Upload folder using huggingface_hub (part 35)
Browse files- actions/environment_coupled_wholebody/EC03/session_004/meta.json +33 -25
- actions/environment_coupled_wholebody/EC03/session_004/motions/object_markers.npz +3 -0
- actions/environment_coupled_wholebody/EC03/session_004/motions/objects.json +41 -0
- actions/environment_coupled_wholebody/EC03/session_004/motions/objects.npz +3 -0
- actions/environment_coupled_wholebody/EC03/session_004/motions/smplx.npz +2 -2
- actions/environment_coupled_wholebody/EC03/session_005/meta.json +32 -24
- actions/environment_coupled_wholebody/EC03/session_005/motions/object_markers.npz +3 -0
- actions/environment_coupled_wholebody/EC03/session_005/motions/objects.json +41 -0
- actions/environment_coupled_wholebody/EC03/session_005/motions/objects.npz +3 -0
- actions/environment_coupled_wholebody/EC03/session_005/motions/smplx.npz +2 -2
- actions/environment_coupled_wholebody/EC03/session_006/meta.json +33 -25
- actions/environment_coupled_wholebody/EC03/session_006/motions/object_markers.npz +3 -0
- actions/environment_coupled_wholebody/EC03/session_006/motions/objects.json +41 -0
- actions/environment_coupled_wholebody/EC03/session_006/motions/objects.npz +3 -0
- actions/environment_coupled_wholebody/EC03/session_006/motions/smplx.npz +2 -2
- actions/environment_coupled_wholebody/EC03/session_007/meta.json +34 -26
- actions/environment_coupled_wholebody/EC03/session_007/motions/object_markers.npz +3 -0
- actions/environment_coupled_wholebody/EC03/session_007/motions/objects.json +41 -0
- actions/environment_coupled_wholebody/EC03/session_007/motions/objects.npz +3 -0
- actions/environment_coupled_wholebody/EC03/session_007/motions/smplx.npz +2 -2
- actions/environment_coupled_wholebody/EC03/session_008/cameras/poses.npz +3 -0
- actions/environment_coupled_wholebody/EC03/session_008/meta.json +516 -0
- actions/environment_coupled_wholebody/EC03/session_008/motions/head_rig.npz +3 -0
- actions/environment_coupled_wholebody/EC03/session_008/motions/markers.npz +3 -0
- actions/environment_coupled_wholebody/EC03/session_008/motions/skeleton.npz +3 -0
- actions/environment_coupled_wholebody/EC03/session_008/motions/smplx.npz +3 -0
- actions/environment_coupled_wholebody/EC03/session_008/raw/audio.wav +3 -0
- actions/environment_coupled_wholebody/EC03/session_008/raw/manifest.json +263 -0
- actions/environment_coupled_wholebody/EC03/session_008/raw/mocap/Body0.bvh +0 -0
actions/environment_coupled_wholebody/EC03/session_004/meta.json
CHANGED
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@@ -441,19 +441,19 @@
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|
| 441 |
"wrist_correction": {
|
| 442 |
"left": {
|
| 443 |
"status": "corrected",
|
| 444 |
-
"Q_deg":
|
| 445 |
"Q_rotvec": [
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| 446 |
-
|
| 447 |
-
-0.
|
| 448 |
-
0.
|
| 449 |
],
|
| 450 |
-
"in_out_sign":
|
| 451 |
-
"wrist_bend_deg_median":
|
| 452 |
-
"opposite_sign_bend_deg":
|
| 453 |
-
"in_out_convention": "pinky side =
|
| 454 |
"marker_frame_spread_deg": 2.65,
|
| 455 |
"hand_vs_marker_frame_deg": {
|
| 456 |
-
"before":
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| 457 |
"after": 2.65
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| 458 |
},
|
| 459 |
"markers_on_wrist": [
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|
@@ -461,15 +461,15 @@
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|
| 461 |
"LHandOut"
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| 462 |
],
|
| 463 |
"forearm_twist": {
|
| 464 |
-
"twist_moved_deg": -
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| 465 |
"wrist_twist_deg_after": {
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-
"median":
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"iqr": [
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-
-
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-
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]
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},
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| 472 |
-
"wrist_total_deg_median_after":
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| 473 |
"markers_on_forearm": [
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| 474 |
"LForearm",
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| 475 |
"LWristIn",
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|
@@ -480,19 +480,19 @@
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},
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| 481 |
"right": {
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| 482 |
"status": "corrected",
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| 483 |
-
"Q_deg":
|
| 484 |
"Q_rotvec": [
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| 485 |
-
0.
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| 486 |
-
0.
