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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:0402db46d2e7e622c6d39b002de91ddf17a11d0d68365d04f58a90faea336f3e
|
| 3 |
+
size 993608
|
actions/locomanipulation/LM45/session_004/meta.json
ADDED
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@@ -0,0 +1,523 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261021/LM45/20261021_052146_session21",
|
| 4 |
+
"session_id": "20261021_052146_session21",
|
| 5 |
+
"primitive": "LM45",
|
| 6 |
+
"batch": "20261021",
|
| 7 |
+
"participant": "wangyang",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "c9205ac6e17d2d5c",
|
| 11 |
+
"left": "cc5681142208e29a",
|
| 12 |
+
"right": "a85418f7d807dff9"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-26T04:49:33.854481+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": 112.725,
|
| 22 |
+
"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 23 |
+
},
|
| 24 |
+
"alignment": {
|
| 25 |
+
"reference_imu": "imu_head_right",
|
| 26 |
+
"model": "offset (median of windows)",
|
| 27 |
+
"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 28 |
+
"offset_s": -0.090813,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.9875,
|
| 32 |
+
"reference_imu_first_sample_s": 4749.12363343,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 10,
|
| 35 |
+
"window_corr_median": 0.9912596245010292,
|
| 36 |
+
"drift_ppm": -573.9126127611311,
|
| 37 |
+
"drift_se_ppm": 325.78015991901276,
|
| 38 |
+
"drift_ms_over_take": -64.68951666839216,
|
| 39 |
+
"lag_scatter_ms": 26.46650530650505,
|
| 40 |
+
"lag_range_ms": 104.34352290707672
|
| 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": 22946,
|
| 76 |
+
"n_gyro": 22940,
|
| 77 |
+
"t_start": -0.09771204312700295,
|
| 78 |
+
"t_end": 112.92351584587242
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 22808,
|
| 82 |
+
"n_gyro": 22802,
|
| 83 |
+
"t_start": 0.00833238387268491,
|
| 84 |
+
"t_end": 113.09245776987255
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 22384,
|
| 88 |
+
"n_gyro": 22385,
|
| 89 |
+
"t_start": -0.9567232541275096,
|
| 90 |
+
"t_end": 112.05685143787296
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 22305,
|
| 94 |
+
"n_gyro": 22316,
|
| 95 |
+
"t_start": -0.8365816431268193,
|
| 96 |
+
"t_end": 112.05857148787264
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 11317,
|
| 100 |
+
"t_start": 0.09270674887294288,
|
| 101 |
+
"t_end": 113.25270101087254
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 11301,
|
| 105 |
+
"t_start": -0.9477023951275348,
|
| 106 |
+
"t_end": 112.0526637698732
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 11288,
|
| 110 |
+
"t_start": -0.8178347511274203,
|
| 111 |
+
"t_end": 112.05225325587263
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 4749.250997,
|
| 118 |
+
"frames": 3381,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
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"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
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"t_start": 0.039178796520091305,
|
| 124 |
+
"t_end": 112.70588979651994,
|
| 125 |
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"clock": "device",
|
| 126 |
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"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 4749.250967,
|
| 131 |
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"frames": 3381,
|
| 132 |
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"pts_gaps": 0,
|
| 133 |
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"timing": "pts",
|
| 134 |
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"timeshift_cam_imu_s": 0.0024181146161434135,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
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"t_start": 0.038938475489076405,
|
| 137 |
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"t_end": 112.70561647548867,
|
| 138 |
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"clock": "device",
|
| 139 |
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"calibrated": true
|
| 140 |
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},
|
| 141 |
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"left_front": {
|
| 142 |
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"fps": 30.0,
|
| 143 |
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"start_device_s": 4749.250988,
|
| 144 |
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"frames": 3381,
|
| 145 |
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"pts_gaps": 0,
|
| 146 |
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|
| 153 |
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|
| 155 |
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|
| 156 |
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| 198 |
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"file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
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"calibrated": false
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},
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"file": "mocap/mocap-LM45-S01-wangyang-01p1-1.mp4",
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"flags": [],
|
| 230 |
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"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
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|
| 232 |
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|
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|
| 260 |
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"gyro_deg": 2.153
|
| 261 |
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},
|
| 262 |
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"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 263 |
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"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 264 |
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},
|
| 265 |
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"canonical": {
|
| 266 |
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"generated_at_utc": "2026-10-26T10:24:58.260335+00:00",
|
| 267 |
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"generated_by": "scripts/canonicalise_dataset.py",
|
| 268 |
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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)",
|
| 269 |
