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"id": "site_01", + "assignment_method": "env", + "catalog": "collection_sites.json" + } +} diff --git a/actions/static_manipulation/SM20/session_006/raw/mocap/Body0.bvh b/actions/static_manipulation/SM20/session_006/raw/mocap/Body0.bvh new file mode 100644 index 0000000000000000000000000000000000000000..371ac5ee2707604c1596d1fb487659bc9407e23d --- /dev/null +++ b/actions/static_manipulation/SM20/session_006/raw/mocap/Body0.bvh @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac3a68428389cf246d50a2d38f16f4c75f929d29951e9f2e254c810722366827 +size 10692585 diff --git a/actions/static_manipulation/SM20/session_006/raw/mocap/Body0.csv b/actions/static_manipulation/SM20/session_006/raw/mocap/Body0.csv new file mode 100644 index 0000000000000000000000000000000000000000..e50ea3cfa0477e66e579a234ba3ca563cb40f740 --- /dev/null +++ b/actions/static_manipulation/SM20/session_006/raw/mocap/Body0.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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-0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:137e42107e14ffb8a63ab26638ac8bf75efb1cb11c487b45ba4898db2f0dfc1c +size 52009252 diff --git a/actions/static_manipulation/SM20/session_006/videos/wrist_left.mp4 b/actions/static_manipulation/SM20/session_006/videos/wrist_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..63721132cc5296e7411b5ce53327aee5d081082e --- /dev/null +++ b/actions/static_manipulation/SM20/session_006/videos/wrist_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7074c9814ac57225a9040262360ecf874649e9edbb35ff0201ae496a695ee435 +size 47495055 diff --git a/actions/static_manipulation/SM20/session_006/videos/wrist_right.mp4 b/actions/static_manipulation/SM20/session_006/videos/wrist_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d00d673d09fb3bc8eaea1d91c8d82083eec8360b --- /dev/null +++ b/actions/static_manipulation/SM20/session_006/videos/wrist_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0bada0c4302333d95561a2f01c41404dfbeed8d1fb634056cb7a768bd9c1c38f +size 39389686 diff --git a/actions/static_manipulation/SM21/session_001/meta.json b/actions/static_manipulation/SM21/session_001/meta.json index ecbbff028e9aa0d07c095e979be93cbb53c64409..137fb174c3a7d4774cc6e1159f3372ff649c59e7 100644 --- a/actions/static_manipulation/SM21/session_001/meta.json +++ b/actions/static_manipulation/SM21/session_001/meta.json @@ -388,19 +388,19 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 157.96, + "Q_deg": 180.0, "Q_rotvec": [ - 2.75358, - 0.07156, - 0.11447 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": -1, - "wrist_bend_deg_median": 129.7, - "opposite_sign_bend_deg": 59.1, - "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": 1, + "wrist_bend_deg_median": 176.3, + "opposite_sign_bend_deg": 13.0, + "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.56, "hand_vs_marker_frame_deg": { - "before": 157.73, + "before": 179.39, "after": 1.56 }, "markers_on_wrist": [ @@ -408,15 +408,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 129.44, + "twist_moved_deg": 176.49, "wrist_twist_deg_after": { - "median": 0.0, + "median": 0.88, "iqr": [ - -1.6, - 0.8 + -0.6, + 1.8 ] }, - "wrist_total_deg_median_after": 12.8, + "wrist_total_deg_median_after": 26.9, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -427,19 +427,19 @@ }, "right": { "status": "corrected", - "Q_deg": 17.62, + "Q_deg": 0.0, "Q_rotvec": [ - 0.13255, - 0.22484, - -0.16279 + 0.0, + 0.0, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 24.1, - "opposite_sign_bend_deg": 171.7, + "wrist_bend_deg_median": 23.4, + "opposite_sign_bend_deg": 173.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.29, "hand_vs_marker_frame_deg": { - "before": 17.68, + "before": 2.29, "after": 2.29 }, "markers_on_wrist": [ @@ -447,9 +447,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 2.9, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -7.2, 5.9 @@ -464,7 +464,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-14T23:47:22.227631+00:00", + "generated_at_utc": "2026-10-28T06:16:21.072622+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/static_manipulation/SM21/session_001/motions/smplx.npz b/actions/static_manipulation/SM21/session_001/motions/smplx.npz index 09fa7dde07b91a0134063258729d186562994db5..6f728d4fc48707a655ce04665700d939dbffe890 100644 --- a/actions/static_manipulation/SM21/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM21/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:db5642b735910a1411d711486bc0dffb8cddaf49ac8cdc3107d6db1a543e013f -size 6878750 +oid sha256:3aded44f6cfa798782e422fc3c393f01c4990486cc5eb5760776fb43e903b39b +size 6889026 diff --git a/actions/static_manipulation/SM21/session_002/meta.json