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- .gitattributes +52 -0
- actions/locomanipulation/LM80/session_025/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM80/session_025/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM80/session_025/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM80/session_025/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM80/session_025/raw/sensors/robowrist_imu_right.db +0 -0
- actions/locomanipulation/LM80/session_025/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM80/session_025/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM80/session_025/scene/infer.json +36 -0
- actions/locomanipulation/LM80/session_025/scene/views.npz +3 -0
- actions/locomanipulation/LM80/session_025/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM80/session_025/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM80/session_025/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM80/session_025/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM80/session_025/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM80/session_025/videos/head_left.mp4 +3 -0
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- actions/locomanipulation/LM80/session_025/videos/head_right.mp4 +3 -0
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- actions/locomanipulation/LM80/session_025/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM80/session_025/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM80/session_025/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM80/session_025/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM80/session_026/cameras/poses.npz +3 -0
- actions/locomanipulation/LM80/session_026/meta.json +493 -0
- actions/locomanipulation/LM80/session_026/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM80/session_026/motions/markers.npz +3 -0
- actions/locomanipulation/LM80/session_026/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM80/session_026/motions/smplx.npz +3 -0
- actions/locomanipulation/LM80/session_026/raw/audio.wav +3 -0
- actions/locomanipulation/LM80/session_026/raw/manifest.json +261 -0
- actions/locomanipulation/LM80/session_026/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM80/session_026/raw/mocap/Body0.csv +3 -0
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- actions/locomanipulation/LM80/session_026/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM80/session_026/raw/mocap/Tracker0.trc +0 -0
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- actions/locomanipulation/LM80/session_026/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM80/session_026/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM80/session_026/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM80/session_026/raw/sensors/robowrist_imu_right.db +0 -0
- actions/locomanipulation/LM80/session_026/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM80/session_026/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM80/session_026/scene/infer.json +36 -0
- actions/locomanipulation/LM80/session_026/scene/views.npz +3 -0
- actions/locomanipulation/LM80/session_026/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM80/session_026/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM80/session_026/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM80/session_026/sensors/wrist_mag.npz +3 -0
.gitattributes
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@@ -17699,3 +17699,55 @@ actions/locomanipulation/LM80/session_024/raw/sensors/robowrist_mag_left.db filt
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actions/locomanipulation/LM80/session_024/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM80/session_025/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM80/session_025/raw/sensors/robocap_imu_left.db
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| 23 |
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| 25 |
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| 27 |
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| 44 |
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"y_up_to_z_up": [
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]
|
| 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": "e17c9efadb69e7b1",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-09-08"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 24260,
|
| 76 |
+
"n_gyro": 24254,
|
| 77 |
+
"t_start": -1.1844318057190275,
|
| 78 |
+
"t_end": 119.76194428027902
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 24216,
|
| 82 |
+
"n_gyro": 24210,
|
| 83 |
+
"t_start": -1.073899471721047,
|
| 84 |
+
"t_end": 119.92316018328002
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_left": {
|
| 87 |
+
"n_acc": 23385,
|
| 88 |
+
"n_gyro": 23384,
|
| 89 |
+
"t_start": 0.28521839427794937,
|
| 90 |
+
"t_end": 115.78172167027897
|
| 91 |
+
},
|
| 92 |
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"mag_head": {
|
| 93 |
+
"n": 12109,
|
| 94 |
+
"t_start": -0.9889456797207412,
