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- .gitattributes +43 -0
- actions/locomanipulation/LM74/session_023/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM74/session_023/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM74/session_023/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM74/session_023/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM74/session_023/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM74/session_023/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM74/session_023/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM74/session_023/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM74/session_023/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM74/session_023/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM74/session_023/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM74/session_023/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM74/session_023/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM74/session_023/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM74/session_023/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM74/session_023/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM74/session_023/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM74/session_023/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM74/session_023/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM74/session_023/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM74/session_023/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM74/session_024/cameras/poses.npz +3 -0
- actions/locomanipulation/LM74/session_024/meta.json +502 -0
- actions/locomanipulation/LM74/session_024/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM74/session_024/motions/markers.npz +3 -0
- actions/locomanipulation/LM74/session_024/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM74/session_024/motions/smplx.npz +3 -0
- actions/locomanipulation/LM74/session_024/raw/audio.wav +3 -0
- actions/locomanipulation/LM74/session_024/raw/manifest.json +286 -0
- actions/locomanipulation/LM74/session_024/raw/mocap/BigBox2.csv +0 -0
- actions/locomanipulation/LM74/session_024/raw/mocap/BigBox2.trc +0 -0
- actions/locomanipulation/LM74/session_024/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM74/session_024/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM74/session_024/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM74/session_024/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM74/session_024/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM74/session_024/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM74/session_024/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM74/session_024/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM74/session_024/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM74/session_024/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM74/session_024/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM74/session_024/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM74/session_024/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM74/session_024/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM74/session_024/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM74/session_024/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM74/session_024/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM74/session_024/videos/head_left.mp4 +3 -0
.gitattributes
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| 1 |
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{
|
| 2 |
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"schema_version": 1,
|
| 3 |
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"session": "EgoMotionActions/20261024/LM74/20261024_103824_session43",
|
| 4 |
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"session_id": "20261024_103824_session43",
|
| 5 |
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"primitive": "LM74",
|
| 6 |
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"batch": "20261024",
|
| 7 |
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"participant": "huruoxuan",
|
| 8 |
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"participant_source": "manifest",
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| 9 |
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"device_ids": {
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| 10 |
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"main": "c9205ac6e17d2d5c",
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| 11 |
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"left": "452031d7af00ef6f",
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| 12 |
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"right": "60a6f081bbe60b0d"
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| 13 |
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},
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| 14 |
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"generated_at_utc": "2026-10-26T05:07:30.132639+00:00",
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| 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 |
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"duration_s": 110.825,
|
| 22 |
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"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 23 |
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},
|
| 24 |
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"alignment": {
|
| 25 |
+
"reference_imu": "imu_head_right",
|
| 26 |
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"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 |
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"offset_s": -0.093,
|
| 29 |
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"rate": 0.0,
|
| 30 |
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"global_lag_s": -0.095,
|
| 31 |
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"peak_corr": 0.9782,
|
| 32 |
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"reference_imu_first_sample_s": 8593.255185383,
|
| 33 |
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"windows": {
|
| 34 |
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"n_windows": 10,
|
| 35 |
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"window_corr_median": 0.9755310174788364,
|
| 36 |
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"drift_ppm": 7.958076045253961,
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| 37 |
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"drift_se_ppm": 3.8611638073153003,
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| 38 |
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"drift_ms_over_take": 0.881887460414893,
|
| 39 |
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"lag_scatter_ms": 0.313682430572199,
|
| 40 |
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"lag_range_ms": 1.1149974433473653
|
| 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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| 50 |
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],
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| 51 |
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[
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| 52 |
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| 53 |
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| 54 |
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],
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| 56 |
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[
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| 57 |
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| 58 |
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|
| 59 |
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|
| 60 |
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]
|
| 61 |
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],
|
| 62 |
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"acc": "m/s^2 (8192 LSB/g)",
|
| 63 |
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"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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},
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| 72 |
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"streams": {
|
| 73 |
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"sensors": {
|
| 74 |
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|
| 75 |
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"n_acc": 22557,
|
| 76 |
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|
| 77 |
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"t_start": -0.09989708538781832,
|
| 78 |
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"t_end": 111.01090909661357
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| 79 |
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},
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| 80 |
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|
| 81 |
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"n_acc": 22420,
|
| 82 |
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"n_gyro": 22415,
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| 83 |
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"t_start": 0.006733546612996924,
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| 84 |
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"t_end": 111.17333641661313
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},
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"imu_wrist_right": {
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| 87 |
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"n_acc": 22321,
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"n_gyro": 22332,
|
| 89 |
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"t_start": -0.7815691623862568,
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| 90 |
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"t_end": 109.5349252216121
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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": 22348,
|
| 94 |
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"n_gyro": 22348,
|
| 95 |
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"t_start": -0.8472850113874648,
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| 96 |
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"t_end": 109.53093107361306
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| 97 |
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},
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| 98 |
