diff --git a/actions/locomotion_primitives/P36/session_076/cameras/slam.npz b/actions/locomotion_primitives/P36/session_076/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..b80feeaee7390120cde940cc4b76c9ee80e02ff0 --- /dev/null +++ b/actions/locomotion_primitives/P36/session_076/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2bc0ce745d243aca3d06018024c36d7ad06f502116af5cc9615b4ccd94ffc71b +size 744790 diff --git a/actions/locomotion_primitives/P36/session_076/meta.json b/actions/locomotion_primitives/P36/session_076/meta.json index b48f18303bc85428c41b0eb3ebed2b9a69e729f9..01081d200934c22c4b3542bd1c06f63738547fe1 100644 --- a/actions/locomotion_primitives/P36/session_076/meta.json +++ b/actions/locomotion_primitives/P36/session_076/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 (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": { @@ -527,10 +527,124 @@ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 23.44, + "offset_rotvec": [ + -0.023, + -0.2914, + 0.2861 + ], + "dev_deg": { + "median": 11.17, + "p90": 22.56 + }, + "samples": 2423, + "accepted": 2298, + "wrist_pos_err_mm_median": 58.1, + "per_camera": { + "head": { + "samples": 2423, + "accepted": 2298, + "gate_deg": 30.0, + "offset_deg": 23.44, + "tier": "primary", + "dev_deg_median": 11.17, + 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7b4fb5aa1de34abf6b9578c4f4683bd60889627f..b832848a339aceb4a59dfbe7e2357f6d8bc497a6 100644 --- a/actions/locomotion_primitives/P36/session_077/meta.json +++ b/actions/locomotion_primitives/P36/session_077/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": { @@ -516,10 +516,124 @@ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + 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0000000000000000000000000000000000000000..3251adf91ec5d0533271fd9587c147b66f0099dc --- /dev/null +++ b/actions/locomotion_primitives/P36/session_080/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d4424c0611d99c477c53ff2c8b8cf2b21e5d86cac3282356c3b56a28c601afdd +size 771773 diff --git a/actions/locomotion_primitives/P36/session_080/meta.json b/actions/locomotion_primitives/P36/session_080/meta.json index a8302357b30ee7fba2e306b5a3de9cf43784cdbc..78155ae2b977d43b0b87d2ac1519f6260962fc6c 100644 --- a/actions/locomotion_primitives/P36/session_080/meta.json +++ b/actions/locomotion_primitives/P36/session_080/meta.json @@ -354,8 +354,8 @@ "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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https://git-lfs.github.com/spec/v1 +oid sha256:30f1cb5c3d3ac4cf3af08cd174f7d7f01102600501e1b88a7012811ce1ec45f5 +size 767350 diff --git a/actions/locomotion_primitives/P36/session_084/meta.json b/actions/locomotion_primitives/P36/session_084/meta.json index 29680db8e2ad0220833f7f605b0cc548be1ee2b4..3790dce00af671053867015d472a3fb6cf3de4f0 100644 --- a/actions/locomotion_primitives/P36/session_084/meta.json +++ b/actions/locomotion_primitives/P36/session_084/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": { @@ -522,10 +522,124 @@ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 26.64, + "offset_rotvec": [ + 0.174, + -0.424, + -0.0788 + ], + "dev_deg": { + "median": 18.05, + "p90": 40.4 + }, + "samples": 2054, + "accepted": 1588, + "wrist_pos_err_mm_median": 115.7, + "per_camera": { + "head": { + "samples": 2054, + "accepted": 1588, + "gate_deg": 30.0, + "offset_deg": 26.64, + "tier": "primary", + "dev_deg_median": 18.05, + "wrist_pos_err_mm_median": 115.7 + } + }, + "frames_by_state": { + "ace_sample": 6860, + "interpolated": 8056, + "mean_hand": 1048, + "no_body_fit": 0 + }, + "observed_fraction": 0.9344, + "observed_fraction_of_valid": 0.9344, + "palm_axis_vs_markers_deg": { + "gsi": 34.89, + "smplx": 0.93 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.9, + "p90": 6.7 + }, + 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+ "end_s": 131.626, + "t_start": 1.2139, + "t_end": 131.6659, + "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop." + } + ] +} diff --git a/actions/locomotion_primitives/P36/session_085/meta.json b/actions/locomotion_primitives/P36/session_085/meta.json index 0f2a34b98660d210958d253e3f2c6088c7a6cbfd..b8c7b82edc827ead9bb9e88f34d39f600ad66d91 