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| 487 |
-
|
| 488 |
],
|
| 489 |
"in_out_sign": 1,
|
| 490 |
-
"wrist_bend_deg_median":
|
| 491 |
-
"opposite_sign_bend_deg":
|
| 492 |
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 493 |
"marker_frame_spread_deg": 4.22,
|
| 494 |
"hand_vs_marker_frame_deg": {
|
| 495 |
-
"before":
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| 496 |
"after": 4.22
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| 497 |
},
|
| 498 |
"markers_on_wrist": [
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|
@@ -500,9 +500,9 @@
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| 500 |
"RHandOut"
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| 501 |
],
|
| 502 |
"forearm_twist": {
|
| 503 |
-
"twist_moved_deg": -
|
| 504 |
"wrist_twist_deg_after": {
|
| 505 |
-
"median":
|
| 506 |
"iqr": [
|
| 507 |
-6.9,
|
| 508 |
8.0
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|
@@ -517,7 +517,7 @@
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|
| 517 |
},
|
| 518 |
"frames_used": 1500
|
| 519 |
},
|
| 520 |
-
"generated_at_utc": "2026-10-
|
| 521 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 522 |
}
|
| 523 |
},
|
|
@@ -526,5 +526,13 @@
|
|
| 526 |
"family": "environment_coupled_wholebody",
|
| 527 |
"primitive": "EC03",
|
| 528 |
"source_session": "20261019/EC03/20261019_113228_session98"
|
| 529 |
-
}
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}
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|
|
|
| 441 |
"wrist_correction": {
|
| 442 |
"left": {
|
| 443 |
"status": "corrected",
|
| 444 |
+
"Q_deg": 180.0,
|
| 445 |
"Q_rotvec": [
|
| 446 |
+
2.98163,
|
| 447 |
+
-0.44128,
|
| 448 |
+
-0.88585
|
| 449 |
],
|
| 450 |
+
"in_out_sign": 1,
|
| 451 |
+
"wrist_bend_deg_median": 171.9,
|
| 452 |
+
"opposite_sign_bend_deg": 26.4,
|
| 453 |
+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 454 |
"marker_frame_spread_deg": 2.65,
|
| 455 |
"hand_vs_marker_frame_deg": {
|
| 456 |
+
"before": 178.82,
|
| 457 |
"after": 2.65
|
| 458 |
},
|
| 459 |
"markers_on_wrist": [
|
|
|
|
| 461 |
"LHandOut"
|
| 462 |
],
|
| 463 |
"forearm_twist": {
|
| 464 |
+
"twist_moved_deg": -167.08,
|
| 465 |
"wrist_twist_deg_after": {
|
| 466 |
+
"median": -6.38,
|
| 467 |
"iqr": [
|
| 468 |
+
-14.5,
|
| 469 |
+
-0.9
|
| 470 |
]
|
| 471 |
},
|
| 472 |
+
"wrist_total_deg_median_after": 32.9,
|
| 473 |
"markers_on_forearm": [
|
| 474 |
"LForearm",
|
| 475 |
"LWristIn",
|
|
|
|
| 480 |
},
|
| 481 |
"right": {
|
| 482 |
"status": "corrected",
|
| 483 |
+
"Q_deg": 0.0,
|
| 484 |
"Q_rotvec": [
|
| 485 |
+
-0.0,
|
| 486 |
+
-0.0,
|
| 487 |
+
0.0
|
| 488 |
],
|
| 489 |
"in_out_sign": 1,
|
| 490 |
+
"wrist_bend_deg_median": 38.4,
|
| 491 |
+
"opposite_sign_bend_deg": 173.2,
|
| 492 |
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 493 |
"marker_frame_spread_deg": 4.22,
|
| 494 |
"hand_vs_marker_frame_deg": {
|
| 495 |
+
"before": 4.22,
|
| 496 |
"after": 4.22
|
| 497 |
},
|
| 498 |
"markers_on_wrist": [
|
|
|
|
| 500 |
"RHandOut"
|
| 501 |
],
|
| 502 |
"forearm_twist": {
|
| 503 |
+
"twist_moved_deg": -0.0,
|
| 504 |
"wrist_twist_deg_after": {
|
| 505 |
+
"median": 0.0,
|
| 506 |
"iqr": [
|
| 507 |
-6.9,
|
| 508 |
8.0
|
|
|
|
| 517 |
},
|
| 518 |
"frames_used": 1500
|
| 519 |
},
|
| 520 |
+
"generated_at_utc": "2026-10-28T06:42:17.997504+00:00",
|
| 521 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 522 |
}
|
| 523 |
},
|
|
|
|
| 526 |
"family": "environment_coupled_wholebody",
|
| 527 |
"primitive": "EC03",
|
| 528 |
"source_session": "20261019/EC03/20261019_113228_session98"
|
| 529 |
+
},
|
| 530 |
+
"objects": [
|
| 531 |
+
{
|
| 532 |
+
"name": "BigBox",
|
| 533 |
+
"object_type": "BigBox",
|
| 534 |
+
"source": "mocap",
|
| 535 |
+
"pose_frame": "mesh"
|
| 536 |
+
}
|
| 537 |
+
]
|
| 538 |
}
|
actions/environment_coupled_wholebody/EC03/session_004/motions/object_markers.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:2d04875297d5427664e42290ef3ed2f8cf77d04b2e59954d566bf9d48f0c0d11
|
| 3 |
+
size 964390
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actions/environment_coupled_wholebody/EC03/session_004/motions/objects.json
ADDED
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@@ -0,0 +1,41 @@
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| 1 |
+
{
|
| 2 |
+
"session": "20261019/EC03/20261019_113228_session98",
|
| 3 |
+
"generated_at_utc": "2026-10-28T02:10:18.543886+00:00",
|
| 4 |
+
"generated_by": "scripts/export_objects.py",
|
| 5 |
+
"frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)",
|
| 6 |
+
"grid": "body grid (smplx.npz t / frame_index)",
|
| 7 |
+
"held_by": "from mocap hands",
|
| 8 |
+
"instances": [
|
| 9 |
+
{
|
| 10 |
+
"name": "BigBox",
|
| 11 |
+
"object_type": "BigBox",
|
| 12 |
+
"source": "mocap",
|
| 13 |
+
"pose_frame": "mesh",
|
| 14 |
+
"mesh": "objects/BigBox/bigbox.ply",
|
| 15 |
+
"calibration": {
|
| 16 |
+
"instance": "BigBox",
|
| 17 |
+
"rms_mm": 0.45
|
| 18 |
+
},
|
| 19 |
+
"valid_pct": 99.99,
|
| 20 |
+
"verified_pct": 99.99,
|
| 21 |
+
"moving_pct": 97.48,
|
| 22 |
+
"vision_source": null
|
| 23 |
+
}
|
| 24 |
+
],
|
| 25 |
+
"object_list": {
|
| 26 |
+
"status": "corrected",
|
| 27 |
+
"notes": [],
|
| 28 |
+
"declared": [
|
| 29 |
+
"BigBox0"
|
| 30 |
+
],
|
| 31 |
+
"listed": [
|
| 32 |
+
{
|
| 33 |
+
"name": "BigBox",
|
| 34 |
+
"object": "BigBox",
|
| 35 |
+
"source": "mocap",
|
| 36 |
+
"needs_video_check": false
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
},
|
| 40 |
+
"notes": []
|
| 41 |
+
}
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actions/environment_coupled_wholebody/EC03/session_004/motions/objects.npz
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:090a7970e9912fbcce4976eb76a10a9ad888e87a89752b97ad8c5182bb3bd0bd
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| 3 |
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size 1030537
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actions/environment_coupled_wholebody/EC03/session_004/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
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|
| 1 |
version https://git-lfs.github.com/spec/v1
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| 2 |
-
oid sha256:
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| 3 |
-
size
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version https://git-lfs.github.com/spec/v1
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size 8246482
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actions/environment_coupled_wholebody/EC03/session_005/meta.json
CHANGED
|
@@ -418,19 +418,19 @@
|
|
| 418 |
"wrist_correction": {
|
| 419 |
"left": {
|
| 420 |
"status": "corrected",
|
| 421 |
-
"Q_deg":
|
| 422 |
"Q_rotvec": [
|
| 423 |
-
|
| 424 |
-
-0.
