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- .gitattributes +43 -0
- actions/locomanipulation/LM39/session_037/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM39/session_037/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM39/session_037/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM39/session_037/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM39/session_037/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM39/session_037/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM39/session_037/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM39/session_037/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM39/session_037/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM39/session_037/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM39/session_037/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM39/session_037/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM39/session_037/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM39/session_037/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM39/session_037/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM39/session_037/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM39/session_037/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM39/session_037/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM39/session_037/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM39/session_037/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM39/session_037/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM39/session_037/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM39/session_038/cameras/poses.npz +3 -0
- actions/locomanipulation/LM39/session_038/meta.json +503 -0
- actions/locomanipulation/LM39/session_038/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM39/session_038/motions/markers.npz +3 -0
- actions/locomanipulation/LM39/session_038/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM39/session_038/motions/smplx.npz +3 -0
- actions/locomanipulation/LM39/session_038/raw/audio.wav +3 -0
- actions/locomanipulation/LM39/session_038/raw/manifest.json +286 -0
- actions/locomanipulation/LM39/session_038/raw/mocap/BigBox2.csv +0 -0
- actions/locomanipulation/LM39/session_038/raw/mocap/BigBox2.trc +0 -0
- actions/locomanipulation/LM39/session_038/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM39/session_038/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM39/session_038/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM39/session_038/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM39/session_038/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM39/session_038/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM39/session_038/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM39/session_038/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM39/session_038/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM39/session_038/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM39/session_038/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM39/session_038/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM39/session_038/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM39/session_038/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM39/session_038/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM39/session_038/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM39/session_038/videos/frame_timestamps.npz +3 -0
.gitattributes
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@@ -13218,3 +13218,46 @@ actions/locomanipulation/LM39/session_036/raw/sensors/robowrist_mag_left.db filt
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actions/locomanipulation/LM39/session_036/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM39/session_037/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM39/session_036/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM39/session_037/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM39/session_037/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM39/session_037/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/20261024/LM39/20261024_114440_session12",
|
| 4 |
+
"session_id": "20261024_114440_session12",
|
| 5 |
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"primitive": "LM39",
|
| 6 |
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"batch": "20261024",
|
| 7 |
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"participant": "huruoxuan",
|
| 8 |
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"participant_source": "manifest",
|
| 9 |
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"device_ids": {
|
| 10 |
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"main": "c9205ac6e17d2d5c",
|
| 11 |
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"left": "452031d7af00ef6f",
|
| 12 |
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"right": "60a6f081bbe60b0d"
|
| 13 |
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},
|
| 14 |
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"generated_at_utc": "2026-10-26T05:06:13.167666+00:00",
|
| 15 |
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"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 |
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"first_solved_frame": 0,
|
| 21 |
+
"duration_s": 107.825,
|
| 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": -0.093995,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
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"global_lag_s": -0.095,
|
| 31 |
+
"peak_corr": 0.9861,
|
| 32 |
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"reference_imu_first_sample_s": 2979.518611363,
|
| 33 |
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"windows": {
|
| 34 |
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"n_windows": 9,
|
| 35 |
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"window_corr_median": 0.9853343476271667,
|
| 36 |
+
"drift_ppm": 2.027400936314383,
|
| 37 |
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"drift_se_ppm": 10.494059926580354,
|
| 38 |
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"drift_ms_over_take": 0.21858761095029572,
|
| 39 |
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"lag_scatter_ms": 0.7168807693513232,
|
| 40 |
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"lag_range_ms": 2.36264819284443
|
| 41 |
+
}
|
| 42 |
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},
|
| 43 |
+
"units": {
|
| 44 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
+
"y_up_to_z_up": [
|
| 46 |
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[
|
| 47 |
+
1.0,
|
| 48 |
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0.0,
|
| 49 |
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0.0
|
| 50 |
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],
|
| 51 |
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[
|
| 52 |
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0.0,
|
| 53 |
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0.0,
|
| 54 |
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-1.0
|
| 55 |
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],
|
| 56 |
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[
|
| 57 |
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0.0,
|
| 58 |
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1.0,
|
| 59 |
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0.0
|
| 60 |
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]
|
| 61 |
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],
|
| 62 |
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"acc": "m/s^2 (8192 LSB/g)",
|
| 63 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 64 |
+
