Release update 2026-11-05: 5760 sessions, instructions, annotations (part 68)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +12 -0
- actions/environment_coupled_wholebody/EC06/session_029/raw/mocap/Body0.csv +3 -0
- actions/environment_coupled_wholebody/EC06/session_029/raw/mocap/Body0.trc +3 -0
- actions/environment_coupled_wholebody/EC06/session_029/raw/mocap/CcBlue.csv +0 -0
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- actions/environment_coupled_wholebody/EC06/session_029/raw/mocap/CcGreen.csv +0 -0
- actions/environment_coupled_wholebody/EC06/session_029/raw/mocap/CcGreen.trc +0 -0
- actions/environment_coupled_wholebody/EC06/session_029/raw/mocap/CcRed.csv +0 -0
- actions/environment_coupled_wholebody/EC06/session_029/raw/mocap/CcRed.trc +0 -0
- actions/environment_coupled_wholebody/EC06/session_029/raw/mocap/CcYellow.csv +0 -0
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- actions/environment_coupled_wholebody/EC06/session_029/raw/mocap/Tracker0.csv +0 -0
- actions/environment_coupled_wholebody/EC06/session_029/raw/mocap/Tracker0.trc +0 -0
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- actions/environment_coupled_wholebody/EC06/session_029/raw/sensors/robowrist_imu_right.db +3 -0
- actions/environment_coupled_wholebody/EC06/session_029/raw/sensors/robowrist_mag_left.db +3 -0
- actions/environment_coupled_wholebody/EC06/session_029/raw/sensors/robowrist_mag_right.db +3 -0
- actions/environment_coupled_wholebody/EC06/session_029/sensors/head_imu.npz +3 -0
- actions/environment_coupled_wholebody/EC06/session_029/sensors/head_mag.npz +3 -0
- actions/environment_coupled_wholebody/EC06/session_029/sensors/wrist_imu.npz +3 -0
- actions/environment_coupled_wholebody/EC06/session_029/sensors/wrist_mag.npz +3 -0
- actions/environment_coupled_wholebody/EC06/session_029/videos/frame_timestamps.npz +3 -0
- actions/environment_coupled_wholebody/EC06/session_029/videos/head_left.mp4 +3 -0
- actions/environment_coupled_wholebody/EC06/session_029/videos/head_left_eye.mp4 +3 -0
- actions/environment_coupled_wholebody/EC06/session_029/videos/head_left_front.mp4 +3 -0
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- actions/environment_coupled_wholebody/EC06/session_029/videos/wrist_right.mp4 +3 -0
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261030/EC06/20261030_041100_session46",
|
| 4 |
+
"session_id": "20261030_041100_session46",
|
| 5 |
+
"primitive": "EC06",
|
| 6 |
+
"batch": "20261030",
|
| 7 |
+
"participant": "huruoxuan",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e3296774a321bb51",
|
| 11 |
+
"left": "39042f5fb5da3b12",
|
| 12 |
+
"right": "65a3481473d6e2a0"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-11-03T05:45:29.589072+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": 193.625,
|
| 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": -0.088403,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.9538,
|
| 32 |
+
"reference_imu_first_sample_s": 12026.658997286,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 18,
|
| 35 |
+
"window_corr_median": 0.9949805347563634,
|
| 36 |
+
"drift_ppm": -190.94013982829807,
|
| 37 |
+
"drift_se_ppm": 110.07639952571147,
|
| 38 |
+
"drift_ms_over_take": -36.96919340642231,
|
| 39 |
+
"lag_scatter_ms": 22.843615696328897,
|
| 40 |
+
"lag_range_ms": 109.44535529515082
|
| 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": 39070,
|
| 76 |
+
"n_gyro": 39064,
|
| 77 |
+
"t_start": -0.1003218408857486,
|
| 78 |
+
"t_end": 193.8225335701138
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 38877,
|
| 82 |
+
"n_gyro": 38871,
|
| 83 |
+
"t_start": 0.006798447113602099,
|
| 84 |
+
"t_end": 193.9885778841128
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 39225,
|
| 88 |
+
"n_gyro": 39236,
|
| 89 |
+
"t_start": -0.7747197378864933,
|
| 90 |
+
"t_end": 192.580201363113
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 39011,
|
| 94 |
+
"n_gyro": 39011,
|
| 95 |
+
"t_start": -0.749299965885961,
|
| 96 |
+
"t_end": 192.5790184471136
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 19407,
|
| 100 |
+
"t_start": 0.08969273911336649,
|
| 101 |
+
"t_end": 194.14968820711348
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 19334,
|
| 105 |
+
"t_start": -0.7574750878864273,
|
| 106 |
+
"t_end": 192.57341514411402
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 19332,
|
| 110 |
+
"t_start": -0.7374146368872737,
|
| 111 |
+
"t_end": 192.57329142211367
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 12026.784685,
|
| 118 |
+
"frames": 5808,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0025546514432425653,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.039839448556654763,
|
| 124 |
+
"t_end": 193.6065064485558,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 12026.784665,
|
| 131 |
+
"frames": 5808,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.002366886077403108,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.039631683190442066,
|
| 137 |
+
"t_end": 193.60629868318958,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 12026.784678,
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},
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| 284 |
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1.0
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],
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},
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| 355 |
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},
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"camera_pose_source": "T_tracker0_imu0 @ inv(T_cam_imu)",
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| 358 |
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"files": [
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| 359 |
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"mocap_zup.npz",
|
| 360 |
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"tracker0_zup.npz",
|
| 361 |
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"rig_zup.npz",
|
| 362 |
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"cameras_zup.npz"
|
| 363 |
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]
|
| 364 |
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},
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"generated_by": "scripts/fit_smplx_dataset.py",
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"file": "smplx.npz",
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| 369 |
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"gender": "female",
|
| 370 |
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"n_betas": 16,
|
| 371 |
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"betas_source": "participant median (derived/smplx/participants.json)",
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| 372 |
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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| 374 |
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"hands": {
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| 375 |
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"observed": false,
|
| 376 |
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"hand_pose": "flat (zeros, flat_hand_mean=True)",
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| 377 |