|
| 425 |
-
-0.
|
| 426 |
],
|
| 427 |
-
"in_out_sign":
|
| 428 |
-
"wrist_bend_deg_median":
|
| 429 |
-
"opposite_sign_bend_deg":
|
| 430 |
-
"in_out_convention": "pinky side =
|
| 431 |
"marker_frame_spread_deg": 2.2,
|
| 432 |
"hand_vs_marker_frame_deg": {
|
| 433 |
-
"before":
|
| 434 |
"after": 2.2
|
| 435 |
},
|
| 436 |
"markers_on_wrist": [
|
|
@@ -438,15 +438,15 @@
|
|
| 438 |
"LHandOut"
|
| 439 |
],
|
| 440 |
"forearm_twist": {
|
| 441 |
-
"twist_moved_deg":
|
| 442 |
"wrist_twist_deg_after": {
|
| 443 |
-
"median":
|
| 444 |
"iqr": [
|
| 445 |
-
-
|
| 446 |
-
|
| 447 |
]
|
| 448 |
},
|
| 449 |
-
"wrist_total_deg_median_after":
|
| 450 |
"markers_on_forearm": [
|
| 451 |
"LForearm",
|
| 452 |
"LWristIn",
|
|
@@ -457,19 +457,19 @@
|
|
| 457 |
},
|
| 458 |
"right": {
|
| 459 |
"status": "corrected",
|
| 460 |
-
"Q_deg":
|
| 461 |
"Q_rotvec": [
|
| 462 |
-
|
| 463 |
-
0.
|
| 464 |
-
0.
|
| 465 |
],
|
| 466 |
"in_out_sign": 1,
|
| 467 |
-
"wrist_bend_deg_median":
|
| 468 |
-
"opposite_sign_bend_deg":
|
| 469 |
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 470 |
"marker_frame_spread_deg": 2.31,
|
| 471 |
"hand_vs_marker_frame_deg": {
|
| 472 |
-
"before":
|
| 473 |
"after": 2.31
|
| 474 |
},
|
| 475 |
"markers_on_wrist": [
|
|
@@ -478,7 +478,7 @@
|
|
| 478 |
"RHandOut"
|
| 479 |
],
|
| 480 |
"forearm_twist": {
|
| 481 |
-
"twist_moved_deg": -
|
| 482 |
"wrist_twist_deg_after": {
|
| 483 |
"median": -0.0,
|
| 484 |
"iqr": [
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|
@@ -494,7 +494,7 @@
|
|
| 494 |
},
|
| 495 |
"frames_used": 1294
|
| 496 |
},
|
| 497 |
-
"generated_at_utc": "2026-10-
|
| 498 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 499 |
}
|
| 500 |
},
|
|
@@ -503,5 +503,13 @@
|
|
| 503 |
"family": "environment_coupled_wholebody",
|
| 504 |
"primitive": "EC03",
|
| 505 |
"source_session": "20261020/EC03/20261020_035228_session24"
|
| 506 |
-
}
|
|
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|
| 507 |
}
|
|
|
|
| 418 |
"wrist_correction": {
|
| 419 |
"left": {
|
| 420 |
"status": "corrected",
|
| 421 |
+
"Q_deg": 180.0,
|
| 422 |
"Q_rotvec": [
|
| 423 |
+
3.02706,
|
| 424 |
+
-0.24152,
|
| 425 |
+
-0.80509
|
| 426 |
],
|
| 427 |
+
"in_out_sign": 1,
|
| 428 |
+
"wrist_bend_deg_median": 175.4,
|
| 429 |
+
"opposite_sign_bend_deg": 17.3,
|
| 430 |
+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 431 |
"marker_frame_spread_deg": 2.2,
|
| 432 |
"hand_vs_marker_frame_deg": {
|
| 433 |
+
"before": 179.46,
|
| 434 |
"after": 2.2
|
| 435 |
},
|
| 436 |
"markers_on_wrist": [
|
|
|
|
| 438 |
"LHandOut"
|
| 439 |
],
|
| 440 |
"forearm_twist": {
|
| 441 |
+
"twist_moved_deg": -172.24,
|
| 442 |
"wrist_twist_deg_after": {
|
| 443 |
+
"median": -3.78,
|
| 444 |
"iqr": [
|
| 445 |
+
-7.4,
|
| 446 |
+
0.7
|
| 447 |
]
|
| 448 |
},
|
| 449 |
+
"wrist_total_deg_median_after": 33.6,
|
| 450 |
"markers_on_forearm": [
|
| 451 |
"LForearm",
|
| 452 |
"LWristIn",
|
|
|
|
| 457 |
},
|
| 458 |
"right": {
|
| 459 |
"status": "corrected",
|
| 460 |
+
"Q_deg": 0.0,
|
| 461 |
"Q_rotvec": [
|
| 462 |
+
1e-05,
|
| 463 |
+
-0.0,
|
| 464 |
+
-0.0
|
| 465 |
],
|
| 466 |
"in_out_sign": 1,
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|
| 468 |
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|
| 469 |
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|
| 470 |
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|
| 471 |
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| 472 |
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|
| 473 |
"after": 2.31
|
| 474 |
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| 475 |
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|
|
|
|
| 478 |
"RHandOut"
|
| 479 |
],
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| 480 |
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| 481 |
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|
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|
| 494 |
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| 495 |
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|
| 496 |
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| 497 |
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"generated_at_utc": "2026-10-28T06:43:30.317705+00:00",
|
| 498 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 499 |
}
|
| 500 |
},
|
|
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|
| 503 |
"family": "environment_coupled_wholebody",
|
| 504 |
"primitive": "EC03",
|
| 505 |
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|
| 506 |
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| 507 |
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|
| 508 |
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{
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| 509 |
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| 511 |
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|
| 512 |
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| 513 |
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|
| 514 |
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| 515 |
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|
actions/environment_coupled_wholebody/EC03/session_005/motions/object_markers.npz
ADDED
|
@@ -0,0 +1,3 @@
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size 561660
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actions/environment_coupled_wholebody/EC03/session_005/motions/objects.json
ADDED
|
@@ -0,0 +1,41 @@
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|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"session": "20261020/EC03/20261020_035228_session24",
|
| 3 |
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"generated_at_utc": "2026-10-28T02:18:57.467626+00:00",
|
| 4 |
+
"generated_by": "scripts/export_objects.py",
|
| 5 |
+
"frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)",
|
| 6 |
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"grid": "body grid (smplx.npz t / frame_index)",
|
| 7 |
+
"held_by": "from mocap hands",
|
| 8 |
+
"instances": [
|
| 9 |
+
{
|
| 10 |
+
"name": "BigBox",
|
| 11 |
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"object_type": "BigBox",
|
| 12 |
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"source": "mocap",
|
| 13 |
+
"pose_frame": "mesh",
|
| 14 |
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"mesh": "objects/BigBox/bigbox.ply",
|
| 15 |
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"calibration": {
