accepted": 1992, + "wrist_pos_err_mm_median": 235.7, + "per_camera": { + "head": { + "samples": 2280, + "accepted": 1992, + "gate_deg": 30.0, + "offset_deg": 18.48, + "tier": "primary", + "dev_deg_median": 11.67, + "wrist_pos_err_mm_median": 235.7 + } + }, + "frames_by_state": { + "ace_sample": 8194, + "interpolated": 5590, + "mean_hand": 500, + "no_body_fit": 0 + }, + "observed_fraction": 0.965, + "observed_fraction_of_valid": 0.965, + "palm_axis_vs_markers_deg": { + "gsi": 17.08, + "smplx": 0.89 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.8, + "p90": 10.5 + }, + "registered": { + "median": 9.1, + "p90": 12.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:04:15.035318+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/locomanipulation/LM80/session_011", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM80/session_011/motions/smplx.npz b/actions/locomanipulation/LM80/session_011/motions/smplx.npz index 144d818ea7ef135be57803e4ac3e5c5e20391769..0a92efa6bf475ec5daec0f09b76ad7e2776d77b8 100644 --- a/actions/locomanipulation/LM80/session_011/motions/smplx.npz +++ b/actions/locomanipulation/LM80/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3f13e16bed4f3a15c9536b41696060ac2307670ab30c3957e2e168c831a757fe -size 5503178 +oid sha256:44d057dfca7f8f7067a4052511b29c1f3324ec91f354cf9a1f92ec90b6fe4245 +size 8009985 diff --git a/actions/locomanipulation/LM80/session_012/meta.json b/actions/locomanipulation/LM80/session_012/meta.json index ffafc23a1cc6b835e2d697ac3907dc4569094017..452d5c10a7ece1cabe00e50ae4f67fc8fcdb1f08 100644 --- a/actions/locomanipulation/LM80/session_012/meta.json +++ b/actions/locomanipulation/LM80/session_012/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": { @@ -387,19 +387,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 9.6, - "opposite_sign_bend_deg": 177.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.987, + "inlier_spread_deg": 4.58, + "marker_Q_to_gsi_deg": { + "1": 176.3, + "-1": 9.1 + } + }, + "wrist_bend_deg_median": 177.7, + "opposite_sign_bend_deg": 9.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.73, "hand_vs_marker_frame_deg": { - "before": 0.73, + "before": 179.56, "after": 0.73 }, "markers_on_wrist": [ @@ -407,15 +418,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": -176.94, "wrist_twist_deg_after": { - "median": -0.0, + "median": -0.77, "iqr": [ - -1.4, - 1.7 + -2.2, + 0.8 ] }, - "wrist_total_deg_median_after": 9.6, + "wrist_total_deg_median_after": 30.4, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -426,19 +437,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - 0.0, - 0.0 + -3.02066, + -0.33716, + -0.79468 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 17.4, - "opposite_sign_bend_deg": 176.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2500, + "inlier_frac": 0.704, + "inlier_spread_deg": 13.53, + "marker_Q_to_gsi_deg": { + "1": 172.9, + "-1": 29.1 + } + }, + "wrist_bend_deg_median": 176.9, + "opposite_sign_bend_deg": 17.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.5, "hand_vs_marker_frame_deg": { - "before": 1.5, + "before": 179.65, "after": 1.5 }, "markers_on_wrist": [ @@ -446,15 +468,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 173.25, "wrist_twist_deg_after": { - "median": 0.0, + "median": 5.36, "iqr": [ - -3.3, - 2.5 + 1.8, + 7.8 ] }, - "wrist_total_deg_median_after": 17.6, + "wrist_total_deg_median_after": 15.0, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -463,7 +485,7 @@ }, "frames_used": 1331 }, - "generated_at_utc": "2026-10-28T06:26:07.012337+00:00", + "generated_at_utc": "2026-11-06T13:59:20.667693+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -543,6 +565,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 8.93, + "offset_rotvec": [ + -0.0691, + 0.1326, + -0.044 + ], + "dev_deg": { + "median": 4.69, + "p90": 14.46 + }, + "samples": 3264, + "accepted": 3226, + "wrist_pos_err_mm_median": 65.1, + "per_camera": { + "head": { + "samples": 3264, + "accepted": 3226, + "gate_deg": 30.0, + "offset_deg": 8.93, + "tier": "primary", + "dev_deg_median": 4.69, + "wrist_pos_err_mm_median": 65.1 + } + }, + "frames_by_state": { + "ace_sample": 12980, + "interpolated": 688, + "mean_hand": 16, + "no_body_fit": 0 + }, + "observed_fraction": 0.9988, + "observed_fraction_of_valid": 0.9988, + "palm_axis_vs_markers_deg": { + "gsi": 11.76, + "smplx": 0.54 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.5, + "p90": 5.4 + }, + "registered": { + "median": 3.7, + "p90": 4.8 + } + } + }, + "right": { + "offset_deg": 32.69, + "offset_rotvec": [ + 0.2328, + -0.4614, + 0.2417 + ], + "dev_deg": { + "median": 20.33, + "p90": 98.51 + }, + "samples": 2500, + "accepted": 1834, + "wrist_pos_err_mm_median": 59.9, + "per_camera": { + "head": { + "samples": 2500, + "accepted": 1834, + "gate_deg": 30.0, + "offset_deg": 32.69, + "tier": "primary", + "dev_deg_median": 20.33, + "wrist_pos_err_mm_median": 59.9 + } + }, + "frames_by_state": { + "ace_sample": 7414, + "interpolated": 1402, + "mean_hand": 4868, + "no_body_fit": 0 + }, + "observed_fraction": 0.6443, + "observed_fraction_of_valid": 0.6443, + "palm_axis_vs_markers_deg": { + "gsi": 34.16, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:15:46.739844+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/locomanipulation/LM80/session_012", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM80/session_012/motions/smplx.npz b/actions/locomanipulation/LM80/session_012/motions/smplx.npz index dbc4bfb578cf9ea5f66fc04d82fd51f5955d9663..3958cde0f1188a4b9aaecb3c8bd148a8668278db 100644 --- a/actions/locomanipulation/LM80/session_012/motions/smplx.npz +++ b/actions/locomanipulation/LM80/session_012/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fc20ee8b314203f0ba19ed61c4c8059ddf15df2f78e6779a7c7bb23ca849f3b2 -size 5255456 +oid sha256:c2ca1f175632aae04480707eb2ffb38eb58cfe47e07454ec2de8f48779800b17 +size 9148618 diff --git a/actions/locomanipulation/LM80/session_013/meta.json b/actions/locomanipulation/LM80/session_013/meta.json index 3def62e59ff6c4142bc2bcca77aeb5154443a5c5..91caf5fc1935027f97a016bd6a67af38db98aad3 100644 --- a/actions/locomanipulation/LM80/session_013/meta.json +++ b/actions/locomanipulation/LM80/session_013/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": { @@ -397,20 +397,31 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 142.88, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + 2.48781, + 0.16447, + 0.049 ], "in_out_sign": 1, - "wrist_bend_deg_median": 178.9, - "opposite_sign_bend_deg": 22.3, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 2475, + "inlier_frac": 0.802, + "inlier_spread_deg": 12.41, + "marker_Q_to_gsi_deg": { + "1": 142.9, + "-1": 51.2 + } + }, + "wrist_bend_deg_median": 148.8, + "opposite_sign_bend_deg": 174.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.68, "hand_vs_marker_frame_deg": { - "before": 179.56, - "after": 0.68 + "before": 0.68, + "after": 142.76 }, "markers_on_wrist": [ "LWristOut", @@ -418,15 +429,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 174.24, + "twist_moved_deg": 148.29, "wrist_twist_deg_after": { - "median": 5.22, + "median": 0.15, "iqr": [ - 3.4, - 6.2 + -1.7, + 1.1 ] }, - "wrist_total_deg_median_after": 14.6, + "wrist_total_deg_median_after": 15.7, "markers_on_forearm": [ "LForearm", "LWristIn" @@ -438,11 +449,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, + -0.0, -0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.981, + "inlier_spread_deg": 4.84, + "marker_Q_to_gsi_deg": { + "1": 13.3, + "-1": 175.2 + } + }, "wrist_bend_deg_median": 20.0, "opposite_sign_bend_deg": 178.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -457,9 +479,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -1.0, 1.7 @@ -473,7 +495,7 @@ }, "frames_used": 1268 }, - "generated_at_utc": "2026-10-28T06:26:06.476156+00:00", + "generated_at_utc": "2026-11-06T13:59:25.539636+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -517,6 +539,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9247968905260244 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 7.13, + "offset_rotvec": [ + 0.056, + 0.0773, + 0.0797 + ], + "dev_deg": { + "median": 16.35, + "p90": 61.16 + }, + "samples": 2475, + "accepted": 2022, + "wrist_pos_err_mm_median": 79.4, + "per_camera": { + "head": { + "samples": 2475, + "accepted": 2022, + "gate_deg": 30.0, + "offset_deg": 7.13, + "tier": "primary", + "dev_deg_median": 16.35, + "wrist_pos_err_mm_median": 79.4 + } + }, + "frames_by_state": { + "ace_sample": 8128, + "interpolated": 944, + "mean_hand": 3605, + "no_body_fit": 407 + }, + "observed_fraction": 0.6934, + "observed_fraction_of_valid": 0.7156, + "palm_axis_vs_markers_deg": { + "gsi": 51.95, + "smplx": 49.34 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 3.7, + "p90": 5.0 + }, + "registered": { + "median": 5.5, + "p90": 7.7 + } + } + }, + "right": { + "offset_deg": 13.42, + "offset_rotvec": [ + -0.0681, + -0.2215, + 0.0346 + ], + "dev_deg": { + "median": 4.88, + "p90": 12.77 + }, + "samples": 3016, + "accepted": 2960, + "wrist_pos_err_mm_median": 28.4, + "per_camera": { + "head": { + "samples": 3016, + "accepted": 2960, + "gate_deg": 30.0, + "offset_deg": 13.42, + "tier": "primary", + "dev_deg_median": 4.88, + "wrist_pos_err_mm_median": 28.4 + } + }, + "frames_by_state": { + "ace_sample": 11890, + "interpolated": 782, + "mean_hand": 5, + "no_body_fit": 407 + }, + "observed_fraction": 0.9685, + "observed_fraction_of_valid": 0.9996, + "palm_axis_vs_markers_deg": { + "gsi": 16.37, + "smplx": 0.69 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.9, + "p90": 9.7 + }, + "registered": { + "median": 6.0, + "p90": 9.