Upload folder using huggingface_hub (part 796)
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- .gitattributes +36 -0
- actions/locomotion_primitives/P31/session_007/motions/head_rig.npz +3 -0
- actions/locomotion_primitives/P31/session_007/motions/markers.npz +3 -0
- actions/locomotion_primitives/P31/session_007/motions/skeleton.npz +3 -0
- actions/locomotion_primitives/P31/session_007/motions/smplx.npz +3 -0
- actions/locomotion_primitives/P31/session_007/raw/manifest.json +222 -0
- actions/locomotion_primitives/P31/session_007/raw/mocap/Body0.bvh +0 -0
- actions/locomotion_primitives/P31/session_007/raw/mocap/Body0.csv +3 -0
- actions/locomotion_primitives/P31/session_007/raw/mocap/Body0.trc +3 -0
- actions/locomotion_primitives/P31/session_007/raw/mocap/Tracker0.csv +0 -0
- actions/locomotion_primitives/P31/session_007/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/P31/session_007/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/P31/session_007/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/P31/session_007/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/P31/session_007/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/P31/session_007/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomotion_primitives/P31/session_007/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomotion_primitives/P31/session_007/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomotion_primitives/P31/session_007/scene/infer.json +36 -0
- actions/locomotion_primitives/P31/session_007/scene/views.npz +3 -0
- actions/locomotion_primitives/P31/session_007/sensors/head_imu.npz +3 -0
- actions/locomotion_primitives/P31/session_007/sensors/head_mag.npz +3 -0
- actions/locomotion_primitives/P31/session_007/sensors/wrist_imu.npz +3 -0
- actions/locomotion_primitives/P31/session_007/sensors/wrist_mag.npz +3 -0
- actions/locomotion_primitives/P31/session_007/videos/frame_timestamps.npz +3 -0
- actions/locomotion_primitives/P31/session_007/videos/head_left.mp4 +3 -0
- actions/locomotion_primitives/P31/session_007/videos/head_left_eye.mp4 +3 -0
- actions/locomotion_primitives/P31/session_007/videos/head_left_front.mp4 +3 -0
- actions/locomotion_primitives/P31/session_007/videos/head_right.mp4 +3 -0
- actions/locomotion_primitives/P31/session_007/videos/head_right_eye.mp4 +3 -0
- actions/locomotion_primitives/P31/session_007/videos/head_right_front.mp4 +3 -0
- actions/locomotion_primitives/P31/session_007/videos/third_person.mp4 +3 -0
- actions/locomotion_primitives/P31/session_007/videos/wrist_left.mp4 +3 -0
- actions/locomotion_primitives/P31/session_007/videos/wrist_right.mp4 +3 -0
- actions/locomotion_primitives/P31/session_008/cameras/poses.npz +3 -0
- actions/locomotion_primitives/P31/session_008/meta.json +524 -0
- actions/locomotion_primitives/P31/session_008/motions/head_rig.npz +3 -0
- actions/locomotion_primitives/P31/session_008/motions/markers.npz +3 -0
- actions/locomotion_primitives/P31/session_008/motions/skeleton.npz +3 -0
- actions/locomotion_primitives/P31/session_008/motions/smplx.npz +3 -0
- actions/locomotion_primitives/P31/session_008/raw/audio.wav +3 -0
- actions/locomotion_primitives/P31/session_008/raw/manifest.json +230 -0
- actions/locomotion_primitives/P31/session_008/raw/mocap/Body0.bvh +0 -0
- actions/locomotion_primitives/P31/session_008/raw/mocap/Body0.csv +3 -0
- actions/locomotion_primitives/P31/session_008/raw/mocap/Body0.trc +3 -0
- actions/locomotion_primitives/P31/session_008/raw/mocap/Tracker0.csv +0 -0
- actions/locomotion_primitives/P31/session_008/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/P31/session_008/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/P31/session_008/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/P31/session_008/raw/sensors/robocap_mag_middle.db +3 -0
.gitattributes
CHANGED
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actions/locomotion_primitives/P31/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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{
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"primitive_id": "P31",
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"session_id": "20260904_085157_session51",
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"upload_batch_id": "20260904",
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"dataset_path": "EgoMotionActions/20260904/P31/20260904_085157_session51",
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"segment": "auto/all",
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"right": "60a6f081bbe60b0d"
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},
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"options": {
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"proxy_bitrate": "1400k",
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"mocap_selection": "explicit",
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"mocap_files": [
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"mocap-P31-S011-wangyang-01p1/mocap-P31-S011-wangyang-01p1-Body0.bvh",
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"mocap-P31-S011-wangyang-01p1/mocap-P31-S011-wangyang-01p1-Body0.csv",
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"mocap-P31-S011-wangyang-01p1/mocap-P31-S011-wangyang-01p1-Body0.trc",
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"mocap-P31-S011-wangyang-01p1/mocap-P31-S011-wangyang-01p1-Tracker0.csv",
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"mocap-P31-S011-wangyang-01p1/mocap-P31-S011-wangyang-01p1-Tracker0.trc"
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],
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"include_rrd": false,
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"rrd_files": [],
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"aligned_intersection": false
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},
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"files": [
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{
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| 1 |
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{
|
| 2 |
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"schema_version": 1,
|
| 3 |
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"session": "EgoMotionActions/20260908/P31/20260908_023019_session33",
|
| 4 |
+
"session_id": "20260908_023019_session33",
|
| 5 |
+
"primitive": "P31",
|
| 6 |
+
"batch": "20260908",
|
| 7 |
+
"participant": "daihaoxiang",
|
| 8 |
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"participant_source": "manifest",
|
| 9 |
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"device_ids": {
|
| 10 |
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"main": "e17c9efadb69e7b1",
|
| 11 |
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"left": "cc5681142208e29a",
|
| 12 |
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"right": "60a6f081bbe60b0d"
|
| 13 |
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},
|
| 14 |
+
"generated_at_utc": "2026-10-14T10:58:31.050204+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 |
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"mocap_rate_hz": 120.0,
|
| 19 |