|
| 16 |
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"instance": "BigBox",
|
| 17 |
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|
| 18 |
+
},
|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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"object_list": {
|
| 26 |
+
"status": "corrected",
|
| 27 |
+
"notes": [],
|
| 28 |
+
"declared": [
|
| 29 |
+
"BigBox0"
|
| 30 |
+
],
|
| 31 |
+
"listed": [
|
| 32 |
+
{
|
| 33 |
+
"name": "BigBox",
|
| 34 |
+
"object": "BigBox",
|
| 35 |
+
"source": "mocap",
|
| 36 |
+
"needs_video_check": false
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
},
|
| 40 |
+
"notes": []
|
| 41 |
+
}
|
actions/environment_coupled_wholebody/EC03/session_005/motions/objects.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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size 603058
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actions/environment_coupled_wholebody/EC03/session_005/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
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size
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version https://git-lfs.github.com/spec/v1
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actions/environment_coupled_wholebody/EC03/session_006/meta.json
CHANGED
|
@@ -425,19 +425,19 @@
|
|
| 425 |
"wrist_correction": {
|
| 426 |
"left": {
|
| 427 |
"status": "corrected",
|
| 428 |
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"Q_deg":
|
| 429 |
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|
| 430 |
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|
| 431 |
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-0.
|
| 432 |
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-0.
|
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| 434 |
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"in_out_sign":
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| 435 |
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| 436 |
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"opposite_sign_bend_deg":
|
| 437 |
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"in_out_convention": "pinky side =
|
| 438 |
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|
| 439 |
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|
| 440 |
-
"before":
|
| 441 |
"after": 2.51
|
| 442 |
},
|
| 443 |
"markers_on_wrist": [
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|
@@ -445,15 +445,15 @@
|
|
| 445 |
"LHandOut"
|
| 446 |
],
|
| 447 |
"forearm_twist": {
|
| 448 |
-
"twist_moved_deg":
|
| 449 |
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|
| 450 |
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"median":
|
| 451 |
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| 452 |
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-
|
| 453 |
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|
| 454 |
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|
| 455 |
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|
| 456 |
-
"wrist_total_deg_median_after":
|
| 457 |
"markers_on_forearm": [
|
| 458 |
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|
| 459 |
"LWristIn",
|
|
@@ -464,19 +464,19 @@
|
|
| 464 |
},
|
| 465 |
"right": {
|
| 466 |
"status": "corrected",
|
| 467 |
-
"Q_deg":
|
| 468 |
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| 469 |
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|
| 470 |
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|
| 471 |
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0.
|
| 472 |
],
|
| 473 |
"in_out_sign": 1,
|
| 474 |
-
"wrist_bend_deg_median":
|
| 475 |
-
"opposite_sign_bend_deg":
|
| 476 |
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 477 |
"marker_frame_spread_deg": 2.23,
|
| 478 |
"hand_vs_marker_frame_deg": {
|
| 479 |
-
"before":
|
| 480 |
"after": 2.23
|
| 481 |
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|
| 482 |
"markers_on_wrist": [
|
|
@@ -484,9 +484,9 @@
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|
| 484 |
"RHandOut"
|
| 485 |
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|
| 486 |
"forearm_twist": {
|
| 487 |
-
"twist_moved_deg": -
|
| 488 |
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| 489 |
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"median":
|
| 490 |
"iqr": [
|
| 491 |
-3.6,
|
| 492 |
7.7
|
|
@@ -501,7 +501,7 @@
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|
| 501 |
},
|
| 502 |
"frames_used": 1222
|
| 503 |
},
|
| 504 |
-
"generated_at_utc": "2026-10-
|
| 505 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 506 |
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|
| 507 |
},
|
|
@@ -510,5 +510,13 @@
|
|
| 510 |
"family": "environment_coupled_wholebody",
|
| 511 |
"primitive": "EC03",
|
| 512 |
"source_session": "20261020/EC03/20261020_035714_session25"
|
| 513 |
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|
| 514 |
}
|
|
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| 425 |
"wrist_correction": {
|
| 426 |
"left": {
|
| 427 |
"status": "corrected",
|
| 428 |
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|
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|
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3.02706,
|
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|
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|
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|
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|
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"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 438 |
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|
| 439 |
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|
| 440 |
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|
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|
| 445 |
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|
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| 447 |
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|
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"median": -5.23,
|
| 451 |
"iqr": [
|
| 452 |
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-11.1,
|
| 453 |
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|
| 454 |
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|
| 455 |
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|
| 456 |
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"wrist_total_deg_median_after": 33.0,
|
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| 458 |
