Release update 2026-11-05: 5760 sessions, instructions, annotations (part 167)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +9 -0
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261029/LM01/20261029_041406_session47",
|
| 4 |
+
"session_id": "20261029_041406_session47",
|
| 5 |
+
"primitive": "LM01",
|
| 6 |
+
"batch": "20261029",
|
| 7 |
+
"participant": "zhangxinxin",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e3296774a321bb51",
|
| 11 |
+
"left": "39042f5fb5da3b12",
|
| 12 |
+
"right": "65a3481473d6e2a0"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-11-03T05:42:38.074408+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": 141.95833333333334,
|
| 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": -0.088653,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.9813,
|
| 32 |
+
"reference_imu_first_sample_s": 13300.769993275,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 13,
|
| 35 |
+
"window_corr_median": 0.9961753643666743,
|
| 36 |
+
"drift_ppm": -351.4171358437858,
|
| 37 |
+
"drift_se_ppm": 198.94547356957457,
|
| 38 |
+
"drift_ms_over_take": -49.883662433025385,
|
| 39 |
+
"lag_scatter_ms": 24.688484003455205,
|
| 40 |
+
"lag_range_ms": 105.54870192963303
|
| 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": "e3296774a321bb51",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 28661,
|
| 76 |
+
"n_gyro": 28655,
|
| 77 |
+
"t_start": -0.10053543206708151,
|
| 78 |
+
"t_end": 142.15309941993178
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 28522,
|
| 82 |
+
"n_gyro": 28515,
|
| 83 |
+
"t_start": 0.007563526932026193,
|
| 84 |
+
"t_end": 142.31876683893165
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 28722,
|
| 88 |
+
"n_gyro": 28722,
|
| 89 |
+
"t_start": -0.8792226270681933,
|
| 90 |
+
"t_end": 140.69854993193144
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 28561,
|
| 94 |
+
"n_gyro": 28575,
|
| 95 |
+
"t_start": -0.8386550030675064,
|
| 96 |
+
"t_end": 140.69409177893135
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 14240,
|
| 100 |
+
"t_start": 0.0927902769315185,
|
| 101 |
+
"t_end": 142.48277396993285
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 14157,
|
| 105 |
+
"t_start": -0.8662734510683006,
|
| 106 |
+
"t_end": 140.69383794393138
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 14152,
|
| 110 |
+
"t_start": -0.8218519080685294,
|
| 111 |
+
"t_end": 140.68787477193177
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 13300.895556,
|
| 118 |
+
"frames": 4258,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0025546514432425653,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.039464420374097,
|
| 124 |
+
"t_end": 141.93949742037398,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 13300.895538,
|
| 131 |
+
"frames": 4258,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.002366886077403108,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.03925865501038037,
|
| 137 |
+
"t_end": 141.9392696550101,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 13300.89555,
|
| 144 |
+
"frames": 4258,
|
| 145 |
+
"pts_gaps": 0,
|
| 146 |
+
"timing": "pts",
|
| 147 |
+
"timeshift_cam_imu_s": 0.0026728712083183277,
|
| 148 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
+
"t_start": 0.03957664014047599,
|
| 150 |
+
"t_end": 141.93959864014028,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
},
|
| 154 |
+
"right_front": {
|
| 155 |
+
"fps": 30.0,
|
| 156 |
+
"start_device_s": 13300.895561,
|
| 157 |
+
"frames": 4258,
|
| 158 |
+
"pts_gaps": 0,
|
| 159 |
+
"timing": "pts",
|
| 160 |
+
"timeshift_cam_imu_s": 0.002595594493655556,
|
| 161 |
+
"file": "robocap_segment1_video_right_front.mp4",
|
| 162 |
+
"t_start": 0.0395103634243785,
|
| 163 |
+
"t_end": 141.93955436342435,
|
| 164 |
+
"clock": "device",
|
| 165 |
+
"calibrated": true
|
| 166 |
+
},
|
| 167 |
+
"left_eye": {
|
| 168 |
+
"fps": 30.0,
|
| 169 |
+
"start_device_s": 13300.895544,
|
| 170 |
+
"frames": 4257,
|
| 171 |
+
"pts_gaps": 1,
|
| 172 |
+
"timing": "pts",
|
| 173 |
+
"timeshift_cam_imu_s": 0.002394386090989767,
|
| 174 |
+
"gap_test": {
|
| 175 |
+
"pts": {
|
| 176 |
+
"offset_ms": -4.4,
|
| 177 |
+
"corr": 0.947,
|
| 178 |
+
"err_ms": 6.8
|
| 179 |
+
},
|
| 180 |
+
"nominal": {
|
| 181 |
+
"offset_ms": 45.6,
|
| 182 |
+
"corr": 0.947,
|
| 183 |
+
"err_ms": 43.2
|
| 184 |
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}
|
| 185 |
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},
|
| 186 |
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"file": "robocap_segment1_video_left_eye.mp4",
|
| 187 |
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| 188 |
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| 189 |
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|
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"calibrated": true
|
| 191 |
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},
|
| 192 |
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"right_eye": {
|
| 193 |
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"fps": 30.0,
|
| 194 |
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"start_device_s": 13300.895528,
|
| 195 |
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"frames": 4258,
|
| 196 |
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|
