diff --git a/actions/locomotion_primitives/P30/session_056/motions/smplx.npz b/actions/locomotion_primitives/P30/session_056/motions/smplx.npz index 26b4ba924778f1a6dba1f255ee83fa42a25c6d3f..702242bae2eec63b262432d05084a56b12a35884 100644 --- a/actions/locomotion_primitives/P30/session_056/motions/smplx.npz +++ b/actions/locomotion_primitives/P30/session_056/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:db50ceffc38c62aa5efbc7c26e77762c194404baf1e9b53bf664684a3bb08fd1 -size 5901009 +oid sha256:694403a61ff57a3d229a55fbfba197bb3b89b439a90d8cfb5e3d17e7ad0f979f +size 10757587 diff --git a/actions/locomotion_primitives/P30/session_057/annotations.json b/actions/locomotion_primitives/P30/session_057/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..25741a6cfd2f86428edf327b7e5d63a1a0f6b5a1 --- /dev/null +++ b/actions/locomotion_primitives/P30/session_057/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + 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a/actions/locomotion_primitives/P30/session_057/cameras/slam.npz b/actions/locomotion_primitives/P30/session_057/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..743f0391c7e58c71ae9fc0536f10bbd8dbdd213e --- /dev/null +++ b/actions/locomotion_primitives/P30/session_057/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:056f52d86cda583ff221c6c7617ea6125ec1249c84fec61a5e53cee5823099e4 +size 744544 diff --git a/actions/locomotion_primitives/P30/session_057/meta.json b/actions/locomotion_primitives/P30/session_057/meta.json index fc81548689b782414c77a8c78112bffca22c4176..8600045a422dccae656d58a95cea34934d94ce70 100644 --- a/actions/locomotion_primitives/P30/session_057/meta.json +++ b/actions/locomotion_primitives/P30/session_057/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": { @@ -521,10 +521,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.2303055524688964 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 19.24, + "offset_rotvec": [ + 0.1992, + 0.0278, + -0.2689 + ], + "dev_deg": { + "median": 9.08, + "p90": 28.92 + }, + "samples": 1495, + "accepted": 1357, + "wrist_pos_err_mm_median": 173.5, + "per_camera": { + "head": { + "samples": 1495, + "accepted": 1357, + "gate_deg": 30.0, + "offset_deg": 19.24, + "tier": "primary", + "dev_deg_median": 9.08, + "wrist_pos_err_mm_median": 173.5 + 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says stop." } } diff --git a/actions/locomotion_primitives/P30/session_057/motions/hands_mano.npz b/actions/locomotion_primitives/P30/session_057/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..d053ebc53ea2ab85496768e860a9aa2b1b8fa8ec --- /dev/null +++ b/actions/locomotion_primitives/P30/session_057/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8c9ceaf583b68435ab3e167877f2fbdffb16787f0be783814cd533078bdb6af +size 2432635 diff --git a/actions/locomotion_primitives/P30/session_057/motions/smplx.npz b/actions/locomotion_primitives/P30/session_057/motions/smplx.npz index a66baecd1d0041d181c08c66679519a693c7a0f3..080f431154ac9995b22d459c09ca4c7782d22aef 100644 --- a/actions/locomotion_primitives/P30/session_057/motions/smplx.npz +++ b/actions/locomotion_primitives/P30/session_057/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid 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until the operator says stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 133.966644, + "video": "left_eye", + "video_t_start": 0.03895385123838624 + } + ], + "episodes": [ + { + "id": "e255db92-32b6-478a-b744-7b9059515561", + "segment": "segment1", + "action": "P30", + "quality": "valid", + "start_s": 0, + "end_s": 126.781, + "t_start": 0.039, + "t_end": 126.82, + "instruction": "Walk a smooth continuous circle clockwise at normal speed; do not stop between laps; keep walking until the operator says stop." + } + ] +} diff --git a/actions/locomotion_primitives/P30/session_058/cameras/slam.npz b/actions/locomotion_primitives/P30/session_058/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..a472dfb1b102b0c7698674c1fb9438854832a5e5 --- /dev/null +++ b/actions/locomotion_primitives/P30/session_058/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "P30", + "instruction": "Walk a smooth continuous circle clockwise at normal speed; do not stop between laps; keep walking until the operator says stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 128.966767, + "video": "left_eye", + "video_t_start": 0.030388524860688965 + } + ], + "episodes": [ + { + "id": "4b1217fb-c8bf-402c-b2fa-1cdc2e669f31", + "segment": "segment1", + "action": "P30", + "quality": "valid", + "start_s": 0, + "end_s": 124.963, + "t_start": 0.0304, + "t_end": 124.9934, + "instruction": "Walk a smooth continuous circle clockwise at normal speed; do not stop between