100644 --- a/actions/locomotion_primitives/P36/session_085/meta.json +++ b/actions/locomotion_primitives/P36/session_085/meta.json @@ -534,5 +534,9 @@ "family": "locomotion_primitives", "primitive": "P36", "source_session": "20261017/P36/20261017_025655_session32" + }, + "task": { + "primitive": "P36", + "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop." } } diff --git a/actions/locomotion_primitives/P36/session_086/annotations.json 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lower than is comfortable; stop." } } diff --git a/actions/locomotion_primitives/P37/session_005/motions/hands_mano.npz b/actions/locomotion_primitives/P37/session_005/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..4f5dad529d539fc908fab02c30b24622771169e7 --- /dev/null +++ b/actions/locomotion_primitives/P37/session_005/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:abe415dd8f8607d008f92df35d788cfd0f582f3c3676d98686280ec93b6b063a +size 3760057 diff --git a/actions/locomotion_primitives/P37/session_005/motions/smplx.npz b/actions/locomotion_primitives/P37/session_005/motions/smplx.npz index 24030a86665555127b0dda23ddc1d98f82faf00b..5ccf155ca62b0ed61f1448b95ff0e2f760f3696b 100644 --- a/actions/locomotion_primitives/P37/session_005/motions/smplx.npz +++ b/actions/locomotion_primitives/P37/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid 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100644 index 0000000000000000000000000000000000000000..6a781f121abacbeabdfd4171fd17c3071dee15fa --- /dev/null +++ b/actions/locomotion_primitives/P37/session_007/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e0a832c18ebc11423fa382011d631d22bd0c6e699136d5d5d76d00c3fd5cb59 +size 399301 diff --git a/actions/locomotion_primitives/P37/session_007/meta.json b/actions/locomotion_primitives/P37/session_007/meta.json index 0770cc5521c9a96b2bf6d9c9039c93190c5fca16..0da73eed7aac7ca90990ed4e6ee512ebd18cd79b 100644 --- a/actions/locomotion_primitives/P37/session_007/meta.json +++ b/actions/locomotion_primitives/P37/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, + 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both hands together in front of you at chest height; do not swing your arms; stop." } } diff --git a/actions/locomotion_primitives/P38/session_003/motions/hands_mano.npz b/actions/locomotion_primitives/P38/session_003/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..1285bb6252a68d96d9c70b1af0e6367f09101446 --- /dev/null +++ b/actions/locomotion_primitives/P38/session_003/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb0721f68716074a90cd7763b472f85f5dc4ed86b9706de141d0df2cc2ec643c +size 3572316 diff --git a/actions/locomotion_primitives/P38/session_003/motions/smplx.npz b/actions/locomotion_primitives/P38/session_003/motions/smplx.npz index 5dabbeb26a37b771cb4013dfc4392212cb93c83b..e8330a531dd0f8789edb48071118cb99234f541a 100644 --- a/actions/locomotion_primitives/P38/session_003/motions/smplx.npz +++ b/actions/locomotion_primitives/P38/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version 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0000000000000000000000000000000000000000..32a630684c01875006e7679a9324d8c70b66dd13 --- /dev/null +++ b/actions/locomotion_primitives/P38/session_008/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:49fa58088206c367d65d1f1067667f04048d8854db1af33bedf78b851bf04ed1 +size 599372 diff --git a/actions/locomotion_primitives/P38/session_008/meta.json b/actions/locomotion_primitives/P38/session_008/meta.json index 4176d1ad19f691c756f193108320149ded12d9f9..3c0f8530e8f235c5f89a53ac776f0d2e4af6b79c 100644 --- a/actions/locomotion_primitives/P38/session_008/meta.json +++ b/actions/locomotion_primitives/P38/session_008/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 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Operator confirms the space behind you is clear." + } + ] +} diff --git a/actions/locomotion_primitives/P39/session_002/cameras/slam.npz b/actions/locomotion_primitives/P39/session_002/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..8745c970ff33644347b1c5a208396213f5b0e7fe --- /dev/null +++ b/actions/locomotion_primitives/P39/session_002/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e9fcb7fb9b5e0cff44ef93f80cf4c86967f6876b945807f3633be9bb2c49e6f +size 856687 diff --git a/actions/locomotion_primitives/P39/session_002/meta.json b/actions/locomotion_primitives/P39/session_002/meta.json index 061867a0c21df254442e32fe7e9e2a83d17dff6f..c865e490758e0444536e75ce5bdb7d63a079c99e 100644 --- a/actions/locomotion_primitives/P39/session_002/meta.json +++ b/actions/locomotion_primitives/P39/session_002/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": { @@ -507,10 +507,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0458788759321829 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 19.95, + "offset_rotvec": [ + 0.2069, + -0.2017, + 0.1944 + ], + "dev_deg": { + "median": 14.32, + "p90": 24.33 + }, + "samples": 4127, + "accepted": 3938, + "wrist_pos_err_mm_median": 165.0, + "per_camera": { + "head": { + "samples": 4127, + "accepted": 3938, + "gate_deg": 30.0, + "offset_deg": 19.95, + "tier": "primary", + "dev_deg_median": 14.32, + "wrist_pos_err_mm_median": 165.0 + } + }, + "frames_by_state": { + "ace_sample": 16002, + "interpolated": 1806, + "mean_hand": 70, + "no_body_fit": 6 + }, + "observed_fraction": 0.9958, + "observed_fraction_of_valid": 0.9961, + "palm_axis_vs_markers_deg": { + "gsi": 15.86, + "smplx": 0.39 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.6, + "p90": 7.1 + }, + "registered": { + "median": 7.2, + "p90": 8.8 + } + } + }, + "right": { + "offset_deg": 26.41, + "offset_rotvec": [ + 0.3642, + 0.2811, + 0.0284 + ], + "dev_deg": { + "median": 18.93, + "p90": 37.26 + }, + "samples": 3285, + "accepted": 2601, + "wrist_pos_err_mm_median": 128.2, + "per_camera": { + "head": { + "samples": 3285, + "accepted": 2601, + "gate_deg": 30.0, + "offset_deg": 26.41, + "tier": "primary", + "dev_deg_median": 18.93, + "wrist_pos_err_mm_median": 128.2 + } + }, + "frames_by_state": { + "ace_sample": 10682, + "interpolated": 3958, + "mean_hand": 3238, + "no_body_fit": 6 + }, + "observed_fraction": 0.8186, + "observed_fraction_of_valid": 0.8189, + "palm_axis_vs_markers_deg": { + "gsi": 24.55, + "smplx": 0.7 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.1, + "p90": 7.1 + }, + "registered": { + "median": 6.4, + "p90": 7.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T15:18:08.918917+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/P39/session_002", "family": "locomotion_primitives", "primitive": "P39", "source_session": "20260908/P39/20260908_061746_session47" + }, + "task": { + "primitive": "P39", + "instruction": "Walk backward several steps, then turn while still moving backward, then continue backward. Operator confirms the space behind you is clear." } } diff --git a/actions/locomotion_primitives/P39/session_002/motions/hands_mano.npz b/actions/locomotion_primitives/P39/session_002/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..3d70c8e76ad9704f6a55abc79e34c80deef82b8d --- /dev/null +++ b/actions/locomotion_primitives/P39/session_002/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b7b7ca8be06dfa889cf0e464720e109a9891cbee098c7e8b4234ffc439e3b6b +size 5086452 diff --git a/actions/locomotion_primitives/P39/session_002/motions/smplx.npz b/actions/locomotion_primitives/P39/session_002/motions/smplx.npz index 0ec17df0fc214b0e95f986c13a468c362604462e..b6e071afaea3b1fbac7e51bfe7f3df2de8f55cbf 100644 --- a/actions/locomotion_primitives/P39/session_002/motions/smplx.npz +++ b/actions/locomotion_primitives/P39/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c82ade34430ad70e98be01eb9e5a629d050d51ae66c2fded9a9fc0f2494c9d43 -size 6865935 +oid sha256:ab968a61984c1167e6679e61dd7bb7b7ca2cde12807a1bde73ad4493402a96d3 +size 12416383 diff --git a/actions/locomotion_primitives/P39/session_003/annotations.json b/actions/locomotion_primitives/P39/session_003/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..bc02cf83cca7a12c8eb56cb55a505d6f5f5dada2 --- /dev/null +++ b/actions/locomotion_primitives/P39/session_003/annotations.json @@ -0,0 +1,149 @@ +{ + "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": "P39", + "instruction": "Walk backward several steps, then turn while still moving backward, then continue backward. 