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"R_canon_nokov": [
|
| 270 |
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[
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|
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|
| 287 |
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|
| 288 |
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[
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|
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|
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[
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[
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0.0
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],
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[
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0.0,
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0.0,
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0.0,
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| 310 |
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1.0
|
| 311 |
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]
|
| 312 |
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],
|
| 313 |
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"block": "20261021-morning",
|
| 314 |
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"block_assignment": "trc",
|
| 315 |
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"tilt_removed_deg": 0.4947660703921395,
|
| 316 |
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"plane_status": "ok",
|
| 317 |
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"floor": {
|
| 318 |
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"sole_marker_p1_mm": 39.0,
|
| 319 |
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"headtop_p95_mm": 1761.4
|
| 320 |
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},
|
| 321 |
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"gravity_check": {
|
| 322 |
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"static_samples": 437,
|
| 323 |
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"g_world_mean_m_s2": [
|
| 324 |
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0.1179,
|
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-0.0241,
|
| 326 |
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9.9455
|
| 327 |
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],
|
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"tilt_from_z_deg": 0.693,
|
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|
| 330 |
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},
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| 332 |
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"rig_tracker_definition": "c9205ac6e17d2d5c/20261021-morning/labels-235140/session-30dc40a84300b6f0",
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| 333 |
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|
| 334 |
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"status": "ok",
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| 335 |
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|
| 336 |
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|
| 337 |
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},
|
| 338 |
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"camera_pose_source": "provider T_tracker0_cam",
|
| 339 |
+
"files": [
|
| 340 |
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"mocap_zup.npz",
|
| 341 |
+
"tracker0_zup.npz",
|
| 342 |
+
"rig_zup.npz",
|
| 343 |
+
"cameras_zup.npz"
|
| 344 |
+
]
|
| 345 |
+
},
|
| 346 |
+
"smplx": {
|
| 347 |
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"generated_at_utc": "2026-10-26T12:52:09.981950+00:00",
|
| 348 |
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"generated_by": "scripts/fit_smplx_dataset.py",
|
| 349 |
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"file": "smplx.npz",
|
| 350 |
+
"gender": "male",
|
| 351 |
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"n_betas": 16,
|
| 352 |
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"betas_source": "participant median (derived/smplx/participants.json)",
|
| 353 |
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 354 |
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 355 |
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"hands": {
|
| 356 |
+
"observed": false,
|
| 357 |
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"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 358 |
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"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 359 |
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"hand_marker_offsets_m": {
|
| 360 |
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"left": {
|
| 361 |
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"LHandIn": [
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| 362 |
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0.05567998066544533,
|
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0.017587997019290924,
|
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],
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0.021571869030594826,
|
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],
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|
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],
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"LWristOut": [
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0.0045166839845478535,
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|
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]
|
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},
|
| 382 |
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"right": {
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| 383 |
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"RHandIn": [
|
| 384 |
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|
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0.04144006967544556
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],
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| 388 |
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"RHandOut": [
|
| 389 |
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|
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| 392 |
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],
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| 393 |