laps; keep walking until the operator says stop." + } + ] +} diff --git a/actions/locomotion_primitives/P30/session_060/cameras/slam.npz b/actions/locomotion_primitives/P30/session_060/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..f8fafc4914ec1742c46de6cbc2721803e577c55b --- 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where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -520,10 +520,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.3183718840294092 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 22.69, + "offset_rotvec": [ + 0.1777, + 0.1409, + -0.3246 + ], + "dev_deg": { + "median": 12.08, + "p90": 31.22 + }, + "samples": 2059, + "accepted": 1836, + "wrist_pos_err_mm_median": 180.5, + "per_camera": { + "head": { + "samples": 2059, + "accepted": 1836, + "gate_deg": 30.0, + "offset_deg": 22.69, + "tier": "primary", + "dev_deg_median": 12.08, + "wrist_pos_err_mm_median": 180.5 + } + }, + "frames_by_state": { + "ace_sample": 7814, + "interpolated": 7430, + "mean_hand": 239, + "no_body_fit": 0 + }, + "observed_fraction": 0.9846, + "observed_fraction_of_valid": 0.9846, + "palm_axis_vs_markers_deg": { + "gsi": 19.96, 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547dd008082ba77caf468097d20ee20b07fed135..6fa8223b0b808bd48a4b3eef90d67721378b2e25 100644 --- a/actions/locomotion_primitives/P30/session_061/meta.json +++ b/actions/locomotion_primitives/P30/session_061/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": { @@ -521,10 +521,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.2065255378709125 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + 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for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P30/session_061", "family": "locomotion_primitives", "primitive": "P30", "source_session": "20260918/P30/20260918_041735_session65" + }, + "task": { + "primitive": "P30", + "instruction": "Walk a smooth continuous circle clockwise at normal speed; do not stop between laps; keep walking until the operator says stop." } } diff --git a/actions/locomotion_primitives/P30/session_061/motions/hands_mano.npz b/actions/locomotion_primitives/P30/session_061/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..c3ec2d9b9f24f97fa0f84d763918016d870246a2 --- /dev/null +++ b/actions/locomotion_primitives/P30/session_061/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:20821acfe1765afa1af2fe38f8dee953e2e8922cdf7db38098dfc45bc541aef5 +size 2752484 diff --git 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a/actions/locomotion_primitives/P30/session_062/cameras/slam.npz b/actions/locomotion_primitives/P30/session_062/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..966b6ceb3f20e4097c1305c43a4996cf2ee847d0 --- /dev/null +++ b/actions/locomotion_primitives/P30/session_062/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d32d7782466df947b5f7d85d0dce97869eb1cd2666d03daa236ede79029e3547 +size 745157 diff --git a/actions/locomotion_primitives/P30/session_062/meta.json b/actions/locomotion_primitives/P30/session_062/meta.json index e6a81bb3724ff12dc4ceb3865e4f067d5526bf0f..baef7b9f98c19abcb245ddb3b9b827884906f554 100644 --- a/actions/locomotion_primitives/P30/session_062/meta.json +++ b/actions/locomotion_primitives/P30/session_062/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] 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stop." } } diff --git a/actions/locomotion_primitives/P30/session_062/motions/hands_mano.npz b/actions/locomotion_primitives/P30/session_062/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..d529d6583952e5eea837fa6ed7ac8636c9974ee4 --- /dev/null +++ b/actions/locomotion_primitives/P30/session_062/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e2fade84e95e04319a1274fff9e1452a39304a5fe78fcae8ae36ac82b0a873b +size 2780373 diff --git a/actions/locomotion_primitives/P30/session_062/motions/smplx.npz b/actions/locomotion_primitives/P30/session_062/motions/smplx.npz index 787dba3cf7fdda418458078ec500673fc2b11c5e..afa8042c61f59311fb8aff9401c3f7d73c94fc9d 100644 --- a/actions/locomotion_primitives/P30/session_062/motions/smplx.npz +++ b/actions/locomotion_primitives/P30/session_062/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid 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until the operator says stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 128.966544, + "video": "left_eye", + "video_t_start": 0.038782537606866674 + } + ], + "episodes": [ + { + "id": "e1f14891-abdf-4970-b3e9-a77231a0d8d1", + "segment": "segment1", + "action": "P30", + "quality": "valid", + "start_s": 0.376, + "end_s": 125.621, + "t_start": 0.4148, + "t_end": 125.6598, + "instruction": "Walk a smooth continuous circle clockwise at