|
| 95 |
+
"t_end": 120.0911183772807
|
| 96 |
+
},
|
| 97 |
+
"mag_wrist_right": {
|
| 98 |
+
"n": 11543,
|
| 99 |
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"t_start": 0.2831817472799276,
|
| 100 |
+
"t_end": 115.70304207727914
|
| 101 |
+
},
|
| 102 |
+
"mag_wrist_left": {
|
| 103 |
+
"n": 11549,
|
| 104 |
+
"t_start": 0.2987501532808938,
|
| 105 |
+
"t_end": 115.77836595727804
|
| 106 |
+
}
|
| 107 |
+
},
|
| 108 |
+
"videos": {
|
| 109 |
+
"left": {
|
| 110 |
+
"fps": 30.0,
|
| 111 |
+
"start_device_s": 31658.27103,
|
| 112 |
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"frames": 3570,
|
| 113 |
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"pts_gaps": 0,
|
| 114 |
+
"timing": "pts",
|
| 115 |
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"timeshift_cam_imu_s": 0.0023423887986386703,
|
| 116 |
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"file": "robocap_segment1_video_left.mp4",
|
| 117 |
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"t_start": 0.04022178107716634,
|
| 118 |
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"t_end": 119.00687778107768,
|
| 119 |
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"clock": "device",
|
| 120 |
+
"calibrated": true
|
| 121 |
+
},
|
| 122 |
+
"right": {
|
| 123 |
+
"fps": 30.0,
|
| 124 |
+
"start_device_s": 31658.270977,
|
| 125 |
+
"frames": 3570,
|
| 126 |
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"pts_gaps": 0,
|
| 127 |
+
"timing": "pts",
|
| 128 |
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"timeshift_cam_imu_s": 0.0019489646456461974,
|
| 129 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 130 |
+
"t_start": 0.039775356927025385,
|
| 131 |
+
"t_end": 119.00643135692754,
|
| 132 |
+
"clock": "device",
|
| 133 |
+
"calibrated": true
|
| 134 |
+
},
|
| 135 |
+
"left_front": {
|
| 136 |
+
"fps": 30.0,
|
| 137 |
+
"start_device_s": 31658.271012,
|
| 138 |
+
"frames": 3570,
|
| 139 |
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"pts_gaps": 0,
|
| 140 |
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"timing": "pts",
|
| 141 |
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"timeshift_cam_imu_s": 0.0018171232386612972,
|
| 142 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 143 |
+
"t_start": 0.03967851552097734,
|
| 144 |
+
"t_end": 119.00634551552157,
|
| 145 |
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"clock": "device",
|
| 146 |
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"calibrated": true
|
| 147 |
+
},
|
| 148 |
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"right_front": {
|
| 149 |
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"fps": 30.0,
|
| 150 |
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"start_device_s": 31658.271049,
|
| 151 |
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"frames": 3570,
|
| 152 |
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"pts_gaps": 0,
|
| 153 |
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"timing": "pts",
|
| 154 |
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"timeshift_cam_imu_s": 0.0017295646474508202,
|
| 155 |
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"file": "robocap_segment1_video_right_front.mp4",
|
| 156 |
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"t_start": 0.039627956925146535,
|
| 157 |
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|
| 158 |
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"clock": "device",
|
| 159 |
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"calibrated": true
|
| 160 |
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},
|
| 161 |
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"left_eye": {
|
| 162 |
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"fps": 30.0,
|
| 163 |
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"start_device_s": 31658.270995,
|
| 164 |
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"frames": 3570,
|
| 165 |
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|
| 166 |
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"timing": "pts",
|
| 167 |
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"timeshift_cam_imu_s": 0.001668932298833096,
|
| 168 |
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"file": "robocap_segment1_video_left_eye.mp4",
|
| 169 |
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"t_start": 0.039513324576732956,
|
| 170 |
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"t_end": 119.00618032457733,
|
| 171 |
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"clock": "device",
|
| 172 |
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"calibrated": true
|
| 173 |
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},
|
| 174 |
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"right_eye": {
|
| 175 |
+
"fps": 30.0,
|
| 176 |
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"start_device_s": 31658.270953,
|
| 177 |
