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- .gitattributes +34 -0
- actions/locomanipulation/LM40/session_023/raw/sensors/robocap_imu_left.db +3 -0
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- actions/locomanipulation/LM40/session_023/scene/infer.json +36 -0
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- actions/locomanipulation/LM40/session_023/sensors/head_imu.npz +3 -0
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.gitattributes
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|
| 1 |
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{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261014/LM40/20261014_024807_session38",
|
| 4 |
+
"session_id": "20261014_024807_session38",
|
| 5 |
+
"primitive": "LM40",
|
| 6 |
+
"batch": "20261014",
|
| 7 |
+
"participant": "fengyixuan",
|
| 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": "452031d7af00ef6f",
|
| 12 |
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"right": "6ee5ee4472fe2ad7"
|
| 13 |
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},
|
| 14 |
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"generated_at_utc": "2026-10-21T05:30:57.204366+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": 129.025,
|
| 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 |
+
"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": -1.182799,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -1.18,
|
| 31 |
+
"peak_corr": 0.9907,
|
| 32 |
+
"reference_imu_first_sample_s": 9237.891763105,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 10,
|
| 35 |
+
"window_corr_median": 0.9988478663386289,
|
| 36 |
+
"drift_ppm": 3.6843769510190807,
|
| 37 |
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"drift_se_ppm": 2.407883875087866,
|
| 38 |
+
"drift_ms_over_take": 0.4753460329639785,
|
| 39 |
+
"lag_scatter_ms": 0.19561741075117484,
|
| 40 |
+
"lag_range_ms": 0.7852852605136906
|
| 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 |
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],
|
| 51 |
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[
|
| 52 |
+
0.0,
|
| 53 |
+
0.0,
|
| 54 |
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-1.0
|
| 55 |
+
],
|
| 56 |
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[
|
| 57 |
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0.0,
|
| 58 |
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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": "e17c9efadb69e7b1",
|
| 69 |
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"status": "ok",
|
| 70 |
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"date": "2026-09-08"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 26254,
|
| 76 |
+
"n_gyro": 26248,
|
| 77 |
+
"t_start": -1.199346732702688,
|
| 78 |
+
"t_end": 129.68592694229687
|
| 79 |
+
},
|
| 80 |
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"imu_head_left": {
|
| 81 |
+
"n_acc": 26206,
|
| 82 |
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"n_gyro": 26199,
|
| 83 |
+
"t_start": -1.080540315702601,
|
| 84 |
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"t_end": 129.85775740729719
|
| 85 |
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},
|
| 86 |
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"imu_wrist_left": {
|
| 87 |
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"n_acc": 25128,
|
| 88 |
+
"n_gyro": 25128,
|
| 89 |
+
"t_start": 0.24686345129724963,
|
| 90 |
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"t_end": 124.35255320529562
|
| 91 |
+
},
|
| 92 |
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"mag_head": {
|
| 93 |
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"n": 13102,
|
| 94 |
+
"t_start": -0.9922771077033392,
|
| 95 |
+
"t_end": 130.0177201632962
|
| 96 |
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},
|
| 97 |
+
"mag_wrist_right": {
|
| 98 |
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"n": 12415,
|
| 99 |
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"t_start": 0.21554086429590846,
|
| 100 |
+
"t_end": 124.355456596297
|
| 101 |
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},
|
| 102 |
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"mag_wrist_left": {
|
| 103 |
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"n": 12410,
|
| 104 |
+
"t_start": 0.25486260329693344,
|
| 105 |
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"t_end": 124.34491041529712
|
| 106 |
+
}
|
| 107 |
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},
|
| 108 |
+
"videos": {
|
| 109 |
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"left": {
|
| 110 |
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"fps": 30.0,
|
| 111 |
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|
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| 192 |
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| 193 |
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},
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| 214 |
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"file": "mocap/mocap-LM40-S03-fengyixuan-01p1-1.mp4",
|
| 215 |
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|
| 216 |
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|
| 225 |
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],
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| 226 |
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|
| 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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|
| 262 |
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"generated_at_utc": "2026-10-21T06:55:43.954562+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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|
| 266 |
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[
|
| 267 |
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1.0,
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]
|
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| 284 |
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[
|
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0.0,
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0.0,
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[
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0.0,
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1.0
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]
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],
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"block": "20261014-morning",
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| 310 |
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|
| 311 |
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|
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| 313 |
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},
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0.2946,
|
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-0.231,
|
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9.7364
|
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],
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},
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| 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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|
| 338 |
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"generated_at_utc": "2026-10-22T23:34:52.347931+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 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 344 |
+
"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 |
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"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": {
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| 352 |
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"LHandIn": [
|
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0.060690369457006454,
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|
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0.019755179062485695
|