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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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0.0202363058924675,
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}
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| 403 |
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}
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| 404 |
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},
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"marker_rmse_mm": {
|
| 406 |
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|
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|
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},
|
| 409 |
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|
| 410 |
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"LElbowIn 9mm",
|
| 411 |
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"RKneeIn 9mm",
|
| 412 |
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"LWristIn 8mm",
|
| 413 |
+
"LKneeIn 8mm",
|
| 414 |
+
"LThigh 8mm"
|
| 415 |
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],
|
| 416 |
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"valid_fraction": 0.9997,
|
| 417 |
+
"qc": {
|
| 418 |
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|
| 419 |
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"median": 22.7,
|
| 420 |
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"p5": 17.2
|
| 421 |
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},
|
| 422 |
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|
| 423 |
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|
| 424 |
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},
|
| 425 |
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"surface_term": {
|
| 426 |
+
"weight": 1.0,
|
| 427 |
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|
| 428 |
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|
| 429 |
+
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|
| 430 |
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},
|
| 431 |
+
"shape_source": "participant median",
|
| 432 |
+
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| 433 |
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"left": {
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| 434 |
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"status": "corrected",
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|
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|
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],
|
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|
| 443 |
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|
| 444 |
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| 445 |
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|
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|
| 447 |
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"before": 21.98,
|
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|
| 449 |
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},
|
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"LHandIn",
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"LHandOut"
|
| 453 |
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],
|
| 454 |
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|
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+
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"iqr": [
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| 459 |
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-8.3,
|
| 460 |
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7.3
|
| 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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"LForearm",
|
| 466 |
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"LWristIn",
|
| 467 |
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"LWristOut"
|
| 468 |
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]
|
| 469 |
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},
|
| 470 |
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| 471 |
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},
|
| 472 |
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| 473 |
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"status": "corrected",
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|
| 475 |
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| 476 |
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0.64364,
|
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|
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|
| 479 |
+
],
|
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|
| 481 |
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|
| 482 |
+
"opposite_sign_bend_deg": 144.1,
|
| 483 |
+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 484 |
+
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|
| 485 |
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|
| 486 |
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|
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|
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},
|
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"RHandOut"
|
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],
|
| 493 |
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|
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|
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-3.4,
|
| 499 |
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6.6
|
| 500 |
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]
|
| 501 |
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},
|
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|
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|
| 504 |
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"RForearm",
|
| 505 |
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"RWristIn",
|
| 506 |
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"RWristOut"
|
| 507 |
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]
|
| 508 |
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},
|
| 509 |
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"frames_used": 1500
|
| 510 |
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},
|
| 511 |
+
"generated_at_utc": "2026-11-03T10:38:20.051785+00:00",
|
| 512 |
+
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 513 |
+
}
|
| 514 |
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},
|
| 515 |
+
"release": {
|
| 516 |
+
"release_path": "actions/environment_coupled_wholebody/EC06/session_030",
|
| 517 |
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"family": "environment_coupled_wholebody",
|
| 518 |
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"primitive": "EC06",
|
| 519 |
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"source_session": "20261030/EC06/20261030_041100_session46"
|
| 520 |
+
},
|
| 521 |
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"task": {
|
| 522 |
+
"primitive": "EC06",
|
| 523 |
+
"instruction": "Push the cart in and out of the line of poles without touching any of them. Keep going until the operator says stop."
|
| 524 |
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},
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actions/environment_coupled_wholebody/EC06/session_030/motions/markers.npz
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