diff --git a/actions/locomotion_primitives/P33/session_084/cameras/slam.npz b/actions/locomotion_primitives/P33/session_084/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..9ce9ee2879257d5b4e3c1b97ac4602ef5eda2547 --- /dev/null +++ b/actions/locomotion_primitives/P33/session_084/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa13bc087c4f2e689227fcda6c8b041193ab93830ef850c828bad8a54308cd1f +size 744339 diff --git a/actions/locomotion_primitives/P33/session_084/meta.json b/actions/locomotion_primitives/P33/session_084/meta.json index 54bc02a2d2f1738a7b3f05e8625a95fad51b26c6..9ae66d4a77aafe96d5683ba829ccc24c25ba362b 100644 --- a/actions/locomotion_primitives/P33/session_084/meta.json +++ b/actions/locomotion_primitives/P33/session_084/meta.json @@ -362,8 +362,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, 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": { @@ -503,10 +503,124 @@ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 21.09, + "offset_rotvec": [ + -0.0067, + -0.0001, + 0.368 + ], + "dev_deg": { + "median": 11.48, + "p90": 22.17 + }, + "samples": 3201, + "accepted": 3111, + "wrist_pos_err_mm_median": 142.7, + "per_camera": { + "head": { + "samples": 3201, + "accepted": 3111, + "gate_deg": 30.0, + "offset_deg": 21.09, + "tier": "primary", + "dev_deg_median": 11.48, + 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pausing until the operator says stop." } } diff --git a/actions/locomotion_primitives/P33/session_084/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_084/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..37b2d68f691f84ba910fa30085662d82f92213f8 --- /dev/null +++ b/actions/locomotion_primitives/P33/session_084/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f69557883874ef9b999836e0fce88fea81ce36faf4a067056b90ba3ed506083 +size 3856853 diff --git a/actions/locomotion_primitives/P33/session_084/motions/smplx.npz b/actions/locomotion_primitives/P33/session_084/motions/smplx.npz index 33a33165c252115c800b26725c68572a435acd10..967ffff5cbeb18ba40177e02392eab80431d415c 100644 --- a/actions/locomotion_primitives/P33/session_084/motions/smplx.npz +++ b/actions/locomotion_primitives/P33/session_084/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid 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+version https://git-lfs.github.com/spec/v1 +oid sha256:47a1438a8de35ac8f04b1b6493a6608b7b055fde48cac497bd37f857b23b7b3e +size 743984 diff --git a/actions/locomotion_primitives/P33/session_087/meta.json b/actions/locomotion_primitives/P33/session_087/meta.json index 6646a81017c7130df602a940ba06f6a735ca036e..0e7aa27017d8ca2e1f289ca0ed39061fe3186772 100644 --- a/actions/locomotion_primitives/P33/session_087/meta.json +++ b/actions/locomotion_primitives/P33/session_087/meta.json @@ -363,8 +363,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -504,10 +504,124 @@ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 24.76, + "offset_rotvec": [ + -0.0396, + -0.3293, + 0.2771 + ], + "dev_deg": { + "median": 8.81, + "p90": 19.11 + }, + "samples": 3254, + "accepted": 3195, + "wrist_pos_err_mm_median": 42.8, + "per_camera": { + "head": { + "samples": 3254, + "accepted": 3195, + "gate_deg": 30.0, + "offset_deg": 24.76, + "tier": "primary", + "dev_deg_median": 8.81, + "wrist_pos_err_mm_median": 42.8 + } + }, + "frames_by_state": { + "ace_sample": 12992, + "interpolated": 2480, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9992, + "observed_fraction_of_valid": 0.9992, + "palm_axis_vs_markers_deg": { + "gsi": 20.94, + "smplx": 0.43 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.4, + "p90": 12.0 + 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gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 26.45, + "offset_rotvec": [ + 0.0323, + -0.4482, + 0.1061 + ], + "dev_deg": { + "median": 15.66, + "p90": 38.16 + }, + "samples": 3174, + "accepted": 2662, + "wrist_pos_err_mm_median": 39.1, + "per_camera": { + "head": { + "samples": 3174, + "accepted": 2662, + "gate_deg": 30.0, + "offset_deg": 26.45, + "tier": "primary", + "dev_deg_median": 15.66, + "wrist_pos_err_mm_median": 39.1 + } + }, + "frames_by_state": { + "ace_sample": 10856, + "interpolated": 3324, + "mean_hand": 584, + "no_body_fit": 0 + }, + "observed_fraction": 0.9604, + "observed_fraction_of_valid": 0.9604, + "palm_axis_vs_markers_deg": { + "gsi": 24.78, + "smplx": 0.79 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.0, + "p90": 5.7 + }, + "registered": { + "median": 4.2, + "p90": 5.2 + } + } + }, + "right": { + "offset_deg": 7.3, + "offset_rotvec": [ + 0.1072, + 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Do not run." } } diff --git a/actions/locomotion_primitives/P34/session_001/motions/hands_mano.npz b/actions/locomotion_primitives/P34/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..7136e24fc2044d8da2e5d23f780c071fb437a093 --- /dev/null +++ b/actions/locomotion_primitives/P34/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:adf553d4032b6cc928bcf998aa448897cf82e36fe9ab0cb7f03c9764d22d5d49 +size 2276785 diff --git a/actions/locomotion_primitives/P34/session_001/motions/smplx.npz b/actions/locomotion_primitives/P34/session_001/motions/smplx.npz index 0178291a9f111eda01b8b48d26b389fd734abf5b..2c003ee4e05308e01d3d1a7c300504cbb2e96e74 100644 --- a/actions/locomotion_primitives/P34/session_001/motions/smplx.npz +++ b/actions/locomotion_primitives/P34/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:415b9be543f2bd45e68a9c839bdc176cf90847d9848ddc545b8790030da70a55 -size 3873568 +oid sha256:177ecd31ee71e9c165a3663b21f1caebddcd05c3ac46fe003eb6233bca364bf3 +size 6766220 diff --git a/actions/locomotion_primitives/P34/session_002/annotations.json b/actions/locomotion_primitives/P34/session_002/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..05d4087abfde4eb40e882ee739e906b4add79658 --- /dev/null +++ b/actions/locomotion_primitives/P34/session_002/annotations.json @@ -0,0 +1,94 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "P34", + "instruction": "Start still; accelerate to fast walking; hold the fast speed for several steps; decelerate and stop. 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Do not run." + } + ] +} diff --git a/actions/locomotion_primitives/P34/session_003/cameras/slam.npz b/actions/locomotion_primitives/P34/session_003/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..e01464d08fb61832cae27d3ed65cc5d85743c523 --- /dev/null +++ b/actions/locomotion_primitives/P34/session_003/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d561fceab09686c15e4d5f0b4e89cf2b8cf18f0a85ef523934a75251cd30f77 +size 284733 diff --git a/actions/locomotion_primitives/P34/session_003/meta.json b/actions/locomotion_primitives/P34/session_003/meta.json index 8e1d7b7070e3582e52cf6d87f160745b5fea8771..e8fc662a8401bb5cbea1c2c9d01feb5d74d02cd5 100644 --- a/actions/locomotion_primitives/P34/session_003/meta.json +++ b/actions/locomotion_primitives/P34/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": { @@ -510,10 +510,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.4395929950837248 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 21.84, + "offset_rotvec": [ + 0.2675, + -0.218, + -0.162 + ], + "dev_deg": { + "median": 16.69, + "p90": 28.85 + }, + "samples": 851, + "accepted": 783, + "wrist_pos_err_mm_median": 157.9, + "per_camera": { + "head": { + "samples": 851, + "accepted": 783, + "gate_deg": 30.0, + "offset_deg": 21.84, + "tier": "primary", + "dev_deg_median": 16.69, + "wrist_pos_err_mm_median": 157.9 + } + }, + "frames_by_state": { + "ace_sample": 3283, + "interpolated": 2588, + "mean_hand": 5, + "no_body_fit": 8 + }, + "observed_fraction": 0.9978, + "observed_fraction_of_valid": 0.9991, + "palm_axis_vs_markers_deg": { + "gsi": 17.33, + "smplx": 0.92 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.3, + "p90": 6.4 + }, + "registered": { + "median": 5.1, + "p90": 6.6 + } + } + }, + "right": { + "offset_deg": 19.9, + "offset_rotvec": [ + 0.0442, + 0.3308, + 0.0961 + ], + "dev_deg": { + "median": 16.18, + "p90": 32.94 + }, + "samples": 903, + "accepted": 790, + "wrist_pos_err_mm_median": 122.6, + "per_camera": { + "head": { + "samples": 903, + "accepted": 790, + "gate_deg": 30.0, + "offset_deg": 19.9, + "tier": "primary", + "dev_deg_median": 16.18, + "wrist_pos_err_mm_median": 122.6 + } + }, + "frames_by_state": { + "ace_sample": 3267, + "interpolated": 2260, + "mean_hand": 349, + "no_body_fit": 8 + }, + "observed_fraction": 0.9393, + "observed_fraction_of_valid": 0.9406, + "palm_axis_vs_markers_deg": { + "gsi": 14.79, + "smplx": 0.68 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.1, + "p90": 7.3 + }, + "registered": { + "median": 6.2, + "p90": 7.