"LForearm",
|
| 459 |
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|
|
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|
| 464 |
},
|
| 465 |
"right": {
|
| 466 |
"status": "corrected",
|
| 467 |
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|
| 468 |
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|
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1e-05,
|
| 470 |
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|
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-0.0
|
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|
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"in_out_sign": 1,
|
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"wrist_bend_deg_median": 25.0,
|
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"opposite_sign_bend_deg": 176.7,
|
| 476 |
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|
| 477 |
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|
| 478 |
"hand_vs_marker_frame_deg": {
|
| 479 |
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"before": 2.23,
|
| 480 |
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|
| 481 |
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|
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"markers_on_wrist": [
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|
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|
| 484 |
"RHandOut"
|
| 485 |
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|
| 486 |
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|
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|
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"median": 0.0,
|
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|
| 491 |
-3.6,
|
| 492 |
7.7
|
|
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|
| 501 |
},
|
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"frames_used": 1222
|
| 503 |
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|
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"generated_at_utc": "2026-10-28T06:43:27.030668+00:00",
|
| 505 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 506 |
}
|
| 507 |
},
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|
|
| 510 |
"family": "environment_coupled_wholebody",
|
| 511 |
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|
| 512 |
"source_session": "20261020/EC03/20261020_035714_session25"
|
| 513 |
+
},
|
| 514 |
+
"objects": [
|
| 515 |
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{
|
| 516 |
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"name": "BigBox",
|
| 517 |
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"object_type": "BigBox",
|
| 518 |
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"source": "mocap",
|
| 519 |
+
"pose_frame": "mesh"
|
| 520 |
+
}
|
| 521 |
+
]
|
| 522 |
}
|
actions/environment_coupled_wholebody/EC03/session_006/motions/object_markers.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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size 525967
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actions/environment_coupled_wholebody/EC03/session_006/motions/objects.json
ADDED
|
@@ -0,0 +1,41 @@
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|
|
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|
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|
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|
|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
| 1 |
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{
|
| 2 |
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"session": "20261020/EC03/20261020_035714_session25",
|
| 3 |
+
"generated_at_utc": "2026-10-28T02:20:17.829623+00:00",
|
| 4 |
+
"generated_by": "scripts/export_objects.py",
|
| 5 |
+
"frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)",
|
| 6 |
+
"grid": "body grid (smplx.npz t / frame_index)",
|
| 7 |
+
"held_by": "from mocap hands",
|
| 8 |
+
"instances": [
|
| 9 |
+
{
|
| 10 |
+
"name": "BigBox",
|
| 11 |
+
"object_type": "BigBox",
|
| 12 |
+
"source": "mocap",
|
| 13 |
+
"pose_frame": "mesh",
|
| 14 |
+
"mesh": "objects/BigBox/bigbox.ply",
|
| 15 |
+
"calibration": {
|
| 16 |
+
"instance": "BigBox",
|
| 17 |
+
"rms_mm": 0.37
|
| 18 |
+
},
|
| 19 |
+
"valid_pct": 99.98,
|
| 20 |
+
"verified_pct": 99.98,
|
| 21 |
+
"moving_pct": 61.29,
|
| 22 |
+
"vision_source": null
|
| 23 |
+
}
|
| 24 |
+
],
|
| 25 |
+
"object_list": {
|
| 26 |
+
"status": "corrected",
|
| 27 |
+
"notes": [],
|
| 28 |
+
"declared": [
|
| 29 |
+
"BigBox0"
|
| 30 |
+
],
|
| 31 |
+
"listed": [
|
| 32 |
+
{
|
| 33 |
+
"name": "BigBox",
|
| 34 |
+
"object": "BigBox",
|
| 35 |
+
"source": "mocap",
|
| 36 |
+
"needs_video_check": false
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
},
|
| 40 |
+
"notes": []
|
| 41 |
+
}
|
actions/environment_coupled_wholebody/EC03/session_006/motions/objects.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
+
size 569076
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actions/environment_coupled_wholebody/EC03/session_006/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:
|
| 3 |
-
size
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version https://git-lfs.github.com/spec/v1
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size 4663416
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actions/environment_coupled_wholebody/EC03/session_007/meta.json
CHANGED
|
@@ -413,35 +413,35 @@
|
|
| 413 |
"wrist_correction": {
|
| 414 |
"left": {
|
| 415 |
"status": "corrected",
|
| 416 |
-
"Q_deg":
|
| 417 |
"Q_rotvec": [
|
| 418 |
-
|
| 419 |
-
|
| 420 |
-
|
| 421 |
],
|
| 422 |
-
"in_out_sign":
|
| 423 |
-
"wrist_bend_deg_median":
|
| 424 |
-
"opposite_sign_bend_deg":
|
| 425 |
-
"in_out_convention": "pinky side =
|
| 426 |
-
"marker_frame_spread_deg": 1.
|
| 427 |
"hand_vs_marker_frame_deg": {
|
| 428 |
-
"before":
|
| 429 |
-
"after": 1.
|
| 430 |
},
|
| 431 |
"markers_on_wrist": [
|
| 432 |
"LHandIn",
|
| 433 |
"LHandOut"
|
| 434 |
],
|
| 435 |
"forearm_twist": {
|
| 436 |
-
"twist_moved_deg":
|
| 437 |
"wrist_twist_deg_after": {
|
| 438 |
-
"median":
|
| 439 |
"iqr": [
|
| 440 |
-
-
|
| 441 |
-
4.
|
| 442 |
]
|
| 443 |
},
|
| 444 |
-
"wrist_total_deg_median_after":
|
| 445 |
"markers_on_forearm": [
|
| 446 |
"LForearm",
|
| 447 |
"LWristIn",
|
|
@@ -452,19 +452,19 @@
|
|
| 452 |
},
|
| 453 |
"right": {
|
| 454 |
"status": "corrected",
|
| 455 |
-
"Q_deg":
|
| 456 |
"Q_rotvec": [
|
| 457 |
-
|
| 458 |
-
0.
|
| 459 |
-
0.