| 197 |
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| 198 |
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"file": "robocap_segment1_video_right_eye.mp4",
|
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|
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|
| 204 |
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},
|
| 205 |
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"wrist_left": {
|
| 206 |
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"fps": 30.0,
|
| 207 |
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"start_device_s": 13300.016505,
|
| 208 |
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"frames": 4245,
|
| 209 |
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"pts_gaps": 0,
|
| 210 |
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"timing": "pts",
|
| 211 |
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| 212 |
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"file": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
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|
| 217 |
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},
|
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"wrist_right": {
|
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"fps": 30.0,
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| 220 |
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"start_device_s": 13299.968058,
|
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|
| 223 |
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"timing": "pts",
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| 224 |
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"timeshift_cam_imu_s": null,
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| 225 |
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"file": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
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"t_start": -0.890588231067559,
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"calibrated": false
|
| 230 |
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},
|
| 231 |
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"third_person": {
|
| 232 |
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"file": "mocap/mocap-LM01-S04-zhangxinxin-01p2-1.mp4",
|
| 233 |
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"frames": 4259,
|
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"fps": 30.0,
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"clock": "nokov (frame index)",
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}
|
| 239 |
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}
|
| 240 |
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},
|
| 241 |
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"flags": [],
|
| 242 |
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"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
|
| 243 |
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"rig_tracker": {
|
| 244 |
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"definition": "e3296774a321bb51/20261029-morning/labels-145230/session-79e4b4ff7ceb408b",
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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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|
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"status": "ok",
|
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|
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|
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"gyro_deg": 1.415
|
| 279 |
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}
|
| 280 |
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},
|
| 281 |
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"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 282 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 283 |
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},
|
| 284 |
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"canonical": {
|
| 285 |
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"generated_at_utc": "2026-11-03T09:17:14.923178+00:00",
|
| 286 |
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"generated_by": "scripts/canonicalise_dataset.py",
|
| 287 |
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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)",
|
| 288 |
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"R_canon_nokov": [
|
| 289 |
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[
|
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|
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[
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]
|
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],
|
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"scale_nokov_to_canon": 0.001,
|
| 306 |
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"T_canon_nokov_mm": [
|
| 307 |
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[
|
| 308 |
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0.000999999952,
|
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-3.09287e-07,
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|
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],
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[
