Upload folder using huggingface_hub (part 130)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +26 -0
- actions/locomanipulation/LM05/session_005/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM05/session_005/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM05/session_005/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM05/session_005/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM05/session_005/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM05/session_005/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM05/session_005/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM05/session_006/cameras/poses.npz +3 -0
- actions/locomanipulation/LM05/session_006/meta.json +520 -0
- actions/locomanipulation/LM05/session_006/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM05/session_006/motions/markers.npz +3 -0
- actions/locomanipulation/LM05/session_006/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM05/session_006/motions/smplx.npz +3 -0
- actions/locomanipulation/LM05/session_006/raw/audio.wav +3 -0
- actions/locomanipulation/LM05/session_006/raw/manifest.json +248 -0
- actions/locomanipulation/LM05/session_006/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM05/session_006/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM05/session_006/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM05/session_006/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM05/session_006/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM05/session_006/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM05/session_006/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM05/session_006/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM05/session_006/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM05/session_006/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM05/session_006/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM05/session_006/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM05/session_006/scene/infer.json +36 -0
- actions/locomanipulation/LM05/session_006/scene/views.npz +3 -0
- actions/locomanipulation/LM05/session_006/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM05/session_006/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM05/session_006/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM05/session_006/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM05/session_006/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM05/session_006/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM05/session_006/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM05/session_006/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM05/session_006/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM05/session_006/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM05/session_006/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM05/session_006/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM05/session_006/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM05/session_006/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM05/session_007/cameras/poses.npz +3 -0
- actions/locomanipulation/LM05/session_007/meta.json +500 -0
- actions/locomanipulation/LM05/session_007/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM05/session_007/motions/markers.npz +3 -0
- actions/locomanipulation/LM05/session_007/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM05/session_007/motions/smplx.npz +3 -0
.gitattributes
CHANGED
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20260928/LM05/20260928_053727_session4",
|
| 4 |
+
"session_id": "20260928_053727_session4",
|
| 5 |
+
"primitive": "LM05",
|
| 6 |
+
"batch": "20260928",
|
| 7 |
+
"participant": "liujiaxin",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e17c9efadb69e7b1",
|
| 11 |
+
"left": "cc5681142208e29a",
|
| 12 |
+
"right": "60a6f081bbe60b0d"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-14T11:28:24.654427+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 |
+
"duration_s": 119.025,
|
| 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": -1.173349,
|
| 28 |
+
"rate": 0.0,
|
| 29 |
+
"global_lag_s": -1.175,
|
| 30 |
+
"peak_corr": 0.9843,
|
| 31 |
+
"reference_imu_first_sample_s": 1278.799104159,
|
| 32 |
+
"windows": {
|
| 33 |
+
"n_windows": 9,
|
| 34 |
+
"window_corr_median": 0.9939932027366465,
|
| 35 |
+
"drift_ppm": -8.937186816237919,
|
| 36 |
+
"drift_se_ppm": 8.9464123157436,
|
| 37 |
+
"drift_ms_over_take": -1.0636741842459163,
|
| 38 |
+
"lag_scatter_ms": 0.6111563102093286,
|
| 39 |
+
"lag_range_ms": 2.2025916914003574
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"units": {
|
| 43 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 44 |
+
"y_up_to_z_up": [
|
| 45 |
+
[
|
| 46 |
+
1.0,
|
| 47 |
+
0.0,
|
| 48 |
+
0.0
|
| 49 |
+
],
|
| 50 |
+
[
|
| 51 |
+
0.0,
|
| 52 |
+
0.0,
|
| 53 |
+
-1.0
|
| 54 |
+
],
|
| 55 |
+
[
|
| 56 |
+
0.0,
|
| 57 |
+
1.0,
|
| 58 |
+
0.0
|
| 59 |
+
]
|
| 60 |
+
],
|
| 61 |
+
"acc": "m/s^2 (8192 LSB/g)",
|
| 62 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 63 |
+
"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 64 |
+
"quaternions": "xyzw, Nokov global"
|
| 65 |
+
},
|
| 66 |
+
"calibration": {
|
| 67 |
+
"device": "e17c9efadb69e7b1",
|
| 68 |
+
"status": "ok",
|
| 69 |
+
"date": "2026-09-08"
|
| 70 |
+
},
|
| 71 |
+
"streams": {
|
| 72 |
+
"sensors": {
|
| 73 |
+
"imu_head_right": {
|
| 74 |
+
"n_acc": 24260,
|
| 75 |
+
"n_gyro": 24254,
|
| 76 |
+
"t_start": -1.1803187017684307,
|
| 77 |
+
"t_end": 119.76678445123152
|
| 78 |
+
},
|
| 79 |
+
"imu_head_left": {
|
| 80 |
+
"n_acc": 24218,
|
| 81 |
+
"n_gyro": 24213,
|
| 82 |
+
