Release update 2026-11-05: new sessions, instructions, annotations (part 146)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +18 -0
- actions/locomanipulation/LM76/session_018/raw/mocap/LittleBox6.trc +0 -0
- actions/locomanipulation/LM76/session_018/raw/mocap/Table.csv +0 -0
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- actions/locomanipulation/LM76/session_018/raw/mocap/Tracker0.csv +0 -0
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- actions/locomanipulation/LM76/session_018/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM76/session_018/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM76/session_018/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM76/session_018/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM76/session_018/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM76/session_018/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM76/session_018/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM76/session_018/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM76/session_018/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM76/session_018/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM76/session_018/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM76/session_018/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM76/session_018/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM76/session_018/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM76/session_018/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM76/session_018/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM76/session_018/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM76/session_018/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM76/session_018/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM76/session_018/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM76/session_018/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM76/session_019/cameras/poses.npz +3 -0
- actions/locomanipulation/LM76/session_019/meta.json +551 -0
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- actions/locomanipulation/LM76/session_019/motions/markers.npz +3 -0
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.gitattributes
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261028/LM76/20261028_021129_session9",
|
| 4 |
+
"session_id": "20261028_021129_session9",
|
| 5 |
+
"primitive": "LM76",
|
| 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": "2026-10-30T07:28:47.493646+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": 119.95833333333333,
|
| 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": -0.081022,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.08,
|
| 31 |
+
"peak_corr": 0.9819,
|
| 32 |
+
"reference_imu_first_sample_s": 1690.786302662,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 10,
|
| 35 |
+
"window_corr_median": 0.9778555568846008,
|
| 36 |
+
"drift_ppm": 27.69591097374052,
|
| 37 |
+
"drift_se_ppm": 25.279080020752172,
|
| 38 |
+
"drift_ms_over_take": 3.322124521300176,
|
| 39 |
+
"lag_scatter_ms": 2.053682169224562,
|
| 40 |
+
"lag_range_ms": 6.653537587465425
|
| 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": 24409,
|
| 76 |
+
"n_gyro": 24402,
|
| 77 |
+
"t_start": -0.09284793875191033,
|
| 78 |
+
"t_end": 120.13910413024813
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 24260,
|
| 82 |
+
"n_gyro": 24254,
|
| 83 |
+
"t_start": 0.015751412248155905,
|
| 84 |
+
"t_end": 120.30449608524803
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 24154,
|
| 88 |
+
"n_gyro": 24166,
|
| 89 |
+
"t_start": -0.9219475167519788,
|
| 90 |
+
"t_end": 118.45084347724809
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 24146,
|
| 94 |
+
"n_gyro": 24143,
|
| 95 |
+
"t_start": -0.7950549397519437,
|
| 96 |
+
"t_end": 118.45868036824798
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 12037,
|
| 100 |
+
"t_start": 0.10001910324807861,
|
| 101 |
+
"t_end": 120.46000949424818
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 11936,
|
| 105 |
+
"t_start": -0.9045176537520176,
|
| 106 |
+
"t_end": 118.4451691532481
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 11923,
|
| 110 |
+
"t_start": -0.7672880597519991,
|
| 111 |
+
"t_end": 118.45226634124809
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 1690.904825,
|
| 118 |
+
"frames": 3598,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.04012852589561655,
