Release update 2026-11-05: new sessions, instructions, annotations (part 89)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +11 -0
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261028/LM55/20261028_021947_session12",
|
| 4 |
+
"session_id": "20261028_021947_session12",
|
| 5 |
+
"primitive": "LM55",
|
| 6 |
+
"batch": "20261028",
|
| 7 |
+
"participant": "wangmengli",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "c9205ac6e17d2d5c",
|
| 11 |
+
"left": "452031d7af00ef6f",
|
| 12 |
+
"right": "60a6f081bbe60b0d"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-30T07:27:45.941072+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": 122.95833333333333,
|
| 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": -0.089195,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.9858,
|
| 32 |
+
"reference_imu_first_sample_s": 2188.722386073,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 11,
|
| 35 |
+
"window_corr_median": 0.9838500544397382,
|
| 36 |
+
"drift_ppm": -26.09218981584676,
|
| 37 |
+
"drift_se_ppm": 14.537228794550733,
|
| 38 |
+
"drift_ms_over_take": -3.2080347378583594,
|
| 39 |
+
"lag_scatter_ms": 1.3791226157329284,
|
| 40 |
+
"lag_range_ms": 5.544583551295862
|
| 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": 25022,
|
| 76 |
+
"n_gyro": 25017,
|
| 77 |
+
"t_start": -0.10062369170488031,
|
| 78 |
+
"t_end": 123.15204722529528
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 24870,
|
| 82 |
+
"n_gyro": 24863,
|
| 83 |
+
"t_start": 0.006653152295017811,
|
| 84 |
+
"t_end": 123.32094896629518
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 24755,
|
| 88 |
+
"n_gyro": 24753,
|
| 89 |
+
"t_start": -0.7757651367048887,
|
| 90 |
+
"t_end": 121.56856912929491
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 24787,
|
| 94 |
+
"n_gyro": 24801,
|
| 95 |
+
"t_start": -0.8591574477047864,
|
| 96 |
+
"t_end": 121.56176837229508
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 12340,
|
| 100 |
+
"t_start": 0.08945119329495052,
|
| 101 |
+
"t_end": 123.47944821029499
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 12233,
|
| 105 |
+
"t_start": -0.7582330497050528,
|
| 106 |
+
"t_end": 121.56150527729527
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 12242,
|
| 110 |
+
"t_start": -0.8512680157048301,
|
| 111 |
+
"t_end": 121.55808578529535
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 2188.848885,
|
| 118 |
+
"frames": 3688,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.03993246194225927,
|
| 124 |
+
"t_end": 122.93994346194243,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 2188.848864,
|
| 131 |
+
"frames": 3688,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0024181146161434135,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.03970114091110796,
|
| 137 |
+
"t_end": 122.9397011409112,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 2188.848879,
|
| 144 |
+
"frames": 3688,
|
| 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": 0.039756973362488374,
|
| 150 |
+
"t_end": 122.93975697336258,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
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},
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| 154 |
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| 155 |
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| 156 |
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| 159 |
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| 160 |
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"frames": 3663,
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| 183 |
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},
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"file": "mocap/mocap-LM55-S02-wangmengli-01p1-1.mp4",
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"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
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},
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"file": "derived/rig_tracker_provider/rig_tracker.json",
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"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
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},
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"generated_by": "scripts/canonicalise_dataset.py",
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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)",
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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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"T_canon_nokov_mm": [
|
| 300 |
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[
|
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0.001,
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-1.6484e-08,
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1.4e-11,
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0.0
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],
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[
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0.0
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],
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[
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0.0,
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0.0,
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0.0,
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1.0
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]
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],
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"block": "20261028-morning",
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|
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},
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0.0553,
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],
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|
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},
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|
| 349 |
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},
|
| 350 |
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"camera_pose_source": "provider T_tracker0_cam",
|
| 351 |
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"files": [
|
| 352 |
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"mocap_zup.npz",
|
| 353 |
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"tracker0_zup.npz",
|
| 354 |
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"rig_zup.npz",
|
| 355 |
+
"cameras_zup.npz"
|
| 356 |
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]
|
| 357 |
+
},
|
| 358 |
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"smplx": {
|
| 359 |
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"generated_at_utc": "2026-11-02T16:13:30.463135+00:00",
|
| 360 |
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"generated_by": "scripts/fit_smplx_dataset.py",
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| 361 |
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"file": "smplx.npz",
|
| 362 |
+
"gender": "female",
|
| 363 |
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"n_betas": 16,
|
| 364 |
+
"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 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 367 |
+
"hands": {
|
| 368 |
+
"observed": false,