"t_start": -1.0719393267685176,
|
| 83 |
+
"t_end": 119.9353628112316
|
| 84 |
+
},
|
| 85 |
+
"imu_wrist_right": {
|
| 86 |
+
"n_acc": 23894,
|
| 87 |
+
"n_gyro": 23894,
|
| 88 |
+
"t_start": 0.24170068423144375,
|
| 89 |
+
"t_end": 118.32533464523148
|
| 90 |
+
},
|
| 91 |
+
"imu_wrist_left": {
|
| 92 |
+
"n_acc": 23333,
|
| 93 |
+
"n_gyro": 23333,
|
| 94 |
+
"t_start": 0.22068167423152563,
|
| 95 |
+
"t_end": 118.34820381023145
|
| 96 |
+
},
|
| 97 |
+
"mag_head": {
|
| 98 |
+
"n": 12110,
|
| 99 |
+
"t_start": -0.9904028687684443,
|
| 100 |
+
"t_end": 120.09959568923149
|
| 101 |
+
},
|
| 102 |
+
"mag_wrist_right": {
|
| 103 |
+
"n": 11808,
|
| 104 |
+
"t_start": 0.26069542423159664,
|
| 105 |
+
"t_end": 118.3306200172316
|
| 106 |
+
},
|
| 107 |
+
"mag_wrist_left": {
|
| 108 |
+
"n": 11811,
|
| 109 |
+
"t_start": 0.23462270523158413,
|
| 110 |
+
"t_end": 118.33421609023152
|
| 111 |
+
}
|
| 112 |
+
},
|
| 113 |
+
"videos": {
|
| 114 |
+
"left": {
|
| 115 |
+
"fps": 30.0,
|
| 116 |
+
"start_device_s": 1280.009553,
|
| 117 |
+
"frames": 3570,
|
| 118 |
+
"pts_gaps": 0,
|
| 119 |
+
"timing": "pts",
|
| 120 |
+
"timeshift_cam_imu_s": 0.0023423887986386703,
|
| 121 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 122 |
+
"t_start": 0.03944174503034237,
|
| 123 |
+
"t_end": 119.00597474503037,
|
| 124 |
+
"clock": "device",
|
| 125 |
+
"calibrated": true
|
| 126 |
+
},
|
| 127 |
+
"right": {
|
| 128 |
+
"fps": 30.0,
|
| 129 |
+
"start_device_s": 1280.009498,
|
| 130 |
+
"frames": 3570,
|
| 131 |
+
"pts_gaps": 0,
|
| 132 |
+
"timing": "pts",
|
| 133 |
+
"timeshift_cam_imu_s": 0.0019489646456461974,
|
| 134 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 135 |
+
"t_start": 0.03899332087702323,
|
| 136 |
+
"t_end": 119.00554932087711,
|
| 137 |
+
"clock": "device",
|
| 138 |
+
"calibrated": true
|
| 139 |
+
},
|
| 140 |
+
"left_front": {
|
| 141 |
+
"fps": 30.0,
|
| 142 |
+
"start_device_s": 1280.009537,
|
| 143 |
+
"frames": 3570,
|
| 144 |
+
"pts_gaps": 0,
|
| 145 |
+
"timing": "pts",
|
| 146 |
+
"timeshift_cam_imu_s": 0.0018171232386612972,
|
| 147 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 148 |
+
"t_start": 0.03890047947005559,
|
| 149 |
+
"t_end": 119.00543347947008,
|
| 150 |
+
"clock": "device",
|
| 151 |
+
"calibrated": true
|
| 152 |
+
},
|
| 153 |
+
"right_front": {
|
| 154 |
+
"fps": 30.0,
|
| 155 |
+
"start_device_s": 1280.009574,
|
| 156 |
+
"frames": 3570,
|
| 157 |
+
"pts_gaps": 0,
|
| 158 |
+
"timing": "pts",
|
| 159 |
+
"timeshift_cam_imu_s": 0.0017295646474508202,
|
| 160 |
+
"file": "robocap_segment1_video_right_front.mp4",
|
| 161 |
+
"t_start": 0.03884992087877226,
|
| 162 |
+
"t_end": 119.00537192087872,
|
| 163 |
+
"clock": "device",
|
| 164 |
+
"calibrated": true
|
| 165 |
+
},
|
| 166 |
+
"left_eye": {
|
| 167 |
+
"fps": 30.0,
|
| 168 |
+
"start_device_s": 1280.009518,
|
| 169 |
+
"frames": 3570,
|
| 170 |
+
"pts_gaps": 0,
|
| 171 |
+
"timing": "pts",
|
| 172 |
+
"timeshift_cam_imu_s": 0.001668932298833096,
|
| 173 |
+
"file": "robocap_segment1_video_left_eye.mp4",
|
| 174 |
+
"t_start": 0.03873328853036373,
|
| 175 |
+
"t_end": 119.00527728853048,
|
| 176 |
+
"clock": "device",
|
| 177 |
+
"calibrated": true
|
| 178 |
+
},
|
| 179 |
+
"right_eye": {
|
| 180 |
+
"fps": 30.0,
|
| 181 |
+
"start_device_s": 1280.009464,
|
| 182 |
+
"frames": 3570,
|
| 183 |
+
"pts_gaps": 0,
|
| 184 |
+
"timing": "pts",
|
| 185 |
+
"timeshift_cam_imu_s": 0.0017169377622902274,
|
| 186 |
+
"file": "robocap_segment1_video_right_eye.mp4",
|
| 187 |
+
"t_start": 0.03872729399371355,
|
| 188 |
+
"t_end": 119.00529429399366,
|
| 189 |
+
"clock": "device",
|
| 190 |
+
"calibrated": true
|
| 191 |
+
},
|
| 192 |
+
"wrist_left": {
|
| 193 |
+
"fps": 30.0,
|
| 194 |
+
"start_device_s": 1280.183718,
|
| 195 |
+
"frames": 3544,
|
| 196 |
+
"pts_gaps": 0,
|
| 197 |
+
"timing": "pts",
|
| 198 |
+
"timeshift_cam_imu_s": null,
|
| 199 |
+
"file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
|
| 200 |
+
"t_start": 0.2112643562314931,
|
| 201 |
+
"t_end": 118.3108733562316,
|
| 202 |
+
"clock": "device",
|
| 203 |
+
"calibrated": false
|
| 204 |
+
},
|
| 205 |
+
"wrist_right": {
|
| 206 |
+
"fps": 30.0,
|
| 207 |
+
"start_device_s": 1280.255714,
|
| 208 |
+
"frames": 3541,
|
| 209 |
+
"pts_gaps": 0,
|
| 210 |
+
"timing": "pts",
|
| 211 |
+
"timeshift_cam_imu_s": null,
|
| 212 |
+
"file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
|
| 213 |
+
"t_start": 0.28326035623139223,
|
| 214 |
+
"t_end": 118.28319535623145,
|
| 215 |
+
"clock": "device",
|
| 216 |
+
"calibrated": false
|
| 217 |
+
},
|
| 218 |
+
"third_person": {
|
| 219 |
+
"file": "mocap/mocap-LM05-S04-liujiaxin-01p1-1.mp4",
|
| 220 |
+
"frames": 3571,
|
| 221 |
+
"fps": 30.0,
|
| 222 |
+
"clock": "nokov (frame index)",
|
| 223 |
+
"t_start": 0.0,
|
| 224 |
+
"t_end": 119.0
|
| 225 |
+
}
|
| 226 |
+
}
|
| 227 |
+
},
|
| 228 |
+
"flags": [],
|
| 229 |
+
"sanity": {
|
| 230 |
+
"status": {
|
| 231 |
+
"structure": "PASS",
|
| 232 |
+
"markers": "WARN",
|
| 233 |
+
"timing": "WARN"
|
| 234 |
+
},
|
| 235 |
+
"verdict": "READY_WITH_WARNINGS",
|
| 236 |
+
"issues": [
|
| 237 |
+
"WARN M_SPIKES",
|
| 238 |
+
"WARN M_TRACKER_LABELS",
|
| 239 |
+
"WARN T_UNITS"
|
| 240 |
+
]
|
| 241 |
+
},
|
| 242 |
+
"canonical": {
|
| 243 |
+
"generated_at_utc": "2026-10-14T12:22:08.679298+00:00",
|
| 244 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 245 |
+
"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 |
+
"R_canon_nokov": [
|
| 247 |
+
[
|
| 248 |
+
0.9999923994,
|
| 249 |
+
-0.0038988195,
|
| 250 |
+
-1.78677e-05
|
| 251 |
+
],
|
| 252 |
+
[
|
| 253 |
+
1.78677e-05,
|
| 254 |
+
0.0091654922,
|
