Release update 2026-11-05: new sessions, instructions, annotations (part 132)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +34 -0
- actions/static_manipulation/SM05/session_011/raw/mocap/Table.trc +0 -0
- actions/static_manipulation/SM05/session_011/raw/mocap/Table2.csv +0 -0
- actions/static_manipulation/SM05/session_011/raw/mocap/Table2.trc +0 -0
- actions/static_manipulation/SM05/session_011/raw/mocap/Tracker0.csv +0 -0
- actions/static_manipulation/SM05/session_011/raw/mocap/Tracker0.trc +0 -0
- actions/static_manipulation/SM05/session_011/raw/sensors/robocap_imu_left.db +3 -0
- actions/static_manipulation/SM05/session_011/raw/sensors/robocap_imu_right.db +3 -0
- actions/static_manipulation/SM05/session_011/raw/sensors/robocap_mag_middle.db +3 -0
- actions/static_manipulation/SM05/session_011/raw/sensors/robowrist_imu_left.db +3 -0
- actions/static_manipulation/SM05/session_011/raw/sensors/robowrist_imu_right.db +3 -0
- actions/static_manipulation/SM05/session_011/raw/sensors/robowrist_mag_left.db +3 -0
- actions/static_manipulation/SM05/session_011/raw/sensors/robowrist_mag_right.db +3 -0
- actions/static_manipulation/SM05/session_011/sensors/head_imu.npz +3 -0
- actions/static_manipulation/SM05/session_011/sensors/head_mag.npz +3 -0
- actions/static_manipulation/SM05/session_011/sensors/wrist_imu.npz +3 -0
- actions/static_manipulation/SM05/session_011/sensors/wrist_mag.npz +3 -0
- actions/static_manipulation/SM05/session_011/videos/frame_timestamps.npz +3 -0
- actions/static_manipulation/SM05/session_011/videos/head_left.mp4 +3 -0
- actions/static_manipulation/SM05/session_011/videos/head_left_eye.mp4 +3 -0
- actions/static_manipulation/SM05/session_011/videos/head_left_front.mp4 +3 -0
- actions/static_manipulation/SM05/session_011/videos/head_right.mp4 +3 -0
- actions/static_manipulation/SM05/session_011/videos/head_right_eye.mp4 +3 -0
- actions/static_manipulation/SM05/session_011/videos/head_right_front.mp4 +3 -0
- actions/static_manipulation/SM05/session_011/videos/third_person.mp4 +3 -0
- actions/static_manipulation/SM05/session_011/videos/wrist_left.mp4 +3 -0
- actions/static_manipulation/SM05/session_011/videos/wrist_right.mp4 +3 -0
- actions/static_manipulation/SM05/session_012/cameras/poses.npz +3 -0
- actions/static_manipulation/SM05/session_012/meta.json +519 -0
- actions/static_manipulation/SM05/session_012/motions/head_rig.npz +3 -0
- actions/static_manipulation/SM05/session_012/motions/markers.npz +3 -0
- actions/static_manipulation/SM05/session_012/motions/object_markers.npz +3 -0
- actions/static_manipulation/SM05/session_012/motions/objects.json +52 -0
- actions/static_manipulation/SM05/session_012/motions/objects.npz +3 -0
- actions/static_manipulation/SM05/session_012/motions/skeleton.npz +3 -0
- actions/static_manipulation/SM05/session_012/motions/smplx.npz +3 -0
- actions/static_manipulation/SM05/session_012/raw/audio.wav +3 -0
- actions/static_manipulation/SM05/session_012/raw/manifest.json +308 -0
- actions/static_manipulation/SM05/session_012/raw/mocap/Body0.bvh +0 -0
- actions/static_manipulation/SM05/session_012/raw/mocap/Body0.csv +3 -0
- actions/static_manipulation/SM05/session_012/raw/mocap/Body0.trc +3 -0
- actions/static_manipulation/SM05/session_012/raw/mocap/Table.csv +0 -0
- actions/static_manipulation/SM05/session_012/raw/mocap/Table.trc +0 -0
- actions/static_manipulation/SM05/session_012/raw/mocap/Table2.csv +0 -0
- actions/static_manipulation/SM05/session_012/raw/mocap/Table2.trc +0 -0
- actions/static_manipulation/SM05/session_012/raw/mocap/Tracker0.csv +0 -0
- actions/static_manipulation/SM05/session_012/raw/mocap/Tracker0.trc +0 -0
- actions/static_manipulation/SM05/session_012/raw/sensors/robocap_imu_left.db +3 -0
- actions/static_manipulation/SM05/session_012/raw/sensors/robocap_imu_right.db +3 -0
- actions/static_manipulation/SM05/session_012/raw/sensors/robocap_mag_middle.db +3 -0
.gitattributes
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actions/static_manipulation/SM05/session_010/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM05/session_010/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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| 49799 |
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actions/static_manipulation/SM06/session_008/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM05/session_011/raw/mocap/Table.trc
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actions/static_manipulation/SM05/session_011/raw/sensors/robocap_imu_left.db
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|
| 1 |
+
{
|
| 2 |
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"schema_version": 1,
|
| 3 |
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"session": "EgoMotionActions/20261102/SM05/20261102_085313_session143",
|
| 4 |
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"session_id": "20261102_085313_session143",
|
| 5 |
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"primitive": "SM05",
|
| 6 |
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"batch": "20261102",
|
| 7 |
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"participant": "wangzhixin",
|
| 8 |
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"participant_source": "manifest",
|
| 9 |
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"device_ids": {
|
| 10 |
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"main": "e17c9efadb69e7b1",
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| 11 |
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"left": "cc5681142208e29a",
|
| 12 |
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"right": "a85418f7d807dff9"
|
| 13 |
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},
|
| 14 |
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"generated_at_utc": "2026-11-03T22:03:50.822855+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 |