"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 |
+
},
|
| 67 |
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"calibration": {
|
| 68 |
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"device": "c9205ac6e17d2d5c",
|
| 69 |
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"status": "ok",
|
| 70 |
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"date": "2026-10-21"
|
| 71 |
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},
|
| 72 |
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"streams": {
|
| 73 |
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"sensors": {
|
| 74 |
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"imu_head_right": {
|
| 75 |
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"n_acc": 21948,
|
| 76 |
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"n_gyro": 21942,
|
| 77 |
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"t_start": -0.10089455568868974,
|
| 78 |
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"t_end": 108.00738774731144
|
| 79 |
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},
|
| 80 |
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"imu_head_left": {
|
| 81 |
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"n_acc": 21816,
|
| 82 |
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"n_gyro": 21810,
|
| 83 |
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"t_start": 0.0052274863114621095,
|
| 84 |
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"t_end": 108.17345904931153
|
| 85 |
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},
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| 86 |
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"imu_wrist_right": {
|
| 87 |
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"n_acc": 21674,
|
| 88 |
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"n_gyro": 21685,
|
| 89 |
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"t_start": -0.8232507976886223,
|
| 90 |
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"t_end": 106.28972710331118
|
| 91 |
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},
|
| 92 |
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"imu_wrist_left": {
|
| 93 |
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"n_acc": 21701,
|
| 94 |
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"n_gyro": 21701,
|
| 95 |
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"t_start": -0.8763571086888147,
|
| 96 |
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"t_end": 106.29836989331125
|
| 97 |
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},
|
| 98 |
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"mag_head": {
|
| 99 |
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"n": 10826,
|
| 100 |
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"t_start": 0.08796136131149293,
|
| 101 |
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"t_end": 108.33795745431144
|
| 102 |
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},
|
| 103 |
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"mag_wrist_right": {
|
| 104 |
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"n": 10710,
|
| 105 |
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"t_start": -0.803766668688702,
|
| 106 |
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"t_end": 106.28577798831157
|
| 107 |
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},
|
| 108 |
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"mag_wrist_left": {
|
| 109 |
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"n": 10717,
|
| 110 |
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"t_start": -0.8684460116887818,
|
| 111 |
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"t_end": 106.29099938831132
|
| 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 |
+
"start_device_s": 2979.649886,
|
| 118 |
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"frames": 3234,
|
| 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": 0.03990783595872241,
|
| 124 |
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"t_end": 107.80662983595857,
|
| 125 |
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"clock": "device",
|
| 126 |
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"calibrated": true
|
| 127 |
+
},
|
| 128 |
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"right": {
|
| 129 |
+
"fps": 30.0,
|
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|
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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"
|
| 264 |
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},
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|
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|
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|
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3.606973e-06,
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[
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[
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-3.606973e-06,
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2.819082e-06,
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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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| 311 |
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]
|
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],
|
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"block": "20261024-afternoon",
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|
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|
| 319 |
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|
| 320 |
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},
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|
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|
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-0.0942,
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0.0356,
|
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9.7952
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],
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|
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},
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| 335 |
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|
| 336 |
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|
| 337 |
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},
|
| 338 |
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"camera_pose_source": "provider T_tracker0_cam",
|
| 339 |
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"files": [
|
| 340 |
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"mocap_zup.npz",
|
| 341 |
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"tracker0_zup.npz",
|
| 342 |
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"rig_zup.npz",
|
| 343 |
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"cameras_zup.npz"
|
| 344 |
+
]
|
| 345 |
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},
|
| 346 |
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"smplx": {
|
| 347 |
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"generated_at_utc": "2026-10-26T17:51:46.707842+00:00",
|
| 348 |
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"generated_by": "scripts/fit_smplx_dataset.py",
|
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"file": "smplx.npz",
|
| 350 |
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"gender": "female",
|
| 351 |
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|
| 352 |
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"betas_source": "participant median (derived/smplx/participants.json)",
|
| 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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"hands": {