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],
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-0.03751617670059204,
|
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|
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]
|
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},
|
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"right": {
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|
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-0.061819661408662796,
|
| 371 |
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0.011743338778614998,
|
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|
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],
|
| 374 |
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|
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|
| 376 |
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-0.03231292590498924,
|
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0.01740143448114395
|
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]
|
| 379 |
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}
|
| 380 |
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}
|
| 381 |
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},
|
| 382 |
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"marker_rmse_mm": {
|
| 383 |
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"median_frame": 4.87,
|
| 384 |
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|
| 385 |
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},
|
| 386 |
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"worst_markers": [
|
| 387 |
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"LKneeIn 14mm",
|
| 388 |
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"LShin 12mm",
|
| 389 |
+
"WaistRFront 10mm",
|
| 390 |
+
"RKneeIn 9mm",
|
| 391 |
+
"LThigh 9mm"
|
| 392 |
+
],
|
| 393 |
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"valid_fraction": 1.0,
|
| 394 |
+
"qc": {
|
| 395 |
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"lowest_vertex_mm": {
|
| 396 |
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"median": 7.1,
|
| 397 |
+
"p5": -16.9
|
| 398 |
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},
|
| 399 |
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|
| 400 |
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|
| 401 |
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},
|
| 402 |
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|
| 403 |
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"weight": 1.0,
|
| 404 |
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|
| 405 |
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|
| 406 |
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|
| 407 |
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},
|
| 408 |
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"shape_source": "participant median",
|
| 409 |
+
"wrist_correction": {
|
| 410 |
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"left": {
|
| 411 |
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"status": "corrected",
|
| 412 |
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"Q_deg": 77.83,
|
| 413 |
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|
| 414 |
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1.17546,
|
| 415 |
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-0.6804,
|
| 416 |
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-0.02128
|
| 417 |
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],
|
| 418 |
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"in_out_sign": -1,
|
| 419 |
+
"wrist_bend_deg_median": 78.1,
|
| 420 |
+
"opposite_sign_bend_deg": 113.9,
|
| 421 |
+
"in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
|
| 422 |
+
"marker_frame_spread_deg": 1.45,
|
| 423 |
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"hand_vs_marker_frame_deg": {
|
| 424 |
+
"before": 77.87,
|
| 425 |
+
"after": 1.45
|
| 426 |
+
},
|
| 427 |
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"markers_on_wrist": [
|
| 428 |
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"LWristOut",
|
| 429 |
+
"LHandIn",
|
| 430 |
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"LHandOut"
|
| 431 |
+
],
|
| 432 |
+
"forearm_twist": {
|
| 433 |
+
"twist_moved_deg": 65.59,
|
| 434 |
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"wrist_twist_deg_after": {
|
| 435 |
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"median": -0.0,
|
| 436 |
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"iqr": [
|
| 437 |
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-3.0,
|
| 438 |
+
3.3
|
| 439 |
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]
|
| 440 |
+
},
|
| 441 |
+
"wrist_total_deg_median_after": 45.3,
|
| 442 |
+
"markers_on_forearm": [
|
| 443 |
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"LElbowIn",
|
| 444 |
+
"LForearm",
|
| 445 |
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"LWristIn"
|
| 446 |
+
]
|
| 447 |
+
},
|
| 448 |
+
"frames_used": 1500
|
| 449 |
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},
|
| 450 |
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"right": {
|
| 451 |
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"status": "corrected",
|
| 452 |
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"Q_deg": 130.61,
|
| 453 |
+
"Q_rotvec": [
|
| 454 |
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-2.25626,
|
| 455 |
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-0.12929,
|
| 456 |
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-0.29819
|
| 457 |
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],
|
| 458 |
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"in_out_sign": 1,
|
| 459 |
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"wrist_bend_deg_median": 143.6,
|
| 460 |
+
"opposite_sign_bend_deg": 47.8,
|
| 461 |
+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 462 |
+
"marker_frame_spread_deg": 1.78,
|
| 463 |
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"hand_vs_marker_frame_deg": {
|
| 464 |
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"before": 130.57,
|
| 465 |
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"after": 1.78
|
| 466 |
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},
|
| 467 |
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"markers_on_wrist": [
|
| 468 |
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"RHandIn",
|
| 469 |
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"RHandOut"
|
| 470 |
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],
|
| 471 |
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"forearm_twist": {
|
| 472 |
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"twist_moved_deg": 143.3,
|
| 473 |
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"wrist_twist_deg_after": {
|
| 474 |
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"median": -0.0,
|
| 475 |
+
"iqr": [
|
| 476 |
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-4.7,
|
| 477 |
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3.0
|
| 478 |
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]
|
| 479 |
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},
|
| 480 |
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"wrist_total_deg_median_after": 8.4,
|
| 481 |
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"markers_on_forearm": [
|
| 482 |
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"RElbowIn",
|
| 483 |
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"RForearm",
|
| 484 |
+
"RWristIn",
|
| 485 |
+
"RWristOut"
|
| 486 |
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]
|
| 487 |
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},
|
| 488 |
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"frames_used": 1500
|
| 489 |
+
},
|
| 490 |
+
"generated_at_utc": "2026-10-22T23:34:55.411754+00:00",
|
| 491 |
+
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 492 |
+
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