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- .gitattributes +52 -0
- actions/locomotion_primitives/P36/session_034/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/P36/session_034/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/P36/session_034/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/P36/session_034/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/P36/session_034/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomotion_primitives/P36/session_034/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomotion_primitives/P36/session_034/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomotion_primitives/P36/session_034/scene/infer.json +36 -0
- actions/locomotion_primitives/P36/session_034/scene/views.npz +3 -0
- actions/locomotion_primitives/P36/session_034/sensors/head_imu.npz +3 -0
- actions/locomotion_primitives/P36/session_034/sensors/head_mag.npz +3 -0
- actions/locomotion_primitives/P36/session_034/sensors/wrist_imu.npz +3 -0
- actions/locomotion_primitives/P36/session_034/sensors/wrist_mag.npz +3 -0
- actions/locomotion_primitives/P36/session_034/videos/frame_timestamps.npz +3 -0
- actions/locomotion_primitives/P36/session_034/videos/head_left.mp4 +3 -0
- actions/locomotion_primitives/P36/session_034/videos/head_left_eye.mp4 +3 -0
- actions/locomotion_primitives/P36/session_034/videos/head_left_front.mp4 +3 -0
- actions/locomotion_primitives/P36/session_034/videos/head_right.mp4 +3 -0
- actions/locomotion_primitives/P36/session_034/videos/head_right_eye.mp4 +3 -0
- actions/locomotion_primitives/P36/session_034/videos/head_right_front.mp4 +3 -0
- actions/locomotion_primitives/P36/session_034/videos/third_person.mp4 +3 -0
- actions/locomotion_primitives/P36/session_034/videos/wrist_left.mp4 +3 -0
- actions/locomotion_primitives/P36/session_034/videos/wrist_right.mp4 +3 -0
- actions/locomotion_primitives/P36/session_035/cameras/poses.npz +3 -0
- actions/locomotion_primitives/P36/session_035/meta.json +514 -0
- actions/locomotion_primitives/P36/session_035/motions/head_rig.npz +3 -0
- actions/locomotion_primitives/P36/session_035/motions/markers.npz +3 -0
- actions/locomotion_primitives/P36/session_035/motions/skeleton.npz +3 -0
- actions/locomotion_primitives/P36/session_035/motions/smplx.npz +3 -0
- actions/locomotion_primitives/P36/session_035/raw/audio.wav +3 -0
- actions/locomotion_primitives/P36/session_035/raw/manifest.json +230 -0
- actions/locomotion_primitives/P36/session_035/raw/mocap/Body0.bvh +0 -0
- actions/locomotion_primitives/P36/session_035/raw/mocap/Body0.csv +3 -0
- actions/locomotion_primitives/P36/session_035/raw/mocap/Body0.trc +3 -0
- actions/locomotion_primitives/P36/session_035/raw/mocap/Tracker0.csv +0 -0
- actions/locomotion_primitives/P36/session_035/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/P36/session_035/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/P36/session_035/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/P36/session_035/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/P36/session_035/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/P36/session_035/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomotion_primitives/P36/session_035/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomotion_primitives/P36/session_035/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomotion_primitives/P36/session_035/scene/infer.json +36 -0
- actions/locomotion_primitives/P36/session_035/scene/views.npz +3 -0
- actions/locomotion_primitives/P36/session_035/sensors/head_imu.npz +3 -0
- actions/locomotion_primitives/P36/session_035/sensors/head_mag.npz +3 -0
- actions/locomotion_primitives/P36/session_035/sensors/wrist_imu.npz +3 -0
- actions/locomotion_primitives/P36/session_035/sensors/wrist_mag.npz +3 -0
.gitattributes
CHANGED
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@@ -35672,3 +35672,55 @@ actions/locomotion_primitives/P36/session_033/raw/sensors/robowrist_mag_left.db
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actions/locomotion_primitives/P36/session_033/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_034/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_034/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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| 35672 |
actions/locomotion_primitives/P36/session_033/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_034/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_034/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_034/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_034/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_034/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_034/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_034/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_034/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_034/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_037/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_037/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_038/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_034/raw/sensors/robocap_imu_left.db
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20260919/P36/20260919_101631_session170",
|
| 4 |
+
"session_id": "20260919_101631_session170",
|
| 5 |
+
"primitive": "P36",
|
| 6 |
+
"batch": "20260919",
|
| 7 |
+
"participant": "gaoziyue",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
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"main": "e17c9efadb69e7b1",
|
| 11 |
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"left": "cc5681142208e29a",
|
| 12 |
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"right": "60a6f081bbe60b0d"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-14T11:16:35.740489+00:00",
|
| 15 |
+
"generated_by": "scripts/sync_dataset.py",
|
| 16 |
+
"time_base": {
|
| 17 |
+
"definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
|
| 18 |
+
"mocap_rate_hz": 120.0,
|
| 19 |
+
"first_solved_frame": 0,
|
| 20 |
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"duration_s": 129.025,
|
| 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": -1.175891,
|
| 28 |
+
"rate": 0.0,
|
| 29 |
+
"global_lag_s": -1.175,
|
| 30 |
+
"peak_corr": 0.9929,
|
| 31 |
+
"reference_imu_first_sample_s": 2067.2337829,
|
| 32 |
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"windows": {
|
| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 38 |
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|
| 39 |
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| 40 |
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}
|
| 41 |
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},
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| 42 |
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"units": {
|
| 43 |
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"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 44 |
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"y_up_to_z_up": [
|
| 45 |
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[
|
| 46 |
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1.0,
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| 47 |
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0.0,
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| 48 |
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0.0
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| 49 |
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],
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| 50 |
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[
|
| 51 |
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0.0,
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| 52 |