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:15:55.446487+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/locomanipulation/LM80/session_013", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM80/session_013/motions/smplx.npz b/actions/locomanipulation/LM80/session_013/motions/smplx.npz index 5fe09fbf859d04f7f67c0fc0fb174dc4c34a178e..a1694e0d802a894a359328c65b22f0651210ae79 100644 --- a/actions/locomanipulation/LM80/session_013/motions/smplx.npz +++ b/actions/locomanipulation/LM80/session_013/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:eb011de920c539abf71a7e5e7f408d97608cb6ba44f30c6184b1753cf158df71 -size 4857535 +oid sha256:563012f9a8bb67a8b332a672f3146b6821e3f5af22fa15a3f79c6f9e1f83f6aa +size 8580687 diff --git a/actions/locomanipulation/LM80/session_014/meta.json b/actions/locomanipulation/LM80/session_014/meta.json index 4a14600a968f4c69d1d36b03036d03077873de75..04afdff4f30845d8d4c57b403abfb4f3d2570543 100644 --- a/actions/locomanipulation/LM80/session_014/meta.json +++ b/actions/locomanipulation/LM80/session_014/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": { @@ -388,14 +388,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 177.2, - "opposite_sign_bend_deg": 30.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.982, + "inlier_spread_deg": 5.57, + "marker_Q_to_gsi_deg": { + "1": 178.7, + "-1": 9.0 + } + }, + "wrist_bend_deg_median": 176.9, + "opposite_sign_bend_deg": 10.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.89, "hand_vs_marker_frame_deg": { "before": 179.6, @@ -406,15 +417,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 176.84, + "twist_moved_deg": -176.48, "wrist_twist_deg_after": { - "median": 0.68, + "median": -0.36, "iqr": [ - -0.8, - 1.9 + -1.6, + 0.8 ] }, - "wrist_total_deg_median_after": 10.4, + "wrist_total_deg_median_after": 30.3, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -425,19 +436,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - 0.0, - 0.0 + -3.02066, + -0.33716, + -0.79468 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 31.4, - "opposite_sign_bend_deg": 172.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2533, + "inlier_frac": 0.43, + "inlier_spread_deg": 14.74, + "marker_Q_to_gsi_deg": { + "1": 180.0, + "-1": 31.9 + } + }, + "wrist_bend_deg_median": 172.8, + "opposite_sign_bend_deg": 31.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 8.07, "hand_vs_marker_frame_deg": { - "before": 8.07, + "before": 178.72, "after": 8.07 }, "markers_on_wrist": [ @@ -445,15 +467,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 171.86, "wrist_twist_deg_after": { - "median": 0.0, + "median": 0.58, "iqr": [ - -2.4, - 2.1 + -1.1, + 2.5 ] }, - "wrist_total_deg_median_after": 31.4, + "wrist_total_deg_median_after": 40.9, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -462,7 +484,7 @@ }, "frames_used": 1369 }, - "generated_at_utc": "2026-10-28T06:26:06.749653+00:00", + "generated_at_utc": "2026-11-06T13:59:32.665025+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -506,6 +528,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9608446820694488 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.14, + "offset_rotvec": [ + -0.037, + 0.1406, + -0.0657 + ], + "dev_deg": { + "median": 5.54, + "p90": 14.99 + }, + "samples": 3180, + "accepted": 3121, + "wrist_pos_err_mm_median": 54.0, + "per_camera": { + "head": { + "samples": 3180, + "accepted": 3121, + "gate_deg": 30.0, + "offset_deg": 9.14, + "tier": "primary", + "dev_deg_median": 5.54, + "wrist_pos_err_mm_median": 54.0 + } + }, + "frames_by_state": { + "ace_sample": 12588, + "interpolated": 1080, + "mean_hand": 16, + "no_body_fit": 0 + }, + "observed_fraction": 0.9988, + "observed_fraction_of_valid": 0.9988, + "palm_axis_vs_markers_deg": { + "gsi": 11.7, + "smplx": 0.52 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.9, + "p90": 8.1 + }, + "registered": { + "median": 6.5, + "p90": 7.8 + } + } + }, + "right": { + "offset_deg": 34.64, + "offset_rotvec": [ + 0.1812, + -0.5763, + 0.0249 + ], + "dev_deg": { + "median": 37.31, + "p90": 158.85 + }, + "samples": 2533, + "accepted": 966, + "wrist_pos_err_mm_median": 57.9, + "per_camera": { + "head": { + "samples": 2533, + "accepted": 966, + "gate_deg": 30.0, + "offset_deg": 34.64, + "tier": "primary", + "dev_deg_median": 37.31, + "wrist_pos_err_mm_median": 57.9 + } + }, + "frames_by_state": { + "ace_sample": 3940, + "interpolated": 2128, + "mean_hand": 7616, + "no_body_fit": 0 + }, + "observed_fraction": 0.4434, + "observed_fraction_of_valid": 0.4434, + "palm_axis_vs_markers_deg": { + "gsi": 41.55, + "smplx": 3.31 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.8, + "p90": 22.0 + }, + "registered": { + "median": 13.0, + "p90": 20.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:15:46.445588+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/locomanipulation/LM80/session_014", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM80/session_014/motions/smplx.npz b/actions/locomanipulation/LM80/session_014/motions/smplx.npz index 6608f0a5639eec52618418ea9f9b0efc4f3b3929..e8cc111a181ddee20d6e4950847095e38e849d39 100644 --- a/actions/locomanipulation/LM80/session_014/motions/smplx.npz +++ b/actions/locomanipulation/LM80/session_014/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e4c8aa192c75ac1aefadb7368090b0c8f3796b9e067ef6af6cb6773316babeaa -size 5265460 +oid sha256:fb76f5132d737083b4f9685834406c2d2dba6b79c3e28486cd0299a0d580f512 +size 8714902 diff --git a/actions/locomanipulation/LM80/session_021/meta.json b/actions/locomanipulation/LM80/session_021/meta.json index ef8e4774bec0b8a8ffa0f5025d4f11b57519299a..7fd0d868f4ae45401a797b7e82ba56bee4464e6f 100644 --- a/actions/locomanipulation/LM80/session_021/meta.json +++ b/actions/locomanipulation/LM80/session_021/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": 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": { @@ -408,19 +408,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - -2.98442, - 0.43848, - 0.87784 + -0.0, + -0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 175.5, - "opposite_sign_bend_deg": 26.5, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2302, + "inlier_frac": 0.892, + "inlier_spread_deg": 11.68, + "marker_Q_to_gsi_deg": { + "1": 35.9, + "-1": 145.8 + } + }, + "wrist_bend_deg_median": 20.2, + "opposite_sign_bend_deg": 175.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.73, "hand_vs_marker_frame_deg": { - "before": 179.51, + "before": 0.73, "after": 0.73 }, "markers_on_wrist": [ @@ -428,12 +439,12 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -175.26, + "twist_moved_deg": -0.49, "wrist_twist_deg_after": { - "median": -0.49, + "median": 0.0, "iqr": [ - -2.1, - 0.4 + -1.7, + 0.9 ] }, "wrist_total_deg_median_after": 20.2, @@ -449,35 +460,46 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 160.71, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 2.4467, + 1.37054, + 0.05545 ], "in_out_sign": 1, - "wrist_bend_deg_median": 31.9, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.82, + "inlier_spread_deg": 7.11, + "marker_Q_to_gsi_deg": { + "1": 160.7, + "-1": 54.7 + } + }, + "wrist_bend_deg_median": 168.1, "opposite_sign_bend_deg": 175.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.85, "hand_vs_marker_frame_deg": { "before": 1.85, - "after": 1.85 + "after": 161.51 }, "markers_on_wrist": [ "RHandIn", "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -167.5, "wrist_twist_deg_after": { - "median": -0.0, + "median": -0.02, "iqr": [ - -1.8, - 1.8 + -2.1, + 1.9 ] }, - "wrist_total_deg_median_after": 31.6, + "wrist_total_deg_median_after": 36.5, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -486,10 +508,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:35:22.898190+00:00", + "generated_at_utc": "2026-11-06T14:01:59.953592+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 30.73, + "offset_rotvec": [ + 0.4919, + -0.2067, + -0.0549 + ], + "dev_deg": { + "median": 14.03, + "p90": 30.39 + }, + "samples": 2302, + "accepted": 2065, + "wrist_pos_err_mm_median": 364.8, + "per_camera": { + "head": { + "samples": 2302, + "accepted": 2065, + "gate_deg": 30.0, + "offset_deg": 30.73, + "tier": "primary", + "dev_deg_median": 14.03, + "wrist_pos_err_mm_median": 364.8 + } + }, + "frames_by_state": { + "ace_sample": 8548, + "interpolated": 5676, + "mean_hand": 1260, + "no_body_fit": 0 + }, + "observed_fraction": 0.9186, + "observed_fraction_of_valid": 0.9186, + "palm_axis_vs_markers_deg": { + "gsi": 37.9, + "smplx": 0.61 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.6, + "p90": 16.0 + }, + "registered": { + "median": 11.0, + "p90": 15.8 + } + } + }, + "right": { + "offset_deg": 16.65, + "offset_rotvec": [ + 0.0518, + 0.1811, + 0.2212 + ], + "dev_deg": { + "median": 18.47, + "p90": 56.3 + }, + "samples": 3652, + "accepted": 2809, + "wrist_pos_err_mm_median": 112.9, + "per_camera": { + "head": { + "samples": 3652, + "accepted": 2809, + "gate_deg": 30.0, + "offset_deg": 16.65, + "tier": "primary", + "dev_deg_median": 18.47, + "wrist_pos_err_mm_median": 112.9 + } + }, + "frames_by_state": { + "ace_sample": 11290, + "interpolated": 756, + "mean_hand": 3438, + "no_body_fit": 0 + }, + "observed_fraction": 0.778, + "observed_fraction_of_valid": 0.778, + "palm_axis_vs_markers_deg": { + "gsi": 29.7, + "smplx": 29.44 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 26.0, + "p90": 26.9 + }, + "registered": { + "median": 21.1, + "p90": 25.