| 255 |
+
-0.9999579958
|
| 256 |
+
],
|
| 257 |
+
[
|
| 258 |
+
0.0038988195,
|
| 259 |
+
0.9999503952,
|
| 260 |
+
0.0091654922
|
| 261 |
+
]
|
| 262 |
+
],
|
| 263 |
+
"scale_nokov_to_canon": 0.001,
|
| 264 |
+
"T_canon_nokov_mm": [
|
| 265 |
+
[
|
| 266 |
+
0.000999992399,
|
| 267 |
+
-3.89882e-06,
|
| 268 |
+
-1.7868e-08,
|
| 269 |
+
0.0
|
| 270 |
+
],
|
| 271 |
+
[
|
| 272 |
+
1.7868e-08,
|
| 273 |
+
9.165492e-06,
|
| 274 |
+
-0.000999957996,
|
| 275 |
+
0.0
|
| 276 |
+
],
|
| 277 |
+
[
|
| 278 |
+
3.89882e-06,
|
| 279 |
+
0.000999950395,
|
| 280 |
+
9.165492e-06,
|
| 281 |
+
0.0
|
| 282 |
+
],
|
| 283 |
+
[
|
| 284 |
+
0.0,
|
| 285 |
+
0.0,
|
| 286 |
+
0.0,
|
| 287 |
+
1.0
|
| 288 |
+
]
|
| 289 |
+
],
|
| 290 |
+
"block": "20260928-morning",
|
| 291 |
+
"block_assignment": "trc",
|
| 292 |
+
"tilt_removed_deg": 0.5706910507262971,
|
| 293 |
+
"plane_status": "ok",
|
| 294 |
+
"floor": {
|
| 295 |
+
"sole_marker_p1_mm": 62.6,
|
| 296 |
+
"headtop_p95_mm": 1658.6
|
| 297 |
+
},
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261010/LM05/20261010_061523_session74",
|
| 4 |
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"session_id": "20261010_061523_session74",
|
| 5 |
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"primitive": "LM05",
|
| 6 |
+
"batch": "20261010",
|
| 7 |
+
"participant": "gaoziyue",
|
| 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 |
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},
|
| 14 |
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"generated_at_utc": "2026-10-21T05:28:42.141379+00:00",
|
| 15 |
+
"generated_by": "scripts/sync_dataset.py",
|
| 16 |
+
"time_base": {
|
| 17 |
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"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 |
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"mocap_rate_fix": null,
|
| 20 |
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"first_solved_frame": 0,
|
| 21 |
+
"duration_s": 134.025,
|
| 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 |
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"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": -1.182837,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -1.18,
|
| 31 |
+
"peak_corr": 0.9906,
|
| 32 |
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"reference_imu_first_sample_s": 21040.374424465,
|
| 33 |
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"windows": {
|
| 34 |
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"n_windows": 12,
|
| 35 |
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"window_corr_median": 0.9977422147502291,
|
| 36 |
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"drift_ppm": -84.06585698056556,
|
| 37 |
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"drift_se_ppm": 50.83708662964871,
|
| 38 |
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"drift_ms_over_take": -11.266225933012128,
|
| 39 |
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"lag_scatter_ms": 5.54955359247952,
|
| 40 |
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"lag_range_ms": 23.01766286404794
|
| 41 |
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}
|
| 42 |
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},
|
| 43 |
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"units": {
|
| 44 |
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"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
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"y_up_to_z_up": [
|
| 46 |
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[
|
| 47 |
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1.0,
|
| 48 |
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0.0,
|
| 49 |
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0.0
|
| 50 |
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],
|
| 51 |
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[
|
| 52 |
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0.0,
|
| 53 |
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0.0,
|
| 54 |
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-1.0
|
| 55 |
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],
|
| 56 |
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[
|
| 57 |
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0.0,
|
| 58 |
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1.0,
|
| 59 |
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0.0
|
| 60 |
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]
|
| 61 |
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],
|
| 62 |
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"acc": "m/s^2 (8192 LSB/g)",
|
| 63 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 64 |
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"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 65 |
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"quaternions": "xyzw, Nokov global"
|
| 66 |
+
},
|
| 67 |
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"calibration": {
|
| 68 |
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"device": "e17c9efadb69e7b1",
|
| 69 |
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"status": "ok",
|
| 70 |
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"date": "2026-09-08"
|
| 71 |
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},
|
| 72 |
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"streams": {
|
| 73 |
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"sensors": {
|
| 74 |
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"imu_head_right": {
|
| 75 |
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"n_acc": 27272,
|
| 76 |
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"n_gyro": 27267,
