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| 3 |
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size 61637500
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actions/locomanipulation/LM67/session_008/cameras/poses.npz
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:f52531e049c7b60a324529a27e9d5f61e4dab15c29d543ee1a1b6c54b4be63a6
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| 3 |
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size 1073454
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actions/locomanipulation/LM67/session_008/meta.json
ADDED
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@@ -0,0 +1,520 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261020/LM67/20261020_102750_session56",
|
| 4 |
+
"session_id": "20261020_102750_session56",
|
| 5 |
+
"primitive": "LM67",
|
| 6 |
+
"batch": "20261020",
|
| 7 |
+
"participant": "yanyitong",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "c9205ac6e17d2d5c",
|
| 11 |
+
"left": "452031d7af00ef6f",
|
| 12 |
+
"right": "60a6f081bbe60b0d"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-22T16:15:19.707596+00:00",
|
| 15 |
+
"generated_by": "scripts/sync_dataset.py",
|
| 16 |
+
"time_base": {
|
| 17 |
+
"definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
|
| 18 |
+
"mocap_rate_hz": 120.0,
|
| 19 |
+
"mocap_rate_fix": null,
|
| 20 |
+
"first_solved_frame": 0,
|
| 21 |
+
"duration_s": 122.725,
|
| 22 |
+
"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 23 |
+
},
|
| 24 |
+
"alignment": {
|
| 25 |
+
"reference_imu": "imu_head_right",
|
| 26 |
+
"model": "offset (median of windows)",
|
| 27 |
+
"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 28 |
+
"offset_s": -0.091589,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.991,
|
| 32 |
+
"reference_imu_first_sample_s": 7948.583353406,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 11,
|
| 35 |
+
"window_corr_median": 0.9910165583392485,
|
| 36 |
+
"drift_ppm": -11.468464517982186,
|
| 37 |
+
"drift_se_ppm": 5.7071176964851045,
|
| 38 |
+
"drift_ms_over_take": -1.4073717374317138,
|
| 39 |
+
"lag_scatter_ms": 0.541424723866394,
|
| 40 |
+
"lag_range_ms": 2.064551718085561
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"units": {
|
| 44 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
+
"y_up_to_z_up": [
|
| 46 |
+
[
|
| 47 |
+
1.0,
|
| 48 |
+
0.0,
|
| 49 |
+
0.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
0.0,
|
| 53 |
+
0.0,
|
| 54 |
+
-1.0
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.0,
|
| 58 |
+
1.0,
|
| 59 |
+
0.0
|
| 60 |
+
]
|
| 61 |
+
],
|
| 62 |
+
"acc": "m/s^2 (8192 LSB/g)",
|
| 63 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 64 |
+
"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 65 |
+
"quaternions": "xyzw, Nokov global"
|
| 66 |
+
},
|
| 67 |
+
"calibration": {
|
| 68 |
+
"device": "c9205ac6e17d2d5c",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 24978,
|
| 76 |
+
"n_gyro": 24972,
|
| 77 |
+
"t_start": -0.09848567563923993,
|
| 78 |
+
"t_end": 122.93081219836066
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 24827,
|
| 82 |
+
"n_gyro": 24820,
|
| 83 |
+
"t_start": 0.0070581993607267135,
|
| 84 |
+
"t_end": 123.10184318336022
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 24826,
|
| 88 |
+
"n_gyro": 24841,
|
| 89 |
+
"t_start": -0.8415466006397035,
|
| 90 |
+
"t_end": 121.84163414936054
|
| 91 |
+
},
|
| 92 |
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"imu_wrist_left": {
|
| 93 |
+
"n_acc": 24856,
|
| 94 |
+
"n_gyro": 24870,
|
| 95 |
+
"t_start": -0.906710282639069,
|
| 96 |
+
"t_end": 121.84319278536103
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 12317,
|
| 100 |
+
"t_start": 0.09961336636049978,
|
| 101 |
+
"t_end": 123.25960454936038
|
| 102 |
+
},
|
| 103 |
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"mag_wrist_right": {
|
| 104 |
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"n": 12268,
|
| 105 |
+
"t_start": -0.8338923086391513,
|
| 106 |
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"t_end": 121.83517436736045
|
| 107 |
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},
|
| 108 |
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"mag_wrist_left": {
|
| 109 |
+
"n": 12275,
|
| 110 |
+
"t_start": -0.8987946396389087,
|
| 111 |
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"t_end": 121.83994514936083
|
| 112 |
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}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 7948.712351,
|
| 118 |
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"frames": 3681,
|
| 119 |
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"pts_gaps": 0,
|
| 120 |
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"timing": "pts",
|
| 121 |
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"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
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"file": "robocap_segment1_video_left.mp4",
|
| 123 |
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"t_start": 0.04003684600800639,
|
| 124 |
+
"t_end": 122.70658084600771,
|
| 125 |
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"clock": "device",
|
| 126 |
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"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 7948.712291,
|
| 131 |
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"frames": 3681,
|
| 132 |
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"pts_gaps": 0,
|
| 133 |
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"timing": "pts",
|
| 134 |
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"timeshift_cam_imu_s": 0.0024181146161434135,
|
| 135 |
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"file": "robocap_segment1_video_right.mp4",
|
| 136 |
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"t_start": 0.03976652497683986,
|
| 137 |
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"t_end": 122.70632252497697,
|
| 138 |
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"clock": "device",
|
| 139 |
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"calibrated": true
|
| 140 |
+
},
|
| 141 |
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| 232 |
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"file": "mocap/mocap-LM67-S02-yanyitong-02p2-1.mp4",
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|
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},
|
| 274 |
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"file": "derived/rig_tracker_provider/rig_tracker.json",
|
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"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