|
| 460 |
],
|
| 461 |
"in_out_sign": 1,
|
| 462 |
-
"wrist_bend_deg_median":
|
| 463 |
-
"opposite_sign_bend_deg":
|
| 464 |
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 465 |
"marker_frame_spread_deg": 2.26,
|
| 466 |
"hand_vs_marker_frame_deg": {
|
| 467 |
-
"before":
|
| 468 |
"after": 2.26
|
| 469 |
},
|
| 470 |
"markers_on_wrist": [
|
|
@@ -472,7 +472,7 @@
|
|
| 472 |
"RHandOut"
|
| 473 |
],
|
| 474 |
"forearm_twist": {
|
| 475 |
-
"twist_moved_deg": -
|
| 476 |
"wrist_twist_deg_after": {
|
| 477 |
"median": -0.0,
|
| 478 |
"iqr": [
|
|
@@ -489,7 +489,7 @@
|
|
| 489 |
},
|
| 490 |
"frames_used": 1245
|
| 491 |
},
|
| 492 |
-
"generated_at_utc": "2026-10-
|
| 493 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 494 |
}
|
| 495 |
},
|
|
@@ -498,5 +498,13 @@
|
|
| 498 |
"family": "environment_coupled_wholebody",
|
| 499 |
"primitive": "EC03",
|
| 500 |
"source_session": "20261020/EC03/20261020_035912_session26"
|
| 501 |
-
}
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
|
| 502 |
}
|
|
|
|
| 413 |
"wrist_correction": {
|
| 414 |
"left": {
|
| 415 |
"status": "corrected",
|
| 416 |
+
"Q_deg": 180.0,
|
| 417 |
"Q_rotvec": [
|
| 418 |
+
-3.02706,
|
| 419 |
+
0.24151,
|
| 420 |
+
0.80509
|
| 421 |
],
|
| 422 |
+
"in_out_sign": 1,
|
| 423 |
+
"wrist_bend_deg_median": 175.3,
|
| 424 |
+
"opposite_sign_bend_deg": 21.6,
|
| 425 |
+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 426 |
+
"marker_frame_spread_deg": 1.82,
|
| 427 |
"hand_vs_marker_frame_deg": {
|
| 428 |
+
"before": 179.21,
|
| 429 |
+
"after": 1.82
|
| 430 |
},
|
| 431 |
"markers_on_wrist": [
|
| 432 |
"LHandIn",
|
| 433 |
"LHandOut"
|
| 434 |
],
|
| 435 |
"forearm_twist": {
|
| 436 |
+
"twist_moved_deg": -168.54,
|
| 437 |
"wrist_twist_deg_after": {
|
| 438 |
+
"median": -9.72,
|
| 439 |
"iqr": [
|
| 440 |
+
-13.9,
|
| 441 |
+
-4.3
|
| 442 |
]
|
| 443 |
},
|
| 444 |
+
"wrist_total_deg_median_after": 23.3,
|
| 445 |
"markers_on_forearm": [
|
| 446 |
"LForearm",
|
| 447 |
"LWristIn",
|
|
|
|
| 452 |
},
|
| 453 |
"right": {
|
| 454 |
"status": "corrected",
|
| 455 |
+
"Q_deg": 0.0,
|
| 456 |
"Q_rotvec": [
|
| 457 |
+
0.0,
|
| 458 |
+
-0.0,
|
| 459 |
+
-0.0
|
| 460 |
],
|
| 461 |
"in_out_sign": 1,
|
| 462 |
+
"wrist_bend_deg_median": 21.0,
|
| 463 |
+
"opposite_sign_bend_deg": 175.7,
|
| 464 |
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 465 |
"marker_frame_spread_deg": 2.26,
|
| 466 |
"hand_vs_marker_frame_deg": {
|
| 467 |
+
"before": 2.26,
|
| 468 |
"after": 2.26
|
| 469 |
},
|
| 470 |
"markers_on_wrist": [
|
|
|
|
| 472 |
"RHandOut"
|
| 473 |
],
|
| 474 |
"forearm_twist": {
|
| 475 |
+
"twist_moved_deg": -0.0,
|
| 476 |
"wrist_twist_deg_after": {
|
| 477 |
"median": -0.0,
|
| 478 |
"iqr": [
|
|
|
|
| 489 |
},
|
| 490 |
"frames_used": 1245
|
| 491 |
},
|
| 492 |
+
"generated_at_utc": "2026-10-28T06:43:27.303783+00:00",
|
| 493 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 494 |
}
|
| 495 |
},
|
|
|
|
| 498 |
"family": "environment_coupled_wholebody",
|
| 499 |
"primitive": "EC03",
|
| 500 |
"source_session": "20261020/EC03/20261020_035912_session26"
|
| 501 |
+
},
|
| 502 |
+
"objects": [
|
| 503 |
+
{
|
| 504 |
+
"name": "BigBox",
|
| 505 |
+
"object_type": "BigBox",
|
| 506 |
+
"source": "mocap",
|
| 507 |
+
"pose_frame": "mesh"
|
| 508 |
+
}
|
| 509 |
+
]
|
| 510 |
}
|
actions/environment_coupled_wholebody/EC03/session_007/motions/object_markers.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
|
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| 1 |
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|
| 3 |
+
size 540496
|
actions/environment_coupled_wholebody/EC03/session_007/motions/objects.json
ADDED
|
@@ -0,0 +1,41 @@
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"session": "20261020/EC03/20261020_035912_session26",
|
| 3 |
+
"generated_at_utc": "2026-10-28T02:19:04.097949+00:00",
|
| 4 |
+
"generated_by": "scripts/export_objects.py",
|
| 5 |
+
"frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)",
|
| 6 |
+
"grid": "body grid (smplx.npz t / frame_index)",
|
| 7 |
+
"held_by": "from mocap hands",
|
| 8 |
+
"instances": [
|
| 9 |
+
{
|
| 10 |
+
"name": "BigBox",
|
| 11 |
+
"object_type": "BigBox",
|
| 12 |
+
"source": "mocap",
|
| 13 |
+
"pose_frame": "mesh",
|
| 14 |
+
"mesh": "objects/BigBox/bigbox.ply",
|
| 15 |
+
"calibration": {
|
| 16 |
+
"instance": "BigBox",
|
| 17 |
+
"rms_mm": 0.36
|
| 18 |
+
},
|
| 19 |
+
"valid_pct": 99.98,
|
| 20 |
+
"verified_pct": 99.98,
|
| 21 |
+
"moving_pct": 64.36,
|
| 22 |
+
"vision_source": null
|
| 23 |
+
}
|
| 24 |
+
],
|
| 25 |
+
"object_list": {
|
| 26 |
+
"status": "corrected",
|
| 27 |
+
"notes": [],
|
| 28 |
+
"declared": [
|
| 29 |
+
"BigBox0"
|
| 30 |
+
],
|
| 31 |
+
"listed": [
|
| 32 |
+
{
|
| 33 |
+
"name": "BigBox",
|
| 34 |
+
"object": "BigBox",
|
| 35 |
+
"source": "mocap",
|
| 36 |
+
"needs_video_check": false
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
},
|
| 40 |
+
"notes": []
|
| 41 |
+
}
|
actions/environment_coupled_wholebody/EC03/session_007/motions/objects.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
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version https://git-lfs.github.com/spec/v1
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oid sha256:29027f2cefd83e18974cbf2dcc1b955dc06eef047c343749e1ecfa405fcc34f9
|
| 3 |
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size 581617
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actions/environment_coupled_wholebody/EC03/session_007/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