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0.0,
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| 53 |
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-1.0
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| 54 |
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],
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| 55 |
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[
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| 56 |
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0.0,
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| 57 |
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1.0,
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| 58 |
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0.0
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| 59 |
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]
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| 60 |
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],
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| 61 |
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"acc": "m/s^2 (8192 LSB/g)",
|
| 62 |
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"gyro": "rad/s (65.536 LSB/dps)",
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| 63 |
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"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
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| 64 |
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| 65 |
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},
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| 66 |
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| 67 |
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"device": "e17c9efadb69e7b1",
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| 68 |
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"status": "ok",
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| 69 |
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"date": "2026-09-08"
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| 70 |
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| 71 |
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"file": "robocap_segment1_video_left.mp4",
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| 126 |
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| 165 |
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},
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| 217 |
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},
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"third_person": {
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| 219 |
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"file": "mocap/mocap-P36-S02-gaoziyue-01p1-1.mp4",
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| 220 |
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| 221 |
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| 223 |
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| 224 |
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|
| 225 |
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}
|
| 226 |
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}
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| 227 |
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},
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| 228 |
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|
| 229 |
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| 230 |
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| 231 |
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|
| 232 |
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"markers": "WARN",
|
| 233 |
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|
| 234 |
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},
|
| 235 |
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"verdict": "READY",
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| 236 |
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"issues": [
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| 237 |
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"WARN M_FLOOR_SHIFT",
|
| 238 |
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|
| 239 |
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"WARN M_TRACKER_LABELS",
|
| 240 |
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"WARN S_INDEX_STALE",
|
| 241 |
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"WARN S_PARTICIPANT",
|
| 242 |
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"WARN S_REPORT_TIMING"
|
| 243 |
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]
|
| 244 |
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},
|
| 245 |
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"canonical": {
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| 246 |
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"generated_at_utc": "2026-10-14T12:20:42.285809+00:00",
|
| 247 |
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"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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0.9999089224,
|
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| 253 |
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[
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0.009771953,
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],
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[
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]
|
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],
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|
| 267 |
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| 268 |
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[
|
| 269 |
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0.000999908922,
|
| 270 |
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-1.349602e-05,
|
| 271 |
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|
| 272 |
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0.0
|
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],
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| 274 |
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[
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6.5946e-08,
|
| 276 |
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|
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-0.000999952251,
|
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0.0
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],
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[
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1.349602e-05,
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| 282 |
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|
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9.771953e-06,
|
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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,
|
| 290 |
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1.0
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]
|
| 292 |
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],
|
| 293 |
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"block": "20260919-afternoon",
|
| 294 |
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|
| 295 |
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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": null,
|
| 302 |
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|
| 303 |
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"camera_pose_source": "provider T_tracker0_cam",
|
| 304 |
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"files": [
|
| 305 |
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"mocap_zup.npz",
