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- .gitattributes +48 -0
- actions/locomanipulation/LM86/session_010/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM86/session_010/raw/mocap/Body0.trc +3 -0
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- actions/locomanipulation/LM86/session_010/raw/sensors/robocap_mag_middle.db +3 -0
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- actions/locomanipulation/LM86/session_010/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM86/session_010/scene/infer.json +36 -0
- actions/locomanipulation/LM86/session_010/scene/views.npz +3 -0
- actions/locomanipulation/LM86/session_010/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM86/session_010/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM86/session_010/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM86/session_010/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM86/session_010/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM86/session_010/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM86/session_010/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM86/session_010/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM86/session_010/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM86/session_010/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM86/session_010/videos/head_right_front.mp4 +3 -0
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- actions/locomanipulation/LM86/session_010/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM86/session_010/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM86/session_011/cameras/poses.npz +3 -0
- actions/locomanipulation/LM86/session_011/meta.json +520 -0
- actions/locomanipulation/LM86/session_011/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM86/session_011/motions/markers.npz +3 -0
- actions/locomanipulation/LM86/session_011/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM86/session_011/motions/smplx.npz +3 -0
- actions/locomanipulation/LM86/session_011/raw/audio.wav +3 -0
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- actions/locomanipulation/LM86/session_011/raw/mocap/Body0.bvh +0 -0
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- actions/locomanipulation/LM86/session_011/raw/mocap/Tracker0.trc +0 -0
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- actions/locomanipulation/LM86/session_011/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM86/session_011/scene/infer.json +36 -0
- actions/locomanipulation/LM86/session_011/scene/views.npz +3 -0
.gitattributes
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20260923/LM86/20260923_035922_session4",
|
| 4 |
+
"session_id": "20260923_035922_session4",
|
| 5 |
+
"primitive": "LM86",
|
| 6 |
+
"batch": "20260923",
|
| 7 |
+
"participant": "zhangxinxin",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
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"device_ids": {
|
| 10 |
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"main": "e17c9efadb69e7b1",
|
| 11 |
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"left": "452031d7af00ef6f",
|
| 12 |
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"right": "6ee5ee4472fe2ad7"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-14T11:25:08.963542+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 |
+
"first_solved_frame": 0,
|
| 20 |
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"duration_s": 124.025,
|
| 21 |
+
"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 22 |
+
},
|
| 23 |
+
"alignment": {
|
| 24 |
+
"reference_imu": "imu_head_right",
|
| 25 |
+
"model": "offset (median of windows)",
|
| 26 |
+
"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 27 |
+
"offset_s": -1.175138,
|
| 28 |
+
"rate": 0.0,
|
| 29 |
+
"global_lag_s": -1.175,
|
| 30 |
+
"peak_corr": 0.9871,
|
| 31 |
+
"reference_imu_first_sample_s": 1453.39920924,
|
| 32 |
+
"windows": {
|
| 33 |
+
"n_windows": 10,
|
| 34 |
+
"window_corr_median": 0.9973610402136968,
|
| 35 |
+
"drift_ppm": -7.2160125871808045,
|
| 36 |
+
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|
| 37 |
+
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|
| 38 |
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|
| 39 |
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| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"units": {
|
| 43 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 44 |
+
"y_up_to_z_up": [
|
| 45 |
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[
|
| 46 |
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1.0,
|
| 47 |
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0.0,
|
| 48 |
+
0.0
|
| 49 |
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],
|
| 50 |
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[
|
| 51 |
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0.0,
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| 52 |
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0.0,
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| 53 |
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-1.0
|
| 54 |
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],
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| 55 |
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[
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| 56 |
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0.0,
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| 57 |
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1.0,
|
| 58 |
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0.0
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| 59 |
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]
|
| 60 |
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],
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| 61 |
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"acc": "m/s^2 (8192 LSB/g)",
|
| 62 |
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"gyro": "rad/s (65.536 LSB/dps)",
|
| 63 |
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"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
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| 64 |
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| 65 |
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},
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| 66 |
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| 67 |
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"device": "e17c9efadb69e7b1",
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| 68 |
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"status": "ok",
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| 69 |
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"date": "2026-09-08"
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| 70 |
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| 71 |
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| 88 |
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| 120 |
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},
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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| 126 |
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| 127 |
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| 128 |
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| 129 |
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| 130 |
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| 132 |
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| 133 |
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},
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| 134 |