normal speed; do not stop between laps; keep walking until the operator says stop." + } + ] +} diff --git a/actions/locomotion_primitives/P30/session_063/cameras/slam.npz b/actions/locomotion_primitives/P30/session_063/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..f419c80cadff1dedd1ccad819fabb7c7e595883f --- /dev/null +++ b/actions/locomotion_primitives/P30/session_063/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:653f4e9c7edd65ed306c14b3ccc1bd3da8d1c17b2fd4a183574ba632a1612ffd +size 743244 diff --git a/actions/locomotion_primitives/P30/session_063/meta.json b/actions/locomotion_primitives/P30/session_063/meta.json index c1e06effb89f7955848c3512d2a0a5b6f089d7c4..6fb6525e3e46bf1b8a2eb128a59362f7614eda60 100644 --- a/actions/locomotion_primitives/P30/session_063/meta.json +++ b/actions/locomotion_primitives/P30/session_063/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", 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"primitive": "P30", "source_session": "20260921/P30/20260921_014239_session20" + }, + "task": { + "primitive": "P30", + "instruction": "Walk a smooth continuous circle clockwise at normal speed; do not stop between laps; keep walking until the operator says stop." } } diff --git a/actions/locomotion_primitives/P30/session_064/motions/hands_mano.npz b/actions/locomotion_primitives/P30/session_064/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..26c4714c2bad8e5474fcf38615aebb012f7a72e2 --- /dev/null +++ b/actions/locomotion_primitives/P30/session_064/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4faab6c4a5d121129448124f5adb5fa2f7def2219c05442fda07440c5bdb85f +size 3698906 diff --git a/actions/locomotion_primitives/P30/session_064/motions/smplx.npz b/actions/locomotion_primitives/P30/session_064/motions/smplx.npz index 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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": "P30", + "instruction": "Walk a smooth continuous circle clockwise at normal speed; do not stop between laps; keep walking until the operator says stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 128.966544, + "video": "left_eye", + "video_t_start": 0.038915792256107196 + } + ], + "episodes": [ + { + "id": "12126c38-9106-4412-bece-679b084d4e1d", + "segment": "segment1", + "action": "P30", + "quality": "valid", + "start_s": 1.104, + "end_s": 122.544, + "t_start": 1.1429, + "t_end": 122.5829, + "instruction": "Walk a smooth continuous circle clockwise at normal speed; do not stop between laps; keep walking until the operator says stop." + } + ] +} diff --git a/actions/locomotion_primitives/P30/session_065/cameras/slam.npz b/actions/locomotion_primitives/P30/session_065/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..0a8b225745d7736082c7d121da7b62a4d9f76ed3 --- /dev/null +++ b/actions/locomotion_primitives/P30/session_065/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3377e93fad1463249a0ff3bdbaa0fb9758a6d3b7c45f5df006abe05a87ef4330 +size 743275 diff --git a/actions/locomotion_primitives/P30/session_065/meta.json b/actions/locomotion_primitives/P30/session_065/meta.json index dd8559c21e83d92d5608f528c048dedc65019c82..0185f9f0f984ba2d6036c8ee506c91d46feb37c5 100644 --- a/actions/locomotion_primitives/P30/session_065/meta.json +++ b/actions/locomotion_primitives/P30/session_065/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": 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a/actions/locomotion_primitives/P30/session_068/meta.json b/actions/locomotion_primitives/P30/session_068/meta.json index 9275471c605bb40b5018745d3215f32bc86f44db..86cc66840042d4cb2b825c796551b445751ce610 100644 --- a/actions/locomotion_primitives/P30/session_068/meta.json +++ b/actions/locomotion_primitives/P30/session_068/meta.json @@ -344,8 +344,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -543,10 +543,124 @@ "generated_by": "scripts/correct_processed_rig.py", 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= 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/P30/session_068", "family": "locomotion_primitives", "primitive": "P30", "source_session": "20260921/P30/20260921_032751_session55" + }, + "task": { + "primitive": "P30", + "instruction": "Walk a smooth continuous circle clockwise at normal speed; do not stop between laps; keep walking until the operator says stop." } } diff --git a/actions/locomotion_primitives/P30/session_068/motions/hands_mano.npz b/actions/locomotion_primitives/P30/session_068/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..ca0bdede5647071f3a42fa2834655bec19501098 --- /dev/null +++ b/actions/locomotion_primitives/P30/session_068/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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0000000000000000000000000000000000000000..915c36ab55a7fb98cd72053b33a45bcc8439fab4 --- /dev/null +++ b/actions/locomotion_primitives/P30/session_082/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b522d8851594ab7072b999e02ad2f7d4d16986b15127f251444eafe9c5427098 +size 772837 diff --git a/actions/locomotion_primitives/P30/session_082/meta.json b/actions/locomotion_primitives/P30/session_082/meta.json index fc7b7a833aad88e8238dd27941395dee53244c8e..efbc999f26348c45a5b31fd82b07a9a860292ef3 100644 --- a/actions/locomotion_primitives/P30/session_082/meta.json +++ b/actions/locomotion_primitives/P30/session_082/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 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= 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/P30/session_087", "family": "locomotion_primitives", "primitive": "P30", "source_session": "20260929/P30/20260929_071508_session124" + }, + "task": { + "primitive": "P30", + "instruction": "Walk a smooth continuous circle clockwise at normal speed; do not stop between laps; keep walking until the operator says stop." } } diff --git a/actions/locomotion_primitives/P30/session_087/motions/hands_mano.npz b/actions/locomotion_primitives/P30/session_087/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..49fec6c42fcdebb00bcaa1289a15f7fd544957b1 --- /dev/null +++ b/actions/locomotion_primitives/P30/session_087/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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normal speed; do not stop between laps; keep walking until the operator says stop." + } + ] +} diff --git a/actions/locomotion_primitives/P30/session_088/cameras/slam.npz b/actions/locomotion_primitives/P30/session_088/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..a946f0b48335295a9c22a755f4c71d252d71c9dc --- /dev/null +++ b/actions/locomotion_primitives/P30/session_088/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:97c5bba81e479e16f790d8b6e6d94a05efc64b566e3addbfac7c99604e773563 +size 802454 diff --git a/actions/locomotion_primitives/P30/session_088/meta.json b/actions/locomotion_primitives/P30/session_088/meta.json index ef3850e67db8939594c9710d8123bcfb8f5b1840..4153f2e069c6519511db38d85d650ada875e3007 100644 --- a/actions/locomotion_primitives/P30/session_088/meta.json +++ b/actions/locomotion_primitives/P30/session_088/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; 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sha256:3e8a33a020cd84973b79470fab9e6d99befb4fff645c1478ddd3bdaadfb32cea +size 753261 diff --git a/actions/locomotion_primitives/P30/session_095/meta.json b/actions/locomotion_primitives/P30/session_095/meta.json index f6b6286b408fa97f7c33c25094b0401c77415f4c..188e5cefd73aaae510dbed1abfa0bf4e4c2d8329 100644 --- a/actions/locomotion_primitives/P30/session_095/meta.json +++ b/actions/locomotion_primitives/P30/session_095/meta.json @@ -389,8 +389,8 @@ "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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b/actions/locomotion_primitives/P31/session_012/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": { @@ -510,10 +510,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.6705435217463744 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 15.53, + "offset_rotvec": [ + -0.2034, + -0.1424, + -0.1088 + ], + "dev_deg": { + "median": 11.68, + "p90": 26.53 + }, + "samples": 2391, + 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"primitive": "P31", "source_session": "20260908/P31/20260908_024024_session37" + }, + "task": { + "primitive": "P31", + "instruction": "Walk a smooth continuous circle counter-clockwise at normal speed; do not stop between laps; keep walking until the operator says stop." } } diff --git a/actions/locomotion_primitives/P31/session_012/motions/hands_mano.npz b/actions/locomotion_primitives/P31/session_012/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..81f54ad272761655bd2ab08e91c8df5a9f7d8a85 --- /dev/null +++ b/actions/locomotion_primitives/P31/session_012/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba1b8198de261e7c392016e99d8b41f1e33781fb373f304cd79b7cf5a9e50484 +size 4018712 diff --git a/actions/locomotion_primitives/P31/session_012/motions/smplx.npz b/actions/locomotion_primitives/P31/session_012/motions/smplx.npz index 90cbda6cee1483522cae1df59d07e64834f71c05..c42e9735596290cdd83857cde717b229d312a9d0 100644 --- a/actions/locomotion_primitives/P31/session_012/motions/smplx.npz +++ b/actions/locomotion_primitives/P31/session_012/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6667089e02ae740fdd1a4c6f837e96eddcc8cef7ed49075c69d067d352af3ca0 -size 6204037 +oid sha256:0b104663f4e29fe8776280cfade4bc3974528929dc444dd823ae7795f22d5fd4 +size 11502128 