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- .gitattributes +21 -0
- actions/locomanipulation/LM47/session_012/raw/mocap/Body0.csv +3 -0
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version https://git-lfs.github.com/spec/v1
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actions/locomanipulation/LM47/session_013/meta.json
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
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"session": "EgoMotionActions/20261024/LM47/20261024_020628_session8",
|
| 4 |
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"session_id": "20261024_020628_session8",
|
| 5 |
+
"primitive": "LM47",
|
| 6 |
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"batch": "20261024",
|
| 7 |
+
"participant": "yanyitong",
|
| 8 |
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"participant_source": "manifest",
|
| 9 |
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"device_ids": {
|
| 10 |
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"main": "c9205ac6e17d2d5c",
|
| 11 |
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"left": "452031d7af00ef6f",
|
| 12 |
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"right": "60a6f081bbe60b0d"
|
| 13 |
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},
|
| 14 |
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"generated_at_utc": "2026-10-26T05:06:40.789443+00:00",
|
| 15 |
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"generated_by": "scripts/sync_dataset.py",
|
| 16 |
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"time_base": {
|
| 17 |
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"definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
|
| 18 |
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"mocap_rate_hz": 120.0,
|
| 19 |
+
"mocap_rate_fix": null,
|
| 20 |
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"first_solved_frame": 0,
|
| 21 |
+
"duration_s": 122.925,
|
| 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 + rate (windowed fit)",
|
| 27 |
+
"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 28 |
+
"offset_s": -0.086905,
|
| 29 |
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"rate": -2.4570605987826352e-05,
|
| 30 |
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"global_lag_s": -0.09,
|
| 31 |
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"peak_corr": 0.9838,
|
| 32 |
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"reference_imu_first_sample_s": 1323.221238102,
|
| 33 |
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"windows": {
|
| 34 |
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"n_windows": 11,
|
| 35 |
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"window_corr_median": 0.9842231348913884,
|
| 36 |
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"drift_ppm": -24.57060598782678,
|
| 37 |
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"drift_se_ppm": 7.648073942252056,
|
| 38 |
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"drift_ms_over_take": -3.020136986003709,
|
| 39 |
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"lag_scatter_ms": 0.7255600011269876,
|
| 40 |
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"lag_range_ms": 3.639515800646559
|
| 41 |
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}
|
| 42 |
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},
|
| 43 |
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"units": {
|
| 44 |
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"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
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"y_up_to_z_up": [
|
| 46 |
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[
|
| 47 |
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1.0,
|
| 48 |
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0.0,
|
| 49 |
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0.0
|
| 50 |
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],
|
| 51 |
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[
|
| 52 |
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0.0,
|
| 53 |
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0.0,
|
| 54 |
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-1.0
|
| 55 |
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],
|
| 56 |
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[
|
| 57 |
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0.0,
|
| 58 |
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1.0,
|
| 59 |
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0.0
|
| 60 |
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]
|
| 61 |
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],
|
| 62 |
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"acc": "m/s^2 (8192 LSB/g)",
|
| 63 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 64 |
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"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 65 |
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"quaternions": "xyzw, Nokov global"
|
| 66 |
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},
|
| 67 |
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"calibration": {
|
| 68 |
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"device": "c9205ac6e17d2d5c",
|
| 69 |
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"status": "ok",
|
| 70 |
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"date": "2026-10-21"
|
| 71 |
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},
|
| 72 |
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"streams": {
|
| 73 |
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"sensors": {
|
| 74 |
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"imu_head_right": {
|
| 75 |
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"n_acc": 25018,
|
| 76 |
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|
| 77 |
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"t_start": -0.09380037595330416,
|
| 78 |
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"t_end": 123.1304963690093
|
| 79 |
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},
|
| 80 |
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"imu_head_left": {
|
| 81 |
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"n_acc": 24866,
|
| 82 |
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"n_gyro": 24859,
|
| 83 |
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"t_start": 0.010212401326938653,
|
| 84 |
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"t_end": 123.29626767580775
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},
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| 86 |
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"imu_wrist_right": {
|
| 87 |
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"n_acc": 24913,
|
| 88 |
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"n_gyro": 24925,
|
| 89 |
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"t_start": -0.88700593593296,
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| 90 |
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"t_end": 122.22163925772782
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| 91 |
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},
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| 92 |
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"imu_wrist_left": {
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| 93 |
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"n_acc": 24909,
|
| 94 |
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"n_gyro": 24920,
|
| 95 |
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"t_start": -0.7785018920085496,
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| 96 |
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"t_end": 122.22959383227426
|
| 97 |
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},
|
| 98 |
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"mag_head": {
|
| 99 |
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"n": 12337,
|
| 100 |
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"t_start": 0.0952748952386269,
|
| 101 |
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"t_end": 123.45223496550275
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| 102 |
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},
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| 103 |
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"mag_wrist_right": {
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| 104 |
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"n": 12310,
|
| 105 |
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"t_start": -0.86946770186874,
|
| 106 |
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"t_end": 122.21720727962693
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},
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| 108 |
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"mag_wrist_left": {
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| 109 |
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"n": 12300,
|
| 110 |
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"t_start": -0.7608065488045773,
|
| 111 |
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"t_end": 122.22579843753178
|
| 112 |
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}
|
| 113 |
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},
|
| 114 |
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"videos": {
|
| 115 |
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"left": {
|
| 116 |
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"fps": 30.0,
|
| 117 |
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"start_device_s": 1323.347191,
|
| 118 |
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"frames": 3687,
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| 119 |
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"pts_gaps": 0,
|
| 120 |
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"timing": "pts",
|
| 121 |