|
| 77 |
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"t_start": -1.1898193218041655,
|
| 78 |
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"t_end": 134.77262182219397
|
| 79 |
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},
|
| 80 |
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"imu_head_left": {
|
| 81 |
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"n_acc": 27221,
|
| 82 |
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"n_gyro": 27214,
|
| 83 |
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"t_start": -1.0740872798053118,
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| 84 |
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"t_end": 134.93785590619495
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| 85 |
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},
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| 86 |
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"imu_wrist_left": {
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| 87 |
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"n_acc": 26539,
|
| 88 |
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"n_gyro": 26550,
|
| 89 |
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"t_start": 0.26556048219551087,
|
| 90 |
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"t_end": 131.33114296119288
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| 91 |
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},
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"mag_head": {
|
| 93 |
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"n": 13610,
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"t_start": -0.9892733628041555,
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| 95 |
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| 96 |
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},
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"n": 13116,
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"t_start": 0.17426134519315895,
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| 100 |
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|
| 101 |
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},
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"n": 13106,
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"t_start": 0.2794998651950351,
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| 105 |
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| 106 |
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}
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| 107 |
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| 109 |
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"left": {
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| 114 |
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| 115 |
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"file": "robocap_segment1_video_left.mp4",
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"clock": "device",
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| 120 |
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"calibrated": true
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| 121 |
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},
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| 123 |
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"fps": 30.0,
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| 124 |
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| 125 |
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| 127 |
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"timing": "pts",
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| 128 |
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| 129 |
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"file": "robocap_segment1_video_right.mp4",
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"t_start": 0.039518694840595,
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| 131 |
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| 132 |
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"clock": "device",
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"calibrated": true
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| 134 |
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},
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"left_front": {
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"timing": "pts",
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"file": "robocap_segment1_video_left_front.mp4",
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"t_start": 0.03942485343556257,
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| 144 |
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| 145 |
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| 146 |
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"calibrated": true
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| 147 |
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},
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| 150 |
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"start_device_s": 21041.594906,
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| 151 |
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| 152 |
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| 153 |
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| 154 |
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"file": "robocap_segment1_video_right_front.mp4",
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| 160 |
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"file": "robocap_segment1_video_left_eye.mp4",