diff --git a/actions/locomotion_primitives/P31/session_013/annotations.json b/actions/locomotion_primitives/P31/session_013/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..f8ccd4c4180801dca76732ebc84c324626697f88 --- /dev/null +++ b/actions/locomotion_primitives/P31/session_013/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "P31", + "instruction": "Walk a smooth continuous circle counter-clockwise at normal speed; do not stop between laps; keep walking until the operator says stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 133.966711, + "video": "left_eye", + "video_t_start": 0.03978922394759987 + } + ], + "episodes": [ + { + "id": "19bcfea6-7c83-42b5-885d-14806788bc92", + "segment": "segment1", + "action": "P31", + "quality": "valid", + "start_s": 0, + "end_s": 125.996, + "t_start": 0.0398, + "t_end": 126.0358, + "instruction": "Walk a smooth continuous circle counter-clockwise at normal speed; do not stop between laps; keep walking until the operator says stop." + } + ] +} diff --git a/actions/locomotion_primitives/P31/session_013/cameras/slam.npz b/actions/locomotion_primitives/P31/session_013/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..6ad6e2b03110b9293a6e9ac2db80ae8b9d83209e --- /dev/null +++ b/actions/locomotion_primitives/P31/session_013/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:17fede8f59a33f9695d431b40752802a30246596e0ccffc8aefef4714c9b4978 +size 772958 diff --git a/actions/locomotion_primitives/P31/session_013/meta.json b/actions/locomotion_primitives/P31/session_013/meta.json index 517c6e34f7717634703bee4648607398f2365e19..edadb227f99e973eec795510841c1bbc7033c35a 100644 --- a/actions/locomotion_primitives/P31/session_013/meta.json +++ b/actions/locomotion_primitives/P31/session_013/meta.json @@ -390,8 +390,8 @@ "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": { @@ -455,20 +455,31 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 169.53, "Q_rotvec": [ - -3.02575, - 0.26943, - 0.80116 + -2.47358, + 0.14672, + -1.61701 ], "in_out_sign": 1, - "wrist_bend_deg_median": 163.6, - "opposite_sign_bend_deg": 110.3, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 2656, + "inlier_frac": 0.871, + "inlier_spread_deg": 12.86, + "marker_Q_to_gsi_deg": { + "1": 169.5, + "-1": 96.3 + } + }, + "wrist_bend_deg_median": 177.9, + "opposite_sign_bend_deg": 167.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.07, "hand_vs_marker_frame_deg": { - "before": 178.21, - "after": 2.07 + "before": 2.07, + "after": 168.08 }, "markers_on_wrist": [ "LWristOut", @@ -476,15 +487,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -158.33, + "twist_moved_deg": 177.21, "wrist_twist_deg_after": { - "median": -0.65, + "median": 0.63, "iqr": [ - -3.9, - 2.2 + -0.9, + 1.8 ] }, - "wrist_total_deg_median_after": 81.9, + "wrist_total_deg_median_after": 23.3, "markers_on_forearm": [ "LForearm", "LWristIn" @@ -496,11 +507,22 @@ "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": 0.85, + "inlier_spread_deg": 13.81, + "marker_Q_to_gsi_deg": { + "1": 13.8, + "-1": 177.3 + } + }, "wrist_bend_deg_median": 11.9, "opposite_sign_bend_deg": 177.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -531,7 +553,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:09:09.016170+00:00", + "generated_at_utc": "2026-11-04T04:15:12.519600+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -575,10 +597,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.5714570564717858 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 1.55, + "offset_rotvec": [ + 0.0115, + 0.0226, + 0.0093 + ], + "dev_deg": { + "median": 14.02, + "p90": 36.3 + }, + "samples": 2656, + "accepted": 2307, + "wrist_pos_err_mm_median": 92.9, + "per_camera": { + "head": { + "samples": 2656, + "accepted": 2307, + "gate_deg": 30.0, + "offset_deg": 1.55, + "tier": "primary", + "dev_deg_median": 14.02, + "wrist_pos_err_mm_median": 92.9 + } + }, + "frames_by_state": { + "ace_sample": 9618, + "interpolated": 5406, + "mean_hand": 1060, + "no_body_fit": 0 + }, + "observed_fraction": 0.9341, + "observed_fraction_of_valid": 0.9341, + 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100644 index 0000000000000000000000000000000000000000..fd81d858df2c0a1c8ff433748acdd97b3eea0fcd --- /dev/null +++ b/actions/locomotion_primitives/P31/session_013/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d003806d392b3cb8a95186dcf6035086b24955cb6c356efc3b1cf00acbbf6c0 +size 4194187 diff --git a/actions/locomotion_primitives/P31/session_013/motions/smplx.npz b/actions/locomotion_primitives/P31/session_013/motions/smplx.npz index 3cf705a20420f9838f75dc87fa5809cb32dd9ad3..6426ade2dd1d31d81909e15965abe1ec84b1f1e0 100644 --- a/actions/locomotion_primitives/P31/session_013/motions/smplx.npz +++ b/actions/locomotion_primitives/P31/session_013/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3a74f8aa70e66ebfe2a4963efb2c62555410ff92bb57d6a6c7bd9cdf2411e1f4 -size 6203370 +oid sha256:555493caf579ac91f6231b639c8f3e1cb59a620ecc2e42fa230b86a1855613b0 +size 11426726 diff --git a/actions/locomotion_primitives/P31/session_014/annotations.json b/actions/locomotion_primitives/P31/session_014/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..a00210a5a14d793a7c8a4f7713dc1610b97fe41e --- /dev/null +++ b/actions/locomotion_primitives/P31/session_014/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "P31", + "instruction": "Walk a smooth continuous circle counter-clockwise at normal speed; do not stop between laps; keep walking until the operator says stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 133.966578, + "video": "left_eye", + "video_t_start": 0.0391358778689026 + } + ], + "episodes": [ + { + "id": "e4e2619a-8b1f-42ff-9294-21344970abfe", + "segment": "segment1", + "action": "P31", + "quality": "valid", + "start_s": 0, + "end_s": 128.241, + "t_start": 0.0391, + "t_end": 128.2801, + "instruction": "Walk a smooth continuous circle counter-clockwise at normal speed; do not stop between laps; keep walking until the operator says stop." + } + ] +} diff --git a/actions/locomotion_primitives/P31/session_014/cameras/slam.npz b/actions/locomotion_primitives/P31/session_014/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..fe0e56aa2f3d61fdbe884104d556f8ca6f9926f3 --- /dev/null +++ b/actions/locomotion_primitives/P31/session_014/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e23b6b16ce576c0c2af7559d329ac6c8b30c5dfe952a1b7ec226e9b49251dbe +size 773739 diff --git a/actions/locomotion_primitives/P31/session_014/meta.json b/actions/locomotion_primitives/P31/session_014/meta.json index 5d488ff70678a63d5501f5b85b4b33af6cd184d9..3d72adf08eca6958bef0837c969e519b89f1cacd 100644 --- a/actions/locomotion_primitives/P31/session_014/meta.json +++ b/actions/locomotion_primitives/P31/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": { @@ -392,20 +392,31 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 167.2, "Q_rotvec": [ - -3.02575, - 0.26943, - 0.80116 + -2.50077, + -0.09718, + -1.50077 ], "in_out_sign": 1, - "wrist_bend_deg_median": 162.4, - "opposite_sign_bend_deg": 110.4, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 2401, + "inlier_frac": 0.828, + "inlier_spread_deg": 11.76, + "marker_Q_to_gsi_deg": { + "1": 167.2, + "-1": 93.2 + } + }, + "wrist_bend_deg_median": 175.7, + "opposite_sign_bend_deg": 166.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.56, "hand_vs_marker_frame_deg": { - "before": 174.87, - "after": 5.56 + "before": 5.56, + "after": 164.27 }, "markers_on_wrist": [ "LWristOut", @@ -413,15 +424,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -156.86, + "twist_moved_deg": -175.14, "wrist_twist_deg_after": { - "median": -2.75, + "median": -1.88, "iqr": [ - -7.8, - 2.0 + -4.2, + 0.4 ] }, - "wrist_total_deg_median_after": 81.2, + "wrist_total_deg_median_after": 23.6, "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 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.864, + "inlier_spread_deg": 12.68, + "marker_Q_to_gsi_deg": { + "1": 7.1, + "-1": 179.2 + } + }, "wrist_bend_deg_median": 11.7, "opposite_sign_bend_deg": 177.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -451,9 +473,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -1.6, 1.6 @@ -468,7 +490,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:09:09.988870+00:00", + "generated_at_utc": "2026-11-04T04:15:12.451311+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -512,10 +534,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1190180123261548 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 7.23, + "offset_rotvec": [ + 0.1169, + 0.0149, + 0.0448 + ], + "dev_deg": { + "median": 15.31, + "p90": 45.93 + }, + "samples": 2401, + "accepted": 1931, + "wrist_pos_err_mm_median": 124.0, + "per_camera": { + "head": { + "samples": 2401, + "accepted": 1931, + "gate_deg": 30.0, + "offset_deg": 7.23, + "tier": "primary", + "dev_deg_median": 15.31, + "wrist_pos_err_mm_median": 124.0 + } + }, + "frames_by_state": { + "ace_sample": 8076, + "interpolated": 6156, + "mean_hand": 1852, + "no_body_fit": 0 + }, + "observed_fraction": 0.8849, + "observed_fraction_of_valid": 0.8849, + "palm_axis_vs_markers_deg": { + "gsi": 83.87, + "smplx": 84.49 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 21.0, + "p90": 31.0 + }, + "registered": { + "median": 22.0, + "p90": 31.0 + } + } + }, + "right": { + "offset_deg": 11.38, + "offset_rotvec": [ + 0.0544, + 0.179, + -0.0668 + ], + "dev_deg": { + "median": 15.53, + "p90": 31.85 + }, + "samples": 3175, + "accepted": 2792, + "wrist_pos_err_mm_median": 124.2, + "per_camera": { + "head": { + "samples": 3175, + "accepted": 2792, + "gate_deg": 30.0, + "offset_deg": 11.38, + "tier": "primary", + "dev_deg_median": 15.53, + "wrist_pos_err_mm_median": 124.2 + } + }, + "frames_by_state": { + "ace_sample": 11492, + "interpolated": 4024, + "mean_hand": 568, + "no_body_fit": 0 + }, + "observed_fraction": 0.9647, + "observed_fraction_of_valid": 0.9647, + "palm_axis_vs_markers_deg": { + "gsi": 12.63, + "smplx": 0.89 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 3.7, + "p90": 5.4 + }, + "registered": { + "median": 3.9, + "p90": 6.