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"mag_head": {
|
| 99 |
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"n": 11126,
|
| 100 |
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"t_start": 0.0883189146126477,
|
| 101 |
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"t_end": 111.3383003426126
|
| 102 |
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},
|
| 103 |
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"mag_wrist_right": {
|
| 104 |
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"n": 11030,
|
| 105 |
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"t_start": -0.7619390403877679,
|
| 106 |
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"t_end": 109.52804177961221
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| 107 |
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},
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"mag_wrist_left": {
|
| 109 |
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"n": 11037,
|
| 110 |
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"t_start": -0.8343927183876423,
|
| 111 |
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"t_end": 109.52551354061248
|
| 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": 8593.386394,
|
| 118 |
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"frames": 3324,
|
| 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": 0.04083729626032602,
|
| 124 |
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"t_end": 110.80745929625951,
|
| 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": 8593.386372,
|
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],
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},
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| 342 |
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"rig_zup.npz",
|
| 343 |
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|
| 344 |
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]
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| 345 |
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},
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|
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"file": "smplx.npz",
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|
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|
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|
| 353 |
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|
| 354 |
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 355 |
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|
| 356 |
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"observed": false,
|
| 357 |
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|
| 358 |
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|
| 359 |
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|
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],
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| 383 |
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}
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| 384 |
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}
|
| 385 |
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},
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|
| 387 |
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|
| 388 |
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|
| 389 |
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},
|
| 390 |
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"worst_markers": [
|
| 391 |
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"RElbowIn 22mm",
|
| 392 |
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"RElbow 20mm",
|
| 393 |
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"LShin 15mm",
|
| 394 |
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"LWristOut 13mm",
|
| 395 |
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"LElbowIn 12mm"
|
| 396 |
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],
|
| 397 |
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"valid_fraction": 1.0,
|
| 398 |
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|
| 399 |
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|
| 400 |
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|
| 401 |
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"p5": 18.4
|
| 402 |
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},
|
| 403 |
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| 404 |
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|
| 405 |
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},
|
| 406 |
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|
| 407 |
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"weight": 1.0,
|
| 408 |
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|
| 409 |
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|
| 410 |
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|
| 411 |
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},
|
| 412 |
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"shape_source": "participant median",
|
| 413 |
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|
| 414 |
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"left": {
|
| 415 |
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"status": "corrected",
|
| 416 |
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"Q_deg": 45.7,
|
| 417 |
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|
| 418 |
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-0.75839,
|
| 419 |
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-0.1307,
|
| 420 |
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|
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],
|
| 422 |
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|
| 423 |
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|
| 424 |
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|
| 425 |
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|
| 426 |
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|
| 427 |
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|
| 428 |
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|
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|
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},
|
| 431 |
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|
| 432 |
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"LHandIn",
|
| 433 |
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"LHandOut"
|
| 434 |
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],
|
| 435 |
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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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-24.8,
|
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7.3
|
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]
|
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},
|
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|
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|
| 446 |
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"LForearm",
|
| 447 |
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"LWristIn",
|
| 448 |
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"LWristOut"
|
| 449 |
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]
|
| 450 |
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},
|
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|
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},
|
| 453 |
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"right": {
|
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|
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|
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|
| 457 |
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1.97194,
|
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0.32518,
|
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0.07469
|
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],
|
| 461 |
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|
| 462 |
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|
| 463 |
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|
| 464 |
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|
| 465 |
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|
| 466 |
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|
| 467 |
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|
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|
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},
|
| 470 |
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|
| 471 |
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|
| 472 |
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"RHandOut"
|
| 473 |
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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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"iqr": [
|
| 479 |
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-11.5,
|
| 480 |
+
9.7
|
| 481 |
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]
|
| 482 |
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},
|
| 483 |
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"wrist_total_deg_median_after": 29.5,
|
| 484 |
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"markers_on_forearm": [
|
| 485 |
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"RForearm",
|
| 486 |
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"RWristIn",
|
| 487 |
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"RWristOut"
|
| 488 |
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]
|
| 489 |
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},
|
| 490 |
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"frames_used": 1330
|
| 491 |
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},
|
| 492 |
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"generated_at_utc": "2026-10-26T18:20:43.283881+00:00",
|
| 493 |
+
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 494 |
+
}
|
| 495 |
+
},
|
| 496 |
+
"release": {
|
| 497 |
+
"release_path": "actions/locomanipulation/LM74/session_024",
|
| 498 |
+
"family": "locomanipulation",
|
| 499 |
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"primitive": "LM74",
|
| 500 |
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"source_session": "20261024/LM74/20261024_103824_session43"
|
| 501 |
+
}
|
| 502 |
+
}
|
actions/locomanipulation/LM74/session_024/motions/head_rig.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c7235ed3d0fc6325794fc4771dd3563ac98da1c916418190274bd6140bbf17ce
|
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