|
| 124 |
+
"t_end": 119.94005052589567,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 1690.904781,
|
| 131 |
+
"frames": 3598,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0024181146161434135,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.03987420486418225,
|
| 137 |
+
"t_end": 119.93979620486424,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 1690.904812,
|
| 144 |
+
"frames": 3598,
|
| 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": 0.03994603731506752,
|
| 150 |
+
"t_end": 119.93986803731512,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
},
|
| 154 |
+
"right_front": {
|
| 155 |
+
"fps": 30.0,
|
| 156 |
+
"start_device_s": 1690.904837,
|
| 157 |
+
"frames": 3598,
|
| 158 |
+
"pts_gaps": 0,
|
| 159 |
+
"timing": "pts",
|
| 160 |
+
"timeshift_cam_imu_s": 0.0021420814739499558,
|
| 161 |
+
"file": "robocap_segment1_video_right_front.mp4",
|
| 162 |
+
"t_start": 0.03965417172206864,
|
| 163 |
+
"t_end": 119.93958717172198,
|
| 164 |
+
"clock": "device",
|
| 165 |
+
"calibrated": true
|
| 166 |
+
},
|
| 167 |
+
"left_eye": {
|
| 168 |
+
"fps": 30.0,
|
| 169 |
+
"start_device_s": 1690.904795,
|
| 170 |
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"frames": 3573,
|
| 171 |
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"pts_gaps": 22,
|
| 172 |
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"timing": "pts",
|
| 173 |
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"timeshift_cam_imu_s": 0.002801984596191448,
|
| 174 |
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"gap_test": {
|
| 175 |
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"pts": {
|
| 176 |
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"offset_ms": 28.8,
|
| 177 |
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"corr": 0.905,
|
| 178 |
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"err_ms": 26.0
|
| 179 |
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},
|
| 180 |
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"nominal": {
|
| 181 |
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"offset_ms": 97.8,
|
| 182 |
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"corr": 0.899,
|
| 183 |
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"err_ms": 95.0
|
| 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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"t_start": 0.04027207484408857,
|
| 188 |
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"t_end": 119.95683907484407,
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| 189 |
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"clock": "device",
|
| 190 |
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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": 1690.904757,
|
| 195 |
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"frames": 3598,
|
| 196 |
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"pts_gaps": 0,
|
| 197 |
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"timing": "pts",
|
| 198 |
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"timeshift_cam_imu_s": 0.002930366888236734,
|
| 199 |
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"file": "robocap_segment1_video_right_eye.mp4",
|
| 200 |
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"t_start": 0.04036245713631681,
|
| 201 |
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| 202 |
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|
| 203 |
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"calibrated": true
|
| 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": 1690.089305,
|
| 208 |
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"frames": 3576,
|
| 209 |
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"pts_gaps": 0,
|
| 210 |
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"timing": "pts",
|
| 211 |
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"timeshift_cam_imu_s": null,
|
| 212 |
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"file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
|
| 213 |
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"t_start": -0.7780199097519556,
|
| 214 |
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"t_end": 118.38819109024801,
|
| 215 |
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"clock": "device",
|
| 216 |
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"calibrated": false
|
| 217 |