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"mocap_rate_fix": null,
|
| 20 |
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"first_solved_frame": 0,
|
| 21 |
+
"duration_s": 133.95833333333334,
|
| 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": -0.086286,
|
| 29 |
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"rate": 0.0,
|
| 30 |
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"global_lag_s": -0.09,
|
| 31 |
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"peak_corr": 0.6251,
|
| 32 |
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"reference_imu_first_sample_s": 11331.952657106,
|
| 33 |
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"windows": {
|
| 34 |
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"n_windows": 4,
|
| 35 |
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"window_corr_median": 0.7258852994477833,
|
| 36 |
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"drift_ppm": -576.7883898867419,
|
| 37 |
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"drift_se_ppm": 587.0486787190449,
|
| 38 |
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"drift_ms_over_take": -77.26080482532907,
|
| 39 |
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"lag_scatter_ms": 34.73026819865084,
|
| 40 |
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"lag_range_ms": 99.35488916864304
|
| 41 |
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}
|
| 42 |
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},
|
| 43 |
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"units": {
|
| 44 |
+
"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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[
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| 52 |
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0.0,
|
| 53 |
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0.0,
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| 54 |
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-1.0
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| 55 |
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],
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| 56 |
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[
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| 57 |
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0.0,
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| 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": "e17c9efadb69e7b1",
|
| 69 |
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"status": "ok",
|
| 70 |
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"date": "2026-09-08"
|
| 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": 26928,
|
| 76 |
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"n_gyro": 26923,
|
| 77 |
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"t_start": -0.09784955345758627,
|
| 78 |
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"t_end": 134.15144090454186
|
| 79 |
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},
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| 80 |
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|
| 81 |
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"n_acc": 26879,
|
| 82 |
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"n_gyro": 26872,
|
| 83 |
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"t_start": 0.0077951905429423235,
|
| 84 |
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"t_end": 134.31341364754252
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| 85 |
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},
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| 86 |
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"imu_wrist_right": {
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| 87 |
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"n_acc": 26412,
|
| 88 |
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"n_gyro": 26411,
|
| 89 |
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"t_start": -0.801246418456963,
|
| 90 |
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"t_end": 132.59092103054235
|
| 91 |
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},
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| 92 |
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"imu_wrist_left": {
|
| 93 |
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"n_acc": 26349,
|
| 94 |
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"n_gyro": 26349,
|
| 95 |
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"t_start": -0.8098236864582808,
|
| 96 |
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"t_end": 132.59595296154174
|
| 97 |
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},
|
| 98 |
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"mag_head": {
|
| 99 |
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"n": 13440,
|
| 100 |
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"t_start": 0.08930114854292205,
|
| 101 |
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"t_end": 134.47929175454254
|
| 102 |
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},
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| 103 |
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"mag_wrist_right": {
|
| 104 |
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"n": 13338,
|
| 105 |
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"t_start": -0.782761515457701,
|
| 106 |
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"t_end": 132.5872524115427
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| 107 |
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},
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"mag_wrist_left": {
|
| 109 |
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"n": 13339,
|
| 110 |
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"t_start": -0.7914027424570171,
|
| 111 |