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| 135 |
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| 136 |
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| 159 |
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| 167 |
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"file": "robocap_segment1_video_left_eye.mp4",
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| 168 |
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| 172 |
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|
| 175 |
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| 176 |
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| 180 |
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"file": "robocap_segment1_video_right_eye.mp4",
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| 181 |
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| 182 |
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| 185 |
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| 187 |
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| 191 |
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| 192 |
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| 193 |
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| 194 |
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| 198 |
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},
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| 201 |
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| 202 |
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| 206 |
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"file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
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| 211 |
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},
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"third_person": {
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| 213 |
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"file": "mocap/mocap-LM86-S01-zhangxinxin-01p1-1.mp4",
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| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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}
|
| 220 |
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}
|
| 221 |
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},
|
| 222 |
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"flags": [
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| 223 |
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"wrist_right_imu empty"
|
| 224 |
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],
|
| 225 |
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"sanity": {
|
| 226 |
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"status": {
|
| 227 |
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"structure": "FAIL",
|
| 228 |
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"markers": "WARN",
|
| 229 |
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"timing": "WARN"
|
| 230 |
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},
|
| 231 |
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"verdict": "READY_WITH_WARNINGS",
|
| 232 |
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"issues": [
|
| 233 |
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"FAIL S_DB_EMPTY",
|
| 234 |
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"FAIL S_REPORT_EMPTY",
|
| 235 |
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"WARN M_BODY_ID",
|
| 236 |
+
"WARN M_SPIKES",
|
| 237 |
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"WARN M_TRACKER_LABELS",
|
| 238 |
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"WARN S_PARTICIPANT",
|
| 239 |
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"WARN T_EMPTY"
|
| 240 |
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]
|
| 241 |
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},
|
| 242 |
+
"canonical": {
|
| 243 |
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"generated_at_utc": "2026-10-14T12:21:47.963894+00:00",
|
| 244 |
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"generated_by": "scripts/canonicalise_dataset.py",
|
| 245 |
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"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 246 |
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"R_canon_nokov": [
|
| 247 |
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[
|
| 248 |
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0.999971398,
|
| 249 |
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-0.0075631784,
|
| 250 |
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-3.95322e-05
|
| 251 |
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],
|
| 252 |
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[
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| 253 |
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3.95322e-05,
|
| 254 |
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0.0104534224,
|
| 255 |
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|
| 256 |
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],
|
| 257 |
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[
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0.0075631784,
|
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0.9999167587,
|
| 260 |
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0.0104534224
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| 261 |
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]
|
| 262 |
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],
|
| 263 |
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"scale_nokov_to_canon": 0.001,
|
| 264 |
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|
| 265 |
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[
|
| 266 |
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0.000999971398,
|
| 267 |
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|
| 268 |
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-3.9532e-08,
|
| 269 |
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0.0
|
| 270 |
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],
|
| 271 |
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[
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| 272 |
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3.9532e-08,
|
| 273 |
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1.0453422e-05,
|
| 274 |
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-0.000999945361,
|
| 275 |
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0.0
|
| 276 |
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],
|
| 277 |
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[
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| 278 |
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7.563178e-06,
|
| 279 |
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0.000999916759,
|
| 280 |
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1.0453422e-05,
|
| 281 |
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0.0
|
| 282 |
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],
|
| 283 |
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[
|
| 284 |
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0.0,
|
| 285 |
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0.0,
|
| 286 |
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0.0,
|
| 287 |
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1.0
|
| 288 |
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]
|
| 289 |
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],
|
| 290 |