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Operator confirms the space behind you is clear." + } + ] +} diff --git a/actions/locomotion_primitives/P39/session_003/cameras/slam.npz b/actions/locomotion_primitives/P39/session_003/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..8c424f42ddcf53d8a1b140cf0e319b9b99eb0a79 --- /dev/null +++ b/actions/locomotion_primitives/P39/session_003/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb09ea2e89ce592d961c4b6b10f670809e9a18ecefb9a39a265aaafbdda8bd2b +size 599864 diff --git a/actions/locomotion_primitives/P39/session_003/meta.json b/actions/locomotion_primitives/P39/session_003/meta.json index 45212bcb5d8e85d6c9da2e47feedfbb90876cc6d..6269c1497c46c9cdc897c72a7ed4a790305ebd19 100644 --- a/actions/locomotion_primitives/P39/session_003/meta.json +++ b/actions/locomotion_primitives/P39/session_003/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": { @@ -507,10 +507,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.5384583169445719 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 25.14, + "offset_rotvec": [ + 0.2622, + -0.3234, + -0.1386 + ], + "dev_deg": { + "median": 18.39, + "p90": 27.21 + }, + "samples": 2763, + "accepted": 2605, + "wrist_pos_err_mm_median": 192.1, + "per_camera": { + "head": { + "samples": 2763, + "accepted": 2605, + "gate_deg": 30.0, + "offset_deg": 25.14, + "tier": "primary", + "dev_deg_median": 18.39, + "wrist_pos_err_mm_median": 192.1 + } + }, + "frames_by_state": { + "ace_sample": 10605, + "interpolated": 1734, + "mean_hand": 137, + "no_body_fit": 8 + }, + "observed_fraction": 0.9884, + "observed_fraction_of_valid": 0.989, + "palm_axis_vs_markers_deg": { + "gsi": 15.65, + "smplx": 0.45 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.5, + "p90": 5.8 + }, + "registered": { + "median": 6.3, + "p90": 7.5 + } + } + }, + "right": { + "offset_deg": 20.41, + "offset_rotvec": [ + 0.1, + 0.3069, + 0.1504 + ], + "dev_deg": { + "median": 14.98, + "p90": 25.23 + }, + "samples": 2809, + "accepted": 2636, + "wrist_pos_err_mm_median": 130.9, + "per_camera": { + "head": { + "samples": 2809, + "accepted": 2636, + "gate_deg": 30.0, + "offset_deg": 20.41, + "tier": "primary", + "dev_deg_median": 14.98, + "wrist_pos_err_mm_median": 130.9 + } + }, + "frames_by_state": { + "ace_sample": 10667, + "interpolated": 1378, + "mean_hand": 431, + "no_body_fit": 8 + }, + "observed_fraction": 0.9648, + "observed_fraction_of_valid": 0.9655, + "palm_axis_vs_markers_deg": { + "gsi": 12.47, + "smplx": 0.48 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.1, + "p90": 6.9 + }, + "registered": { + "median": 6.1, + "p90": 7.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T15:59:20.822936+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/P39/session_003", "family": "locomotion_primitives", "primitive": "P39", "source_session": "20260909/P39/20260909_043436_session74" + }, + "task": { + "primitive": "P39", + "instruction": "Walk backward several steps, then turn while still moving backward, then continue backward. Operator confirms the space behind you is clear." } } diff --git a/actions/locomotion_primitives/P39/session_003/motions/hands_mano.npz b/actions/locomotion_primitives/P39/session_003/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..5ebe8802a2b95edf0681846c333e0e056f7edfc2 --- /dev/null +++ b/actions/locomotion_primitives/P39/session_003/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8c2a9ccefa2741f446b7b6373321a498598246b9f8413d7dc714e8f71276b0b +size 3784375 diff --git a/actions/locomotion_primitives/P39/session_003/motions/smplx.npz b/actions/locomotion_primitives/P39/session_003/motions/smplx.npz index c9fa551bd14a328c74eb8b547e1da69d51628a90..2bce2579fa18bdcc590d734b6dd15ff9532cdc9a 100644 --- a/actions/locomotion_primitives/P39/session_003/motions/smplx.npz +++ b/actions/locomotion_primitives/P39/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e57a362f05647ceed5af23fddfb915f26ad4c1137f4f8ee9e3902629aba80071 -size 4808889 +oid sha256:1ac4a4d73485dc3295164610d6cc6f9daf76bcd23b154b5ed5e4c8509d417c3d +size 8929333 diff --git a/actions/locomotion_primitives/P39/session_004/annotations.json b/actions/locomotion_primitives/P39/session_004/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..493faf171eaee84dc1d4abc812be9c57ac085591 --- /dev/null +++ b/actions/locomotion_primitives/P39/session_004/annotations.json @@ -0,0 +1,149 @@ +{ + "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": "P39", + "instruction": "Walk backward several steps, then turn while still moving backward, then continue backward. 