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"t_end": 132.58804818054222
|
| 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": 11332.07818,
|
| 118 |
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"frames": 4018,
|
| 119 |
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"pts_gaps": 0,
|
| 120 |
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"timing": "pts",
|
| 121 |
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"timeshift_cam_imu_s": 0.0023423887986386703,
|
| 122 |
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"file": "robocap_segment1_video_left.mp4",
|
| 123 |
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"t_start": 0.04157926034049032,
|
| 124 |
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"t_end": 133.94175726034035,
|
| 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": 11332.078133,
|
| 131 |
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"frames": 4018,
|
| 132 |
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"pts_gaps": 0,
|
| 133 |
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"timing": "pts",
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"file": "robocap_segment1_video_right.mp4",
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| 136 |
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"t_start": 0.0411388361887426,
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| 137 |
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| 140 |
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},
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| 142 |
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|
| 143 |
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|
| 144 |
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| 145 |
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| 146 |
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| 147 |
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| 148 |
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"file": "robocap_segment1_video_left_front.mp4",
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| 149 |
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"t_start": 0.04103499478032481,
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| 150 |
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|
| 153 |
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},
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| 154 |
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"right_front": {
|
| 155 |
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"fps": 30.0,
|
| 156 |
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|
| 157 |
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| 158 |
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| 159 |
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"timing": "pts",
|
| 160 |
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"timeshift_cam_imu_s": 0.0017295646474508202,
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| 161 |
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"file": "robocap_segment1_video_right_front.mp4",
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| 172 |
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| 173 |
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| 174 |
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"file": "robocap_segment1_video_left_eye.mp4",
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| 175 |
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| 179 |
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},
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|
| 181 |
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|
| 182 |
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| 183 |
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| 184 |
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| 186 |
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| 187 |
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"file": "robocap_segment1_video_right_eye.mp4",
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| 189 |
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| 192 |
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| 198 |
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},
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"fps": 30.0,
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},
|
| 219 |
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"third_person": {
|
| 220 |
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"file": "mocap/mocap-SM05-S01-wangzhixin-02p1-1.mp4",
|
| 221 |
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"frames": 4019,
|
| 222 |
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"clock": "nokov (frame index)",
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}
|
| 227 |
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}
|
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},
|
| 229 |
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"flags": [],
|
| 230 |
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"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
|
| 231 |
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"rig_tracker": {
|
| 232 |
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"definition": "e17c9efadb69e7b1/20261102-afternoon/labels-154230/session-0711e8e5fcd02951",
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|
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|
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"status": "unchecked",
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| 259 |
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|
| 260 |
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"gyro_deg": null
|
| 261 |
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},
|
| 262 |
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"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 263 |