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| 169 |
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| 173 |
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| 177 |
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| 179 |
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"timing": "pts",
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| 180 |
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"file": "robocap_segment1_video_right_eye.mp4",
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"t_start": 0.03925266795683058,
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| 183 |
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"calibrated": true
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| 186 |
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},
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"wrist_left": {
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| 188 |
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"fps": 30.0,
|
| 189 |
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"start_device_s": 21041.849987,
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| 190 |
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| 191 |
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| 192 |
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|
| 193 |
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|
| 194 |
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"file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
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| 195 |
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"t_start": 0.29272573019603954,
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| 199 |
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},
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| 201 |
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| 202 |
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| 203 |
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| 204 |
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| 205 |
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| 206 |
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| 207 |
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"file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
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"t_start": 0.284904730193162,
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"calibrated": false
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| 212 |
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},
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"third_person": {
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| 214 |
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"file": "mocap/mocap-LM05-S05-gaoziyue-01p1-1.mp4",
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| 215 |
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"frames": 4021,
|
| 216 |
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"fps": 30.0,
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"clock": "nokov (frame index)",
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| 218 |
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"t_end": 134.0
|
| 220 |
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}
|
| 221 |
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}
|
| 222 |
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},
|
| 223 |
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"flags": [
|
| 224 |
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"wrist_right_imu empty"
|
| 225 |
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],
|
| 226 |
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"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
|
| 227 |
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"rig_tracker": {
|
| 228 |
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"definition": "e17c9efadb69e7b1/20261010-morning/labels-035142/session-a9e78a28cb637318",
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"R_tracker0_imu0": [
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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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"rig_check": {
|
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"gyro_samples": 5933,
|
| 253 |
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"gyro_max_deg": 2.5,
|
| 254 |
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"status": "ok",
|
| 255 |
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"dropped_marker": null,
|
| 256 |
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"gyro_deg": 1.071
|
| 257 |
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},
|
| 258 |
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"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 259 |
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"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 260 |
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},
|
| 261 |
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"canonical": {
|
| 262 |
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"generated_at_utc": "2026-10-21T06:55:25.372136+00:00",
|
| 263 |
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"generated_by": "scripts/canonicalise_dataset.py",
|
| 264 |
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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)",
|
| 265 |
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"R_canon_nokov": [
|
| 266 |
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[
|