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|
| 394 |
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0.022172367200255394,
|
| 395 |
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| 396 |
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0.023056497797369957
|
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],
|
| 398 |
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"RWristOut": [
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| 399 |
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0.010228789411485195,
|
| 400 |
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0.03213092312216759,
|
| 401 |
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]
|
| 403 |
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}
|
| 404 |
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}
|
| 405 |
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},
|
| 406 |
+
"marker_rmse_mm": {
|
| 407 |
+
"median_frame": 5.65,
|
| 408 |
+
"p95_frame": 12.96
|
| 409 |
+
},
|
| 410 |
+
"worst_markers": [
|
| 411 |
+
"LKneeIn 16mm",
|
| 412 |
+
"RKnee 14mm",
|
| 413 |
+
"RKneeIn 13mm",
|
| 414 |
+
"CLAV 12mm",
|
| 415 |
+
"WaistRFront 11mm"
|
| 416 |
+
],
|
| 417 |
+
"valid_fraction": 0.9995,
|
| 418 |
+
"qc": {
|
| 419 |
+
"lowest_vertex_mm": {
|
| 420 |
+
"median": 4.9,
|
| 421 |
+
"p5": -5.6
|
| 422 |
+
},
|
| 423 |
+
"frames_checked": 451,
|
| 424 |
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"stature_mm": 1765.5
|
| 425 |
+
},
|
| 426 |
+
"surface_term": {
|
| 427 |
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"weight": 1.0,
|
| 428 |
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"marker_height_mm": 11.0,
|
| 429 |
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"markers_on_surface": 52,
|
| 430 |
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"surface_rmse_mm_median": 14.85
|
| 431 |
+
},
|
| 432 |
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"shape_source": "participant median",
|
| 433 |
+
"wrist_correction": {
|
| 434 |
+
"left": {
|
| 435 |
+
"status": "corrected",
|
| 436 |
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"Q_deg": 170.69,
|
| 437 |
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"Q_rotvec": [
|
| 438 |
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-2.91874,
|
| 439 |
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-0.37908,
|
| 440 |
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0.46127
|
| 441 |
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],
|
| 442 |
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"in_out_sign": -1,
|
| 443 |
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"wrist_bend_deg_median": 163.9,
|
| 444 |
+
"opposite_sign_bend_deg": 35.7,
|
| 445 |
+
"in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
|
| 446 |
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"marker_frame_spread_deg": 2.01,
|
| 447 |
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"hand_vs_marker_frame_deg": {
|
| 448 |
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"before": 170.79,
|
| 449 |
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"after": 2.01
|
| 450 |
+
},
|
| 451 |
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"markers_on_wrist": [
|
| 452 |
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"LWristIn",
|
| 453 |
+
"LWristOut",
|
| 454 |
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"LHandIn",
|
| 455 |
+
"LHandOut"
|
| 456 |
+
],
|
| 457 |
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"forearm_twist": {
|
| 458 |
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"twist_moved_deg": -141.28,
|
| 459 |
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"wrist_twist_deg_after": {
|
| 460 |
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"median": -22.5,
|
| 461 |
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"iqr": [
|
| 462 |
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-35.6,
|
| 463 |
+
3.6
|
| 464 |
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]
|
| 465 |
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},
|
| 466 |
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"wrist_total_deg_median_after": 31.3,
|
| 467 |
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"markers_on_forearm": [
|
| 468 |
+
"LForearm"
|
| 469 |
+
]
|
| 470 |
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},
|
| 471 |
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"frames_used": 1353
|
| 472 |
+
},
|
| 473 |
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"right": {
|
| 474 |
+
"status": "corrected",
|
| 475 |
+
"Q_deg": 53.94,
|
| 476 |
+
"Q_rotvec": [
|
| 477 |
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0.8416,
|
| 478 |
+
0.36268,
|
| 479 |
+
-0.21541
|
| 480 |
+
],
|
| 481 |
+
"in_out_sign": 1,
|
| 482 |
+
"wrist_bend_deg_median": 53.4,
|
| 483 |
+
"opposite_sign_bend_deg": 136.5,
|
| 484 |
+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 485 |
+
"marker_frame_spread_deg": 1.69,
|
| 486 |
+
"hand_vs_marker_frame_deg": {
|
| 487 |
+
"before": 54.29,
|
| 488 |
+
"after": 1.69
|
| 489 |
+
},
|
| 490 |
+
"markers_on_wrist": [
|
| 491 |
+
"RWristIn",
|
| 492 |
+
"RWristOut",
|
| 493 |
+
"RHandIn",
|
| 494 |
+
"RHandOut"
|
| 495 |
+
],
|
| 496 |
+
"forearm_twist": {
|
| 497 |
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"twist_moved_deg": -47.26,
|
| 498 |
+
"wrist_twist_deg_after": {
|
| 499 |
+
"median": -0.0,
|
| 500 |
+
"iqr": [
|
| 501 |
+
-9.1,
|
| 502 |
+
9.6
|
| 503 |
+
]
|
| 504 |
+
},
|
| 505 |
+
"wrist_total_deg_median_after": 20.3,
|
| 506 |
+
"markers_on_forearm": [
|
| 507 |
+
"RElbow",
|
| 508 |
+
"RForearm"
|
| 509 |
+
]
|
| 510 |
+
},
|
| 511 |
+
"frames_used": 1353
|
| 512 |
+
},
|
| 513 |
+
"generated_at_utc": "2026-10-26T12:52:13.077994+00:00",
|
| 514 |
+
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 515 |
+
}
|
| 516 |
+
},
|
| 517 |
+
"release": {
|
| 518 |
+
"release_path": "actions/locomanipulation/LM45/session_004",
|
| 519 |
+
"family": "locomanipulation",
|
| 520 |
+
"primitive": "LM45",
|
| 521 |
+
"source_session": "20261021/LM45/20261021_052146_session21"
|
| 522 |
+
}
|
| 523 |
+
}
|
actions/locomanipulation/LM45/session_004/motions/head_rig.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
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|
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