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"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 264 |
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},
|
| 265 |
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"canonical": {
|
| 266 |
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"generated_at_utc": "2026-11-04T04:10:18.139806+00:00",
|
| 267 |
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"generated_by": "scripts/canonicalise_dataset.py",
|
| 268 |
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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)",
|
| 269 |
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"R_canon_nokov": [
|
| 270 |
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[
|
| 271 |
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0.9999989577,
|
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0.0014438356,
|
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-2.2061e-06
|
| 274 |
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],
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[
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2.2061e-06,
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-0.0030559472,
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],
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[
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0.9999942882,
|
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|
| 284 |
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]
|
| 285 |
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],
|
| 286 |
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"scale_nokov_to_canon": 0.001,
|
| 287 |
+
"T_canon_nokov_mm": [
|
| 288 |
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[
|
| 289 |
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0.000999998958,
|
| 290 |
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1.443836e-06,
|
| 291 |
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-2.206e-09,
|
| 292 |
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0.0
|
| 293 |
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],
|
| 294 |
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[
|
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2.206e-09,
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-3.055947e-06,
|
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-0.000999995331,
|
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0.0
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],
|
| 300 |
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[
|
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-1.443836e-06,
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| 302 |
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0.000999994288,
|
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-3.055947e-06,
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0.0
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],
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| 306 |
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[
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| 307 |
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0.0,
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0.0,
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0.0,
|
| 310 |
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1.0
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| 311 |
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]
|
| 312 |
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],
|
| 313 |
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"block": "20261102-afternoon",
|
| 314 |
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"block_assignment": "trc",
|
| 315 |
+
"tilt_removed_deg": 0.19365225661101543,
|
| 316 |
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"plane_status": "contacts span only 0.73 m",
|
| 317 |
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"floor": {
|
| 318 |
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"sole_marker_p1_mm": 51.7,
|
| 319 |
+
"headtop_p95_mm": 1572.1
|
| 320 |
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},
|
| 321 |
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"gravity_check": {
|
| 322 |
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"static_samples": 19010,
|
| 323 |
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"g_world_mean_m_s2": [
|
| 324 |
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-0.2018,
|
| 325 |
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-0.221,
|
| 326 |
+
9.7641
|
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],
|
| 328 |
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"tilt_from_z_deg": 1.756,
|
| 329 |
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|
| 330 |
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|
| 331 |
+
},
|
| 332 |
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"rig_tracker_definition": "e17c9efadb69e7b1/20261102-afternoon/labels-154230/session-0711e8e5fcd02951",
|
| 333 |
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|
| 334 |
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"status": "unchecked",
|
| 335 |
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|
| 336 |
+
"gyro_deg": null
|
| 337 |
+
},
|
| 338 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 339 |
+
"files": [
|
| 340 |
+
"mocap_zup.npz",
|
| 341 |
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"tracker0_zup.npz",
|
| 342 |
+
"rig_zup.npz",
|
| 343 |
+
"cameras_zup.npz"
|
| 344 |
+
]
|
| 345 |
+
},
|
| 346 |
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"smplx": {
|
| 347 |
+
"generated_at_utc": "2026-11-04T05:20:43.575181+00:00",
|
| 348 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 349 |
+
"file": "smplx.npz",
|
| 350 |
+
"gender": "female",
|
| 351 |
+
"n_betas": 16,
|