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| 276 |
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},
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"generated_by": "scripts/canonicalise_dataset.py",
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|
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|
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],
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[
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0.0
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[
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[
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0.0,
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0.0,
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0.0,
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| 322 |
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1.0
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]
|
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],
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"block": "20261020-afternoon",
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|
| 327 |
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|
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|
| 331 |
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| 332 |
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},
|
| 333 |
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|
| 334 |
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|
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0.1099,
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9.7858
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],
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},
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| 345 |
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"status": "ok",
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| 347 |
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|
| 348 |
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|
| 349 |
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},
|
| 350 |
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"camera_pose_source": "provider T_tracker0_cam",
|
| 351 |
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"files": [
|
| 352 |
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"mocap_zup.npz",
|
| 353 |
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"tracker0_zup.npz",
|
| 354 |
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"rig_zup.npz",
|
| 355 |
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"cameras_zup.npz"
|
| 356 |
+
]
|
| 357 |
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},
|
| 358 |
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"smplx": {
|
| 359 |
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"generated_at_utc": "2026-10-23T07:45:53.418320+00:00",
|
| 360 |
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"generated_by": "scripts/fit_smplx_dataset.py",
|
| 361 |
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"file": "smplx.npz",
|
| 362 |
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"gender": "female",
|
| 363 |
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"n_betas": 16,
|
| 364 |
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"betas_source": "participant median (derived/smplx/participants.json)",
|
| 365 |
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|
| 366 |
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 367 |
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"hands": {
|
| 368 |
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"observed": false,
|
| 369 |
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"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 370 |
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"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 371 |
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"hand_marker_offsets_m": {
|
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"left": {
|
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"LHandIn": [
|
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0.06458689272403717,
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0.010452430695295334,
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0.03130773827433586
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0.06302490830421448,
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]
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},
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],
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| 395 |
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| 396 |
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|
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|
| 400 |
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}
|
| 401 |
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}
|
| 402 |
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},
|
| 403 |
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"marker_rmse_mm": {
|
| 404 |
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"median_frame": 4.81,
|
| 405 |
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"p95_frame": 8.91
|
| 406 |
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},
|
| 407 |
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"worst_markers": [
|
| 408 |
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"RKneeIn 10mm",
|
| 409 |
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"LKneeIn 9mm",
|
| 410 |
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"CLAV 9mm",
|
| 411 |
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"T10 8mm",
|
| 412 |
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"RThigh 8mm"
|
| 413 |
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],
|
| 414 |
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"valid_fraction": 1.0,
|
| 415 |
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"qc": {
|
| 416 |
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"lowest_vertex_mm": {
|
| 417 |
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"median": 24.8,
|
| 418 |
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"p5": 13.8
|
| 419 |
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},
|
| 420 |
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"frames_checked": 491,
|
| 421 |
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"stature_mm": 1600.3
|
| 422 |
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},
|
| 423 |
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"surface_term": {
|
| 424 |
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"weight": 1.0,