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"block": "20260923-morning",
|
| 291 |
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"block_assignment": "trc",
|
| 292 |
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|
| 293 |
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"plane_status": "contacts span only 0.43 m",
|
| 294 |
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"floor": {
|
| 295 |
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"sole_marker_p1_mm": 31.9,
|
| 296 |
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|
| 297 |
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},
|
| 298 |
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"gravity_check": {
|
| 299 |
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"static_samples": 5188,
|
| 300 |
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"g_world_mean_m_s2": [
|
| 301 |
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0.0493,
|
| 302 |
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-0.055,
|
| 303 |
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9.732
|
| 304 |
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],
|
| 305 |
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"tilt_from_z_deg": 0.435,
|
| 306 |
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|
| 307 |
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"magnitude_m_s2": 9.7323
|
| 308 |
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},
|
| 309 |
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"rig_tracker_definition": "e17c9efadb69e7b1/20260923-morning/labels-352410/session-2a9a83b9b60a30e8",
|
| 310 |
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"camera_pose_source": "provider T_tracker0_cam",
|
| 311 |
+
"files": [
|
| 312 |
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"mocap_zup.npz",
|
| 313 |
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"tracker0_zup.npz",
|
| 314 |
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"rig_zup.npz",
|
| 315 |
+
"cameras_zup.npz"
|
| 316 |
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]
|
| 317 |
+
},
|
| 318 |
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"smplx": {
|
| 319 |
+
"generated_at_utc": "2026-10-15T00:07:04.077376+00:00",
|
| 320 |
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"generated_by": "scripts/fit_smplx_dataset.py",
|
| 321 |
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"file": "smplx.npz",
|
| 322 |
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"gender": "female",
|
| 323 |
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"n_betas": 16,
|
| 324 |
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"betas_source": "participant median (derived/smplx/participants.json)",
|
| 325 |
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 326 |
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 327 |
+
"hands": {
|
| 328 |
+
"observed": false,
|
| 329 |
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"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 330 |
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"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 331 |
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"hand_marker_offsets_m": {
|
| 332 |
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"left": {
|
| 333 |
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"LHandIn": [
|
| 334 |
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0.006768976803869009,
|
| 335 |
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0.0005725063965655863,
|
| 336 |
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0.031050095334649086
|
| 337 |
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],
|
| 338 |
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"LHandOut": [
|
| 339 |
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0.023969825357198715,
|
| 340 |
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0.0240313857793808,
|
| 341 |
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-0.00021627378009725362
|
| 342 |
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]
|
| 343 |
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},
|
| 344 |
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"right": {
|
| 345 |
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"RHandIn": [
|
| 346 |
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-0.04067123308777809,
|
| 347 |
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-0.032458990812301636,
|
| 348 |
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0.028737707063555717
|
| 349 |
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],
|
| 350 |
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"RHandOut": [
|
| 351 |
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-0.06276535242795944,
|
| 352 |
+
0.00870463065803051,
|
| 353 |
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-0.002707979641854763
|
| 354 |
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],
|
| 355 |
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"RWristOut": [
|
| 356 |
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0.005990806967020035,
|
| 357 |
+
0.031075676903128624,
|
| 358 |
+
0.001268276246264577
|
| 359 |
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]
|
| 360 |
+
}
|
| 361 |
+
}
|
| 362 |
+
},
|
| 363 |
+
"marker_rmse_mm": {
|
| 364 |
+
"median_frame": 3.36,
|
| 365 |
+
"p95_frame": 6.42
|
| 366 |
+
},
|
| 367 |
+
"worst_markers": [
|
| 368 |
+
"RKneeIn 12mm",
|
| 369 |
+
"RKnee 8mm",
|
| 370 |
+
"LHeel 7mm",
|
| 371 |
+
"RElbowIn 7mm",
|
| 372 |
+
"RHeel 6mm"
|
| 373 |
+
],
|
| 374 |
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"valid_fraction": 0.9995,
|
| 375 |
+
"qc": {
|
| 376 |
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"lowest_vertex_mm": {
|
| 377 |
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"median": 2.1,
|
| 378 |
+
"p5": -3.8
|
| 379 |
+
},
|
| 380 |
+
"frames_checked": 496,
|
| 381 |
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"stature_mm": 1627.7
|
| 382 |
+
},
|
| 383 |
+
"surface_term": {
|
| 384 |
+
"weight": 1.0,
|
| 385 |
+
"marker_height_mm": 11.0,
|
| 386 |
+
"markers_on_surface": 52,
|
| 387 |
+
"surface_rmse_mm_median": 13.19
|
| 388 |
+
},
|
| 389 |
+
"shape_source": "participant median",
|
| 390 |
+
"wrist_correction": {
|
| 391 |
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"left": {
|
| 392 |
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"status": "corrected",
|
| 393 |
+
"Q_deg": 135.58,
|
| 394 |
+
"Q_rotvec": [
|
| 395 |
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-2.35727,
|
| 396 |
+
0.17792,
|
| 397 |
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-0.10457
|
| 398 |
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],
|
| 399 |
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"in_out_sign": -1,
|
| 400 |
+
"wrist_bend_deg_median": 137.4,
|
| 401 |
+
"opposite_sign_bend_deg": 64.8,
|
| 402 |
+
"in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
|
| 403 |
+
"marker_frame_spread_deg": 1.11,
|
| 404 |
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"hand_vs_marker_frame_deg": {
|
| 405 |
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"before": 135.66,
|
| 406 |
+
"after": 1.11
|
| 407 |
+
},
|
| 408 |
+
"markers_on_wrist": [
|
| 409 |
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"LHandIn",
|
| 410 |
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"LHandOut"
|
| 411 |
+
],
|
| 412 |
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"forearm_twist": {
|
| 413 |
+
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