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T15:56:09.434504+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P34/session_003", "family": "locomotion_primitives", "primitive": "P34", "source_session": "20260909/P34/20260909_043249_session73" + }, + "task": { + "primitive": "P34", + "instruction": "Start still; accelerate to fast walking; hold the fast speed for several steps; decelerate and stop. Do not run." } } diff --git a/actions/locomotion_primitives/P34/session_003/motions/hands_mano.npz b/actions/locomotion_primitives/P34/session_003/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..1f8befab94b940ad1ab5d383156487ddce3eb918 --- /dev/null +++ b/actions/locomotion_primitives/P34/session_003/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ead027399ed40e48a4e3090a8690a80b8f7ed3e568a2da6e4bd88d6cf24abd8 +size 1219993 diff --git a/actions/locomotion_primitives/P34/session_003/motions/smplx.npz b/actions/locomotion_primitives/P34/session_003/motions/smplx.npz index fe89a83e33edc902a22aad58ed98ee2e1ede2e5c..0009646cee9ff4d14df2da81be79afe64525504f 100644 --- a/actions/locomotion_primitives/P34/session_003/motions/smplx.npz +++ b/actions/locomotion_primitives/P34/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:aaf8acbb4d9c38814d4a5a9ee6ef0507e4238ff970918004c4bb827d49842c4f -size 2266038 +oid sha256:443c51e3d3febe645ee92dbe90351663e378b0322f0b44ae41d3da432dfbf8da +size 4200313 diff --git a/actions/locomotion_primitives/P34/session_004/annotations.json b/actions/locomotion_primitives/P34/session_004/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..b4bbb2f581af30f9608b1bc0f75528063c3964c0 --- /dev/null +++ b/actions/locomotion_primitives/P34/session_004/annotations.json @@ -0,0 +1,127 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "P34", + "instruction": "Start still; accelerate to fast walking; hold the fast speed for several steps; decelerate and stop. 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sha256:31fa80810e95888b870848ca0f9b25d0bbacaeca35da321d024aade27971d25d +size 284450 diff --git a/actions/locomotion_primitives/P34/session_006/meta.json b/actions/locomotion_primitives/P34/session_006/meta.json index a0173b511b5004eaf11ab3edcf5e6b8db90b9e0f..f2dbd3f69367d56e9f295a4a8bfe6d395a756a8e 100644 --- a/actions/locomotion_primitives/P34/session_006/meta.json +++ b/actions/locomotion_primitives/P34/session_006/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", 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Do not run." } } diff --git a/actions/locomotion_primitives/P34/session_006/motions/hands_mano.npz b/actions/locomotion_primitives/P34/session_006/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..f9c1468e759546d3caa3b00da373693c5d1dd9cc --- /dev/null +++ b/actions/locomotion_primitives/P34/session_006/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1c4afcb109c3de31fac586dff8b160cd2386f02db74dc4bdb8d906d69609c56 +size 822845 diff --git a/actions/locomotion_primitives/P34/session_006/motions/smplx.npz b/actions/locomotion_primitives/P34/session_006/motions/smplx.npz index 9d4823a1614a96c38621714d9381bf7f2cbb35df..b6e5b5923bc29a1973b19ae1321e505e4516f9f6 100644 --- a/actions/locomotion_primitives/P34/session_006/motions/smplx.npz +++ b/actions/locomotion_primitives/P34/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5527e02772f09fa78306382d08c1b65ccd8a03c08c1e1bfd5dd221989dd172ac -size 2265855 +oid sha256:8bc79885d220fdcac7c2bae6bddd9f7fe498b1aa3fa148b7f0e0370f0beea0b7 +size 3871201 diff --git a/actions/locomotion_primitives/P34/session_007/annotations.json b/actions/locomotion_primitives/P34/session_007/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..adfb9bc4a6d4af220f1abecd5db5e00287c05201 --- /dev/null +++ b/actions/locomotion_primitives/P34/session_007/annotations.json @@ -0,0 +1,127 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "P34", + "instruction": "Start still; accelerate to fast walking; hold the fast speed for several steps; decelerate and stop. 