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"first_solved_frame": 0,
|
| 20 |
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"duration_s": 134.025,
|
| 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": -1.175003,
|
| 28 |
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"rate": 0.0,
|
| 29 |
+
"global_lag_s": -1.175,
|
| 30 |
+
"peak_corr": 0.9704,
|
| 31 |
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"reference_imu_first_sample_s": 6941.964357722,
|
| 32 |
+
"windows": {
|
| 33 |
+
"n_windows": 12,
|
| 34 |
+
"window_corr_median": 0.9850602361601,
|
| 35 |
+
"drift_ppm": -4.173030549866005,
|
| 36 |
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"drift_se_ppm": 2.2386303815419057,
|
| 37 |
+
"drift_ms_over_take": -0.5592556441912092,
|
| 38 |
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"lag_scatter_ms": 0.2443766962222857,
|
| 39 |
+
"lag_range_ms": 0.8548652494275721
|
| 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 |
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],
|
| 55 |
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[
|
| 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 |
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"calibration": {
|
| 67 |
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"device": "e17c9efadb69e7b1",
|
| 68 |
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"status": "ok",
|
| 69 |
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"date": "2026-09-08"
|
| 70 |
+
},
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| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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| 75 |
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| 76 |
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| 77 |
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| 78 |
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| 80 |
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| 81 |
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| 82 |
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| 83 |
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| 86 |
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| 87 |
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| 88 |
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| 89 |
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| 90 |
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},
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| 91 |
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| 92 |
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"n_acc": 25692,
|
| 93 |
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|
| 94 |
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| 95 |
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| 96 |
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| 97 |
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| 98 |
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"n": 13610,
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| 99 |
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| 100 |
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|
| 101 |
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| 102 |
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| 103 |
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"n": 13006,
|
| 104 |
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| 105 |
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| 106 |
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| 107 |
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|
| 108 |
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|
| 109 |
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| 110 |
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| 111 |
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| 112 |
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| 113 |
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| 114 |
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|
| 115 |
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|
| 116 |
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| 119 |
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| 120 |
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| 121 |
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"file": "robocap_segment1_video_left.mp4",
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| 122 |
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| 123 |
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| 124 |
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|
| 125 |
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"calibrated": true
|
| 126 |
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},
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| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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| 131 |
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| 132 |
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| 133 |
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| 134 |
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| 135 |
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| 136 |
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| 138 |
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| 139 |
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},
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| 141 |
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| 142 |
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| 148 |
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| 149 |
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| 152 |
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| 159 |
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| 160 |
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| 161 |
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| 162 |
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| 164 |
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| 165 |
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| 167 |
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| 173 |
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"file": "robocap_segment1_video_left_eye.mp4",
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| 174 |
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"t_start": 0.03983467025731935,
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| 175 |
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| 176 |
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| 177 |
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| 178 |
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},
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| 180 |
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| 181 |
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| 182 |
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| 183 |
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| 184 |
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| 185 |
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| 186 |