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|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
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size
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version https://git-lfs.github.com/spec/v1
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size 4767133
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actions/environment_coupled_wholebody/EC03/session_008/cameras/poses.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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size 1145328
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actions/environment_coupled_wholebody/EC03/session_008/meta.json
ADDED
|
@@ -0,0 +1,516 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261026/EC03/20261026_025645_session30",
|
| 4 |
+
"session_id": "20261026_025645_session30",
|
| 5 |
+
"primitive": "EC03",
|
| 6 |
+
"batch": "20261026",
|
| 7 |
+
"participant": "liujiaxin",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "c9205ac6e17d2d5c",
|
| 11 |
+
"left": "cc5681142208e29a",
|
| 12 |
+
"right": "a85418f7d807dff9"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-27T04:53:57.378184+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": 131.95833333333334,
|
| 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": -0.088118,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.9656,
|
| 32 |
+
"reference_imu_first_sample_s": 9033.510553125,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 12,
|
| 35 |
+
"window_corr_median": 0.9608212634156534,
|
| 36 |
+
"drift_ppm": 10.726206934199999,
|
| 37 |
+
"drift_se_ppm": 5.482125480691615,
|
| 38 |
+
"drift_ms_over_take": 1.4153230049676897,
|
| 39 |
+
"lag_scatter_ms": 0.5984479279355962,
|
| 40 |
+
"lag_range_ms": 2.3104898651810366
|
| 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": 26847,
|
| 76 |
+
"n_gyro": 26841,
|
| 77 |
+
"t_start": -0.09954737873196605,
|
| 78 |
+
"t_end": 132.1426502582668
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 26681,
|
| 82 |
+
"n_gyro": 26675,
|
| 83 |
+
"t_start": 0.009267291266571234,
|
| 84 |
+
"t_end": 132.3027750902671
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 26115,
|
| 88 |
+
"n_gyro": 26127,
|
| 89 |
+
"t_start": -0.8740202217326605,
|
| 90 |
+
"t_end": 131.00875883126682
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 26056,
|
| 94 |
+
"n_gyro": 26067,
|
| 95 |
+
"t_start": -0.8999463357326185,
|
| 96 |
+
"t_end": 131.01299098226772
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 13239,
|
| 100 |
+
"t_start": 0.09156399226738544,
|
| 101 |
+
"t_end": 132.4715545142677
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 13187,
|
| 105 |
+
"t_start": -0.8551403167333937,
|
| 106 |
+
"t_end": 131.0044414182681
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 13190,
|
| 110 |
+
"t_start": -0.8811728797322012,
|
| 111 |
+
"t_end": 131.00784656726827
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 9033.635612,
|
| 118 |
+
"frames": 3958,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.03956899791554137,
|
| 124 |
+
"t_end": 131.93952499791484,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 9033.63558,
|
| 131 |
+
"frames": 3958,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0024181146161434135,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.0393266768838494,
|
| 137 |
+
"t_end": 131.93928267688315,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 9033.635601,
|
| 144 |
+
"frames": 3958,
|
| 145 |
+
"pts_gaps": 0,
|
| 146 |
+
"timing": "pts",
|
| 147 |
+
"timeshift_cam_imu_s": 0.002458947067077895,
|
| 148 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
+
"t_start": 0.039388509334077795,
|
| 150 |
+
"t_end": 131.93933250933478,
|
| 151 |
+
"clock": "device",
|
| 152 |
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"calibrated": true
|
| 153 |
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},
|
| 154 |
+
"right_front": {
|
| 155 |
+
"fps": 30.0,
|
| 156 |
+
"start_device_s": 9033.635621,
|
| 157 |
+
"frames": 3958,
|
| 158 |
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"pts_gaps": 0,
|
| 159 |
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"timing": "pts",
|
| 160 |
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"timeshift_cam_imu_s": 0.0021420814739499558,
|
| 161 |
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"file": "robocap_segment1_video_right_front.mp4",
|
| 162 |
+
"t_start": 0.03909164374052311,
|
| 163 |
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"t_end": 131.9390586437399,
|
| 164 |
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"clock": "device",
|
| 165 |
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"calibrated": true
|
| 166 |
+
},
|
| 167 |
+
"left_eye": {
|
| 168 |
+
"fps": 30.0,
|
| 169 |
+
"start_device_s": 9033.635591,
|
| 170 |
+
"frames": 3957,
|
| 171 |
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"pts_gaps": 1,
|
| 172 |
+
"timing": "pts",
|
| 173 |
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"timeshift_cam_imu_s": 0.002801984596191448,
|
| 174 |
+
"gap_test": {
|
| 175 |
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"pts": {
|
| 176 |
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"offset_ms": 28.7,
|
| 177 |
+
"corr": 0.864,
|
| 178 |
+
"err_ms": 25.9
|
| 179 |
+
},
|
| 180 |
+
"nominal": {
|
| 181 |
+
"offset_ms": 78.7,
|
| 182 |
+
"corr": 0.864,
|
| 183 |
+
"err_ms": 75.9
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"file": "robocap_segment1_video_left_eye.mp4",
|
| 187 |
+
"t_start": 0.03972154686342223,
|
| 188 |
+