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[
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[
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0.0,
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0.0,
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1.0
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]
|
| 331 |
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],
|
| 332 |
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"block": "20261029-morning",
|
| 333 |
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"block_assignment": "trc",
|
| 334 |
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"tilt_removed_deg": 0.48535032632883635,
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| 335 |
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"plane_status": "ok",
|
| 336 |
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"floor": {
|
| 337 |
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"sole_marker_p1_mm": 36.1,
|
| 338 |
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"headtop_p95_mm": 1631.3
|
| 339 |
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},
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| 340 |
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"gravity_check": {
|
| 341 |
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"static_samples": 1296,
|
| 342 |
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"g_world_mean_m_s2": [
|
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0.0876,
|
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-0.1984,
|
| 345 |
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9.8145
|
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],
|
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"tilt_from_z_deg": 1.266,
|
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|
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"magnitude_m_s2": 9.8169
|
| 350 |
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},
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"rig_tracker_definition": "e3296774a321bb51/20261029-morning/labels-145230/session-79e4b4ff7ceb408b",
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| 352 |
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"rig_check": {
|
| 353 |
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"status": "video_solve",
|
| 354 |
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"dropped_marker": null,
|
| 355 |
+
"gyro_deg": 1.415
|
| 356 |
+
},
|
| 357 |
+
"camera_pose_source": "T_tracker0_imu0 @ inv(T_cam_imu)",
|
| 358 |
+
"files": [
|
| 359 |
+
"mocap_zup.npz",
|
| 360 |
+
"tracker0_zup.npz",
|
| 361 |
+
"rig_zup.npz",
|
| 362 |
+
"cameras_zup.npz"
|
| 363 |
+
]
|
| 364 |
+
},
|
| 365 |
+
"smplx": {
|
| 366 |
+
"generated_at_utc": "2026-11-03T09:50:50.333838+00:00",
|
| 367 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 368 |
+
"file": "smplx.npz",
|
| 369 |
+
"gender": "female",
|
| 370 |
+
"n_betas": 16,
|
| 371 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 372 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 373 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 374 |
+
"hands": {
|
| 375 |
+
"observed": false,
|
| 376 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 377 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 378 |
+
"hand_marker_offsets_m": {
|
| 379 |
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"left": {
|
| 380 |
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"LHandIn": [
|
| 381 |
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0.07352694869041443,
|
| 382 |
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|
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0.03730112314224243
|
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],
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| 385 |
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"LHandOut": [
|
| 386 |
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0.06544685363769531,
|
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0.02519267611205578,
|
| 388 |
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0.013875273987650871
|
| 389 |
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],
|
| 390 |
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"LWristOut": [
|
| 391 |
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-0.007564575411379337,
|
| 392 |
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0.03223775699734688,
|
| 393 |
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|
| 394 |
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]
|
| 395 |
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},
|
| 396 |
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"right": {
|
| 397 |
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"RHandIn": [
|
| 398 |
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-0.0612851046025753,
|
| 399 |
+
0.01897837221622467,
|
| 400 |
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0.017565445974469185
|
| 401 |
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],
|
| 402 |
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"RHandOut": [
|
| 403 |
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-0.055402882397174835,
|
| 404 |
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0.013287828303873539,