|
| 425 |
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"marker_height_mm": 11.0,
|
| 426 |
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"markers_on_surface": 52,
|
| 427 |
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"surface_rmse_mm_median": 12.93
|
| 428 |
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},
|
| 429 |
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"shape_source": "participant median",
|
| 430 |
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"wrist_correction": {
|
| 431 |
+
"left": {
|
| 432 |
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"status": "corrected",
|
| 433 |
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"Q_deg": 166.05,
|
| 434 |
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"Q_rotvec": [
|
| 435 |
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-2.8606,
|
| 436 |
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-0.03769,
|
| 437 |
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0.46327
|
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],
|
| 439 |
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|
| 440 |
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"wrist_bend_deg_median": 135.6,
|
| 441 |
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"opposite_sign_bend_deg": 54.5,
|
| 442 |
+
"in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
|
| 443 |
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"marker_frame_spread_deg": 2.83,
|
| 444 |
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|
| 445 |
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"before": 165.99,
|
| 446 |
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"after": 2.83
|
| 447 |
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},
|
| 448 |
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"markers_on_wrist": [
|
| 449 |
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"LHandIn",
|
| 450 |
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"LHandOut"
|
| 451 |
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],
|
| 452 |
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"forearm_twist": {
|
| 453 |
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"twist_moved_deg": -132.11,
|
| 454 |
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|
| 455 |
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|
| 456 |
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"iqr": [
|
| 457 |
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-3.0,
|
| 458 |
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5.2
|
| 459 |
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]
|
| 460 |
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},
|
| 461 |
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"wrist_total_deg_median_after": 41.5,
|
| 462 |
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|
| 463 |
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"LForearm",
|
| 464 |
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"LWristIn",
|
| 465 |
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"LWristOut"
|
| 466 |
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]
|
| 467 |
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},
|
| 468 |
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"frames_used": 1473
|
| 469 |
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},
|
| 470 |
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"right": {
|
| 471 |
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"status": "corrected",
|
| 472 |
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|
| 473 |
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"Q_rotvec": [
|
| 474 |
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0.88212,
|
| 475 |
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0.2419,
|
| 476 |
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-0.20427
|
| 477 |
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],
|
| 478 |
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"in_out_sign": 1,
|
| 479 |
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"wrist_bend_deg_median": 53.4,
|
| 480 |
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"opposite_sign_bend_deg": 137.5,
|
| 481 |
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"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 482 |
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"marker_frame_spread_deg": 5.39,
|
| 483 |
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"hand_vs_marker_frame_deg": {
|
| 484 |
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"before": 55.29,
|
| 485 |
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"after": 5.39
|
| 486 |
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},
|
| 487 |
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"markers_on_wrist": [
|
| 488 |
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"RWristOut",
|
| 489 |
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"RHandIn",
|
| 490 |
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"RHandOut"
|
| 491 |
+
],
|
| 492 |
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|
| 493 |
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"twist_moved_deg": -49.06,
|
| 494 |
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"wrist_twist_deg_after": {
|
| 495 |
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"median": -0.0,
|
| 496 |
+
"iqr": [
|
| 497 |
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-5.3,
|
| 498 |
+
21.4
|
| 499 |
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]
|
| 500 |
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},
|
| 501 |
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"wrist_total_deg_median_after": 19.6,
|
| 502 |
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"markers_on_forearm": [
|
| 503 |
+
"RElbowIn",
|
| 504 |
+
"RForearm",
|
| 505 |
+
"RWristIn"
|
| 506 |
+
]
|
| 507 |
+
},
|
| 508 |
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"frames_used": 1473
|
| 509 |
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},
|
| 510 |
+
"generated_at_utc": "2026-10-23T07:45:56.321799+00:00",
|
| 511 |
+
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 512 |
+
}
|
| 513 |
+
},
|
| 514 |
+
"release": {
|
| 515 |
+
"release_path": "actions/locomanipulation/LM67/session_008",
|
| 516 |
+
"family": "locomanipulation",
|
| 517 |
+
"primitive": "LM67",
|
| 518 |
+
"source_session": "20261020/LM67/20261020_102750_session56"
|
| 519 |
+
}
|
| 520 |
+
}
|
actions/locomanipulation/LM67/session_008/motions/head_rig.npz
ADDED
|
@@ -0,0 +1,3 @@
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