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:21:27.241450+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/locomanipulation/LM80/session_021", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM80/session_021/motions/smplx.npz b/actions/locomanipulation/LM80/session_021/motions/smplx.npz index 1a5dddbaa804cf95c3c67cbe41cebcbc4c704a2d..494de3d77bb44dfa4408c16fabed9fb8ae2d4ab3 100644 --- a/actions/locomanipulation/LM80/session_021/motions/smplx.npz +++ b/actions/locomanipulation/LM80/session_021/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fedee8b70fbe4a7f525e3e57a463009dfaedcd07b64def5ad9114ca961fb9b6a -size 5953416 +oid sha256:f757721285dc2b79475cd66886a0d565f671915a2f2e636f7cefe94274f8f101 +size 10434656 diff --git a/actions/locomanipulation/LM80/session_023/meta.json b/actions/locomanipulation/LM80/session_023/meta.json index 502fcb9a3143f6f7d6a834fad3c7d017d40e466c..23f09752482fc058ef185fec55984096e1e67bae 100644 --- a/actions/locomanipulation/LM80/session_023/meta.json +++ b/actions/locomanipulation/LM80/session_023/meta.json @@ -367,8 +367,8 @@ "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": { @@ -447,20 +447,31 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 131.47, "Q_rotvec": [ - 2.99022, - -0.44902, - -0.85238 + -2.1412, + 0.60579, + 0.55964 ], "in_out_sign": 1, - "wrist_bend_deg_median": 177.8, - "opposite_sign_bend_deg": 8.8, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.903, + "inlier_spread_deg": 11.32, + "marker_Q_to_gsi_deg": { + "1": 131.5, + "-1": 50.5 + } + }, + "wrist_bend_deg_median": 133.1, + "opposite_sign_bend_deg": 176.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.19, "hand_vs_marker_frame_deg": { - "before": 179.36, - "after": 1.19 + "before": 1.2, + "after": 131.04 }, "markers_on_wrist": [ "LWristIn", @@ -469,15 +480,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -176.82, + "twist_moved_deg": -132.75, "wrist_twist_deg_after": { - "median": -1.62, + "median": -0.0, "iqr": [ - -3.4, - -0.1 + -1.8, + 1.5 ] }, - "wrist_total_deg_median_after": 32.4, + "wrist_total_deg_median_after": 14.2, "markers_on_forearm": [ "LForearm" ] @@ -488,11 +499,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ + 0.0, -0.0, - -0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.945, + "inlier_spread_deg": 6.29, + "marker_Q_to_gsi_deg": { + "1": 18.9, + "-1": 174.7 + } + }, "wrist_bend_deg_median": 12.7, "opposite_sign_bend_deg": 176.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -508,7 +530,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -523,10 +545,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:36:40.334577+00:00", + "generated_at_utc": "2026-11-06T14:03:10.843163+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 7.32, + "offset_rotvec": [ + -0.1147, + 0.0453, + 0.0336 + ], + "dev_deg": { + "median": 14.41, + "p90": 29.56 + }, + "samples": 3246, + "accepted": 2935, + "wrist_pos_err_mm_median": 127.6, + "per_camera": { + "head": { + "samples": 3246, + "accepted": 2935, + "gate_deg": 30.0, + "offset_deg": 7.32, + "tier": "primary", + "dev_deg_median": 14.41, + "wrist_pos_err_mm_median": 127.6 + } + }, + "frames_by_state": { + "ace_sample": 11944, + "interpolated": 3056, + "mean_hand": 825, + "no_body_fit": 259 + }, + "observed_fraction": 0.9326, + "observed_fraction_of_valid": 0.9479, + "palm_axis_vs_markers_deg": { + "gsi": 49.54, + "smplx": 49.11 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.7, + "p90": 18.1 + }, + "registered": { + "median": 6.3, + "p90": 18.2 + } + } + }, + "right": { + "offset_deg": 18.83, + "offset_rotvec": [ + 0.1485, + -0.2919, + 0.0262 + ], + "dev_deg": { + "median": 6.91, + "p90": 20.19 + }, + "samples": 3758, + "accepted": 3562, + "wrist_pos_err_mm_median": 37.8, + "per_camera": { + "head": { + "samples": 3758, + "accepted": 3562, + "gate_deg": 30.0, + "offset_deg": 18.83, + "tier": "primary", + "dev_deg_median": 6.91, + "wrist_pos_err_mm_median": 37.8 + } + }, + "frames_by_state": { + "ace_sample": 14248, + "interpolated": 340, + "mean_hand": 1237, + "no_body_fit": 259 + }, + "observed_fraction": 0.907, + "observed_fraction_of_valid": 0.9218, + "palm_axis_vs_markers_deg": { + "gsi": 20.59, + "smplx": 0.57 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.5, + "p90": 9.7 + }, + "registered": { + "median": 7.6, + "p90": 11.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:23:55.641045+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/locomanipulation/LM80/session_023", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM80/session_023/motions/smplx.npz b/actions/locomanipulation/LM80/session_023/motions/smplx.npz index ad0548cc723aee4249eeefe5443352abc5690042..cdd3544d78b03f3f283b3df7293642151752c11c 100644 --- a/actions/locomanipulation/LM80/session_023/motions/smplx.npz +++ b/actions/locomanipulation/LM80/session_023/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e625434c3f9779fc089f28235a76c3bc465b160e3a9ebbac0673ce7f9c66bf54 -size 6090462 +oid sha256:7572cf04834c6a083d22fcdc81cf9eb042afe8fb42f5a5361b0e2b3f1e33be6b +size 11162632 diff --git a/actions/locomanipulation/LM81/session_014/meta.json b/actions/locomanipulation/LM81/session_014/meta.json index 18c0faf5a043c6a69f132554cdb35e01853f5d53..faa6ab1e4c1e5940263a5191364424ee1f9c15e6 100644 --- a/actions/locomanipulation/LM81/session_014/meta.json +++ b/actions/locomanipulation/LM81/session_014/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": { @@ -389,14 +389,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 173.8, - "opposite_sign_bend_deg": 23.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.786, + "inlier_spread_deg": 5.68, + "marker_Q_to_gsi_deg": { + "1": 179.2, + "-1": 6.7 + } + }, + "wrist_bend_deg_median": 173.4, + "opposite_sign_bend_deg": 25.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.35, "hand_vs_marker_frame_deg": { "before": 179.31, @@ -407,15 +418,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 173.89, + "twist_moved_deg": -172.1, "wrist_twist_deg_after": { - "median": 1.38, + "median": -1.79, "iqr": [ - -2.4, - 3.5 + -5.4, + 0.3 ] }, - "wrist_total_deg_median_after": 25.4, + "wrist_total_deg_median_after": 22.8, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -430,9 +441,20 @@ "Q_rotvec": [ -0.0, 0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.954, + "inlier_spread_deg": 8.4, + "marker_Q_to_gsi_deg": { + "1": 13.0, + "-1": 167.3 + } + }, "wrist_bend_deg_median": 35.3, "opposite_sign_bend_deg": 174.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -446,7 +468,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -465,7 +487,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:23:00.362745+00:00", + "generated_at_utc": "2026-11-06T13:51:29.038252+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -509,6 +531,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.7104640734829405 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 3.15, + "offset_rotvec": [ + -0.0165, + -0.0501, + -0.0154 + ], + "dev_deg": { + "median": 8.3, + "p90": 174.96 + }, + "samples": 4034, + "accepted": 3159, + "wrist_pos_err_mm_median": 143.8, + "per_camera": { + "head": { + "samples": 4034, + "accepted": 3159, + "gate_deg": 30.0, + "offset_deg": 3.15, + "tier": "primary", + "dev_deg_median": 8.3, + "wrist_pos_err_mm_median": 143.8 + } + }, + "frames_by_state": { + "ace_sample": 12768, + "interpolated": 1992, + "mean_hand": 3724, + "no_body_fit": 0 + }, + "observed_fraction": 0.7985, + "observed_fraction_of_valid": 0.7985, + "palm_axis_vs_markers_deg": { + "gsi": 7.39, + "smplx": 0.82 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.2, + "p90": 15.3 + }, + "registered": { + "median": 9.0, + "p90": 14.8 + } + } + }, + "right": { + "offset_deg": 11.46, + "offset_rotvec": [ + 0.1891, + -0.0385, + 0.0522 + ], + "dev_deg": { + "median": 7.55, + "p90": 26.96 + }, + "samples": 4055, + "accepted": 3790, + "wrist_pos_err_mm_median": 83.9, + "per_camera": { + "head": { + "samples": 4055, + "accepted": 3790, + "gate_deg": 30.0, + "offset_deg": 11.46, + "tier": "primary", + "dev_deg_median": 7.55, + "wrist_pos_err_mm_median": 83.9 + } + }, + "frames_by_state": { + "ace_sample": 15374, + "interpolated": 2970, + "mean_hand": 140, + "no_body_fit": 0 + }, + "observed_fraction": 0.9924, + "observed_fraction_of_valid": 0.9924, + "palm_axis_vs_markers_deg": { + "gsi": 14.91, + "smplx": 1.02 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.6, + "p90": 13.8 + }, + "registered": { + "median": 8.5, + "p90": 12.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:58:05.241560+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/locomanipulation/LM81/session_014", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM81/session_014/motions/smplx.npz b/actions/locomanipulation/LM81/session_014/motions/smplx.npz index 3c60713b30fe402a383983df18bf151fc5bcb829..76198707e06d013830a769c804e81985fac4b0af 100644 --- a/actions/locomanipulation/LM81/session_014/motions/smplx.npz +++ b/actions/locomanipulation/LM81/session_014/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:658c446e7a3eaf9ab56e74a293d387f08f730ca7530e7e128d55686cef0c2968 -size 7072390 +oid sha256:0d5023dd41b3204682fb1a8d55e80f91ba48c93a76220f8774e78f140f7e0993 +size 12650222 diff --git a/actions/locomanipulation/LM81/session_015/meta.json b/actions/locomanipulation/LM81/session_015/meta.json index 69b19abab9d1a4cb8a7beaebf50e3d83b5d78cb8..4f7f636ba46b41f8dafd90d7d05a64bc54ea1048 100644 --- a/actions/locomanipulation/LM81/session_015/meta.json +++ b/actions/locomanipulation/LM81/session_015/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": { @@ -392,10 +392,21 @@ -0.2415, -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 175.0, - "opposite_sign_bend_deg": 23.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.798, + "inlier_spread_deg": 5.62, + "marker_Q_to_gsi_deg": { + "1": 179.1, + "-1": 5.9 + } + }, + "wrist_bend_deg_median": 173.0, + "opposite_sign_bend_deg": 24.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.73, "hand_vs_marker_frame_deg": { "before": 179.5, @@ -406,15 +417,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 174.73, + "twist_moved_deg": -172.37, "wrist_twist_deg_after": { - "median": 0.29, + "median": -2.36, "iqr": [ - -7.1, - 2.4 + -9.6, + -0.2 ] }, - "wrist_total_deg_median_after": 24.8, + "wrist_total_deg_median_after": 23.7, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -427,11 +438,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, + -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.957, + "inlier_spread_deg": 6.83, + "marker_Q_to_gsi_deg": { + "1": 12.2, + "-1": 168.1 + } + }, "wrist_bend_deg_median": 29.9, "opposite_sign_bend_deg": 175.