|
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-0.029026130214333534
|
| 406 |
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]
|
| 407 |
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}
|
| 408 |
+
}
|
| 409 |
+
},
|
| 410 |
+
"marker_rmse_mm": {
|
| 411 |
+
"median_frame": 3.39,
|
| 412 |
+
"p95_frame": 8.18
|
| 413 |
+
},
|
| 414 |
+
"worst_markers": [
|
| 415 |
+
"CLAV 9mm",
|
| 416 |
+
"STRN 9mm",
|
| 417 |
+
"RElbow 8mm",
|
| 418 |
+
"WaistRBack 7mm",
|
| 419 |
+
"RThigh 7mm"
|
| 420 |
+
],
|
| 421 |
+
"valid_fraction": 1.0,
|
| 422 |
+
"qc": {
|
| 423 |
+
"lowest_vertex_mm": {
|
| 424 |
+
"median": -2.2,
|
| 425 |
+
"p5": -6.8
|
| 426 |
+
},
|
| 427 |
+
"frames_checked": 568,
|
| 428 |
+
"stature_mm": 1627.7
|
| 429 |
+
},
|
| 430 |
+
"surface_term": {
|
| 431 |
+
"weight": 1.0,
|
| 432 |
+
"marker_height_mm": 11.0,
|
| 433 |
+
"markers_on_surface": 52,
|
| 434 |
+
"surface_rmse_mm_median": 10.66
|
| 435 |
+
},
|
| 436 |
+
"shape_source": "participant median",
|
| 437 |
+
"wrist_correction": {
|
| 438 |
+
"left": {
|
| 439 |
+
"status": "corrected",
|
| 440 |
+
"Q_deg": 63.96,
|
| 441 |
+
"Q_rotvec": [
|
| 442 |
+
1.0726,
|
| 443 |
+
-0.20288,
|
| 444 |
+
0.23377
|
| 445 |
+
],
|
| 446 |
+
"in_out_sign": 1,
|
| 447 |
+
"wrist_bend_deg_median": 58.4,
|
| 448 |
+
"opposite_sign_bend_deg": 131.9,
|
| 449 |
+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 450 |
+
"marker_frame_spread_deg": 1.53,
|
| 451 |
+
"hand_vs_marker_frame_deg": {
|
| 452 |
+
"before": 64.21,
|
| 453 |
+
"after": 1.53
|
| 454 |
+
},
|
| 455 |
+
"markers_on_wrist": [
|
| 456 |
+
"LWristOut",
|
| 457 |
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"LHandIn",
|
| 458 |
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"LHandOut"
|
| 459 |
+
],
|
| 460 |
+
"forearm_twist": {
|
| 461 |
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"twist_moved_deg": 55.09,
|
| 462 |
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"wrist_twist_deg_after": {
|
| 463 |
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"median": 0.0,
|
| 464 |
+
"iqr": [
|
| 465 |
+
-1.9,
|
| 466 |
+
1.2
|
| 467 |
+
]
|
| 468 |
+
},
|
| 469 |
+
"wrist_total_deg_median_after": 19.3,
|
| 470 |
+
"markers_on_forearm": [
|
| 471 |
+
"LElbowIn",
|
| 472 |
+
"LForearm",
|
| 473 |
+
"LWristIn"
|
| 474 |
+
]
|
| 475 |
+
},
|
| 476 |
+
"frames_used": 1500
|
| 477 |
+
},
|
| 478 |
+
"right": {
|
| 479 |
+
"status": "corrected",
|
| 480 |
+
"Q_deg": 13.61,
|
| 481 |
+
"Q_rotvec": [
|
| 482 |
+
-0.00811,
|
| 483 |
+
0.15269,
|
| 484 |
+
-0.18172
|
| 485 |
+
],
|
| 486 |
+
"in_out_sign": 1,
|
| 487 |
+
"wrist_bend_deg_median": 26.6,
|
| 488 |
+
"opposite_sign_bend_deg": 164.8,
|
| 489 |
+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 490 |
+
"marker_frame_spread_deg": 1.51,
|
| 491 |
+
"hand_vs_marker_frame_deg": {
|
| 492 |
+
"before": 13.91,
|
| 493 |
+
"after": 1.51
|
| 494 |
+
},
|
| 495 |
+
"markers_on_wrist": [
|
| 496 |
+
"RHandIn",
|
| 497 |
+
"RHandOut"
|
| 498 |
+
],
|
| 499 |
+
"forearm_twist": {
|
| 500 |
+
"twist_moved_deg": -19.95,
|
| 501 |
+
"wrist_twist_deg_after": {
|
| 502 |
+
"median": -0.0,
|
| 503 |
+
"iqr": [
|
| 504 |
+
-3.1,
|
| 505 |
+
7.0
|
| 506 |
+
]
|
| 507 |
+
},
|
| 508 |
+
"wrist_total_deg_median_after": 16.3,
|
| 509 |
+
"markers_on_forearm": [
|
| 510 |
+
"RElbowIn",
|
| 511 |
+
"RForearm",
|
| 512 |
+
"RWristIn",
|
| 513 |
+
"RWristOut"
|
| 514 |
+
]
|
| 515 |
+
},
|
| 516 |
+
"frames_used": 1500
|
| 517 |
+
},
|
| 518 |
+
"generated_at_utc": "2026-11-03T09:50:53.482553+00:00",
|
| 519 |
+
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 520 |
+
}
|
| 521 |
+
},
|
| 522 |
+
"release": {
|
| 523 |
+
"release_path": "actions/locomanipulation/LM01/session_025",
|
| 524 |
+
"family": "locomanipulation",
|
| 525 |
+
"primitive": "LM01",
|
| 526 |
+
"source_session": "20261029/LM01/20261029_041406_session47"
|
| 527 |
+
},
|
| 528 |
+
"task": {
|
| 529 |
+
"primitive": "LM01",
|
| 530 |
+
"instruction": "Pick an object up off the floor at one end of the room, carry it across, and place it on the waist-height shelf at the other end. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 531 |
+
},
|
| 532 |
+
"objects": [
|
| 533 |
+
{
|
| 534 |
+
"name": "LittleBox3",
|
| 535 |
+
"object_type": "LittleBox",
|
| 536 |
+
"source": "mocap",
|
| 537 |
+
"pose_frame": "mesh"
|
| 538 |
+
},
|
| 539 |
+
{
|
| 540 |
+
"name": "LittleBox4",
|
| 541 |
+
"object_type": "LittleBox",
|
| 542 |
+
"source": "mocap",
|
| 543 |
+
"pose_frame": "mesh"
|
| 544 |
+
},
|
| 545 |
+
{
|
| 546 |
+
"name": "LittleBox5",
|
| 547 |
+
"object_type": "LittleBox",
|
| 548 |
+
"source": "mocap",
|
| 549 |
+
"pose_frame": "mesh"
|
| 550 |
+
},
|
| 551 |
+
{
|
| 552 |
+
"name": "LittleBox6",
|
| 553 |
+
"object_type": "LittleBox",
|
| 554 |
+
"source": "mocap",
|
| 555 |
+
"pose_frame": "mesh"
|
| 556 |
+
},
|
| 557 |
+
{
|
| 558 |
+
"name": "Table",
|
| 559 |
+
"object_type": "Table",
|
| 560 |
+
"source": "mocap",
|
| 561 |
+
"pose_frame": "rigid_body"
|
| 562 |
+
}
|
| 563 |
+
]
|
| 564 |
+
}
|
actions/locomanipulation/LM01/session_025/motions/head_rig.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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{
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