b/actions/static_manipulation/SM21/session_002/meta.json index 4c878720957758d02ab130757cd13e0af94dff01..d17909aa5de36336ff9dba56a11df81eb2ddfcba 100644 --- a/actions/static_manipulation/SM21/session_002/meta.json +++ b/actions/static_manipulation/SM21/session_002/meta.json @@ -388,19 +388,19 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 132.48, + "Q_deg": 180.0, "Q_rotvec": [ - -2.25994, - -0.21681, - 0.43817 + -2.98662, + 0.4392, + 0.86995 ], - "in_out_sign": -1, - "wrist_bend_deg_median": 114.4, - "opposite_sign_bend_deg": 69.7, - "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": 1, + "wrist_bend_deg_median": 179.3, + "opposite_sign_bend_deg": 32.6, + "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.26, "hand_vs_marker_frame_deg": { - "before": 132.5, + "before": 179.87, "after": 0.26 }, "markers_on_wrist": [ @@ -408,15 +408,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -111.28, + "twist_moved_deg": -178.28, "wrist_twist_deg_after": { - "median": -0.0, + "median": -1.08, "iqr": [ - -0.6, - 0.7 + -1.9, + -0.3 ] }, - "wrist_total_deg_median_after": 32.5, + "wrist_total_deg_median_after": 6.7, "markers_on_forearm": [ "LElbowIn", "LForearm", @@ -428,19 +428,19 @@ }, "right": { "status": "corrected", - "Q_deg": 36.79, + "Q_deg": 0.0, "Q_rotvec": [ - 0.24359, - 0.54217, - -0.24311 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 38.7, - "opposite_sign_bend_deg": 150.2, + "wrist_bend_deg_median": 23.1, + "opposite_sign_bend_deg": 174.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.43, "hand_vs_marker_frame_deg": { - "before": 36.68, + "before": 1.43, "after": 1.43 }, "markers_on_wrist": [ @@ -449,9 +449,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -31.79, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -5.9, 5.4 @@ -466,7 +466,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-15T04:04:03.674914+00:00", + "generated_at_utc": "2026-10-28T06:30:21.883656+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/static_manipulation/SM21/session_002/motions/smplx.npz b/actions/static_manipulation/SM21/session_002/motions/smplx.npz index 17649992cf8db847e0b69d5b003c63f2053f126c..ec91f5297e8441d852902eac055d8748c7715c64 100644 --- a/actions/static_manipulation/SM21/session_002/motions/smplx.npz +++ b/actions/static_manipulation/SM21/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5a74697006bd24ecbc1db3a9bd36e07bbe6024f26135019235175b50618627a8 -size 7008057 +oid sha256:3c5749534a0bcdfffe871f713b2c2d11ebe396d8d437c050c579dbb73da204fc +size 7000359 diff --git a/actions/static_manipulation/SM21/session_003/meta.json b/actions/static_manipulation/SM21/session_003/meta.json index e934d4c8c762595aedbf8b98bd8f1eef89217966..df44c1733a17fdbf229300ff95f94e4a846ec03f 100644 --- a/actions/static_manipulation/SM21/session_003/meta.json +++ b/actions/static_manipulation/SM21/session_003/meta.json @@ -384,19 +384,19 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 179.05, + "Q_deg": 180.0, "Q_rotvec": [ - -3.02292, - 0.21297, - 0.76308 + -2.98794, + 0.42773, + 0.87113 ], - "in_out_sign": -1, - "wrist_bend_deg_median": 164.8, - "opposite_sign_bend_deg": 21.8, - "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": 1, + "wrist_bend_deg_median": 171.6, + "opposite_sign_bend_deg": 29.1, + "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.76, "hand_vs_marker_frame_deg": { - "before": 179.07, + "before": 179.7, "after": 2.76 }, "markers_on_wrist": [ @@ -404,15 +404,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 157.86, + "twist_moved_deg": -165.09, "wrist_twist_deg_after": { - "median": 7.52, + "median": -5.62, "iqr": [ - -2.1, - 19.7 + -12.4, + 2.0 ] }, - "wrist_total_deg_median_after": 29.9, + "wrist_total_deg_median_after": 20.2, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -423,19 +423,19 @@ }, "right": { "status": "corrected", - "Q_deg": 25.63, + "Q_deg": 0.0, "Q_rotvec": [ - 0.32064, - 0.29779, - -0.09276 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 26.7, - "opposite_sign_bend_deg": 169.1, + "wrist_bend_deg_median": 19.3, + "opposite_sign_bend_deg": 168.