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"frames": 3570,
|
| 178 |
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"pts_gaps": 0,
|
| 179 |
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"timing": "pts",
|
| 180 |
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"timeshift_cam_imu_s": 0.0017169377622902274,
|
| 181 |
+
"file": "robocap_segment1_video_right_eye.mp4",
|
| 182 |
+
"t_start": 0.03951933003937036,
|
| 183 |
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"t_end": 119.00618633003997,
|
| 184 |
+
"clock": "device",
|
| 185 |
+
"calibrated": true
|
| 186 |
+
},
|
| 187 |
+
"wrist_left": {
|
| 188 |
+
"fps": 30.0,
|
| 189 |
+
"start_device_s": 31658.505826,
|
| 190 |
+
"frames": 3464,
|
| 191 |
+
"pts_gaps": 0,
|
| 192 |
+
"timing": "pts",
|
| 193 |
+
"timeshift_cam_imu_s": null,
|
| 194 |
+
"file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
|
| 195 |
+
"t_start": 0.2726753922799663,
|
| 196 |
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|
| 197 |
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"clock": "device",
|
| 198 |
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"calibrated": false
|
| 199 |
+
},
|
| 200 |
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"wrist_right": {
|
| 201 |
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"fps": 30.0,
|
| 202 |
+
"start_device_s": 31658.597218,
|
| 203 |
+
"frames": 3460,
|
| 204 |
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"pts_gaps": 0,
|
| 205 |
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"timing": "pts",
|
| 206 |
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"timeshift_cam_imu_s": null,
|
| 207 |
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"file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
|
| 208 |
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"t_start": 0.36406739227841634,
|
| 209 |
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|
| 210 |
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"clock": "device",
|
| 211 |
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"calibrated": false
|
| 212 |
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},
|
| 213 |
+
"third_person": {
|
| 214 |
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"file": "mocap/mocap-LM80-S02-wangmengli-01p1-1.mp4",
|
| 215 |
+
"frames": 3571,
|
| 216 |
+
"fps": 30.0,
|
| 217 |
+
"clock": "nokov (frame index)",
|
| 218 |
+
"t_start": 0.0,
|
| 219 |
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"t_end": 119.0
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"flags": [
|
| 224 |
+
"wrist_right_imu empty"
|
| 225 |
+
],
|
| 226 |
+
"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
|
| 227 |
+
"rig_tracker": {
|
| 228 |
+
"definition": "e17c9efadb69e7b1/20261014-afternoon/labels-035142/session-f912aa078a447383",
|
| 229 |
+
"R_tracker0_imu0": [
|
| 230 |
+
[
|
| 231 |
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-0.61334272,
|
| 232 |
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0.1139153,
|
| 233 |
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-0.78155871
|
| 234 |
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],
|
| 235 |
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[
|
| 236 |
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0.78844735,
|
| 237 |
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0.14655763,
|
| 238 |
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-0.59738734
|
| 239 |
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],
|
| 240 |
+
[
|
| 241 |
+
0.04649183,
|
| 242 |
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-0.98262107,
|
| 243 |
+
-0.17970628
|
| 244 |
+
]
|
| 245 |
+
],
|
| 246 |
+
"p_tracker0_imu0_m": [
|
| 247 |
+
0.009642488546340672,
|
| 248 |
+
0.002755518412203298,
|
| 249 |
+
-0.03634140109294858
|
| 250 |
+
],
|
| 251 |
+
"rig_check": {
|
| 252 |
+
"gyro_samples": 2732,
|
| 253 |
+
"gyro_max_deg": 2.5,
|
| 254 |
+
"status": "ok",
|
| 255 |
+
"dropped_marker": null,
|
| 256 |
+
"gyro_deg": 0.746
|
| 257 |
+
},
|
| 258 |
+
"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 259 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 260 |
+
},
|
| 261 |
+
"canonical": {
|
| 262 |
+
"generated_at_utc": "2026-10-21T06:55:45.601196+00:00",
|
| 263 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 264 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 265 |
+
"R_canon_nokov": [
|
| 266 |
+
[
|
| 267 |
+
1.0,
|
| 268 |
+
0.0,
|
| 269 |
+
0.0
|
| 270 |
+
],
|
| 271 |
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[
|
| 272 |
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0.0,
|
| 273 |
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0.0,
|
| 274 |
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-1.0
|
| 275 |
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],
|
| 276 |
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[
|
| 277 |
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0.0,
|
| 278 |