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -463,7 +485,7 @@ }, "frames_used": 1488 }, - "generated_at_utc": "2026-10-28T06:23:00.740207+00:00", + "generated_at_utc": "2026-11-06T13:51:28.135220+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -507,6 +529,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.6698639178517437 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 3.41, + "offset_rotvec": [ + -0.0463, + -0.0373, + 0.0021 + ], + "dev_deg": { + "median": 7.82, + "p90": 175.89 + }, + "samples": 3292, + "accepted": 2607, + "wrist_pos_err_mm_median": 134.8, + "per_camera": { + "head": { + "samples": 3292, + "accepted": 2607, + "gate_deg": 30.0, + "offset_deg": 3.41, + "tier": "primary", + "dev_deg_median": 7.82, + "wrist_pos_err_mm_median": 134.8 + } + }, + "frames_by_state": { + "ace_sample": 10520, + "interpolated": 1472, + "mean_hand": 2884, + "no_body_fit": 8 + }, + "observed_fraction": 0.8057, + "observed_fraction_of_valid": 0.8061, + "palm_axis_vs_markers_deg": { + "gsi": 7.27, + "smplx": 0.66 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.5, + "p90": 12.1 + }, + "registered": { + "median": 8.2, + "p90": 12.4 + } + } + }, + "right": { + "offset_deg": 11.53, + "offset_rotvec": [ + 0.19, + -0.0368, + 0.0549 + ], + "dev_deg": { + "median": 6.56, + "p90": 22.06 + }, + "samples": 3154, + "accepted": 3005, + "wrist_pos_err_mm_median": 87.7, + "per_camera": { + "head": { + "samples": 3154, + "accepted": 3005, + "gate_deg": 30.0, + "offset_deg": 11.53, + "tier": "primary", + "dev_deg_median": 6.56, + "wrist_pos_err_mm_median": 87.7 + } + }, + "frames_by_state": { + "ace_sample": 12179, + "interpolated": 2544, + "mean_hand": 153, + "no_body_fit": 8 + }, + "observed_fraction": 0.9892, + "observed_fraction_of_valid": 0.9897, + "palm_axis_vs_markers_deg": { + "gsi": 14.21, + "smplx": 0.76 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.6, + "p90": 13.2 + }, + "registered": { + "median": 8.8, + "p90": 12.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:00:18.835701+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/locomanipulation/LM81/session_015", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM81/session_015/motions/smplx.npz b/actions/locomanipulation/LM81/session_015/motions/smplx.npz index d46955a8fe371ca6685168cf5c7aee8e0d9b377b..6e889718f54f51dde34d04ca8f06a584891789c4 100644 --- a/actions/locomanipulation/LM81/session_015/motions/smplx.npz +++ b/actions/locomanipulation/LM81/session_015/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6448ca77d7488ac3c1da83f2c03b3c56848e3a86de1c64bdb03b1df01e8b435c -size 5704678 +oid sha256:2aad7a5d4fd88f2bb98950eb71d5b633c555c7a676eb3287760d599932bf8309 +size 10203064 diff --git a/actions/locomanipulation/LM81/session_017/meta.json b/actions/locomanipulation/LM81/session_017/meta.json index 53b8685efa63375a7159ef18f170b0abec681b59..889a9e76fb3a67b9e5605f2ca790fa14960b4c28 100644 --- a/actions/locomanipulation/LM81/session_017/meta.json +++ b/actions/locomanipulation/LM81/session_017/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": { @@ -391,19 +391,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - -2.98601, - 0.43444, - 0.87442 + -0.0, + -0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 173.1, - "opposite_sign_bend_deg": 29.1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.863, + "inlier_spread_deg": 11.89, + "marker_Q_to_gsi_deg": { + "1": 29.2, + "-1": 151.8 + } + }, + "wrist_bend_deg_median": 26.5, + "opposite_sign_bend_deg": 173.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.61, "hand_vs_marker_frame_deg": { - "before": 179.63, + "before": 0.61, "after": 0.61 }, "markers_on_wrist": [ @@ -412,12 +423,12 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -172.77, + "twist_moved_deg": -0.23, "wrist_twist_deg_after": { - "median": -0.23, + "median": 0.0, "iqr": [ - -2.1, - 1.2 + -1.8, + 1.4 ] }, "wrist_total_deg_median_after": 26.5, @@ -430,19 +441,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + 2.98749, + 0.42128, + 0.87581 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 43.9, - "opposite_sign_bend_deg": 162.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.862, + "inlier_spread_deg": 12.53, + "marker_Q_to_gsi_deg": { + "1": 160.5, + "-1": 24.1 + } + }, + "wrist_bend_deg_median": 168.8, + "opposite_sign_bend_deg": 43.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.83, "hand_vs_marker_frame_deg": { - "before": 2.83, + "before": 179.51, "after": 2.83 }, "markers_on_wrist": [ @@ -450,15 +472,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -7.0, + "twist_moved_deg": 167.06, "wrist_twist_deg_after": { - "median": 0.0, + "median": 0.35, "iqr": [ - -3.5, - 5.7 + -3.8, + 4.4 ] }, - "wrist_total_deg_median_after": 43.6, + "wrist_total_deg_median_after": 54.1, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -467,7 +489,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:24:07.506215+00:00", + "generated_at_utc": "2026-11-06T13:53:30.470212+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -511,6 +533,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.7793511115716191 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 34.71, + "offset_rotvec": [ + 0.528, + -0.1588, + -0.2512 + ], + "dev_deg": { + "median": 16.1, + "p90": 27.98 + }, + "samples": 3113, + "accepted": 2878, + "wrist_pos_err_mm_median": 153.1, + "per_camera": { + "head": { + "samples": 3113, + "accepted": 2878, + "gate_deg": 30.0, + "offset_deg": 34.71, + "tier": "primary", + "dev_deg_median": 16.1, + "wrist_pos_err_mm_median": 153.1 + } + }, + "frames_by_state": { + "ace_sample": 11808, + "interpolated": 3664, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9992, + "observed_fraction_of_valid": 0.9992, + "palm_axis_vs_markers_deg": { + "gsi": 29.94, + "smplx": 0.55 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.2, + "p90": 19.3 + }, + "registered": { + "median": 13.7, + "p90": 18.2 + } + } + }, + "right": { + "offset_deg": 26.18, + "offset_rotvec": [ + 0.3189, + 0.3104, + 0.1036 + ], + "dev_deg": { + "median": 14.79, + "p90": 35.68 + }, + "samples": 3284, + "accepted": 2870, + "wrist_pos_err_mm_median": 113.3, + "per_camera": { + "head": { + "samples": 3284, + "accepted": 2870, + "gate_deg": 30.0, + "offset_deg": 26.18, + "tier": "primary", + "dev_deg_median": 14.79, + "wrist_pos_err_mm_median": 113.3 + } + }, + "frames_by_state": { + "ace_sample": 11678, + "interpolated": 2762, + "mean_hand": 1044, + "no_body_fit": 0 + }, + "observed_fraction": 0.9326, + "observed_fraction_of_valid": 0.9326, + "palm_axis_vs_markers_deg": { + "gsi": 26.32, + "smplx": 1.33 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.6, + "p90": 7.5 + }, + "registered": { + "median": 6.6, + "p90": 7.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:04:30.039552+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/locomanipulation/LM81/session_017", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM81/session_017/motions/smplx.npz b/actions/locomanipulation/LM81/session_017/motions/smplx.npz index 3b3be444441e2a3c9f5b461ab511540e42a2f84b..92d295239a1e02e09d7e5780dce5eee1008037a8 100644 --- a/actions/locomanipulation/LM81/session_017/motions/smplx.npz +++ b/actions/locomanipulation/LM81/session_017/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4c1ce34a9405816233fa7ef945294e0c7d0dc44611250fa78b7413e08c8a5f5b -size 5962136 +oid sha256:83438aaa6a7665e9d31709cc850fa3802286661383ca5f82229829f6ade5012c +size 11000945 diff --git a/actions/locomanipulation/LM81/session_035/meta.json b/actions/locomanipulation/LM81/session_035/meta.json index 1583319fda2db207b561ec46ed09a30aedb29e73..456e4c088ab3debc882acfbc2276dd895ee89d64 100644 --- a/actions/locomanipulation/LM81/session_035/meta.json +++ b/actions/locomanipulation/LM81/session_035/meta.json @@ -377,8 +377,8 @@ "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": { @@ -444,14 +444,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 2.98315, - -0.44501, - -0.87886 + -2.98315, + 0.44501, + 0.87886 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 176.6, - "opposite_sign_bend_deg": 10.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.958, + "inlier_spread_deg": 12.18, + "marker_Q_to_gsi_deg": { + "1": 178.4, + "-1": 12.2 + } + }, + "wrist_bend_deg_median": 176.3, + "opposite_sign_bend_deg": 37.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.68, "hand_vs_marker_frame_deg": { "before": 179.6, @@ -463,15 +474,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 176.35, + "twist_moved_deg": -176.27, "wrist_twist_deg_after": { - "median": 0.05, + "median": -0.08, "iqr": [ -1.0, - 1.1 + 1.0 ] }, - "wrist_total_deg_median_after": 37.9, + "wrist_total_deg_median_after": 10.6, "markers_on_forearm": [ "LElbow", "LElbowIn", @@ -486,10 +497,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - 0.0, - -0.0 + -0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2897, + "inlier_frac": 0.909, + "inlier_spread_deg": 14.34, + "marker_Q_to_gsi_deg": { + "1": 8.0, + "-1": 176.3 + } + }, "wrist_bend_deg_median": 16.7, "opposite_sign_bend_deg": 178.