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[
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]
|
| 281 |
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],
|
| 282 |
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"scale_nokov_to_canon": 0.001,
|
| 283 |
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"T_canon_nokov_mm": [
|
| 284 |
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[
|
| 285 |
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|
| 286 |
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|
| 287 |
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|
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0.0
|
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],
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[
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| 291 |
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1.13808e-07,
|
| 292 |
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1.5242741e-05,
|
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-0.000999883816,
|
| 294 |
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0.0
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],
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[
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1.4931074e-05,
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0.000999772335,
|
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1.5242741e-05,
|
| 300 |
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0.0
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],
|
| 302 |
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[
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0.0,
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| 304 |
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0.0,
|
| 305 |
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0.0,
|
| 306 |
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1.0
|
| 307 |
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]
|
| 308 |
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],
|
| 309 |
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"block": "20261010-morning",
|
| 310 |
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"block_assignment": "trc",
|
| 311 |
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"tilt_removed_deg": 1.2226270210965697,
|
| 312 |
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"plane_status": "ok",
|
| 313 |
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"floor": {
|
| 314 |
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"sole_marker_p1_mm": 41.5,
|
| 315 |
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"headtop_p95_mm": 1633.3
|
| 316 |
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},
|
| 317 |
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"gravity_check": {
|
| 318 |
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"static_samples": 2271,
|
| 319 |
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"g_world_mean_m_s2": [
|
| 320 |
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0.1089,
|
| 321 |
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-0.0447,
|
| 322 |
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9.8116
|
| 323 |
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],
|
| 324 |
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"tilt_from_z_deg": 0.687,
|
| 325 |
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"tilt_from_z_deg_before_levelling": 1.874,
|
| 326 |
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"magnitude_m_s2": 9.8123
|
| 327 |
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},
|
| 328 |
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"rig_tracker_definition": "e17c9efadb69e7b1/20261010-morning/labels-035142/session-a9e78a28cb637318",
|
| 329 |
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"camera_pose_source": "provider T_tracker0_cam",
|
| 330 |
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"files": [
|
| 331 |
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"mocap_zup.npz",
|
| 332 |
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"tracker0_zup.npz",
|
| 333 |
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"rig_zup.npz",
|
| 334 |
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"cameras_zup.npz"
|
| 335 |
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]
|
| 336 |
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},
|
| 337 |
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"smplx": {
|
| 338 |
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"generated_at_utc": "2026-10-22T21:23:03.226167+00:00",
|
| 339 |
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"generated_by": "scripts/fit_smplx_dataset.py",
|
| 340 |
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"file": "smplx.npz",
|
| 341 |
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"gender": "female",
|
| 342 |
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"n_betas": 16,
|
| 343 |
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"betas_source": "participant median (derived/smplx/participants.json)",
|
| 344 |
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 345 |
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 346 |
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"hands": {
|
| 347 |
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"observed": false,
|
| 348 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 349 |
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"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 350 |
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"hand_marker_offsets_m": {
|
| 351 |