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Operator confirms the space behind you is clear." + } + ] +} diff --git a/actions/locomotion_primitives/P39/session_004/cameras/slam.npz b/actions/locomotion_primitives/P39/session_004/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..48182494ad4a7f59280626ace8b0f1083ca80eae --- /dev/null +++ b/actions/locomotion_primitives/P39/session_004/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe198d39f17fba9047a86fa6342c2ca850a72d90069fcf3385664c31206b92d3 +size 456603 diff --git a/actions/locomotion_primitives/P39/session_004/meta.json b/actions/locomotion_primitives/P39/session_004/meta.json index e844b64a0b158092f12c545dc2ce15a9a6779c4c..e8952abd84a814f8169036bc2cb25180ad76aa20 100644 --- a/actions/locomotion_primitives/P39/session_004/meta.json +++ b/actions/locomotion_primitives/P39/session_004/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": { @@ -525,10 +525,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9701165861451754 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 30.12, + "offset_rotvec": [ + 0.5102, + -0.1268, + -0.0019 + ], + "dev_deg": { + "median": 16.9, + "p90": 35.4 + }, + "samples": 1623, + "accepted": 1334, + "wrist_pos_err_mm_median": 145.4, + "per_camera": { + "head": { + "samples": 1623, + "accepted": 1334, + "gate_deg": 30.0, + "offset_deg": 30.12, + "tier": "primary", + "dev_deg_median": 16.9, + "wrist_pos_err_mm_median": 145.4 + } + }, + "frames_by_state": { + "ace_sample": 5622, + "interpolated": 3482, + "mean_hand": 380, + "no_body_fit": 0 + }, + "observed_fraction": 0.9599, + "observed_fraction_of_valid": 0.9599, + "palm_axis_vs_markers_deg": { + "gsi": 28.7, + "smplx": 0.62 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.0, + "p90": 16.8 + }, + "registered": { + "median": 10.7, + "p90": 15.1 + } + } + }, + "right": { + "offset_deg": 19.98, + "offset_rotvec": [ + 0.0323, + 0.2724, + 0.2154 + ], + "dev_deg": { + "median": 23.34, + "p90": 43.43 + }, + "samples": 1601, + "accepted": 1016, + "wrist_pos_err_mm_median": 140.9, + "per_camera": { + "head": { + "samples": 1601, + "accepted": 1016, + "gate_deg": 30.0, + "offset_deg": 19.98, + "tier": "primary", + "dev_deg_median": 23.34, + "wrist_pos_err_mm_median": 140.9 + } + }, + "frames_by_state": { + "ace_sample": 4226, + "interpolated": 3304, + "mean_hand": 1954, + "no_body_fit": 0 + }, + "observed_fraction": 0.794, + "observed_fraction_of_valid": 0.794, + "palm_axis_vs_markers_deg": { + "gsi": 29.85, + "smplx": 0.57 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.6, + "p90": 9.9 + }, + "registered": { + "median": 7.8, + "p90": 9.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T23:05:09.334483+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/P39/session_004", "family": "locomotion_primitives", "primitive": "P39", "source_session": "20260916/P39/20260916_062812_session104" + }, + "task": { + "primitive": "P39", + "instruction": "Walk backward several steps, then turn while still moving backward, then continue backward. Operator confirms the space behind you is clear." } } diff --git a/actions/locomotion_primitives/P39/session_004/motions/hands_mano.npz b/actions/locomotion_primitives/P39/session_004/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..ffb9f8057997729372e3081ebbde772a239b633b --- /dev/null +++ b/actions/locomotion_primitives/P39/session_004/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4aedae9fcc597f71b3b45e9a9c903a6c28ade174c67faca9126c0d61cbc5138 +size 2239633 diff --git a/actions/locomotion_primitives/P39/session_004/motions/smplx.npz b/actions/locomotion_primitives/P39/session_004/motions/smplx.npz index d762c509951650036c9983a2bc48a808b51d112f..ed262e0685aea424925b0eff16a48ebb8d96da65 100644 --- a/actions/locomotion_primitives/P39/session_004/motions/smplx.npz +++ b/actions/locomotion_primitives/P39/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d0a361daa1523bcc0bc04db0f0d2c05dd83be0dfff42a93f84ab2d0a0ba58d8f -size 3668288 +oid sha256:4c242dca8b7f080536f4aaf44e1e09876d0bc7429ef7880f919e764118913226 +size 6582863 diff --git a/actions/locomotion_primitives/P39/session_005/annotations.json b/actions/locomotion_primitives/P39/session_005/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..d4ec0ac199f6d9d57568391cae339c539713b5bf --- /dev/null +++ b/actions/locomotion_primitives/P39/session_005/annotations.json @@ -0,0 +1,149 @@ +{ + "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": "P39", + "instruction": "Walk backward several steps, then turn while still moving backward, then continue backward. 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Operator confirms the space behind you is clear." } } diff --git a/actions/locomotion_primitives/P39/session_005/motions/hands_mano.npz b/actions/locomotion_primitives/P39/session_005/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..84e4d667125e0632421055ce5c32dbb65a44036f --- /dev/null +++ b/actions/locomotion_primitives/P39/session_005/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac74e575c48e1a28ced4064af56b959d4b67269b0e292b3daa65375d38606d95 +size 4989077 diff --git a/actions/locomotion_primitives/P39/session_005/motions/smplx.npz b/actions/locomotion_primitives/P39/session_005/motions/smplx.npz index b0174e85d33f5cf0dfc7271569b62aa9605dac49..80cba207f4d9cbd4a3f9b891261d5283f6e93418 100644 --- a/actions/locomotion_primitives/P39/session_005/motions/smplx.npz +++ b/actions/locomotion_primitives/P39/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:91353beae6f3517f7774989be50929b66b077c7653156026ce56730c9745657e -size 6630302 +oid sha256:7235ad69769b65c857198cabb6f1541950f936cc35803386efd04637021192e1 +size 12374519 diff --git a/actions/locomotion_primitives/P39/session_006/annotations.json b/actions/locomotion_primitives/P39/session_006/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..4684095cdf3eca88a9a0013af6993626a12efe1b --- /dev/null +++ b/actions/locomotion_primitives/P39/session_006/annotations.json @@ -0,0 +1,149 @@ +{ + "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": "P39", + "instruction": "Walk backward several steps, then turn while still moving backward, then continue backward. 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Operator confirms the space behind you is clear." + } + ] +} diff --git a/actions/locomotion_primitives/P39/session_006/cameras/slam.npz b/actions/locomotion_primitives/P39/session_006/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..b13bf50409d8f578587c3ab40e1e44ccdda1e163 --- /dev/null +++ b/actions/locomotion_primitives/P39/session_006/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71922797d485c6853df15f07653b5a5e4ee71bfc1a4ed0bb1aa1d47c82fc6276 +size 514066 diff --git a/actions/locomotion_primitives/P39/session_006/meta.json b/actions/locomotion_primitives/P39/session_006/meta.json index c63c74fbba7224b888e7aa045528a566c91ec125..c727bc7139be2ff4488cef54fc11cc69db9bf478 100644 --- a/actions/locomotion_primitives/P39/session_006/meta.json +++ b/actions/locomotion_primitives/P39/session_006/meta.json @@ -324,8 +324,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -504,10 +504,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.713130445362559 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 40.71, + "offset_rotvec": [ + 0.5305, + -0.4607, + -0.1059 + ], + "dev_deg": { + "median": 13.66, + "p90": 26.14 + }, + "samples": 1665, + "accepted": 1559, + "wrist_pos_err_mm_median": 284.4, + "per_camera": { + "head": { + "samples": 1665, + "accepted": 1559, + "gate_deg": 30.0, + "offset_deg": 40.71, + "tier": "primary", + "dev_deg_median": 13.66, + "wrist_pos_err_mm_median": 284.4 + } + }, + "frames_by_state": { + "ace_sample": 6541, + "interpolated": 3994, + "mean_hand": 141, + "no_body_fit": 8 + }, + "observed_fraction": 0.9861, + "observed_fraction_of_valid": 0.9868, + "palm_axis_vs_markers_deg": { + "gsi": 41.35, + "smplx": 0.45 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.8, + "p90": 17.2 + }, + "registered": { + "median": 10.5, + "p90": 16.3 + } + } + }, + "right": { + "offset_deg": 