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -505,7 +527,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -0.9, 1.0 @@ -520,10 +542,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:44:17.804376+00:00", + "generated_at_utc": "2026-11-06T14:09:39.457588+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 12.16, + "offset_rotvec": [ + 0.0108, + -0.1425, + 0.1568 + ], + "dev_deg": { + "median": 12.73, + "p90": 23.5 + }, + "samples": 3546, + "accepted": 3396, + "wrist_pos_err_mm_median": 60.5, + "per_camera": { + "head": { + "samples": 3546, + "accepted": 3396, + "gate_deg": 30.0, + "offset_deg": 12.16, + "tier": "primary", + "dev_deg_median": 12.73, + "wrist_pos_err_mm_median": 60.5 + } + }, + "frames_by_state": { + "ace_sample": 13802, + "interpolated": 2018, + "mean_hand": 144, + "no_body_fit": 0 + }, + "observed_fraction": 0.991, + "observed_fraction_of_valid": 0.991, + "palm_axis_vs_markers_deg": { + "gsi": 13.27, + "smplx": 0.61 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.7, + "p90": 9.5 + }, + "registered": { + "median": 7.9, + "p90": 8.7 + } + } + }, + "right": { + "offset_deg": 10.99, + "offset_rotvec": [ + -0.0106, + 0.0859, + -0.1711 + ], + "dev_deg": { + "median": 16.52, + "p90": 31.4 + }, + "samples": 2897, + "accepted": 2552, + "wrist_pos_err_mm_median": 114.5, + "per_camera": { + "head": { + "samples": 2897, + "accepted": 2552, + "gate_deg": 30.0, + "offset_deg": 10.99, + "tier": "primary", + "dev_deg_median": 16.52, + "wrist_pos_err_mm_median": 114.5 + } + }, + "frames_by_state": { + "ace_sample": 10620, + "interpolated": 5332, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9992, + "observed_fraction_of_valid": 0.9992, + "palm_axis_vs_markers_deg": { + "gsi": 14.28, + "smplx": 0.43 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.7, + "p90": 18.2 + }, + "registered": { + "median": 10.6, + "p90": 17.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:37:00.240325+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/locomanipulation/LM81/session_035", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM81/session_035/motions/smplx.npz b/actions/locomanipulation/LM81/session_035/motions/smplx.npz index 24169fc09a4c1d8863c8519889128ce1764c7feb..b72a443eb81c49d7e8a32553ce6142c6a58e0fac 100644 --- a/actions/locomanipulation/LM81/session_035/motions/smplx.npz +++ b/actions/locomanipulation/LM81/session_035/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:28fc5e81d78307b528ea019f5bc3c2b4ea3178e3b9c0032e92ee86126801e4c3 -size 6148165 +oid sha256:1896d4ce472db8a64f39b2ca651e53008e7adeb7e34e2de8d9843ddf07058903 +size 11493004 diff --git a/actions/locomanipulation/LM82/session_012/meta.json b/actions/locomanipulation/LM82/session_012/meta.json index a33c6bc924c0ad8c14f85002c01e08fdbad26046..a7fc2510169355a55b8d9f8eea8fe3696da0d40b 100644 --- a/actions/locomanipulation/LM82/session_012/meta.json +++ b/actions/locomanipulation/LM82/session_012/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": { @@ -404,10 +404,21 @@ 0.2415, 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 165.7, - "opposite_sign_bend_deg": 35.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.955, + "inlier_spread_deg": 13.75, + "marker_Q_to_gsi_deg": { + "1": 169.2, + "-1": 11.3 + } + }, + "wrist_bend_deg_median": 161.8, + "opposite_sign_bend_deg": 33.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.99, "hand_vs_marker_frame_deg": { "before": 177.44, @@ -419,15 +430,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 160.52, + "twist_moved_deg": -160.42, "wrist_twist_deg_after": { - "median": 10.52, + "median": -0.07, "iqr": [ - 4.0, - 33.7 + -5.9, + 18.9 ] }, - "wrist_total_deg_median_after": 33.6, + "wrist_total_deg_median_after": 35.5, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -439,11 +450,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, -0.0, - 0.0 + -0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.991, + "inlier_spread_deg": 7.72, + "marker_Q_to_gsi_deg": { + "1": 12.4, + "-1": 168.7 + } + }, "wrist_bend_deg_median": 28.3, "opposite_sign_bend_deg": 173.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -458,7 +480,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -475,7 +497,7 @@ }, "frames_used": 1369 }, - "generated_at_utc": "2026-10-28T06:23:00.971364+00:00", + "generated_at_utc": "2026-11-06T13:51:21.639163+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -519,6 +541,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8974885895198113 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 11.53, + "offset_rotvec": [ + -0.1761, + -0.0324, + 0.0919 + ], + "dev_deg": { + "median": 13.9, + "p90": 19.18 + }, + "samples": 3404, + "accepted": 3256, + "wrist_pos_err_mm_median": 28.0, + "per_camera": { + "head": { + "samples": 3404, + "accepted": 3256, + "gate_deg": 30.0, + "offset_deg": 11.53, + "tier": "primary", + "dev_deg_median": 13.9, + "wrist_pos_err_mm_median": 28.0 + } + }, + "frames_by_state": { + "ace_sample": 13040, + "interpolated": 108, + "mean_hand": 536, + "no_body_fit": 0 + }, + "observed_fraction": 0.9608, + "observed_fraction_of_valid": 0.9608, + "palm_axis_vs_markers_deg": { + "gsi": 13.43, + "smplx": 2.8 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.1, + "p90": 15.5 + }, + "registered": { + "median": 9.9, + "p90": 13.8 + } + } + }, + "right": { + "offset_deg": 13.03, + "offset_rotvec": [ + -0.1993, + -0.1071, + -0.0237 + ], + "dev_deg": { + "median": 7.82, + "p90": 13.74 + }, + "samples": 3349, + "accepted": 3318, + "wrist_pos_err_mm_median": 31.0, + "per_camera": { + "head": { + "samples": 3349, + "accepted": 3318, + "gate_deg": 30.0, + "offset_deg": 13.03, + "tier": "primary", + "dev_deg_median": 7.82, + "wrist_pos_err_mm_median": 31.0 + } + }, + "frames_by_state": { + "ace_sample": 13302, + "interpolated": 366, + "mean_hand": 16, + "no_body_fit": 0 + }, + "observed_fraction": 0.9988, + "observed_fraction_of_valid": 0.9988, + "palm_axis_vs_markers_deg": { + "gsi": 14.53, + "smplx": 2.85 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.4, + "p90": 12.0 + }, + "registered": { + "median": 6.6, + "p90": 10.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:00:18.842082+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/locomanipulation/LM82/session_012", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM82/session_012/motions/smplx.npz b/actions/locomanipulation/LM82/session_012/motions/smplx.npz index a85efaa75175d9b76af5659b7fb8bcccf5d376da..c95a431e88dacf2421f68d4eb82acc7e1f0649ad 100644 --- a/actions/locomanipulation/LM82/session_012/motions/smplx.npz +++ b/actions/locomanipulation/LM82/session_012/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:965450a7e89c4f9ab7f77032745f9a6f27554a168d8d5afbcd5187392e3ad6ea -size 5256357 +oid sha256:7440e8be84082959f268ce69292038961cdcab535eb497fc5810a5cfe14145f8 +size 9758929 diff --git a/actions/locomanipulation/LM82/session_013/meta.json b/actions/locomanipulation/LM82/session_013/meta.json index 43737e62f5e6ee7c17d972b7c6cbecb6ed03921b..3b7ab3627f8c4e5d503610d86c0005c586d1cd98 100644 --- a/actions/locomanipulation/LM82/session_013/meta.json +++ b/actions/locomanipulation/LM82/session_013/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": { @@ -400,14 +400,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 171.8, - "opposite_sign_bend_deg": 41.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.954, + "inlier_spread_deg": 9.62, + "marker_Q_to_gsi_deg": { + "1": 171.3, + "-1": 10.0 + } + }, + "wrist_bend_deg_median": 151.4, + "opposite_sign_bend_deg": 35.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.94, "hand_vs_marker_frame_deg": { "before": 178.02, @@ -419,15 +430,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 151.57, + "twist_moved_deg": -148.64, "wrist_twist_deg_after": { - "median": 20.43, + "median": -1.33, "iqr": [ - 1.4, - 30.5 + -24.0, + 3.7 ] }, - "wrist_total_deg_median_after": 35.5, + "wrist_total_deg_median_after": 42.8, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -439,11 +450,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.992, + "inlier_spread_deg": 8.08, + "marker_Q_to_gsi_deg": { + "1": 8.2, + "-1": 172.1 + } + }, "wrist_bend_deg_median": 35.0, "opposite_sign_bend_deg": 174.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -475,7 +497,7 @@ }, "frames_used": 1369 }, - "generated_at_utc": "2026-10-28T06:23:02.056719+00:00", + "generated_at_utc": "2026-11-06T13:51:35.136164+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -519,6 +541,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8111442031351103 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.34, + "offset_rotvec": [ + -0.147, + -0.0666, + 0.0809 + ], + "dev_deg": { + "median": 9.89, + "p90": 16.15 + }, + "samples": 3383, + "accepted": 3228, + "wrist_pos_err_mm_median": 35.7, + "per_camera": { + "head": { + "samples": 3383, + "accepted": 3228, + "gate_deg": 30.0, + "offset_deg": 10.34, + "tier": "primary", + "dev_deg_median": 9.89, + "wrist_pos_err_mm_median": 35.7 + } + }, + "frames_by_state": { + "ace_sample": 12934, + "interpolated": 202, + "mean_hand": 548, + "no_body_fit": 0 + }, + "observed_fraction": 0.96, + "observed_fraction_of_valid": 0.96, + "palm_axis_vs_markers_deg": { + "gsi": 11.53, + "smplx": 2.16 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.3, + "p90": 9.6 + }, + "registered": { + "median": 7.2, + "p90": 8.5 + } + } + }, + "right": { + "offset_deg": 8.92, + "offset_rotvec": [ + -0.1478, + -0.0449, + -0.0184 + ], + "dev_deg": { + "median": 8.12, + "p90": 14.82 + }, + "samples": 3381, + "accepted": 3355, + "wrist_pos_err_mm_median": 32.5, + "per_camera": { + "head": { + "samples": 3381, + "accepted": 3355, + "gate_deg": 30.0, + "offset_deg": 8.92, + "tier": "primary", + "dev_deg_median": 8.12, + "wrist_pos_err_mm_median": 32.5 + } + }, + "frames_by_state": { + "ace_sample": 13450, + "interpolated": 222, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9991, + "observed_fraction_of_valid": 0.9991, + "palm_axis_vs_markers_deg": { + "gsi": 11.01, + "smplx": 2.01 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.0, + "p90": 13.8 + }, + "registered": { + "median": 8.1, + "p90": 12.