|
| 306 |
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"tracker0_zup.npz",
|
| 307 |
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"rig_zup.npz",
|
| 308 |
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"cameras_zup.npz"
|
| 309 |
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]
|
| 310 |
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},
|
| 311 |
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"smplx": {
|
| 312 |
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"generated_at_utc": "2026-10-15T05:52:34.099348+00:00",
|
| 313 |
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"generated_by": "scripts/fit_smplx_dataset.py",
|
| 314 |
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"file": "smplx.npz",
|
| 315 |
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"gender": "female",
|
| 316 |
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"n_betas": 16,
|
| 317 |
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"betas_source": "participant median (derived/smplx/participants.json)",
|
| 318 |
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 319 |
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 320 |
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"hands": {
|
| 321 |
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"observed": false,
|
| 322 |
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"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 323 |
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"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 324 |
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"hand_marker_offsets_m": {
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| 325 |
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"left": {
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| 326 |
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"LHandIn": [
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| 327 |
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0.043192457407712936,
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0.022841744124889374,
|
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0.019387878477573395
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],
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0.03981761634349823,
|
| 333 |
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0.007180096581578255,
|
| 334 |
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-0.03762093931436539
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| 335 |
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],
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-0.01474760565906763,
|
| 338 |
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0.022892463952302933,
|
| 339 |
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-0.028549835085868835
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| 340 |
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]
|
| 341 |
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},
|
| 342 |
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"right": {
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| 343 |
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"RHandIn": [
|
| 344 |
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-0.04098312184214592,
|
| 345 |
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0.02498963475227356,
|
| 346 |
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0.019297370687127113
|
| 347 |
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],
|
| 348 |
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"RHandOut": [
|
| 349 |
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-0.05710805952548981,
|
| 350 |
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0.011058217845857143,
|
| 351 |
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-0.0307425856590271
|
| 352 |
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]
|
| 353 |
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}
|
| 354 |
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}
|
| 355 |
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},
|
| 356 |
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"marker_rmse_mm": {
|
| 357 |
+
"median_frame": 4.65,
|
| 358 |
+
"p95_frame": 6.01
|
| 359 |
+
},
|
| 360 |
+
"worst_markers": [
|
| 361 |
+
"RKneeIn 13mm",
|
| 362 |
+
"LKneeIn 11mm",
|
| 363 |
+
"LThigh 11mm",
|
| 364 |
+
"RKnee 10mm",
|
| 365 |
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"LKnee 9mm"
|
| 366 |
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],
|
| 367 |
+
"valid_fraction": 1.0,
|
| 368 |
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"qc": {
|
| 369 |
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"lowest_vertex_mm": {
|
| 370 |
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"median": 13.7,
|
| 371 |
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"p5": 7.8
|
| 372 |
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},
|
| 373 |
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"frames_checked": 517,
|
| 374 |
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"stature_mm": 1598.8
|
| 375 |
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},
|
| 376 |
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"surface_term": {
|
| 377 |
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"weight": 1.0,
|
| 378 |
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"marker_height_mm": 11.0,
|
| 379 |
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"markers_on_surface": 52,
|
| 380 |
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"surface_rmse_mm_median": 9.99
|
| 381 |
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},
|
| 382 |
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"shape_source": "participant median",
|
| 383 |
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"wrist_correction": {
|
| 384 |
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"left": {
|
| 385 |
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"status": "corrected",
|
| 386 |
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"Q_deg": 169.24,
|
| 387 |
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"Q_rotvec": [
|
| 388 |
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2.90794,
|
| 389 |
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-0.04626,
|
| 390 |
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-0.51602
|
| 391 |
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],
|
| 392 |
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"in_out_sign": -1,
|
| 393 |
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"wrist_bend_deg_median": 151.2,
|
| 394 |
+
"opposite_sign_bend_deg": 40.5,
|
| 395 |
+
"in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
|
| 396 |
+
"marker_frame_spread_deg": 1.27,
|
| 397 |
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"hand_vs_marker_frame_deg": {
|
| 398 |
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"before": 169.26,
|
| 399 |
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"after": 1.27
|
| 400 |
+
},
|
| 401 |
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"markers_on_wrist": [
|
| 402 |
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"LWristOut",
|
| 403 |
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"LHandIn",
|
| 404 |
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"LHandOut"
|
| 405 |
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],
|
| 406 |
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"forearm_twist": {
|
| 407 |
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"twist_moved_deg": 150.42,
|
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