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.54, "hand_vs_marker_frame_deg": { - "before": 25.74, + "before": 2.54, "after": 2.54 }, "markers_on_wrist": [ @@ -443,9 +443,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -15.89, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -10.4, 8.4 @@ -460,7 +460,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-15T08:16:53.823392+00:00", + "generated_at_utc": "2026-10-28T06:33:22.883432+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/static_manipulation/SM21/session_003/motions/smplx.npz b/actions/static_manipulation/SM21/session_003/motions/smplx.npz index f6f3ce0cfcd812a242ae069fe363b07654b1c94b..30fbbdf0c010a8dda85f7da5b03ca6997ba43963 100644 --- a/actions/static_manipulation/SM21/session_003/motions/smplx.npz +++ b/actions/static_manipulation/SM21/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5b513d5b6a47744faf3f080dc682a825749b466818d867058c28971e6f677f19 -size 6496518 +oid sha256:8e1ceabcbf85cd83f451def7ea169afa21820bbe106d9d20782c358c98732762 +size 6490312 diff --git a/actions/static_manipulation/SM21/session_004/meta.json b/actions/static_manipulation/SM21/session_004/meta.json index 2594a4285dfe9b8abd4f985f39a0860e0fbcd920..f6f9b9007127ed9247f392993db108002eedeaea 100644 --- a/actions/static_manipulation/SM21/session_004/meta.json +++ b/actions/static_manipulation/SM21/session_004/meta.json @@ -450,19 +450,19 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 124.1, + "Q_deg": 180.0, "Q_rotvec": [ - -2.10538, - -0.33734, - 0.38106 + -2.98442, + 0.43848, + 0.87784 ], - "in_out_sign": -1, - "wrist_bend_deg_median": 101.7, - "opposite_sign_bend_deg": 85.1, - "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": 1, + "wrist_bend_deg_median": 177.2, + "opposite_sign_bend_deg": 25.7, + "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.31, "hand_vs_marker_frame_deg": { - "before": 124.2, + "before": 179.76, "after": 0.31 }, "markers_on_wrist": [ @@ -471,15 +471,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -99.24, + "twist_moved_deg": -177.06, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.02, "iqr": [ -0.3, 0.3 ] }, - "wrist_total_deg_median_after": 25.7, + "wrist_total_deg_median_after": 17.3, "markers_on_forearm": [ "LElbow", "LElbowIn", @@ -491,19 +491,19 @@ }, "right": { "status": "corrected", - "Q_deg": 29.61, + "Q_deg": 0.0, "Q_rotvec": [ - 0.38834, - 0.24648, - -0.23562 + 0.0, + -0.0, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 35.4, - "opposite_sign_bend_deg": 150.3, + "wrist_bend_deg_median": 11.3, + "opposite_sign_bend_deg": 176.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.52, "hand_vs_marker_frame_deg": { - "before": 29.43, + "before": 1.52, "after": 1.52 }, "markers_on_wrist": [ @@ -512,9 +512,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -33.76, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -2.8, 2.3 @@ -528,7 +528,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-23T04:53:34.903833+00:00", + "generated_at_utc": "2026-10-28T06:41:59.425030+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -537,5 +537,13 @@ "family": "static_manipulation", "primitive": "SM21", "source_session": "20261017/SM21/20261017_053230_session66" - } + }, + "objects": [ + { + "name": "Table", + "object_type": "Table", + "source": "mocap", + "pose_frame": "rigid_body" + } + ] } diff --git a/actions/static_manipulation/SM21/session_004/motions/object_markers.npz b/actions/static_manipulation/SM21/session_004/motions/object_markers.npz new file mode 100644 index 0000000000000000000000000000000000000000..64d9309aff8d1531e6dd7b930f0bcc52e067ae0e --- /dev/null +++ b/actions/static_manipulation/SM21/session_004/motions/object_markers.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d021ff49e4f089e29be9250734698558768a7454ee7af3a0ed9cdf8a5c21b9e1 +size 595584 diff --git a/actions/static_manipulation/SM21/session_004/motions/objects.json b/actions/static_manipulation/SM21/session_004/motions/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..1bc15b143c35f92b7b3d46d1a37783ee6d849bf2 --- /dev/null +++ b/actions/static_manipulation/SM21/session_004/motions/objects.json @@ -0,0 +1,39 @@ +{ + "session": "20261017/SM21/20261017_053230_session66", + "generated_at_utc": "2026-10-29T12:51:11.136637+00:00", + "generated_by": "scripts/export_objects.py", + "frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)", + "grid": "body grid (smplx.npz t / frame_index)", + "held_by": "from mocap hands", + "instances": [ + { + "name": "Table", + "object_type": "Table", + "source": "mocap", + "pose_frame": "rigid_body", + "mesh": null, + "calibration": null, + "valid_pct": 99.99, + "verified_pct": 99.99, + "moving_pct": 0.0, + "vision_source": null + } + ], + "absent": [], + "object_list": { + "status": "match", + "notes": [], + "declared": [ + "Table" + ], + "listed": [ + { + "name": "Table", + "object": null, + "source": "mocap", + "needs_video_check": false + } + ] + }, + "notes": [] +} diff --git a/actions/static_manipulation/SM21/session_004/motions/objects.npz b/actions/static_manipulation/SM21/session_004/motions/objects.npz new file mode 100644 index 0000000000000000000000000000000000000000..e4231c0b727593d4c3f942eea85478daee541035 --- /dev/null +++ b/actions/static_manipulation/SM21/session_004/motions/objects.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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