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},
|
| 218 |
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"wrist_right": {
|
| 219 |
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"fps": 30.0,
|
| 220 |
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"start_device_s": 1689.936833,
|
| 221 |
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"frames": 3581,
|
| 222 |
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"pts_gaps": 0,
|
| 223 |
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"timing": "pts",
|
| 224 |
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"timeshift_cam_imu_s": null,
|
| 225 |
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"file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
|
| 226 |
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"t_start": -0.9304919097519444,
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| 227 |
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"t_end": 118.40251609024811,
|
| 228 |
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"clock": "device",
|
| 229 |
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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-LM76-S02-wangmengli-01p1-1.mp4",
|
| 233 |
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"frames": 3599,
|
| 234 |
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"fps": 30.0,
|
| 235 |
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"clock": "nokov (frame index)",
|
| 236 |
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|
| 237 |
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"t_end": 119.93333333333334
|
| 238 |
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}
|
| 239 |
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}
|
| 240 |
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},
|
| 241 |
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"flags": [],
|
| 242 |
+
"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
|
| 243 |
+
"rig_tracker": {
|
| 244 |
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"definition": "c9205ac6e17d2d5c/20261028-morning/labels-053142/session-56861911d4c265d8",
|
| 245 |
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"R_tracker0_imu0": [
|
| 246 |
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[
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|
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[
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0.0449078,
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],
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[
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|
| 259 |
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-0.1923627
|
| 260 |
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]
|
| 261 |
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],
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"p_tracker0_imu0_m": [
|
| 263 |
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],
|
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"rig_check": {
|
| 268 |
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"gyro_samples": 3214,
|
| 269 |
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"gyro_max_deg": 2.5,
|
| 270 |
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"status": "ok",
|
| 271 |
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"dropped_marker": null,
|
| 272 |
+
"gyro_deg": 1.994
|
| 273 |
+
},
|
| 274 |
+
"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 275 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 276 |
+
},
|
| 277 |
+
"canonical": {
|
| 278 |
+
"generated_at_utc": "2026-10-30T18:47:50.698863+00:00",
|
| 279 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 280 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 281 |
+
"R_canon_nokov": [
|
| 282 |
+
[
|
| 283 |
+
0.9999999999,
|
| 284 |
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-1.6484e-05,
|
| 285 |
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1.4e-08
|
| 286 |
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],
|
| 287 |
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[
|
| 288 |
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-1.4e-08,
|
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-0.0016934171,
|
| 290 |
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-0.9999985662
|
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],
|
| 292 |