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-04T04:16:27.011007+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/P31/session_014", "family": "locomotion_primitives", "primitive": "P31", "source_session": "20260908/P31/20260908_033616_session52" + }, + "task": { + "primitive": "P31", + "instruction": "Walk a smooth continuous circle counter-clockwise at normal speed; do not stop between laps; keep walking until the operator says stop." } } diff --git a/actions/locomotion_primitives/P31/session_014/motions/hands_mano.npz b/actions/locomotion_primitives/P31/session_014/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..4e3ab3ffa3c9813031943c4a2e13c338a4fd0ae9 --- /dev/null +++ b/actions/locomotion_primitives/P31/session_014/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d330765ad56f872481d612edb19efc58e97f98c0fb2027176b9b38428877138 +size 3853015 diff --git a/actions/locomotion_primitives/P31/session_014/motions/smplx.npz b/actions/locomotion_primitives/P31/session_014/motions/smplx.npz index 2466eb6bcc69f91d3a26a0327922293d2281b94c..b419b4391a152570b573aa8af5785c2ae7fb8304 100644 --- a/actions/locomotion_primitives/P31/session_014/motions/smplx.npz +++ b/actions/locomotion_primitives/P31/session_014/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:91adb53ba5b2a2cffa47698d9d91ec14e1ea5254c278de6d078ffdadda7cabf7 -size 6204962 +oid sha256:f35a410e401ed5d62573dd32e20618a2e02c4fb56aebd823c8d55f2c12b12482 +size 11269859 diff --git a/actions/locomotion_primitives/P31/session_015/annotations.json b/actions/locomotion_primitives/P31/session_015/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..99e4326b408808579e3930dcca6be03ccf9ddc30 --- /dev/null +++ b/actions/locomotion_primitives/P31/session_015/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "P31", + "instruction": "Walk a smooth continuous circle counter-clockwise at normal speed; do not stop between laps; keep walking until the operator says stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 138.966667, + "video": "left_eye", + "video_t_start": 0.014044073187538551 + } + ], + "episodes": [ + { + "id": "675683c9-56ac-46a9-93c1-0a31f1874046", + "segment": "segment1", + "action": "P31", + "quality": "valid", + "start_s": 0, + "end_s": 135.777, + "t_start": 0.014, + "t_end": 135.791, + "instruction": "Walk a smooth continuous circle counter-clockwise at normal speed; do not stop between laps; keep walking until the operator says stop." + } + ] +} diff --git a/actions/locomotion_primitives/P31/session_015/cameras/slam.npz b/actions/locomotion_primitives/P31/session_015/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..c0cde8a89523d8dc64918b239025690af68efcf1 --- /dev/null +++ b/actions/locomotion_primitives/P31/session_015/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1677a9b6737eb0c82ea1c26ae2d4648595c430bf6fb5e02e566b1c6d12a75183 +size 801497 diff --git a/actions/locomotion_primitives/P31/session_015/meta.json b/actions/locomotion_primitives/P31/session_015/meta.json index a9a795db8e909d64be1a083e16cd14a84a07f69d..30d374e0982d3037472c7a849ba8e3024ab61471 100644 --- a/actions/locomotion_primitives/P31/session_015/meta.json +++ b/actions/locomotion_primitives/P31/session_015/meta.json @@ -307,8 +307,8 @@ "frame": "canonical 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"registered": { + "median": 3.3, + "p90": 4.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T15:09:58.022709+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/P31/session_021", "family": "locomotion_primitives", "primitive": "P31", "source_session": "20260908/P31/20260908_120925_session161" + }, + "task": { + "primitive": "P31", + "instruction": "Walk a smooth continuous circle counter-clockwise at normal speed; do not stop between laps; keep walking until the operator says stop." } } diff --git a/actions/locomotion_primitives/P31/session_021/motions/hands_mano.npz b/actions/locomotion_primitives/P31/session_021/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..b98439370e9bb77402ab056e942976fc36f7e642 --- /dev/null +++ b/actions/locomotion_primitives/P31/session_021/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9c396a28f8b69b3a9392606f48a55ca0c77c9aef11f3843052fbd0f5ec023bb +size 3307342 diff --git a/actions/locomotion_primitives/P31/session_021/motions/smplx.npz b/actions/locomotion_primitives/P31/session_021/motions/smplx.npz index 2991817a676ba8d9c77be0c3d529c094847d80e5..e536d74a62ae194583dda7811890112f14b8257e 100644 --- a/actions/locomotion_primitives/P31/session_021/motions/smplx.npz +++ b/actions/locomotion_primitives/P31/session_021/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:32f85afc2fd3e265eee3d729369607a366ff67f4acd649931dce3d5acf9e29ee -size 5969012 +oid sha256:66b515a9369b1bcc9b24b0380199e97a13a7e92c3b8f062eb37d720a2c2cfd2e +size 11085163 diff --git a/actions/locomotion_primitives/P31/session_022/annotations.json b/actions/locomotion_primitives/P31/session_022/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..f9ca2487cc5ea8a9e38aff142e59428ef67522d9 --- /dev/null +++ b/actions/locomotion_primitives/P31/session_022/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "P31", + "instruction": "Walk a smooth continuous circle counter-clockwise at normal speed; do not stop between laps; keep walking until the operator says stop.", + "segments": [ + { + "id": "segment1", + "duration_s": 128.966589, + "video": "left_eye", + "video_t_start": 0.031069777204296017 + } + ], + "episodes": [ + { + "id": "472894c0-4aa4-4d64-be4b-e8527208e619", + "segment": "segment1", + "action": "P31", + "quality": "valid", + "start_s": 0.536, + "end_s": 127.62, + "t_start": 0.5671, + "t_end": 127.6511, + "instruction": "Walk a smooth continuous circle counter-clockwise at normal speed; do not stop between laps; keep walking until the operator says stop." + } + ] +} diff --git a/actions/locomotion_primitives/P31/session_022/cameras/slam.npz b/actions/locomotion_primitives/P31/session_022/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..a2579d91a2dbe66e5ddca7999ddc555933f9d14d --- /dev/null +++ b/actions/locomotion_primitives/P31/session_022/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc47ea836e97a327d010234a8b105539c8bfdcd12e867b2bfd22b03e7ad5d359 +size 745604 diff --git a/actions/locomotion_primitives/P31/session_022/meta.json b/actions/locomotion_primitives/P31/session_022/meta.json index 3feb6fcf593d0ec5042b9533d411b2c268b5a96d..47a0cd2aca7d46af86539f2384e9187740fcad79 100644 --- a/actions/locomotion_primitives/P31/session_022/meta.json +++ b/actions/locomotion_primitives/P31/session_022/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": { @@ -509,10 +509,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.622297704278116 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 36.51, + "offset_rotvec": [ + 0.5656, + -0.2876, + 0.059 + ], + "dev_deg": { + "median": 20.63, + "p90": 39.78 + }, + "samples": 2385, + "accepted": 1586, + "wrist_pos_err_mm_median": 158.1, + "per_camera": { + "head": { + "samples": 2385, + "accepted": 1586, + "gate_deg": 30.0, + "offset_deg": 36.51, + "tier": "primary", + "dev_deg_median": 20.63, + "wrist_pos_err_mm_median": 158.1 + } + }, + "frames_by_state": { + "ace_sample": 6844, + "interpolated": 8488, + "mean_hand": 151, + "no_body_fit": 0 + }, + "observed_fraction": 0.9902, + "observed_fraction_of_valid": 0.9902, + "palm_axis_vs_markers_deg": { + "gsi": 30.84, + "smplx": 0.31 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.3, + "p90": 10.4 + }, + "registered": { + "median": 6.2, + "p90": 8.5 + } + } + }, + "right": { + "offset_deg": 14.3, + "offset_rotvec": [ + -0.0456, + 0.231, + 0.0829 + ], + "dev_deg": { + "median": 9.48, + "p90": 23.75 + }, + "samples": 2626, + "accepted": 2477, + "wrist_pos_err_mm_median": 99.8, + "per_camera": { + "head": { + "samples": 2626, + "accepted": 2477, + "gate_deg": 30.0, + "offset_deg": 14.3, + "tier": "primary", + "dev_deg_median": 9.48, + "wrist_pos_err_mm_median": 99.8 + } + }, + "frames_by_state": { + "ace_sample": 10268, + "interpolated": 5028, + "mean_hand": 187, + "no_body_fit": 0 + }, + "observed_fraction": 0.9879, + "observed_fraction_of_valid": 0.9879, + "palm_axis_vs_markers_deg": { + "gsi": 13.31, + "smplx": 0.38 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.7, + "p90": 6.8 + }, + "registered": { + "median": 5.4, + "p90": 5.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T15:49:32.730187+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/P31/session_022", "family": "locomotion_primitives", "primitive": "P31", "source_session": "20260909/P31/20260909_013805_session19" + }, + "task": { + "primitive": "P31", + "instruction": "Walk a smooth continuous circle counter-clockwise at normal speed; do not stop between laps; keep walking until the operator says stop." } }