|
| 369 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 370 |
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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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0.09597901254892349,
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0.013210717588663101,
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|
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0.009498553350567818,
|
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]
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|
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0.042389802634716034
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],
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0.030612975358963013,
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0.011091121472418308
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]
|
| 395 |
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}
|
| 396 |
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}
|
| 397 |
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},
|
| 398 |
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"marker_rmse_mm": {
|
| 399 |
+
"median_frame": 4.84,
|
| 400 |
+
"p95_frame": 9.37
|
| 401 |
+
},
|
| 402 |
+
"worst_markers": [
|
| 403 |
+
"LKneeIn 11mm",
|
| 404 |
+
"WaistRFront 9mm",
|
| 405 |
+
"CLAV 9mm",
|
| 406 |
+
"WaistLSide 9mm",
|
| 407 |
+
"LThigh 8mm"
|
| 408 |
+
],
|
| 409 |
+
"valid_fraction": 1.0,
|
| 410 |
+
"qc": {
|
| 411 |
+
"lowest_vertex_mm": {
|
| 412 |
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"median": 15.6,
|
| 413 |
+
"p5": 9.4
|
| 414 |
+
},
|
| 415 |
+
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|
| 416 |
+
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|
| 417 |
+
},
|
| 418 |
+
"surface_term": {
|
| 419 |
+
"weight": 1.0,
|
| 420 |
+
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|
| 421 |
+
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|
| 422 |
+
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|
| 423 |
+
},
|
| 424 |
+
"shape_source": "participant median",
|
| 425 |
+
"wrist_correction": {
|
| 426 |
+
"left": {
|
| 427 |
+
"status": "corrected",
|
| 428 |
+
"Q_deg": 11.96,
|
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+
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|
| 430 |
+
0.0208,
|
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+
-0.20513,
|
| 432 |
+
0.03299
|
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+
],
|
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"in_out_sign": 1,
|
| 435 |
+
"wrist_bend_deg_median": 39.1,
|
| 436 |
+
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|
| 437 |
+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 438 |
+
"marker_frame_spread_deg": 2.95,
|
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+
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|
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"before": 11.49,
|
| 441 |
+
"after": 2.95
|
| 442 |
+
},
|
| 443 |
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|
| 444 |
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"LHandIn",
|
| 445 |
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"LHandOut"
|
| 446 |
+
],
|
| 447 |
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|
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+
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|
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+
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|
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"median": -0.0,
|
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+
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|
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-14.0,
|
| 453 |
+
6.0
|
| 454 |
+
]
|
| 455 |
+
},
|
| 456 |
+
"wrist_total_deg_median_after": 33.9,
|
| 457 |
+
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|
| 458 |
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"LElbow",
|
| 459 |
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"LElbowIn",
|
| 460 |
+
"LForearm",
|
| 461 |
+
"LWristIn",
|
| 462 |
+
"LWristOut"
|
| 463 |
+
]
|
| 464 |
+
},
|
| 465 |
+
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|
| 466 |
+
},
|
| 467 |
+
"right": {
|
| 468 |
+
"status": "corrected",
|
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+
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|
| 470 |
+
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|
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0.93704,
|
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+
0.48289,
|
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+
-0.06925
|
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+
],
|
| 475 |
+
"in_out_sign": 1,
|
| 476 |
+
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|
| 477 |
+
"opposite_sign_bend_deg": 126.5,
|
| 478 |
+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 479 |
+
"marker_frame_spread_deg": 2.92,
|
| 480 |
+
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|
| 481 |
+
"before": 60.5,
|
| 482 |
+
"after": 2.92
|
| 483 |
+
},
|
| 484 |
+
"markers_on_wrist": [
|
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+
"RHandIn",
|
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+
"RHandOut"
|
| 487 |
+
],
|
| 488 |
+
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|
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"twist_moved_deg": -57.27,
|
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+
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|
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"median": -0.0,
|
| 492 |
+
"iqr": [
|
| 493 |
+
-1.8,
|
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+
3.0
|
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+
]
|
| 496 |
+
},
|
| 497 |
+
"wrist_total_deg_median_after": 18.8,
|
| 498 |
+
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|
| 499 |
+
"RForearm",
|
| 500 |
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"RWristIn",
|
| 501 |
+
"RWristOut"
|
| 502 |
+
]
|
| 503 |
+
},
|
| 504 |
+
"frames_used": 1476
|
| 505 |
+
},
|
| 506 |
+
"generated_at_utc": "2026-11-02T16:13:33.681493+00:00",
|
| 507 |
+
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 508 |
+
}
|
| 509 |
+
},
|
| 510 |
+
"release": {
|
| 511 |
+
"release_path": "actions/locomanipulation/LM55/session_011",
|
| 512 |
+
"family": "locomanipulation",
|
| 513 |
+
"primitive": "LM55",
|
| 514 |
+
"source_session": "20261028/LM55/20261028_021947_session12"
|
| 515 |
+
},
|
| 516 |
+
"task": {
|
| 517 |
+
"primitive": "LM55",
|
| 518 |
+
"instruction": "Carry the object across the room and slide it into the slot on the shelf. It is a close fit, so take the time you need. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 519 |
+
},
|
| 520 |
+
"objects": [
|
| 521 |
+
{
|
| 522 |
+
"name": "LittleBox1",
|
| 523 |
+
"object_type": "LittleBox",
|
| 524 |
+
"source": "mocap",
|
| 525 |
+
"pose_frame": "rigid_body"
|
| 526 |
+
},
|
| 527 |
+
{
|
| 528 |
+
"name": "LittleBox3",
|
| 529 |
+
"object_type": "LittleBox",
|
| 530 |
+
"source": "mocap",
|
| 531 |
+
"pose_frame": "mesh"
|
| 532 |
+
},
|
| 533 |
+
{
|
| 534 |
+
"name": "LittleBox5",
|
| 535 |
+
"object_type": "LittleBox",
|
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