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[
|
| 293 |
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1.6484e-05,
|
| 294 |
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0.999998566,
|
| 295 |
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-0.0016934171
|
| 296 |
+
]
|
| 297 |
+
],
|
| 298 |
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"scale_nokov_to_canon": 0.001,
|
| 299 |
+
"T_canon_nokov_mm": [
|
| 300 |
+
[
|
| 301 |
+
0.001,
|
| 302 |
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-1.6484e-08,
|
| 303 |
+
1.4e-11,
|
| 304 |
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0.0
|
| 305 |
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],
|
| 306 |
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[
|
| 307 |
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-1.4e-11,
|
| 308 |
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-1.693417e-06,
|
| 309 |
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-0.000999998566,
|
| 310 |
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0.0
|
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],
|
| 312 |
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[
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| 313 |
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1.6484e-08,
|
| 314 |
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0.000999998566,
|
| 315 |
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-1.693417e-06,
|
| 316 |
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0.0
|
| 317 |
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],
|
| 318 |
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[
|
| 319 |
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0.0,
|
| 320 |
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0.0,
|
| 321 |
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0.0,
|
| 322 |
+
1.0
|
| 323 |
+
]
|
| 324 |
+
],
|
| 325 |
+
"block": "20261028-morning",
|
| 326 |
+
"block_assignment": "trc",
|
| 327 |
+
"tilt_removed_deg": 0.09703029591991919,
|
| 328 |
+
"plane_status": "ok",
|
| 329 |
+
"floor": {
|
| 330 |
+
"sole_marker_p1_mm": 37.3,
|
| 331 |
+
"headtop_p95_mm": 1645.5
|
| 332 |
+
},
|
| 333 |
+
"gravity_check": {
|
| 334 |
+
"static_samples": 3986,
|
| 335 |
+
"g_world_mean_m_s2": [
|
| 336 |
+
-0.0573,
|
| 337 |
+
0.0198,
|
| 338 |
+
9.8028
|
| 339 |
+
],
|
| 340 |
+
"tilt_from_z_deg": 0.354,
|
| 341 |
+
"tilt_from_z_deg_before_levelling": 0.396,
|
| 342 |
+
"magnitude_m_s2": 9.803
|
| 343 |
+
},
|
| 344 |
+
"rig_tracker_definition": "c9205ac6e17d2d5c/20261028-morning/labels-053142/session-56861911d4c265d8",
|
| 345 |
+
"rig_check": {
|
| 346 |
+
"status": "ok",
|
| 347 |
+
"dropped_marker": null,
|
| 348 |
+
"gyro_deg": 1.994
|
| 349 |
+
},
|
| 350 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 351 |
+
"files": [
|
| 352 |
+
"mocap_zup.npz",
|
| 353 |
+
"tracker0_zup.npz",
|
| 354 |
+
"rig_zup.npz",
|
| 355 |
+
"cameras_zup.npz"
|
| 356 |
+
]
|
| 357 |
+
},
|
| 358 |
+
"smplx": {
|
| 359 |
+
"generated_at_utc": "2026-11-02T16:28:28.157286+00:00",
|
| 360 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 361 |
+
"file": "smplx.npz",
|
| 362 |
+
"gender": "female",
|
| 363 |
+
"n_betas": 16,
|
| 364 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 365 |
+
"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 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 371 |
+
"hand_marker_offsets_m": {
|
| 372 |
+
"left": {
|
| 373 |
+
"LHandIn": [
|
| 374 |
+
0.09338202327489853,
|
| 375 |
+
0.006682972423732281,
|
| 376 |
+
0.023410281166434288
|
| 377 |
+
],
|
| 378 |
+
"LHandOut": [
|
| 379 |
+
0.08638511598110199,
|
| 380 |
+
0.01329125091433525,
|
| 381 |
+
-0.023552779108285904
|
| 382 |
+
]
|
| 383 |
+
},
|
| 384 |
+
"right": {
|
| 385 |
+
"RHandIn": [
|
| 386 |
+
-0.06654687970876694,
|
| 387 |
+
0.00456305081024766,
|
| 388 |
+
0.03315521404147148
|
| 389 |
+
],
|
| 390 |
+
"RHandOut": [
|
| 391 |
+
-0.06922706216573715,
|
| 392 |
+
0.03157380223274231,
|
| 393 |
+
-0.00457160035148263
|
| 394 |
+
]
|
| 395 |
+
}
|
| 396 |
+
}
|
| 397 |
+
},
|
| 398 |
+
"marker_rmse_mm": {
|
| 399 |
+
"median_frame": 6.67,
|
| 400 |
+
"p95_frame": 9.7
|
| 401 |
+
},
|
| 402 |
+
"worst_markers": [
|
| 403 |
+
"LElbowIn 22mm",
|
| 404 |
+
"WaistRFront 13mm",
|
| 405 |
+
"LKneeIn 10mm",
|
| 406 |
+
"WaistRSide 10mm",
|
| 407 |
+
"LUArmHigh 10mm"
|
| 408 |
+
],
|
| 409 |
+
"valid_fraction": 1.0,