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"file": "robocap_segment1_video_right_eye.mp4",
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| 187 |
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| 188 |
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| 189 |
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| 190 |
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| 191 |
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},
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| 193 |
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| 194 |
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| 196 |
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| 197 |
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| 198 |
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| 199 |
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"file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
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| 204 |
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},
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| 208 |
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| 209 |
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| 210 |
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| 211 |
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| 212 |
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"file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
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| 213 |
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| 216 |
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| 217 |
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},
|
| 218 |
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"third_person": {
|
| 219 |
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"file": "mocap/mocap-P31-S03-daihaoxiang-01p3-1.mp4",
|
| 220 |
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|
| 221 |
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|
| 222 |
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"clock": "nokov (frame index)",
|
| 223 |
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|
| 224 |
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|
| 225 |
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}
|
| 226 |
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}
|
| 227 |
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},
|
| 228 |
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"flags": [],
|
| 229 |
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"sanity": {
|
| 230 |
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"status": {
|
| 231 |
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"structure": "WARN",
|
| 232 |
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"markers": "WARN",
|
| 233 |
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"timing": "WARN"
|
| 234 |
+
},
|
| 235 |
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"verdict": "READY_WITH_WARNINGS",
|
| 236 |
+
"issues": [
|
| 237 |
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"WARN M_BODY_ID",
|
| 238 |
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"WARN M_SPIKES",
|
| 239 |
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"WARN M_TRACKER_LABELS",
|
| 240 |
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"WARN S_INDEX",
|
| 241 |
+
"WARN S_PARTICIPANT",
|
| 242 |
+
"WARN T_IMU_PAIR"
|
| 243 |
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]
|
| 244 |
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},
|
| 245 |
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"canonical": {
|
| 246 |
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"generated_at_utc": "2026-10-14T12:18:21.847242+00:00",
|
| 247 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 248 |
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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)",
|
| 249 |
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"R_canon_nokov": [
|
| 250 |
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[
|
| 251 |
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0.9999992442,
|
| 252 |
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-0.0012295027,
|
| 253 |
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2.5019e-06
|
| 254 |
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],
|
| 255 |
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[
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| 256 |
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-2.5019e-06,
|
| 257 |
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-0.004069728,
|
| 258 |
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-0.9999917186
|
| 259 |
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],
|
| 260 |
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[
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| 261 |
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0.0012295027,
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| 262 |
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0.9999909628,
|
| 263 |
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-0.004069728
|
| 264 |
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]
|
| 265 |
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],
|
| 266 |
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"scale_nokov_to_canon": 0.001,
|
| 267 |
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"T_canon_nokov_mm": [
|
| 268 |
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[
|
| 269 |
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0.000999999244,
|
| 270 |
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-1.229503e-06,
|
| 271 |
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2.502e-09,
|
| 272 |
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0.0
|
| 273 |
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],
|
| 274 |
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[
|
| 275 |
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-2.502e-09,
|
| 276 |
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|
| 277 |
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-0.000999991719,
|
| 278 |
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0.0
|
| 279 |
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],
|
| 280 |
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[
|
| 281 |
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1.229503e-06,
|
| 282 |
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0.000999990963,
|
| 283 |
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-4.069728e-06,
|
| 284 |
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0.0
|
| 285 |
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],
|
| 286 |
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[
|
| 287 |
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0.0,
|
| 288 |
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0.0,
|
| 289 |
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0.0,
|
| 290 |
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1.0
|
| 291 |
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]
|
| 292 |
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],
|
| 293 |