|
| 356 |
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"observed": false,
|
| 357 |
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"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 358 |
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|
| 359 |
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|
| 360 |
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"left": {
|
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"LHandIn": [
|
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0.0772416889667511,
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0.006422566249966621,
|
| 364 |
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|
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],
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0.07346390932798386,
|
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0.016044894233345985,
|
| 369 |
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]
|
| 371 |
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},
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| 372 |
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"right": {
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| 374 |
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-0.020950136706233025,
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|
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],
|
| 378 |
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| 379 |
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|
| 380 |
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|
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]
|
| 383 |
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}
|
| 384 |
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}
|
| 385 |
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},
|
| 386 |
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"marker_rmse_mm": {
|
| 387 |
+
"median_frame": 5.84,
|
| 388 |
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"p95_frame": 9.35
|
| 389 |
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},
|
| 390 |
+
"worst_markers": [
|
| 391 |
+
"RForearm 14mm",
|
| 392 |
+
"LShin 13mm",
|
| 393 |
+
"LElbowIn 12mm",
|
| 394 |
+
"LKneeIn 10mm",
|
| 395 |
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"RElbow 10mm"
|
| 396 |
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],
|
| 397 |
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"valid_fraction": 0.9994,
|
| 398 |
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|
| 399 |
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|
| 400 |
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"median": 19.9,
|
| 401 |
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"p5": 14.9
|
| 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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"surface_term": {
|
| 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 |
+
"shape_source": "participant median",
|
| 413 |
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"wrist_correction": {
|
| 414 |
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"left": {
|
| 415 |
+
"status": "corrected",
|
| 416 |
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"Q_deg": 156.95,
|
| 417 |
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"Q_rotvec": [
|
| 418 |
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-2.67904,
|
| 419 |
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0.06886,
|
| 420 |
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0.56716
|
| 421 |
+
],
|
| 422 |
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|
| 423 |
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"wrist_bend_deg_median": 118.2,
|
| 424 |
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"opposite_sign_bend_deg": 71.3,
|
| 425 |
+
"in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
|
| 426 |
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|
| 427 |
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"hand_vs_marker_frame_deg": {
|
| 428 |
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|
| 429 |
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"after": 4.52
|
| 430 |
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},
|
| 431 |
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"markers_on_wrist": [
|
| 432 |
+
"LHandIn",
|
| 433 |
+
"LHandOut"
|
| 434 |
+
],
|
| 435 |
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|
| 436 |
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"twist_moved_deg": -109.92,
|
| 437 |
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|
| 438 |
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|
| 439 |
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"iqr": [
|
| 440 |
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-11.0,
|
| 441 |
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9.4
|
| 442 |
+
]
|
| 443 |
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},
|
| 444 |
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|
| 445 |
+
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|
| 446 |
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"LElbow",
|
| 447 |
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"LForearm",
|
| 448 |
+
"LWristIn",
|
| 449 |
+
"LWristOut"
|
| 450 |
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]
|
| 451 |
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},
|
| 452 |
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"frames_used": 1294
|
| 453 |
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},
|
| 454 |
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"right": {
|
| 455 |
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"status": "corrected",
|
| 456 |
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"Q_deg": 79.05,
|
| 457 |
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"Q_rotvec": [
|
| 458 |
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1.3582,
|
| 459 |
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0.12688,
|
| 460 |
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0.20634
|
| 461 |
+
],
|
| 462 |
+
"in_out_sign": 1,
|
| 463 |
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"wrist_bend_deg_median": 64.8,
|
| 464 |
+
"opposite_sign_bend_deg": 132.8,
|
| 465 |
+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 466 |
+
"marker_frame_spread_deg": 7.01,
|
| 467 |
+
"hand_vs_marker_frame_deg": {
|
| 468 |
+
"before": 79.03,
|
| 469 |
+
"after": 7.01
|
| 470 |
+
},
|
| 471 |
+
"markers_on_wrist": [
|
| 472 |
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"RHandIn",
|
| 473 |
+
"RHandOut"
|
| 474 |
+
],
|
| 475 |
+
"forearm_twist": {
|
| 476 |
+
"twist_moved_deg": -56.32,
|
| 477 |
+
"wrist_twist_deg_after": {
|
| 478 |
+
"median": -0.03,
|
| 479 |
+
"iqr": [
|
| 480 |
+
-8.9,
|
| 481 |
+
6.0
|
| 482 |
+
]
|
| 483 |
+
},
|
| 484 |
+
"wrist_total_deg_median_after": 33.2,
|
| 485 |
+
"markers_on_forearm": [
|
| 486 |
+
"RForearm",
|
| 487 |
+
"RWristIn",
|
| 488 |
+
"RWristOut"
|
| 489 |
+
]
|
| 490 |
+
},
|
| 491 |
+
"frames_used": 1294
|
| 492 |
+
},
|
| 493 |
+
"generated_at_utc": "2026-10-26T17:51:49.721937+00:00",
|
| 494 |
+
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 495 |
+
}
|
| 496 |
+
},
|
| 497 |
+
"release": {
|
| 498 |
+
"release_path": "actions/locomanipulation/LM39/session_038",
|
| 499 |
+
"family": "locomanipulation",
|
| 500 |
+
"primitive": "LM39",
|
| 501 |
+
"source_session": "20261024/LM39/20261024_114440_session12"
|
| 502 |
+
}
|
| 503 |
+
}
|
actions/locomanipulation/LM39/session_038/motions/head_rig.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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