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"left": {
|
| 352 |
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"LHandIn": [
|
| 353 |
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0.09146914631128311,
|
| 354 |
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0.01035447046160698,
|
| 355 |
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0.008724824525415897
|
| 356 |
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],
|
| 357 |
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"LHandOut": [
|
| 358 |
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0.08041931688785553,
|
| 359 |
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0.012120693922042847,
|
| 360 |
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-0.0301752258092165
|
| 361 |
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],
|
| 362 |
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"LWristOut": [
|
| 363 |
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0.005960909184068441,
|
| 364 |
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0.01985238678753376,
|
| 365 |
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-0.024756906554102898
|
| 366 |
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]
|
| 367 |
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},
|
| 368 |
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"right": {
|
| 369 |
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"RHandIn": [
|
| 370 |
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-0.06401243060827255,
|
| 371 |
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0.014708134345710278,
|
| 372 |
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0.0038638394325971603
|
| 373 |
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],
|
| 374 |
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"RHandOut": [
|
| 375 |
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-0.057556018233299255,
|
| 376 |
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0.019378626719117165,
|
| 377 |
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-0.032827071845531464
|
| 378 |
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]
|
| 379 |
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|
| 380 |
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|
| 381 |
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},
|
| 382 |
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|
| 383 |
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"median_frame": 5.23,
|
| 384 |
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"p95_frame": 7.67
|
| 385 |
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},
|
| 386 |
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"worst_markers": [
|
| 387 |
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"LThigh 15mm",
|
| 388 |
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"RElbow 14mm",
|
| 389 |
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"LKneeIn 10mm",
|
| 390 |
+
"LKnee 10mm",
|
| 391 |
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"RElbowIn 10mm"
|
| 392 |
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],
|
| 393 |
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"valid_fraction": 0.9999,
|
| 394 |
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"qc": {
|
| 395 |
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"lowest_vertex_mm": {
|
| 396 |
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"median": 9.9,
|
| 397 |
+
"p5": 4.1
|
| 398 |
+
},
|
| 399 |
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"frames_checked": 537,
|
| 400 |
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"stature_mm": 1598.8
|
| 401 |
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},
|
| 402 |
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"surface_term": {
|
| 403 |
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"weight": 1.0,
|
| 404 |
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|
| 405 |
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"markers_on_surface": 52,
|
| 406 |
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"surface_rmse_mm_median": 11.31
|
| 407 |
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},
|
| 408 |
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"shape_source": "participant median",
|
| 409 |
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"wrist_correction": {
|
| 410 |
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"left": {
|
| 411 |
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"status": "corrected",
|
| 412 |
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"Q_deg": 172.64,
|
| 413 |
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|
| 414 |
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-2.87665,
|
| 415 |
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0.30982,
|
| 416 |
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0.84117
|
| 417 |
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],
|
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|
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|
| 420 |
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|
| 421 |
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|
| 422 |
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|
| 423 |
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|
| 424 |
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"before": 172.71,
|
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"after": 2.74
|
| 426 |
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},
|
| 427 |
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"markers_on_wrist": [
|
| 428 |