| 352 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 353 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 354 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 355 |
+
"hands": {
|
| 356 |
+
"observed": false,
|
| 357 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 358 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 359 |
+
"hand_marker_offsets_m": {
|
| 360 |
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"left": {
|
| 361 |
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"LHandIn": [
|
| 362 |
+
0.06521850824356079,
|
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0.02279563993215561,
|
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0.004926722962409258
|
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],
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"LHandOut": [
|
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0.056972064077854156,
|
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-0.002216464141383767,
|
| 369 |
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-0.04506038501858711
|
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]
|
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},
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"right": {
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"RHandIn": [
|
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-0.031974345445632935,
|
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0.0070505402982234955,
|
| 376 |
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0.048029448837041855
|
| 377 |
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],
|
| 378 |
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"RHandOut": [
|
| 379 |
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-0.029342029243707657,
|
| 380 |
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0.0427280031144619,
|
| 381 |
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0.02143910899758339
|
| 382 |
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]
|
| 383 |
+
}
|
| 384 |
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}
|
| 385 |
+
},
|
| 386 |
+
"marker_rmse_mm": {
|
| 387 |
+
"median_frame": 2.34,
|
| 388 |
+
"p95_frame": 4.81
|
| 389 |
+
},
|
| 390 |
+
"worst_markers": [
|
| 391 |
+
"RElbowIn 9mm",
|
| 392 |
+
"RWristOut 7mm",
|
| 393 |
+
"RWristIn 7mm",
|
| 394 |
+
"RForearm 7mm",
|
| 395 |
+
"WaistRFront 6mm"
|
| 396 |
+
],
|
| 397 |
+
"valid_fraction": 1.0,
|
| 398 |
+
"qc": {
|
| 399 |
+
"lowest_vertex_mm": {
|
| 400 |
+
"median": 4.4,
|
| 401 |
+
"p5": 3.9
|
| 402 |
+
},
|
| 403 |
+
"frames_checked": 536,
|
| 404 |
+
"stature_mm": 1582.0
|
| 405 |
+
},
|
| 406 |
+
"surface_term": {
|
| 407 |
+
"weight": 1.0,
|
| 408 |
+
"marker_height_mm": 11.0,
|
| 409 |
+
"markers_on_surface": 52,
|
| 410 |
+
"surface_rmse_mm_median": 14.51
|
| 411 |
+
},
|
| 412 |
+
"shape_source": "participant median",
|
| 413 |
+
"wrist_correction": {
|
| 414 |
+
"left": {
|
| 415 |
+
"status": "corrected",
|
| 416 |
+
"Q_deg": 24.53,
|
| 417 |
+
"Q_rotvec": [
|
| 418 |
+
-0.33864,
|
| 419 |
+
-0.08364,
|
| 420 |
+
0.24822
|
| 421 |
+
],
|
| 422 |
+
"in_out_sign": 1,
|
| 423 |
+
"q_source": "markers",
|
| 424 |
+
"gsi": null,
|
| 425 |
+
"wrist_bend_deg_median": 28.6,
|
| 426 |
+
"opposite_sign_bend_deg": 163.0,
|
| 427 |
+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 428 |
+
"marker_frame_spread_deg": 1.5,
|
| 429 |
+
"hand_vs_marker_frame_deg": {
|
| 430 |
+
"before": 24.6,
|
| 431 |
+
"after": 1.5
|
| 432 |
+
},
|
| 433 |
+
"markers_on_wrist": [
|
| 434 |
+
"LHandIn",
|
| 435 |
+
"LHandOut"
|
| 436 |
+
],
|
| 437 |
+
"forearm_twist": {
|
| 438 |
+
"twist_moved_deg": -10.26,
|
| 439 |
+
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|
| 440 |
+
"median": 0.0,
|
| 441 |
+
"iqr": [
|
| 442 |
+
-2.2,
|
| 443 |
+
2.4
|
| 444 |
+
]
|
| 445 |
+
},
|
| 446 |
+
"wrist_total_deg_median_after": 25.7,
|
| 447 |
+
"markers_on_forearm": [
|
| 448 |
+
"LElbowIn",
|
| 449 |
+
"LForearm",
|
| 450 |
+
"LWristIn",
|
| 451 |
+
"LWristOut"
|
| 452 |
+
]
|
| 453 |
+
},
|
| 454 |
+
"frames_used": 1500
|
| 455 |
+
},
|
| 456 |
+
"right": {
|
| 457 |
+
"status": "corrected",
|
| 458 |
+
"Q_deg": 71.7,
|
| 459 |
+
"Q_rotvec": [
|
| 460 |
+
1.07501,
|
| 461 |
+
0.45483,
|
| 462 |
+
-0.45123
|
| 463 |
+
],
|
| 464 |
+
"in_out_sign": 1,
|
| 465 |
+
"q_source": "markers",
|
| 466 |
+
"gsi": null,
|
| 467 |
+
"wrist_bend_deg_median": 74.8,
|
| 468 |
+
"opposite_sign_bend_deg": 137.5,
|
| 469 |
+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 470 |
+
"marker_frame_spread_deg": 6.96,
|
| 471 |
+
"hand_vs_marker_frame_deg": {
|
| 472 |
+
"before": 72.01,
|
| 473 |
+
"after": 6.96
|
| 474 |
+
},
|
| 475 |
+
"markers_on_wrist": [
|
| 476 |
+
"RHandIn",
|
| 477 |
+
"RHandOut"
|
| 478 |
+
],
|
| 479 |
+
"forearm_twist": {
|
| 480 |
+
"twist_moved_deg": -50.56,
|
| 481 |
+
"wrist_twist_deg_after": {
|
| 482 |
+
"median": -0.0,
|
| 483 |
+
"iqr": [
|
| 484 |
+
-47.0,
|
| 485 |
+
47.1
|
| 486 |
+
]
|
| 487 |
+
},
|
| 488 |
+
"wrist_total_deg_median_after": 56.1,
|
| 489 |
+
"markers_on_forearm": [
|
| 490 |
+
"RForearm",
|
| 491 |
+
"RWristIn",
|
| 492 |
+
"RWristOut"
|
| 493 |
+
]
|
| 494 |
+
},
|
| 495 |
+
"frames_used": 1500
|
| 496 |
+
},
|
| 497 |
+
"generated_at_utc": "2026-11-04T05:20:46.904415+00:00",
|
| 498 |
+
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 499 |
+
}
|
| 500 |
+
},
|
| 501 |
+
"release": {
|
| 502 |
+
"release_path": "actions/static_manipulation/SM05/session_012",
|
| 503 |
+
"family": "static_manipulation",
|
| 504 |
+
"primitive": "SM05",
|
| 505 |
+
"source_session": "20261102/SM05/20261102_085313_session143"
|
| 506 |
+
},
|
| 507 |
+
"task": {
|
| 508 |
+
"primitive": "SM05",
|
| 509 |
+
"instruction": "Hold the lidded box and open the lid, then close it again. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
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