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:00:18.945311+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/locomanipulation/LM82/session_013", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM82/session_013/motions/smplx.npz b/actions/locomanipulation/LM82/session_013/motions/smplx.npz index 315502e373a38ac19054286e7e48f5612c5532dc..a64286338db14a570ef8d3556725e4b067510650 100644 --- a/actions/locomanipulation/LM82/session_013/motions/smplx.npz +++ b/actions/locomanipulation/LM82/session_013/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:50aa2c7b8f88e753942c4d435c0710451307323e49c58eff5b46cfe3ea93d2e9 -size 5239185 +oid sha256:a479f54ad577378199d1d99f7ff9612a052d1c314e375b75b8ef98d21c583053 +size 9742009 diff --git a/actions/locomanipulation/LM82/session_014/meta.json b/actions/locomanipulation/LM82/session_014/meta.json index 9a45a518425b9d3e20970aba1871d0f3754a6d59..c84cfe37df18ec19cf66a9184ca3e1a9ac11a39e 100644 --- a/actions/locomanipulation/LM82/session_014/meta.json +++ b/actions/locomanipulation/LM82/session_014/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": { @@ -404,10 +404,21 @@ -0.2415, -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 169.4, - "opposite_sign_bend_deg": 42.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.913, + "inlier_spread_deg": 11.62, + "marker_Q_to_gsi_deg": { + "1": 168.1, + "-1": 12.7 + } + }, + "wrist_bend_deg_median": 165.0, + "opposite_sign_bend_deg": 30.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.04, "hand_vs_marker_frame_deg": { "before": 176.87, @@ -419,15 +430,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 164.37, + "twist_moved_deg": -160.83, "wrist_twist_deg_after": { - "median": 6.65, + "median": -3.08, "iqr": [ - -0.6, - 15.5 + -14.0, + 0.9 ] }, - "wrist_total_deg_median_after": 30.0, + "wrist_total_deg_median_after": 43.9, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -444,6 +455,17 @@ 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.993, + "inlier_spread_deg": 7.02, + "marker_Q_to_gsi_deg": { + "1": 10.9, + "-1": 169.9 + } + }, "wrist_bend_deg_median": 32.9, "opposite_sign_bend_deg": 176.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -458,9 +480,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -3.6, 1.5 @@ -474,7 +496,7 @@ }, "frames_used": 1489 }, - "generated_at_utc": "2026-10-28T06:23:04.028762+00:00", + "generated_at_utc": "2026-11-06T13:52:03.264920+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -518,6 +540,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8689323416649201 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 14.84, + "offset_rotvec": [ + -0.2278, + -0.0366, + 0.1175 + ], + "dev_deg": { + "median": 12.13, + "p90": 24.0 + }, + "samples": 3701, + "accepted": 3380, + "wrist_pos_err_mm_median": 28.3, + "per_camera": { + "head": { + "samples": 3701, + "accepted": 3380, + "gate_deg": 30.0, + "offset_deg": 14.84, + "tier": "primary", + "dev_deg_median": 12.13, + "wrist_pos_err_mm_median": 28.3 + } + }, + "frames_by_state": { + "ace_sample": 13536, + "interpolated": 100, + "mean_hand": 1248, + "no_body_fit": 0 + }, + "observed_fraction": 0.9162, + "observed_fraction_of_valid": 0.9162, + "palm_axis_vs_markers_deg": { + "gsi": 12.97, + "smplx": 3.16 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.9, + "p90": 16.4 + }, + "registered": { + "median": 9.7, + "p90": 15.2 + } + } + }, + "right": { + "offset_deg": 11.49, + "offset_rotvec": [ + -0.1729, + -0.0936, + -0.0397 + ], + "dev_deg": { + "median": 7.11, + "p90": 12.5 + }, + "samples": 3670, + "accepted": 3644, + "wrist_pos_err_mm_median": 26.2, + "per_camera": { + "head": { + "samples": 3670, + "accepted": 3644, + "gate_deg": 30.0, + "offset_deg": 11.49, + "tier": "primary", + "dev_deg_median": 7.11, + "wrist_pos_err_mm_median": 26.2 + } + }, + "frames_by_state": { + "ace_sample": 14612, + "interpolated": 260, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9992, + "observed_fraction_of_valid": 0.9992, + "palm_axis_vs_markers_deg": { + "gsi": 13.05, + "smplx": 2.07 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.3, + "p90": 13.8 + }, + "registered": { + "median": 8.5, + "p90": 12.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:00:21.939239+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/locomanipulation/LM82/session_014", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM82/session_014/motions/smplx.npz b/actions/locomanipulation/LM82/session_014/motions/smplx.npz index ee4a25662a944fc8a4b94399d491f4125c131dad..f4f1bdd6e8c467928d4ed3793105187ff8239931 100644 --- a/actions/locomanipulation/LM82/session_014/motions/smplx.npz +++ b/actions/locomanipulation/LM82/session_014/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ac5733c90af645ccf47c5694a9167dd4f7c385f4482c4c27dd6c41d06ed449b3 -size 5720872 +oid sha256:073e64daa8213ee07075f708386a961ab2483b837a25c97aa4013af6f82cff06 +size 10507816 diff --git a/actions/locomanipulation/LM83/session_010/meta.json b/actions/locomanipulation/LM83/session_010/meta.json index c5311ceb88ba33658d5aabfcabd726ab15b590f8..06dd049c1f5a69e9b8d12107c6f849b6a987a7bf 100644 --- a/actions/locomanipulation/LM83/session_010/meta.json +++ b/actions/locomanipulation/LM83/session_010/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -396,19 +396,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 24.3, - "opposite_sign_bend_deg": 176.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 577, + "inlier_frac": 0.685, + "inlier_spread_deg": 11.18, + "marker_Q_to_gsi_deg": { + "1": 173.2, + "-1": 7.7 + } + }, + "wrist_bend_deg_median": 175.5, + "opposite_sign_bend_deg": 24.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.81, "hand_vs_marker_frame_deg": { - "before": 1.81, + "before": 179.42, "after": 1.81 }, "markers_on_wrist": [ @@ -416,15 +427,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.72, + "twist_moved_deg": 174.01, "wrist_twist_deg_after": { - "median": 0.0, + "median": 2.0, "iqr": [ - -2.9, - 3.2 + -0.7, + 5.6 ] }, - "wrist_total_deg_median_after": 24.8, + "wrist_total_deg_median_after": 22.0, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -442,6 +453,17 @@ 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.997, + "inlier_spread_deg": 7.32, + "marker_Q_to_gsi_deg": { + "1": 10.1, + "-1": 171.4 + } + }, "wrist_bend_deg_median": 45.1, "opposite_sign_bend_deg": 173.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -457,7 +479,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -472,7 +494,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:23:06.132882+00:00", + "generated_at_utc": "2026-11-06T13:52:00.616361+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -547,6 +569,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 6.63, + "offset_rotvec": [ + -0.1011, + -0.0094, + -0.0556 + ], + "dev_deg": { + "median": 17.45, + "p90": 139.54 + }, + "samples": 577, + "accepted": 388, + "wrist_pos_err_mm_median": 145.2, + "per_camera": { + "head": { + "samples": 577, + "accepted": 388, + "gate_deg": 30.0, + "offset_deg": 6.63, + "tier": "primary", + "dev_deg_median": 17.45, + "wrist_pos_err_mm_median": 145.2 + } + }, + "frames_by_state": { + "ace_sample": 1560, + "interpolated": 76, + "mean_hand": 14448, + "no_body_fit": 0 + }, + "observed_fraction": 0.1017, + "observed_fraction_of_valid": 0.1017, + "palm_axis_vs_markers_deg": { + "gsi": 7.68, + "smplx": 7.33 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.2, + "p90": 14.7 + }, + "registered": { + "median": 8.5, + "p90": 14.4 + } + } + }, + "right": { + "offset_deg": 10.11, + "offset_rotvec": [ + -0.1661, + -0.037, + 0.0468 + ], + "dev_deg": { + "median": 7.49, + "p90": 18.49 + }, + "samples": 3964, + "accepted": 3953, + "wrist_pos_err_mm_median": 49.3, + "per_camera": { + "head": { + "samples": 3964, + "accepted": 3953, + "gate_deg": 30.0, + "offset_deg": 10.11, + "tier": "primary", + "dev_deg_median": 7.49, + "wrist_pos_err_mm_median": 49.3 + } + }, + "frames_by_state": { + "ace_sample": 15824, + "interpolated": 248, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9993, + "observed_fraction_of_valid": 0.9993, + "palm_axis_vs_markers_deg": { + "gsi": 10.41, + "smplx": 0.7 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.1, + "p90": 14.1 + }, + "registered": { + "median": 6.0, + "p90": 13.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:00:05.735346+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/locomanipulation/LM83/session_010", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM83/session_010/motions/smplx.npz b/actions/locomanipulation/LM83/session_010/motions/smplx.npz index 73cc8073eb4b972be756a3cf4794ffb708988bea..9eeb28582f7df558c7dc6c2f4c1cad663ac6cc8e 100644 --- a/actions/locomanipulation/LM83/session_010/motions/smplx.npz +++ b/actions/locomanipulation/LM83/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:eed392ccd8c3675d9b70b09216af4b142169862c4c86a9605f2e2299d585f5f0 -size 6161913 +oid sha256:f41aab618676009d5393496d1b6f15e358acf8b7a7717a8c669d2bc92ae04fc6 +size 9151797 diff --git a/actions/locomanipulation/LM83/session_011/meta.json b/actions/locomanipulation/LM83/session_011/meta.json index 982a7bb2aa0b329b537ad6a40c6ed8da13a9c16a..fed617c3cb7dcb68e99cf0ce317ffb80510f67b0 100644 --- a/actions/locomanipulation/LM83/session_011/meta.json +++ b/actions/locomanipulation/LM83/session_011/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": { @@ -394,10 +394,21 @@ 0.2415, 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 173.9, - "opposite_sign_bend_deg": 22.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 882, + "inlier_frac": 0.789, + "inlier_spread_deg": 10.57, + "marker_Q_to_gsi_deg": { + "1": 174.2, + "-1": 10.3 + } + }, + "wrist_bend_deg_median": 170.6, + "opposite_sign_bend_deg": 31.