Release update 2026-11-05: new sessions, instructions, annotations (part 79)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +19 -0
- actions/locomanipulation/LM52/session_014/raw/mocap/LittleBox5.trc +0 -0
- actions/locomanipulation/LM52/session_014/raw/mocap/Table.csv +0 -0
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- actions/locomanipulation/LM52/session_014/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM52/session_014/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM52/session_014/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM52/session_014/raw/sensors/robocap_mag_middle.db +3 -0
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- actions/locomanipulation/LM52/session_014/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM52/session_014/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM52/session_014/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM52/session_014/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM52/session_014/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM52/session_014/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM52/session_014/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM52/session_014/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM52/session_014/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM52/session_014/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM52/session_014/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM52/session_014/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM52/session_014/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM52/session_014/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM52/session_014/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM52/session_014/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM52/session_014/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM52/session_015/cameras/poses.npz +3 -0
- actions/locomanipulation/LM52/session_015/meta.json +555 -0
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.gitattributes
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261029/LM52/20261029_095533_session133",
|
| 4 |
+
"session_id": "20261029_095533_session133",
|
| 5 |
+
"primitive": "LM52",
|
| 6 |
+
"batch": "20261029",
|
| 7 |
+
"participant": "wangjingjing",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "c9205ac6e17d2d5c",
|
| 11 |
+
"left": "452031d7af00ef6f",
|
| 12 |
+
"right": "60a6f081bbe60b0d"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-30T22:41:58.692364+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": 137.15833333333333,
|
| 22 |
+
"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 23 |
+
},
|
| 24 |
+
"alignment": {
|
| 25 |
+
"reference_imu": "imu_head_right",
|
| 26 |
+
"model": "offset (median of windows)",
|
| 27 |
+
"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 28 |
+
"offset_s": -0.079181,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.08,
|
| 31 |
+
"peak_corr": 0.9816,
|
| 32 |
+
"reference_imu_first_sample_s": 33750.250877857,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 12,
|
| 35 |
+
"window_corr_median": 0.9765333476380909,
|
| 36 |
+
"drift_ppm": -1.9861813496746936,
|
| 37 |
+
"drift_se_ppm": 9.437966689097598,
|
| 38 |
+
"drift_ms_over_take": -0.2724047721078843,
|
| 39 |
+
"lag_scatter_ms": 1.0302813441444756,
|
| 40 |
+
"lag_range_ms": 3.652367857178679
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"units": {
|
| 44 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
+
"y_up_to_z_up": [
|
| 46 |
+
[
|
| 47 |
+
1.0,
|
| 48 |
+
0.0,
|
| 49 |
+
0.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
0.0,
|
| 53 |
+
0.0,
|
| 54 |
+
-1.0
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.0,
|
| 58 |
+
1.0,
|
| 59 |
+
0.0
|
| 60 |
+
]
|
| 61 |
+
],
|
| 62 |
+
"acc": "m/s^2 (8192 LSB/g)",
|
| 63 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 64 |
+
"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 65 |
+
"quaternions": "xyzw, Nokov global"
|
| 66 |
+
},
|
| 67 |
+
"calibration": {
|
| 68 |
+
"device": "c9205ac6e17d2d5c",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 27904,
|
| 76 |
+
"n_gyro": 27898,
|
| 77 |
+
"t_start": -0.0955450857164094,
|
| 78 |
+
"t_end": 137.35282379528323
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 27729,
|
| 82 |
+
"n_gyro": 27722,
|
| 83 |
+
"t_start": 0.02826695628569109,
|
| 84 |
+
"t_end": 137.51822040028307
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 27602,
|
| 88 |
+
"n_gyro": 27614,
|
| 89 |
+
"t_start": -0.7950797317117092,
|
| 90 |
+
"t_end": 135.61585896428548
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 27618,
|
| 94 |
+
"n_gyro": 27618,
|
| 95 |
+
"t_start": -0.7935444017148682,
|
| 96 |
+
"t_end": 135.60609922328692
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 13756,
|
| 100 |
+
"t_start": 0.13432537228614205,
|
| 101 |
+
"t_end": 137.684324313288
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 13640,
|
| 105 |
+
"t_start": -0.777672932717948,
|
| 106 |
+
"t_end": 135.61165567628447
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 13639,
|
| 110 |
+
"t_start": -0.7807241147184384,
|
| 111 |
+
"t_end": 135.59876135728516
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 33750.368179,
|
| 118 |
+
"frames": 4114,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.04074846693215772,
|
| 124 |
+
"t_end": 137.14085946693191,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 33750.368141,
|
| 131 |
+
"frames": 4114,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0024181146161434135,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.040500145898434536,
|
| 137 |
+
"t_end": 137.14060014590174,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 33750.368168,
|
| 144 |
+
"frames": 4114,
|
| 145 |
+
"pts_gaps": 0,
|
| 146 |
+
"timing": "pts",
|
| 147 |
+
"timeshift_cam_imu_s": 0.002458947067077895,
|
| 148 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
+
"t_start": 0.04056797835615111,
|
| 150 |
+
"t_end": 137.1406789783559,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
},
|
| 154 |
+
"right_front": {
|
| 155 |
+
"fps": 30.0,
|
| 156 |
+
"start_device_s": 33750.368193,
|
| 157 |
+
"frames": 4114,
|
| 158 |
+
"pts_gaps": 0,
|
| 159 |
+
"timing": "pts",
|
| 160 |
+
"timeshift_cam_imu_s": 0.0021420814739499558,
|
| 161 |
+
"file": "robocap_segment1_video_right_front.mp4",
|
| 162 |
+
"t_start": 0.04027611276065113,
|
| 163 |
+
"t_end": 137.1403871127604,
|
| 164 |
+
"clock": "device",
|
| 165 |
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},
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[
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],
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},
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},
|
| 350 |
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"camera_pose_source": "provider T_tracker0_cam",
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"files": [
|
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"mocap_zup.npz",
|
| 353 |
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"tracker0_zup.npz",
|
| 354 |
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"rig_zup.npz",
|
| 355 |
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"cameras_zup.npz"
|
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]
|
| 357 |
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},
|
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"generated_by": "scripts/fit_smplx_dataset.py",
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"file": "smplx.npz",
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"gender": "female",
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|
| 364 |
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"betas_source": "participant median (derived/smplx/participants.json)",
|
| 365 |
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 366 |