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"LWristOut",
|
| 429 |
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"LHandIn",
|
| 430 |
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"LHandOut"
|
| 431 |
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],
|
| 432 |
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|
| 433 |
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"twist_moved_deg": 171.28,
|
| 434 |
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|
| 435 |
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"median": 4.13,
|
| 436 |
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"iqr": [
|
| 437 |
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-0.4,
|
| 438 |
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8.0
|
| 439 |
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]
|
| 440 |
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},
|
| 441 |
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"wrist_total_deg_median_after": 35.5,
|
| 442 |
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|
| 443 |
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"LElbow",
|
| 444 |
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"LElbowIn",
|
| 445 |
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"LForearm",
|
| 446 |
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"LWristIn"
|
| 447 |
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]
|
| 448 |
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},
|
| 449 |
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"frames_used": 1500
|
| 450 |
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},
|
| 451 |
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"right": {
|
| 452 |
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"status": "corrected",
|
| 453 |
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"Q_deg": 15.5,
|
| 454 |
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"Q_rotvec": [
|
| 455 |
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0.22293,
|
| 456 |
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0.12928,
|
| 457 |
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-0.08215
|
| 458 |
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],
|
| 459 |
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"in_out_sign": 1,
|
| 460 |
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"wrist_bend_deg_median": 26.7,
|
| 461 |
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"opposite_sign_bend_deg": 171.7,
|
| 462 |
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"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 463 |
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"marker_frame_spread_deg": 5.34,
|
| 464 |
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"hand_vs_marker_frame_deg": {
|
| 465 |
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"before": 16.52,
|
| 466 |
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"after": 5.34
|
| 467 |
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},
|
| 468 |
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"markers_on_wrist": [
|
| 469 |
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"RHandIn",
|
| 470 |
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"RHandOut"
|
| 471 |
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],
|
| 472 |
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|
| 473 |
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|
| 474 |
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|
| 475 |
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|
| 476 |
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"iqr": [
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| 477 |
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-2.2,
|
| 478 |
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3.0
|
| 479 |
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]
|
| 480 |
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},
|
| 481 |
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"wrist_total_deg_median_after": 18.8,
|
| 482 |
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"markers_on_forearm": [
|
| 483 |
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"RForearm",
|
| 484 |
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"RWristIn",
|
| 485 |
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"RWristOut"
|
| 486 |
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]
|
| 487 |
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},
|
| 488 |
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"frames_used": 1500
|
| 489 |
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},
|
| 490 |
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"generated_at_utc": "2026-10-22T21:23:06.374756+00:00",
|
| 491 |
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 492 |
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}
|
| 493 |
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},
|
| 494 |
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"release": {
|
| 495 |
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"release_path": "actions/locomanipulation/LM05/session_007",
|
| 496 |
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"family": "locomanipulation",
|
| 497 |
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"primitive": "LM05",
|
| 498 |
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"source_session": "20261010/LM05/20261010_061523_session74"
|
| 499 |
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}
|
| 500 |
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}
|
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