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"block": "20260908-morning",
|
| 294 |
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|
| 295 |
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"tilt_removed_deg": 0.24358775042597203,
|
| 296 |
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|
| 297 |
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|
| 298 |
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|
| 299 |
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|
| 300 |
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},
|
| 301 |
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"gravity_check": {
|
| 302 |
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|
| 303 |
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"g_world_mean_m_s2": [
|
| 304 |
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0.1004,
|
| 305 |
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0.2431,
|
| 306 |
+
9.8448
|
| 307 |
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],
|
| 308 |
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"tilt_from_z_deg": 1.53,
|
| 309 |
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|
| 310 |
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|
| 311 |
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},
|
| 312 |
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"rig_tracker_definition": "e17c9efadb69e7b1/20260908-morning/labels-530412/session-98879074900e70c6",
|
| 313 |
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"camera_pose_source": "provider T_tracker0_cam",
|
| 314 |
+
"files": [
|
| 315 |
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"mocap_zup.npz",
|
| 316 |
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"tracker0_zup.npz",
|
| 317 |
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"rig_zup.npz",
|
| 318 |
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"cameras_zup.npz"
|
| 319 |
+
]
|
| 320 |
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},
|
| 321 |
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"smplx": {
|
| 322 |
+
"generated_at_utc": "2026-10-15T04:11:42.200252+00:00",
|
| 323 |
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"generated_by": "scripts/fit_smplx_dataset.py",
|
| 324 |
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"file": "smplx.npz",
|
| 325 |
+
"gender": "male",
|
| 326 |
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"n_betas": 16,
|
| 327 |
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"betas_source": "participant median (derived/smplx/participants.json)",
|
| 328 |
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 329 |
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 330 |
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"hands": {
|
| 331 |
+
"observed": false,
|
| 332 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 333 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 334 |
+
"hand_marker_offsets_m": {
|
| 335 |
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"left": {
|
| 336 |
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"LHandIn": [
|
| 337 |
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0.07914455235004425,
|
| 338 |
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0.010627459734678268,
|
| 339 |
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0.028684986755251884
|
| 340 |
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],
|
| 341 |
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"LHandOut": [
|
| 342 |
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0.05601828545331955,
|
| 343 |
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0.04263358563184738,
|
| 344 |
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-0.01250091940164566
|
| 345 |
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]
|
| 346 |
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},
|
| 347 |
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"right": {
|
| 348 |
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"RHandIn": [
|
| 349 |
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-0.04599037393927574,
|
| 350 |
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-0.026026802137494087,
|
| 351 |
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0.010149502195417881
|
| 352 |
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],
|
| 353 |
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"RHandOut": [
|
| 354 |
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-0.0421469584107399,
|
| 355 |
+
0.022656165063381195,
|
| 356 |
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-0.022024208679795265
|
| 357 |
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],
|
| 358 |
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"RWristIn": [
|
| 359 |
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0.043434783816337585,
|
| 360 |
+
-0.007822699844837189,
|
| 361 |
+
0.020622432231903076
|
| 362 |
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]
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
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},
|
| 366 |
+
"marker_rmse_mm": {
|
| 367 |
+
"median_frame": 4.52,
|
| 368 |
+
"p95_frame": 7.32
|
| 369 |
+
},
|
| 370 |
+
"worst_markers": [
|
| 371 |
+
"LKnee 14mm",
|
| 372 |
+
"LKneeIn 12mm",
|
| 373 |
+
"LShin 12mm",
|
| 374 |
+
"LThigh 11mm",
|
| 375 |
+
"RShin 9mm"
|
| 376 |
+
],
|
| 377 |
+
"valid_fraction": 1.0,
|
| 378 |
+
"qc": {
|
| 379 |
+
"lowest_vertex_mm": {
|
| 380 |
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"median": 9.4,
|
| 381 |
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"p5": 2.8
|
| 382 |
+
},
|
| 383 |
+
"frames_checked": 537,
|
| 384 |
+
"stature_mm": 1770.9
|
| 385 |
+
},
|
| 386 |
+
"surface_term": {
|
| 387 |
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"weight": 1.0,
|
| 388 |
+
"marker_height_mm": 11.0,
|
| 389 |
+
"markers_on_surface": 52,
|
| 390 |
+
"surface_rmse_mm_median": 12.97
|
| 391 |
+
},
|
| 392 |
+
"shape_source": "participant median",
|
| 393 |
+
"wrist_correction": {
|
| 394 |
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"left": {
|
| 395 |
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"status": "corrected",
|
| 396 |
+
"Q_deg": 138.8,
|
| 397 |
+
"Q_rotvec": [
|
| 398 |
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-2.25551,
|
| 399 |
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-0.45004,
|
| 400 |
+
0.76066
|
| 401 |
+
],
|
| 402 |
+
"in_out_sign": -1,
|
| 403 |
+
"wrist_bend_deg_median": 131.7,
|
| 404 |
+
"opposite_sign_bend_deg": 60.6,
|
| 405 |
+
"in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
|
| 406 |
+
"marker_frame_spread_deg": 0.77,
|
| 407 |
+
"hand_vs_marker_frame_deg": {
|
| 408 |
+
"before": 138.81,
|
| 409 |
+
"after": 0.77
|
| 410 |
+
},
|
| 411 |
+
"markers_on_wrist": [
|
| 412 |
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"LHandIn",
|
| 413 |
+
"LHandOut"
|
| 414 |
+
],
|
| 415 |
+
"forearm_twist": {
|
| 416 |
+
"twist_moved_deg": -129.44,
|
| 417 |
+
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|
| 418 |
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"median": -0.0,
|
| 419 |
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