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 367 |
+
"hands": {
|
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"observed": false,
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"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
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"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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}
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|
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|
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|
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},
|
| 412 |
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"worst_markers": [
|
| 413 |
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"LThigh 13mm",
|
| 414 |
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"LElbow 12mm",
|
| 415 |
+
"LKneeIn 11mm",
|
| 416 |
+
"RHeadBack 10mm",
|
| 417 |
+
"CLAV 10mm"
|
| 418 |
+
],
|
| 419 |
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"valid_fraction": 0.9998,
|
| 420 |
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"qc": {
|
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"lowest_vertex_mm": {
|
| 422 |
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"median": 0.1,
|
| 423 |
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"p5": -12.2
|
| 424 |
+
},
|
| 425 |
+
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| 426 |
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|
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+
},
|
| 428 |
+
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|
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+
"weight": 1.0,
|
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|
| 431 |
+
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|
| 432 |
+
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|
| 433 |
+
},
|
| 434 |
+
"shape_source": "participant median",
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| 435 |
+
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| 436 |
+
"left": {
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"status": "corrected",
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0.11468,
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|
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],
|
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|
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|
| 447 |
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"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 448 |
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|
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|
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|
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|
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},
|
| 453 |
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"LHandIn",
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"LHandOut"
|
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],
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|
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|
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-3.9,
|
| 464 |
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8.9
|
| 465 |
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]
|
| 466 |
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},
|
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"wrist_total_deg_median_after": 25.8,
|
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|
| 469 |
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"LElbowIn",
|
| 470 |
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"LForearm",
|
| 471 |
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"LWristIn"
|
| 472 |
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]
|
| 473 |
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},
|
| 474 |
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|
| 475 |
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},
|
| 476 |
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"right": {
|
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"status": "corrected",
|
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|
| 479 |
+
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|
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0.25062,
|
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+
0.95096,
|
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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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+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 488 |
+
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|
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|
| 490 |
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|
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+
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|
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},
|
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|
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"RWristOut",
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"RHandIn",
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"RHandOut"
|
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],
|
| 498 |
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|
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|
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|
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"median": -0.0,
|
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+
"iqr": [
|
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-3.3,
|
| 504 |
+
2.1
|
| 505 |
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]
|
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},
|
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+
"wrist_total_deg_median_after": 47.0,
|
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|
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"RForearm",
|
| 510 |
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"RWristIn"
|
| 511 |
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]
|
| 512 |
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},
|
| 513 |
+
"frames_used": 1500
|
| 514 |
+
},
|
| 515 |
+
"generated_at_utc": "2026-11-02T17:58:50.505502+00:00",
|
| 516 |
+
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 517 |
+
}
|
| 518 |
+
},
|
| 519 |
+
"release": {
|
| 520 |
+
"release_path": "actions/locomanipulation/LM52/session_015",
|
| 521 |
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"family": "locomanipulation",
|
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+
"primitive": "LM52",
|
| 523 |
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"source_session": "20261029/LM52/20261029_095533_session133"
|
| 524 |
+
},
|
| 525 |
+
"task": {
|
| 526 |
+
"primitive": "LM52",
|
| 527 |
+
"instruction": "Take each object from the table and put it in the bin that matches it, walking between the bins. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 528 |
+
},
|
| 529 |
+
"objects": [
|
| 530 |
+
{
|
| 531 |
+
"name": "LittleBox1",
|
| 532 |
+
"object_type": "LittleBox",
|
| 533 |
+
"source": "mocap",
|
| 534 |
+
"pose_frame": "rigid_body"
|
| 535 |
+
},
|
| 536 |
+
{
|
| 537 |
+
"name": "LittleBox2",
|
| 538 |
+
"object_type": "LittleBox",
|
| 539 |
+
"source": "mocap",
|
| 540 |
+
"pose_frame": "mesh"
|
| 541 |
+
},
|
| 542 |
+
{
|
| 543 |
+
"name": "LittleBox5",
|
| 544 |
+
"object_type": "LittleBox",
|
| 545 |
+
"source": "mocap",
|
| 546 |
+
"pose_frame": "mesh"
|
| 547 |
+
},
|
| 548 |
+
{
|
| 549 |
+
"name": "Table",
|
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| 1 |
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{
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|
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|
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