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Do not run." } } diff --git a/actions/locomotion_primitives/P34/session_009/motions/hands_mano.npz b/actions/locomotion_primitives/P34/session_009/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..343c41b496ffa4ce9ad44420b1564959e93a9ede --- /dev/null +++ b/actions/locomotion_primitives/P34/session_009/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11fe929349a86dc38d1021fed0bdca985b1604373182f4439f76a18fc28be0e7 +size 3578966 diff --git a/actions/locomotion_primitives/P34/session_009/motions/smplx.npz b/actions/locomotion_primitives/P34/session_009/motions/smplx.npz index 634137dbc4105fe890292c8de039b2824d4b9e8b..5c18a32198026423f2057e7aa1d71cccebfdad19 100644 --- a/actions/locomotion_primitives/P34/session_009/motions/smplx.npz +++ b/actions/locomotion_primitives/P34/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1987a961552b60bf7e273b93a2a86ef18043dfd593f96b1e95c0b7dbfa330c6b -size 5236869 +oid sha256:6486d31bfb2fb82dc0b5c4eaeaa83e680d2c0190ef92c742066b3d6006c4a0e8 +size 9766243 diff --git a/actions/locomotion_primitives/P34/session_010/annotations.json b/actions/locomotion_primitives/P34/session_010/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..0479c6a0db91ccff1d092dbd72f61e294241e2b2 --- /dev/null +++ b/actions/locomotion_primitives/P34/session_010/annotations.json @@ -0,0 +1,127 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "P34", + "instruction": "Start still; accelerate to fast walking; hold the fast speed for several steps; decelerate and stop. 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0000000000000000000000000000000000000000..2e47138d9dc4ff77960e2be3ca92db63b869cd17 --- /dev/null +++ b/actions/locomotion_primitives/P35/session_023/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a67ded8905f37d8fd46cb81c8f985c8606d4d2ce0d85910971e969b9758b77d +size 491761 diff --git a/actions/locomotion_primitives/P35/session_023/meta.json b/actions/locomotion_primitives/P35/session_023/meta.json index 2b5e76e6bacfa47ac0c4b2a5e05e6676f6d6bb64..c7b7b1a7354f0d08fc56e4fdc1dd5ed1c3c2acdd 100644 --- a/actions/locomotion_primitives/P35/session_023/meta.json +++ b/actions/locomotion_primitives/P35/session_023/meta.json @@ -381,8 +381,8 @@ "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 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*_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -528,10 +528,124 @@ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 14.78, + "offset_rotvec": [ + -0.1174, + -0.2249, + -0.0469 + ], + "dev_deg": { + "median": 10.53, + "p90": 29.13 + }, + "samples": 2847, + "accepted": 2579, + "wrist_pos_err_mm_median": 45.0, + "per_camera": { + "head": { + "samples": 2847, + "accepted": 2579, + "gate_deg": 30.0, + "offset_deg": 14.78, + "tier": "primary", + 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a/actions/locomotion_primitives/P36/session_014/cameras/slam.npz b/actions/locomotion_primitives/P36/session_014/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..5d927852da79340487e1d5c980bbd9c07515e317 --- /dev/null +++ b/actions/locomotion_primitives/P36/session_014/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e680f20cd0c8945e770774eb66ad4755af72731a3292849c814dc2e1b6c6c0b +size 744228 diff --git a/actions/locomotion_primitives/P36/session_014/meta.json b/actions/locomotion_primitives/P36/session_014/meta.json index 45e4569719abaa5b5f50b490ebbb61b639498280..f351c3bddf8314cf40e60060bda721c1153eb643 100644 --- a/actions/locomotion_primitives/P36/session_014/meta.json +++ b/actions/locomotion_primitives/P36/session_014/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": { @@ -498,10 +498,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.5690358622124488 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 13.62, + "offset_rotvec": [ + -0.1378, + -0.1764, + 0.0802 + ], + "dev_deg": { + "median": 18.2, + "p90": 53.83 + }, + "samples": 1990, + "accepted": 1397, + "wrist_pos_err_mm_median": 79.8, + "per_camera": { + "head": { + "samples": 1990, + "accepted": 1397, + "gate_deg": 30.0, + "offset_deg": 13.62, + "tier": "primary", + "dev_deg_median": 18.2, + "wrist_pos_err_mm_median": 79.8 + 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