31.0, + "offset_rotvec": [ + 0.3746, + 0.0567, + 0.3863 + ], + "dev_deg": { + "median": 20.86, + "p90": 36.81 + }, + "samples": 1851, + "accepted": 1469, + "wrist_pos_err_mm_median": 360.5, + "per_camera": { + "head": { + "samples": 1851, + "accepted": 1469, + "gate_deg": 30.0, + "offset_deg": 31.0, + "tier": "primary", + "dev_deg_median": 20.86, + "wrist_pos_err_mm_median": 360.5 + } + }, + "frames_by_state": { + "ace_sample": 6169, + "interpolated": 4502, + "mean_hand": 5, + "no_body_fit": 8 + }, + "observed_fraction": 0.9988, + "observed_fraction_of_valid": 0.9995, + "palm_axis_vs_markers_deg": { + "gsi": 42.55, + "smplx": 0.41 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.9, + "p90": 24.5 + }, + "registered": { + "median": 13.5, + "p90": 23.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:54:27.008852+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/P39/session_006", "family": "locomotion_primitives", "primitive": "P39", "source_session": "20260919/P39/20260919_084122_session141" + }, + "task": { + "primitive": "P39", + "instruction": "Walk backward several steps, then turn while still moving backward, then continue backward. 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100644 index 0000000000000000000000000000000000000000..54e6e5f20b9a0ae841048bce018a4dccba020aaf --- /dev/null +++ b/actions/locomotion_primitives/P39/session_007/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1611e31d48ef8a9f8f6fb9fd2e73cccf99714a587e1b4a08becd035055970179 +size 712744 diff --git a/actions/locomotion_primitives/P39/session_007/meta.json b/actions/locomotion_primitives/P39/session_007/meta.json index 58aeffd1d20459bbcc98013db2806f83e7b78068..59193a7751d59d18ba486ac9a35f2e8dc12adbf4 100644 --- a/actions/locomotion_primitives/P39/session_007/meta.json +++ b/actions/locomotion_primitives/P39/session_007/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, + 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Operator confirms the space behind you is clear." } } diff --git a/actions/locomotion_primitives/P39/session_007/motions/hands_mano.npz b/actions/locomotion_primitives/P39/session_007/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..c3f6f10300d81e6c59ccd95aa210de8061d3e26b --- /dev/null +++ b/actions/locomotion_primitives/P39/session_007/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae2faa15cbfeb2333417b51f0563e426bebdaddf63422f75d303445d39947baf +size 3464530 diff --git a/actions/locomotion_primitives/P39/session_007/motions/smplx.npz b/actions/locomotion_primitives/P39/session_007/motions/smplx.npz index d6cd7af5ac2e08455022de1f92a14c5f4f4acab5..34a7523043a21290188326f3e0584563295ba1fb 100644 --- a/actions/locomotion_primitives/P39/session_007/motions/smplx.npz +++ b/actions/locomotion_primitives/P39/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8ff78093b83920a1db4db6c245928151377368a8848822820d175fb5c77c4424 -size 5741761 +oid sha256:32129a52b4b1a18c1ef3a67b94dbdd65eeda210fe2812d509199dc910e17f77f +size 10516015 diff --git a/actions/locomotion_primitives/P39/session_008/annotations.json b/actions/locomotion_primitives/P39/session_008/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..6cb37f550829105ea98cad234c5edfcc6a281b57 --- /dev/null +++ b/actions/locomotion_primitives/P39/session_008/annotations.json @@ -0,0 +1,149 @@ +{ + "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": "P39", + "instruction": "Walk backward several steps, then turn while still moving backward, then continue backward. 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(transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -511,10 +511,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1110301697160885 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 37.0, + "offset_rotvec": [ + 0.5947, + -0.1777, + -0.178 + ], + "dev_deg": { + "median": 9.26, + "p90": 21.24 + }, + "samples": 3202, + "accepted": 3101, + "wrist_pos_err_mm_median": 25.9, + "per_camera": { + "head": { + "samples": 3202, + "accepted": 3101, + "gate_deg": 30.0, + "offset_deg": 37.0, + "tier": "primary", + "dev_deg_median": 9.26, + "wrist_pos_err_mm_median": 25.9 + } + 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