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.05, "hand_vs_marker_frame_deg": { "before": 179.37, @@ -408,15 +419,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -172.59, + "twist_moved_deg": 169.71, "wrist_twist_deg_after": { - "median": -1.91, + "median": 2.87, "iqr": [ - -5.1, - 5.1 + -0.3, + 6.9 ] }, - "wrist_total_deg_median_after": 31.6, + "wrist_total_deg_median_after": 22.3, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -430,10 +441,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - 0.0, - 0.0 + -0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.97, + "inlier_spread_deg": 10.52, + "marker_Q_to_gsi_deg": { + "1": 15.1, + "-1": 177.2 + } + }, "wrist_bend_deg_median": 19.3, "opposite_sign_bend_deg": 176.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -447,7 +469,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -464,7 +486,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:23:07.132162+00:00", + "generated_at_utc": "2026-11-06T13:51:55.157304+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -508,6 +530,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8344126542823969 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 7.26, + "offset_rotvec": [ + -0.0827, + -0.0808, + 0.052 + ], + "dev_deg": { + "median": 13.9, + "p90": 143.53 + }, + "samples": 882, + "accepted": 690, + "wrist_pos_err_mm_median": 128.9, + "per_camera": { + "head": { + "samples": 882, + "accepted": 690, + "gate_deg": 30.0, + "offset_deg": 7.26, + "tier": "primary", + "dev_deg_median": 13.9, + "wrist_pos_err_mm_median": 128.9 + } + }, + "frames_by_state": { + "ace_sample": 2798, + "interpolated": 270, + "mean_hand": 12416, + "no_body_fit": 0 + }, + "observed_fraction": 0.1981, + "observed_fraction_of_valid": 0.1981, + "palm_axis_vs_markers_deg": { + "gsi": 7.52, + "smplx": 7.43 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.1, + "p90": 14.0 + }, + "registered": { + "median": 7.7, + "p90": 13.5 + } + } + }, + "right": { + "offset_deg": 16.09, + "offset_rotvec": [ + -0.0972, + 0.2103, + 0.1586 + ], + "dev_deg": { + "median": 10.51, + "p90": 23.9 + }, + "samples": 3693, + "accepted": 3576, + "wrist_pos_err_mm_median": 47.5, + "per_camera": { + "head": { + "samples": 3693, + "accepted": 3576, + "gate_deg": 30.0, + "offset_deg": 16.09, + "tier": "primary", + "dev_deg_median": 10.51, + "wrist_pos_err_mm_median": 47.5 + } + }, + "frames_by_state": { + "ace_sample": 14342, + "interpolated": 578, + "mean_hand": 564, + "no_body_fit": 0 + }, + "observed_fraction": 0.9636, + "observed_fraction_of_valid": 0.9636, + "palm_axis_vs_markers_deg": { + "gsi": 13.51, + "smplx": 1.22 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.8, + "p90": 9.8 + }, + "registered": { + "median": 8.6, + "p90": 10.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:00:09.544506+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/locomanipulation/LM83/session_011", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM83/session_011/motions/smplx.npz b/actions/locomanipulation/LM83/session_011/motions/smplx.npz index 632a9668cd3614edd7178e413b33a91306cf5183..3685e1616d6f65b421f1d143d7b2f1728cc7ea0f 100644 --- a/actions/locomanipulation/LM83/session_011/motions/smplx.npz +++ b/actions/locomanipulation/LM83/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:09bb6fa60a47da314a38c677588c6dc5d2ce13d80b30392119e5c889ff6180c1 -size 5918313 +oid sha256:5abf22a260788764eb5dfab713fbe31a975a650edc3b4292f851e593f67df004 +size 8994076 diff --git a/actions/locomanipulation/LM83/session_012/meta.json b/actions/locomanipulation/LM83/session_012/meta.json index 6e5a5c3b89dca628956dfb30fca06eca8015e76a..53d2a3a4a2c282faf4be1eef5b7988503d9f71ca 100644 --- a/actions/locomanipulation/LM83/session_012/meta.json +++ b/actions/locomanipulation/LM83/session_012/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": { @@ -387,35 +387,46 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 94.41, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -1.22949, + 1.09005, + -0.12328 ], "in_out_sign": 1, - "wrist_bend_deg_median": 29.6, - "opposite_sign_bend_deg": 175.3, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 692, + "inlier_frac": 0.438, + "inlier_spread_deg": 18.54, + "marker_Q_to_gsi_deg": { + "1": 94.4, + "-1": 113.2 + } + }, + "wrist_bend_deg_median": 83.4, + "opposite_sign_bend_deg": 174.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.18, "hand_vs_marker_frame_deg": { "before": 4.18, - "after": 4.18 + "after": 93.56 }, "markers_on_wrist": [ "LHandIn", "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 1.65, + "twist_moved_deg": -75.96, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.01, "iqr": [ - -5.4, - 3.2 + -13.1, + 5.5 ] }, - "wrist_total_deg_median_after": 29.9, + "wrist_total_deg_median_after": 39.7, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -430,9 +441,16 @@ "Q_rotvec": [ 0.0, 0.0, - -0.0 + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI not reliable)", + "gsi": { + "reliable": false, + "frames": 1602, + "inlier_frac": 0.371, + "inlier_spread_deg": 17.0 + }, "wrist_bend_deg_median": 24.4, "opposite_sign_bend_deg": 173.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -446,9 +464,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -33.8, 4.4 @@ -463,7 +481,7 @@ }, "frames_used": 1309 }, - "generated_at_utc": "2026-10-28T06:23:06.929776+00:00", + "generated_at_utc": "2026-11-06T13:51:56.858979+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -560,6 +578,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 41.08, + "offset_rotvec": [ + -0.68, + -0.1885, + -0.1266 + ], + "dev_deg": { + "median": 60.05, + "p90": 94.34 + }, + "samples": 692, + "accepted": 52, + "wrist_pos_err_mm_median": 118.0, + "per_camera": { + "head": { + "samples": 692, + "accepted": 52, + "gate_deg": 30.0, + "offset_deg": 41.08, + "tier": "primary", + "dev_deg_median": 60.05, + "wrist_pos_err_mm_median": 118.0 + } + }, + "frames_by_state": { + "ace_sample": 194, + "interpolated": 452, + "mean_hand": 12438, + "no_body_fit": 0 + }, + "observed_fraction": 0.0494, + "observed_fraction_of_valid": 0.0494, + "palm_axis_vs_markers_deg": { + "gsi": 85.38, + "smplx": 89.73 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.5, + "p90": 18.6 + }, + "registered": { + "median": 12.1, + "p90": 18.3 + } + } + }, + "right": { + "offset_deg": 72.1, + "offset_rotvec": [ + 1.207, + 0.3213, + -0.154 + ], + "dev_deg": { + "median": 40.39, + "p90": 153.63 + }, + "samples": 1602, + "accepted": 588, + "wrist_pos_err_mm_median": 100.1, + "per_camera": { + "head": { + "samples": 1602, + "accepted": 588, + "gate_deg": 30.0, + "offset_deg": 72.1, + "tier": "primary", + "dev_deg_median": 40.39, + "wrist_pos_err_mm_median": 100.1 + } + }, + "frames_by_state": { + "ace_sample": 2372, + "interpolated": 1116, + "mean_hand": 9596, + "no_body_fit": 0 + }, + "observed_fraction": 0.2666, + "observed_fraction_of_valid": 0.2666, + "palm_axis_vs_markers_deg": { + "gsi": 67.99, + "smplx": 2.47 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.0, + "p90": 11.6 + }, + "registered": { + "median": 9.0, + "p90": 10.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:59:57.038136+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/locomanipulation/LM83/session_012", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM83/session_012/motions/smplx.npz b/actions/locomanipulation/LM83/session_012/motions/smplx.npz index 04e07281e1b387343ab2bff3c19c194a5a89c00f..3177081b9c0ac2f212d9715cc2eea7d631a61182 100644 --- a/actions/locomanipulation/LM83/session_012/motions/smplx.npz +++ b/actions/locomanipulation/LM83/session_012/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:61cdac05d80c480afcf39450f44c8b2a1046cf744952c2143be0222a4fdf4528 -size 5031957 +oid sha256:5971f537d659cc8ed24e9d97578083acfee79f634eab6d6060de70ee3f519ae2 +size 5917196 diff --git a/actions/locomanipulation/LM83/session_031/meta.json b/actions/locomanipulation/LM83/session_031/meta.json index 9e241587fda09b9b4a9d2184fb985f3e520d4308..055135c797421cf45e34461f213fadd44042cbbd 100644 --- a/actions/locomanipulation/LM83/session_031/meta.json +++ b/actions/locomanipulation/LM83/session_031/meta.json @@ -377,8 +377,8 @@ "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": { @@ -437,19 +437,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - 0.0 + -2.98315, + 0.44501, + 0.87886 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 29.0, - "opposite_sign_bend_deg": 175.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.983, + "inlier_spread_deg": 5.87, + "marker_Q_to_gsi_deg": { + "1": 163.9, + "-1": 16.5 + } + }, + "wrist_bend_deg_median": 175.2, + "opposite_sign_bend_deg": 29.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.0, "hand_vs_marker_frame_deg": { - "before": 1.0, + "before": 179.45, "after": 1.0 }, "markers_on_wrist": [ @@ -457,15 +468,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.19, + "twist_moved_deg": -174.21, "wrist_twist_deg_after": { - "median": -0.0, + "median": -1.15, "iqr": [ - -2.5, - 3.2 + -3.6, + 2.2 ] }, - "wrist_total_deg_median_after": 29.0, + "wrist_total_deg_median_after": 20.2, "markers_on_forearm": [ "LElbow", "LElbowIn", @@ -480,11 +491,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, + -0.0, + -0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.999, + "inlier_spread_deg": 5.97, + "marker_Q_to_gsi_deg": { + "1": 27.6, + "-1": 178.5 + } + }, "wrist_bend_deg_median": 21.6, "opposite_sign_bend_deg": 174.