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1.0,
|
| 279 |
+
0.0
|
| 280 |
+
]
|
| 281 |
+
],
|
| 282 |
+
"scale_nokov_to_canon": 0.001,
|
| 283 |
+
"T_canon_nokov_mm": [
|
| 284 |
+
[
|
| 285 |
+
0.001,
|
| 286 |
+
0.0,
|
| 287 |
+
0.0,
|
| 288 |
+
0.0
|
| 289 |
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],
|
| 290 |
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[
|
| 291 |
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0.0,
|
| 292 |
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0.0,
|
| 293 |
+
-0.001,
|
| 294 |
+
0.0
|
| 295 |
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],
|
| 296 |
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[
|
| 297 |
+
0.0,
|
| 298 |
+
0.001,
|
| 299 |
+
0.0,
|
| 300 |
+
0.0
|
| 301 |
+
],
|
| 302 |
+
[
|
| 303 |
+
0.0,
|
| 304 |
+
0.0,
|
| 305 |
+
0.0,
|
| 306 |
+
1.0
|
| 307 |
+
]
|
| 308 |
+
],
|
| 309 |
+
"block": "20261014-afternoon",
|
| 310 |
+
"block_assignment": "trc",
|
| 311 |
+
"tilt_removed_deg": null,
|
| 312 |
+
"plane_status": "contacts span only 0.70 m",
|
| 313 |
+
"floor": {
|
| 314 |
+
"sole_marker_p1_mm": 24.2,
|
| 315 |
+
"headtop_p95_mm": 1655.3
|
| 316 |
+
},
|
| 317 |
+
"gravity_check": {
|
| 318 |
+
"static_samples": 4858,
|
| 319 |
+
"g_world_mean_m_s2": [
|
| 320 |
+
0.1273,
|
| 321 |
+
-0.1373,
|
| 322 |
+
9.7677
|
| 323 |
+
],
|
| 324 |
+
"tilt_from_z_deg": 1.098,
|
| 325 |
+
"tilt_from_z_deg_before_levelling": 1.098,
|
| 326 |
+
"magnitude_m_s2": 9.7695
|
| 327 |
+
},
|
| 328 |
+
"rig_tracker_definition": "e17c9efadb69e7b1/20261014-afternoon/labels-035142/session-f912aa078a447383",
|
| 329 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 330 |
+
"files": [
|
| 331 |
+
"mocap_zup.npz",
|
| 332 |
+
"tracker0_zup.npz",
|
| 333 |
+
"rig_zup.npz",
|
| 334 |
+
"cameras_zup.npz"
|
| 335 |
+
]
|
| 336 |
+
},
|
| 337 |
+
"smplx": {
|
| 338 |
+
"generated_at_utc": "2026-10-22T23:41:39.116188+00:00",
|
| 339 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 340 |
+
"file": "smplx.npz",
|
| 341 |
+
"gender": "female",
|
| 342 |
+
"n_betas": 16,
|
| 343 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 344 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 345 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 346 |
+
"hands": {
|
| 347 |
+
"observed": false,
|
| 348 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 349 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 350 |
+
"hand_marker_offsets_m": {
|
| 351 |
+
"left": {
|
| 352 |
+
"LHandIn": [
|
| 353 |
+
0.07665109634399414,
|
| 354 |
+
0.0003371262864675373,
|
| 355 |
+
0.013597248122096062
|
| 356 |
+
],
|
| 357 |
+
"LHandOut": [
|
| 358 |
+
0.07091983407735825,
|
| 359 |
+
0.018132589757442474,
|
| 360 |
+
-0.024065406993031502
|
| 361 |
+
]
|
| 362 |
+
},
|
| 363 |
+
"right": {
|
| 364 |
+
"RHandIn": [
|
| 365 |
+
-0.05333356931805611,
|
| 366 |
+
-0.021435571834445,
|
| 367 |
+
0.007858812808990479
|
| 368 |
+
],
|
| 369 |
+
"RHandOut": [
|
| 370 |
+
-0.06109972670674324,
|
| 371 |
+
0.018456315621733665,
|
| 372 |
+
0.0038697163108736277
|
| 373 |
+
]
|
| 374 |
+
}
|
| 375 |
+
}
|
| 376 |
+
},
|
| 377 |
+
"marker_rmse_mm": {
|
| 378 |
+
"median_frame": 5.53,
|
| 379 |
+
"p95_frame": 8.56
|
| 380 |
+
},
|
| 381 |
+
"worst_markers": [
|
| 382 |
+
"LWristOut 18mm",
|
| 383 |
+
"LWristIn 15mm",
|
| 384 |
+
"RKneeIn 15mm",
|
| 385 |
+
"LForearm 11mm",
|
| 386 |
+
"LKneeIn 11mm"
|
| 387 |
+
],
|
| 388 |
+
"valid_fraction": 0.986,
|
| 389 |
+
"qc": {
|
| 390 |
+
"lowest_vertex_mm": {
|
| 391 |
+
"median": 7.5,
|
| 392 |
+
"p5": -16.6
|
| 393 |
+
},
|
| 394 |
+
"frames_checked": 470,
|
| 395 |
+
"stature_mm": 1616.5
|
| 396 |
+
},
|
| 397 |
+
"surface_term": {
|
| 398 |
+
"weight": 1.0,
|
| 399 |
+
"marker_height_mm": 11.0,
|
| 400 |
+
"markers_on_surface": 52,
|
| 401 |
+
"surface_rmse_mm_median": 13.76
|
| 402 |
+
},
|
| 403 |
+
"shape_source": "participant median",
|
| 404 |
+
"wrist_correction": {
|
| 405 |
+
"left": {
|
| 406 |
+
"status": "corrected",
|
| 407 |
+
"Q_deg": 149.56,
|
| 408 |
+
"Q_rotvec": [
|
| 409 |
+
-2.53945,
|
| 410 |
+
0.12541,
|
| 411 |
+
0.59129
|
| 412 |
+
],
|
| 413 |
+
"in_out_sign": -1,
|
| 414 |
+
"wrist_bend_deg_median": 91.3,
|
| 415 |
+
"opposite_sign_bend_deg": 98.2,
|
| 416 |
+
"in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
|
| 417 |
+
"marker_frame_spread_deg": 3.53,
|
| 418 |
+
"hand_vs_marker_frame_deg": {
|
| 419 |
+
"before": 149.11,
|
| 420 |
+
"after": 3.53
|
| 421 |
+
},
|
| 422 |
+
"markers_on_wrist": [
|
| 423 |
+
"LHandIn",
|
| 424 |
+
"LHandOut"
|
| 425 |
+
],
|
| 426 |
+
"forearm_twist": {
|
| 427 |
+
"twist_moved_deg": -84.59,
|
| 428 |
+
"wrist_twist_deg_after": {
|
| 429 |
+
"median": -0.0,
|
| 430 |
+
"iqr": [
|
| 431 |
+
-2.5,
|
| 432 |
+
63.0
|
| 433 |
+
]
|
| 434 |
+
},
|
| 435 |
+
"wrist_total_deg_median_after": 38.6,
|
| 436 |
+
"markers_on_forearm": [
|
| 437 |
+
"LForearm",
|
| 438 |
+
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