|
| 410 |
+
"qc": {
|
| 411 |
+
"lowest_vertex_mm": {
|
| 412 |
+
"median": 17.6,
|
| 413 |
+
"p5": 4.5
|
| 414 |
+
},
|
| 415 |
+
"frames_checked": 480,
|
| 416 |
+
"stature_mm": 1616.5
|
| 417 |
+
},
|
| 418 |
+
"surface_term": {
|
| 419 |
+
"weight": 1.0,
|
| 420 |
+
"marker_height_mm": 11.0,
|
| 421 |
+
"markers_on_surface": 52,
|
| 422 |
+
"surface_rmse_mm_median": 13.03
|
| 423 |
+
},
|
| 424 |
+
"shape_source": "participant median",
|
| 425 |
+
"wrist_correction": {
|
| 426 |
+
"left": {
|
| 427 |
+
"status": "corrected",
|
| 428 |
+
"Q_deg": 15.92,
|
| 429 |
+
"Q_rotvec": [
|
| 430 |
+
0.24344,
|
| 431 |
+
-0.13205,
|
| 432 |
+
0.02335
|
| 433 |
+
],
|
| 434 |
+
"in_out_sign": 1,
|
| 435 |
+
"wrist_bend_deg_median": 21.9,
|
| 436 |
+
"opposite_sign_bend_deg": 167.2,
|
| 437 |
+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 438 |
+
"marker_frame_spread_deg": 2.5,
|
| 439 |
+
"hand_vs_marker_frame_deg": {
|
| 440 |
+
"before": 16.7,
|
| 441 |
+
"after": 2.5
|
| 442 |
+
},
|
| 443 |
+
"markers_on_wrist": [
|
| 444 |
+
"LHandIn",
|
| 445 |
+
"LHandOut"
|
| 446 |
+
],
|
| 447 |
+
"forearm_twist": {
|
| 448 |
+
"twist_moved_deg": 14.09,
|
| 449 |
+
"wrist_twist_deg_after": {
|
| 450 |
+
"median": -0.0,
|
| 451 |
+
"iqr": [
|
| 452 |
+
-5.4,
|
| 453 |
+
7.1
|
| 454 |
+
]
|
| 455 |
+
},
|
| 456 |
+
"wrist_total_deg_median_after": 14.6,
|
| 457 |
+
"markers_on_forearm": [
|
| 458 |
+
"LElbow",
|
| 459 |
+
"LForearm",
|
| 460 |
+
"LWristIn",
|
| 461 |
+
"LWristOut"
|
| 462 |
+
]
|
| 463 |
+
},
|
| 464 |
+
"frames_used": 1440
|
| 465 |
+
},
|
| 466 |
+
"right": {
|
| 467 |
+
"status": "corrected",
|
| 468 |
+
"Q_deg": 48.3,
|
| 469 |
+
"Q_rotvec": [
|
| 470 |
+
0.73338,
|
| 471 |
+
0.39627,
|
| 472 |
+
-0.12595
|
| 473 |
+
],
|
| 474 |
+
"in_out_sign": 1,
|
| 475 |
+
"wrist_bend_deg_median": 46.3,
|
| 476 |
+
"opposite_sign_bend_deg": 145.2,
|
| 477 |
+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 478 |
+
"marker_frame_spread_deg": 5.67,
|
| 479 |
+
"hand_vs_marker_frame_deg": {
|
| 480 |
+
"before": 48.31,
|
| 481 |
+
"after": 5.67
|
| 482 |
+
},
|
| 483 |
+
"markers_on_wrist": [
|
| 484 |
+
"RHandIn",
|
| 485 |
+
"RHandOut"
|
| 486 |
+
],
|
| 487 |
+
"forearm_twist": {
|
| 488 |
+
"twist_moved_deg": -39.02,
|
| 489 |
+
"wrist_twist_deg_after": {
|
| 490 |
+
"median": -0.0,
|
| 491 |
+
"iqr": [
|
| 492 |
+
-13.2,
|
| 493 |
+
4.0
|
| 494 |
+
]
|
| 495 |
+
},
|
| 496 |
+
"wrist_total_deg_median_after": 28.5,
|
| 497 |
+
"markers_on_forearm": [
|
| 498 |
+
"RForearm",
|
| 499 |
+
"RWristIn",
|
| 500 |
+
"RWristOut"
|
| 501 |
+
]
|
| 502 |
+
},
|
| 503 |
+
"frames_used": 1440
|
| 504 |
+
},
|
| 505 |
+
"generated_at_utc": "2026-11-02T16:28:31.299643+00:00",
|
| 506 |
+
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 507 |
+
}
|
| 508 |
+
},
|
| 509 |
+
"release": {
|
| 510 |
+
"release_path": "actions/locomanipulation/LM76/session_019",
|
| 511 |
+
"family": "locomanipulation",
|
| 512 |
+
"primitive": "LM76",
|
| 513 |
+
"source_session": "20261028/LM76/20261028_021129_session9"
|
| 514 |
+
},
|
| 515 |
+
"task": {
|
| 516 |
+
"primitive": "LM76",
|
| 517 |
+
"instruction": "Carry the object across the room, open the lid of the container, put the object inside, and close the lid again. Then go back for the next one. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 518 |
+
},
|
| 519 |
+
"objects": [
|
| 520 |
+
{
|
| 521 |
+
"name": "LittleBox1",
|
| 522 |
+
"object_type": "LittleBox",
|
| 523 |
+
"source": "mocap",
|
| 524 |
+
"pose_frame": "rigid_body"
|
| 525 |
+
},
|
| 526 |
+
{
|
| 527 |
+
"name": "LittleBox3",
|
| 528 |
+
"object_type": "LittleBox",
|
| 529 |
+
"source": "mocap",
|
| 530 |
+
"pose_frame": "mesh"
|
| 531 |
+
},
|
| 532 |
+
{
|
| 533 |
+
"name": "LittleBox5",
|
| 534 |
+
"object_type": "LittleBox",
|
| 535 |
+
"source": "mocap",
|
| 536 |
+
"pose_frame": "mesh"
|
| 537 |
+
},
|
| 538 |
+
{
|
| 539 |
+
"name": "LittleBox6",
|
| 540 |
+
"object_type": "LittleBox",
|
| 541 |
+
"source": "mocap",
|
| 542 |
+
"pose_frame": "mesh"
|
| 543 |
+
},
|
| 544 |
+
{
|
| 545 |
+
"name": "Table",
|
| 546 |
+
"object_type": "Table",
|
| 547 |
+
"source": "mocap",
|
| 548 |
+
"pose_frame": "rigid_body"
|
| 549 |
+
}
|
| 550 |
+
]
|
| 551 |
+
}
|
actions/locomanipulation/LM76/session_019/motions/head_rig.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
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