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -498,7 +520,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -515,7 +537,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:44:20.059902+00:00", + "generated_at_utc": "2026-11-06T14:09:39.275427+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -555,6 +577,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 15.95, + "offset_rotvec": [ + -0.2535, + -0.0148, + 0.114 + ], + "dev_deg": { + "median": 5.97, + "p90": 11.2 + }, + "samples": 3988, + "accepted": 3920, + "wrist_pos_err_mm_median": 42.5, + "per_camera": { + "head": { + "samples": 3988, + "accepted": 3920, + "gate_deg": 30.0, + "offset_deg": 15.95, + "tier": "primary", + "dev_deg_median": 5.97, + "wrist_pos_err_mm_median": 42.5 + } + }, + "frames_by_state": { + "ace_sample": 15678, + "interpolated": 10, + "mean_hand": 276, + "no_body_fit": 0 + }, + "observed_fraction": 0.9827, + "observed_fraction_of_valid": 0.9827, + "palm_axis_vs_markers_deg": { + "gsi": 15.87, + "smplx": 0.94 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.1, + "p90": 12.2 + }, + "registered": { + "median": 4.4, + "p90": 11.5 + } + } + }, + "right": { + "offset_deg": 27.57, + "offset_rotvec": [ + -0.0164, + -0.4458, + 0.1803 + ], + "dev_deg": { + "median": 5.98, + "p90": 11.65 + }, + "samples": 3951, + "accepted": 3948, + "wrist_pos_err_mm_median": 19.7, + "per_camera": { + "head": { + "samples": 3951, + "accepted": 3948, + "gate_deg": 30.0, + "offset_deg": 27.57, + "tier": "primary", + "dev_deg_median": 5.98, + "wrist_pos_err_mm_median": 19.7 + } + }, + "frames_by_state": { + "ace_sample": 15792, + "interpolated": 32, + "mean_hand": 140, + "no_body_fit": 0 + }, + "observed_fraction": 0.9912, + "observed_fraction_of_valid": 0.9912, + "palm_axis_vs_markers_deg": { + "gsi": 26.78, + "smplx": 0.96 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.7, + "p90": 28.6 + }, + "registered": { + "median": 13.4, + "p90": 27.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:37:18.239638+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/locomanipulation/LM83/session_031", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM83/session_031/motions/smplx.npz b/actions/locomanipulation/LM83/session_031/motions/smplx.npz index 7c4a467cc175a4e3dfe0ec700dd9ce6303cbc022..1f16afe8f4627e770f9a09bc3f840c901cc53ae0 100644 --- a/actions/locomanipulation/LM83/session_031/motions/smplx.npz +++ b/actions/locomanipulation/LM83/session_031/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8595f26fc92a481ad463adf7c617ccf07631a02b0265d8050d4ee95097179be5 -size 6154875 +oid sha256:ca55c6daf4ec1ba02c4b3d30c2e9e8d7a91f3bc70a9df86d9e24206e03d8f4ad +size 11437232 diff --git a/actions/locomanipulation/LM84/session_004/meta.json b/actions/locomanipulation/LM84/session_004/meta.json index d75daf28f99e156022ef1fb8c322df5fa42741cc..eb765b80ec7b4c886188cc6597c257a545b96034 100644 --- a/actions/locomanipulation/LM84/session_004/meta.json +++ b/actions/locomanipulation/LM84/session_004/meta.json @@ -378,8 +378,8 @@ "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": { @@ -438,19 +438,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + -2.98794, + 0.42773, + 0.87113 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 40.0, - "opposite_sign_bend_deg": 172.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.646, + "inlier_spread_deg": 11.64, + "marker_Q_to_gsi_deg": { + "1": 174.2, + "-1": 6.1 + } + }, + "wrist_bend_deg_median": 171.2, + "opposite_sign_bend_deg": 40.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.69, "hand_vs_marker_frame_deg": { - "before": 4.69, + "before": 177.94, "after": 4.69 }, "markers_on_wrist": [ @@ -458,15 +469,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -2.43, + "twist_moved_deg": -166.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -4.6, "iqr": [ - -8.5, - 28.5 + -10.7, + 3.9 ] }, - "wrist_total_deg_median_after": 42.3, + "wrist_total_deg_median_after": 43.0, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -479,11 +490,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + -0.0, + -0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.881, + "inlier_spread_deg": 10.43, + "marker_Q_to_gsi_deg": { + "1": 14.9, + "-1": 176.3 + } + }, "wrist_bend_deg_median": 19.9, "opposite_sign_bend_deg": 173.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -497,7 +519,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.01, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -515,7 +537,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:41:33.854340+00:00", + "generated_at_utc": "2026-11-06T14:07:43.375819+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -588,6 +610,116 @@ }, "applied": 4 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 8.74, + "offset_rotvec": [ + -0.1148, + -0.0502, + 0.0871 + ], + "dev_deg": { + "median": 16.21, + "p90": 172.06 + }, + "samples": 3337, + "accepted": 2151, + "wrist_pos_err_mm_median": 55.5, + "per_camera": { + "head": { + "samples": 3337, + "accepted": 2151, + "gate_deg": 30.0, + "offset_deg": 8.74, + "tier": "primary", + "dev_deg_median": 16.21, + "wrist_pos_err_mm_median": 55.5 + } + }, + "frames_by_state": { + "ace_sample": 8630, + "interpolated": 982, + "mean_hand": 6824, + "no_body_fit": 0 + }, + "observed_fraction": 0.5848, + "observed_fraction_of_valid": 0.5848, + "palm_axis_vs_markers_deg": { + "gsi": 15.26, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 14.68, + "offset_rotvec": [ + 0.1283, + -0.1805, + -0.1288 + ], + "dev_deg": { + "median": 11.32, + "p90": 36.94 + }, + "samples": 3549, + "accepted": 3127, + "wrist_pos_err_mm_median": 37.7, + "per_camera": { + "head": { + "samples": 3549, + "accepted": 3127, + "gate_deg": 30.0, + "offset_deg": 14.68, + "tier": "primary", + "dev_deg_median": 11.32, + "wrist_pos_err_mm_median": 37.7 + } + }, + "frames_by_state": { + "ace_sample": 12644, + "interpolated": 2344, + "mean_hand": 1448, + "no_body_fit": 0 + }, + "observed_fraction": 0.9119, + "observed_fraction_of_valid": 0.9119, + "palm_axis_vs_markers_deg": { + "gsi": 14.59, + "smplx": 1.11 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.0, + "p90": 20.4 + }, + "registered": { + "median": 10.1, + "p90": 19.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:33:33.136550+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/locomanipulation/LM84/session_004", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM84/session_004/motions/smplx.npz b/actions/locomanipulation/LM84/session_004/motions/smplx.npz index 9684446ce27bf7bee16ea9895e4ea06cb868d9f3..35a6c4580966946d7de58856e6cbfd1c4494dfdb 100644 --- a/actions/locomanipulation/LM84/session_004/motions/smplx.npz +++ b/actions/locomanipulation/LM84/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:af8c4c39698616b8873b6f4ef3f410ea235d5ef0e6a5c17a9c76f35d0a426af8 -size 6336730 +oid sha256:d70d2404a2f86a43bcc06b973c1ffb6c5283e59ee6f2ef4134dd69b68ef37db3 +size 10634036 diff --git a/actions/locomanipulation/LM84/session_005/meta.json b/actions/locomanipulation/LM84/session_005/meta.json index 095184c4d90bf424a71939213fbe42b86228c4cd..b8a73fa700ee9f183bdec5c341c80b479ab59a60 100644 --- a/actions/locomanipulation/LM84/session_005/meta.json +++ b/actions/locomanipulation/LM84/session_005/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": 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": { @@ -441,10 +441,21 @@ 0.4392, 0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 170.8, - "opposite_sign_bend_deg": 26.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.879, + "inlier_spread_deg": 10.8, + "marker_Q_to_gsi_deg": { + "1": 174.0, + "-1": 9.9 + } + }, + "wrist_bend_deg_median": 168.1, + "opposite_sign_bend_deg": 39.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.43, "hand_vs_marker_frame_deg": { "before": 179.07, @@ -456,15 +467,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 168.0, + "twist_moved_deg": -164.21, "wrist_twist_deg_after": { - "median": 3.88, + "median": -3.79, "iqr": [ - -4.7, - 8.8 + -10.2, + 2.5 ] }, - "wrist_total_deg_median_after": 39.6, + "wrist_total_deg_median_after": 27.5, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -476,11 +487,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ + -0.0, 0.0, - 0.0, - -0.0 + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.919, + "inlier_spread_deg": 12.35, + "marker_Q_to_gsi_deg": { + "1": 8.6, + "-1": 178.6 + } + }, "wrist_bend_deg_median": 20.3, "opposite_sign_bend_deg": 173.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -495,9 +517,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -7.9, 4.8 @@ -512,10 +534,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:47:04.008807+00:00", + "generated_at_utc": "2026-11-06T14:13:57.454873+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.95, + "offset_rotvec": [ + 0.1026, + -0.1585, + -0.0294 + ], + "dev_deg": { + "median": 11.98, + "p90": 40.78 + }, + "samples": 3648, + "accepted": 3222, + "wrist_pos_err_mm_median": 38.6, + "per_camera": { + "head": { + "samples": 3648, + "accepted": 3222, + "gate_deg": 30.0, + "offset_deg": 10.95, + "tier": "primary", + "dev_deg_median": 11.98, + "wrist_pos_err_mm_median": 38.6 + } + }, + "frames_by_state": { + "ace_sample": 13024, + "interpolated": 1416, + "mean_hand": 1745, + "no_body_fit": 7 + }, + "observed_fraction": 0.8918, + "observed_fraction_of_valid": 0.8922, + "palm_axis_vs_markers_deg": { + "gsi": 12.88, + "smplx": 1.55 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.7, + "p90": 9.6 + }, + "registered": { + "median": 7.4, + "p90": 8.7 + } + } + }, + "right": { + "offset_deg": 8.1, + "offset_rotvec": [ + -0.0376, + -0.05, + 0.1268 + ], + "dev_deg": { + "median": 12.89, + "p90": 26.75 + }, + "samples": 3776, + "accepted": 3476, + "wrist_pos_err_mm_median": 47.2, + "per_camera": { + "head": { + "samples": 3776, + "accepted": 3476, + "gate_deg": 30.0, + "offset_deg": 8.1, + "tier": "primary", + "dev_deg_median": 12.89, + "wrist_pos_err_mm_median": 47.2 + } + }, + "frames_by_state": { + "ace_sample": 14060, + "interpolated": 1868, + "mean_hand": 257, + "no_body_fit": 7 + }, + "observed_fraction": 0.9837, + "observed_fraction_of_valid": 0.9841, + "palm_axis_vs_markers_deg": { + "gsi": 10.74, + "smplx": 2.65 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.8, + "p90": 13.3 + }, + "registered": { + "median": 6.6, + "p90": 10.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:46:35.137412+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/locomanipulation/LM84/session_005", "family": "locomanipulation",