"t_end": 131.9563215468639,
|
| 189 |
+
"clock": "device",
|
| 190 |
+
"calibrated": true
|
| 191 |
+
},
|
| 192 |
+
"right_eye": {
|
| 193 |
+
"fps": 30.0,
|
| 194 |
+
"start_device_s": 9033.635569,
|
| 195 |
+
"frames": 3958,
|
| 196 |
+
"pts_gaps": 0,
|
| 197 |
+
"timing": "pts",
|
| 198 |
+
"timeshift_cam_imu_s": 0.002930366888236734,
|
| 199 |
+
"file": "robocap_segment1_video_right_eye.mp4",
|
| 200 |
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"t_start": 0.0398279291562922,
|
| 201 |
+
"t_end": 131.939771929157,
|
| 202 |
+
"clock": "device",
|
| 203 |
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"calibrated": true
|
| 204 |
+
},
|
| 205 |
+
"wrist_left": {
|
| 206 |
+
"fps": 30.0,
|
| 207 |
+
"start_device_s": 9032.736299,
|
| 208 |
+
"frames": 3956,
|
| 209 |
+
"pts_gaps": 0,
|
| 210 |
+
"timing": "pts",
|
| 211 |
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"timeshift_cam_imu_s": null,
|
| 212 |
+
"file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
|
| 213 |
+
"t_start": -0.8623724377324997,
|
| 214 |
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"t_end": 130.96998456226683,
|
| 215 |
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"clock": "device",
|
| 216 |
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"calibrated": false
|
| 217 |
+
},
|
| 218 |
+
"wrist_right": {
|
| 219 |
+
"fps": 30.0,
|
| 220 |
+
"start_device_s": 9032.716696,
|
| 221 |
+
"frames": 3956,
|
| 222 |
+
"pts_gaps": 0,
|
| 223 |
+
"timing": "pts",
|
| 224 |
+
"timeshift_cam_imu_s": null,
|
| 225 |
+
"file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
|
| 226 |
+
"t_start": -0.8819754377331428,
|
| 227 |
+
"t_end": 130.9509675622663,
|
| 228 |
+
"clock": "device",
|
| 229 |
+
"calibrated": false
|
| 230 |
+
},
|
| 231 |
+
"third_person": {
|
| 232 |
+
"file": "mocap/mocap-EC03-S01-liujiaxin-01p2-1.mp4",
|
| 233 |
+
"frames": 3959,
|
| 234 |
+
"fps": 30.0,
|
| 235 |
+
"clock": "nokov (frame index)",
|
| 236 |
+
"t_start": 0.0,
|
| 237 |
+
"t_end": 131.93333333333334
|
| 238 |
+
}
|
| 239 |
+
}
|
| 240 |
+
},
|
| 241 |
+
"flags": [],
|
| 242 |
+
"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
|
| 243 |
+
"rig_tracker": {
|
| 244 |
+
"definition": "c9205ac6e17d2d5c/20261026-morning/labels-235140/session-40f050eb841b53da",
|
| 245 |
+
"R_tracker0_imu0": [
|
| 246 |
+
[
|
| 247 |
+
-0.62022145,
|
| 248 |
+
-0.0023206,
|
| 249 |
+
-0.78442333
|
| 250 |
+
],
|
| 251 |
+
[
|
| 252 |
+
0.77897206,
|
| 253 |
+
0.11590223,
|
| 254 |
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-0.61625417
|
| 255 |
+
],
|
| 256 |
+
[
|
| 257 |
+
0.09234649,
|
| 258 |
+
-0.99325792,
|
| 259 |
+
-0.07007736
|
| 260 |
+
]
|
| 261 |
+
],
|
| 262 |
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"p_tracker0_imu0_m": [
|
| 263 |
+
-0.17948884518485952,
|
| 264 |
+
-0.0016309317005926696,
|
| 265 |
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0.007168405046266729
|
| 266 |
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],
|
| 267 |
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"rig_check": {
|
| 268 |
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"gyro_samples": 3800,
|
| 269 |
+
"gyro_max_deg": 2.5,
|
| 270 |
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"status": "dropped_marker",
|
| 271 |
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"dropped_marker": 1,
|
| 272 |
+
"gyro_deg": 2.188
|
| 273 |
+
},
|
| 274 |
+
"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 275 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 276 |
+
},
|
| 277 |
+
"canonical": {
|
| 278 |
+
"generated_at_utc": "2026-10-27T06:42:55.630551+00:00",
|
| 279 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 280 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 281 |
+
"R_canon_nokov": [
|
| 282 |
+
[
|
| 283 |
+
0.9999318201,
|
| 284 |
+
0.0116771196,
|
| 285 |
+
-7.9583e-06
|
| 286 |
+
],
|
| 287 |
+
[
|
| 288 |
+
7.9583e-06,
|
| 289 |
+
-0.0013630091,
|
| 290 |
+
-0.9999990711
|
| 291 |
+
],
|
| 292 |
+
[
|
| 293 |
+
-0.0116771196,
|
| 294 |
+
0.9999308912,
|
| 295 |
+
-0.0013630091
|
| 296 |
+
]
|
| 297 |
+
],
|
| 298 |
+
"scale_nokov_to_canon": 0.001,
|
| 299 |
+
"T_canon_nokov_mm": [
|
| 300 |
+
[
|
| 301 |
+
0.00099993182,
|
| 302 |
+
1.167712e-05,
|
| 303 |
+
-7.958e-09,
|
| 304 |
+
0.0
|
| 305 |
+
],
|
| 306 |
+
[
|
| 307 |
+
7.958e-09,
|
| 308 |
+
-1.363009e-06,
|
| 309 |
+
-0.000999999071,
|
| 310 |
+
0.0
|
| 311 |
+
],
|
| 312 |
+
[
|
| 313 |
+
-1.167712e-05,
|
| 314 |
+
0.000999930891,
|
| 315 |
+
-1.363009e-06,
|
| 316 |
+
0.0
|
| 317 |
+
],
|
| 318 |
+
[
|
| 319 |
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0.0,
|
| 320 |
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0.0,
|
| 321 |
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0.0,
|
| 322 |
+
1.0
|
| 323 |
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]
|
| 324 |
+
],
|
| 325 |
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{
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"schema_version": 1,
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"created_at_utc": "2026-10-26T17:33:01.218107+00:00",
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|
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|
| 6 |
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"upload_batch_id": "20261026",
|
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actions/environment_coupled_wholebody/EC03/session_008/raw/mocap/Body0.bvh
ADDED
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|
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