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"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
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"file": "robocap_segment1_video_left.mp4",
|
| 123 |
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"t_start": 0.04167318494505423,
|
| 124 |
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"t_end": 122.90549827213206,
|
| 125 |
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"clock": "device",
|
| 126 |
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"calibrated": true
|
| 127 |
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},
|
| 128 |
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"right": {
|
| 129 |
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"fps": 30.0,
|
| 130 |
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"start_device_s": 1323.347174,
|
| 131 |
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"frames": 3687,
|
| 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 |
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"file": "robocap_segment1_video_right.mp4",
|
| 136 |
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"t_start": 0.04144586949908094,
|
| 137 |
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"t_end": 122.9052269577673,
|
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"clock": "device",
|
| 139 |
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"calibrated": true
|
| 140 |
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},
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| 340 |
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"mocap_zup.npz",
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| 341 |
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"tracker0_zup.npz",
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| 342 |
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"rig_zup.npz",
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| 343 |
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| 344 |
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]
|
| 345 |
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},
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| 346 |
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|
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"file": "smplx.npz",
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"gender": "female",
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| 351 |
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|
| 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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"observed": false,
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"hand_pose": "flat (zeros, flat_hand_mean=True)",
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| 358 |
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|
| 359 |
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}
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| 395 |
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|
| 397 |
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"median_frame": 7.24,
|
| 398 |
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|
| 399 |
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},
|
| 400 |
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"worst_markers": [
|
| 401 |
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"LToe 19mm",
|
| 402 |
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"WaistLSide 17mm",
|
| 403 |
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"CLAV 14mm",
|
| 404 |
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"LKneeIn 13mm",
|
| 405 |
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"LMT1 13mm"
|
| 406 |
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],
|
| 407 |
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"valid_fraction": 0.9997,
|
| 408 |
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|
| 409 |
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|
| 410 |
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"median": -2.9,
|
| 411 |
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"p5": -11.6
|
| 412 |
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},
|
| 413 |
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| 414 |
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|
| 415 |
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},
|
| 416 |
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|
| 417 |
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"weight": 1.0,
|
| 418 |
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|
| 419 |
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"markers_on_surface": 52,
|
| 420 |
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"surface_rmse_mm_median": 15.25
|
| 421 |
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},
|
| 422 |
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"shape_source": "participant median",
|
| 423 |
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"wrist_correction": {
|
| 424 |
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|
| 425 |
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"status": "corrected",
|
| 426 |
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"Q_deg": 167.05,
|
| 427 |
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|
| 428 |
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|
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|
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],
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|
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|
| 434 |
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|
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|
| 436 |
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|
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|
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|
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|
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},
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|
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],
|
| 446 |
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|
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-10.8,
|
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]
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},
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|
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|
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"LForearm",
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|
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]
|
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},
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},
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|
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|
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0.69649,
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|
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],
|
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|
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|
| 474 |
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|
| 475 |
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|
| 476 |
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|
| 477 |
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|
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|
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|
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},
|
| 481 |
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"markers_on_wrist": [
|
| 482 |
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"RWristOut",
|
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"RHandIn",
|
| 484 |
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"RHandOut"
|
| 485 |
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],
|
| 486 |
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|
| 487 |
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|
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|
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-3.3,
|
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5.7
|
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]
|
| 494 |
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},
|
| 495 |
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"wrist_total_deg_median_after": 17.0,
|
| 496 |
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"markers_on_forearm": [
|
| 497 |
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"RElbow",
|
| 498 |
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"RForearm",
|
| 499 |
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"RWristIn"
|
| 500 |
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]
|
| 501 |
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},
|
| 502 |
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"frames_used": 1475
|
| 503 |
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},
|
| 504 |
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"generated_at_utc": "2026-10-26T18:03:38.114788+00:00",
|
| 505 |
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 506 |
+
}
|
| 507 |
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},
|
| 508 |
+
"release": {
|
| 509 |
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"release_path": "actions/locomanipulation/LM47/session_013",
|
| 510 |
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"family": "locomanipulation",
|
| 511 |
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"primitive": "LM47",
|
| 512 |
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"source_session": "20261024/LM47/20261024_020628_session8"
|
| 513 |
+
}
|
| 514 |
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}
|
actions/locomanipulation/LM47/session_013/motions/head_rig.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
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