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- actions/locomotion_posture_dynamics/D59/session_011/motions/markers.npz +2 -2
- actions/locomotion_posture_dynamics/D59/session_011/motions/skeleton.npz +2 -2
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- actions/locomotion_posture_dynamics/D59/session_011/raw/sensors/robocap_imu_left.db +2 -2
- actions/locomotion_posture_dynamics/D59/session_011/raw/sensors/robocap_imu_right.db +2 -2
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- actions/locomotion_posture_dynamics/D59/session_011/raw/sensors/robowrist_mag_right.db +2 -2
- actions/locomotion_posture_dynamics/D59/session_011/scene/infer.json +6 -6
- actions/locomotion_posture_dynamics/D59/session_011/scene/views.npz +2 -2
- actions/locomotion_posture_dynamics/D59/session_011/sensors/head_imu.npz +2 -2
- actions/locomotion_posture_dynamics/D59/session_011/sensors/head_mag.npz +2 -2
- actions/locomotion_posture_dynamics/D59/session_011/sensors/wrist_imu.npz +2 -2
- actions/locomotion_posture_dynamics/D59/session_011/sensors/wrist_mag.npz +2 -2
- actions/locomotion_posture_dynamics/D59/session_011/videos/frame_timestamps.npz +2 -2
- actions/locomotion_posture_dynamics/D59/session_011/videos/head_left.mp4 +2 -2
- actions/locomotion_posture_dynamics/D59/session_011/videos/head_left_eye.mp4 +2 -2
- actions/locomotion_posture_dynamics/D59/session_011/videos/head_left_front.mp4 +2 -2
- actions/locomotion_posture_dynamics/D59/session_011/videos/head_right.mp4 +2 -2
- actions/locomotion_posture_dynamics/D59/session_011/videos/head_right_eye.mp4 +2 -2
- actions/locomotion_posture_dynamics/D59/session_011/videos/head_right_front.mp4 +2 -2
- actions/locomotion_posture_dynamics/D59/session_011/videos/third_person.mp4 +2 -2
- actions/locomotion_posture_dynamics/D59/session_011/videos/wrist_left.mp4 +2 -2
- actions/locomotion_posture_dynamics/D59/session_011/videos/wrist_right.mp4 +2 -2
- actions/locomotion_posture_dynamics/D59/session_012/cameras/poses.npz +2 -2
- actions/locomotion_posture_dynamics/D59/session_012/meta.json +242 -237
- actions/locomotion_posture_dynamics/D59/session_012/motions/head_rig.npz +2 -2
- actions/locomotion_posture_dynamics/D59/session_012/motions/markers.npz +2 -2
- actions/locomotion_posture_dynamics/D59/session_012/motions/skeleton.npz +2 -2
- actions/locomotion_posture_dynamics/D59/session_012/motions/smplx.npz +2 -2
- actions/locomotion_posture_dynamics/D59/session_012/raw/audio.wav +2 -2
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- actions/locomotion_posture_dynamics/D59/session_012/raw/mocap/Body0.bvh +0 -0
- actions/locomotion_posture_dynamics/D59/session_012/raw/mocap/Body0.csv +2 -2
- actions/locomotion_posture_dynamics/D59/session_012/raw/mocap/Body0.trc +2 -2
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- actions/locomotion_posture_dynamics/D59/session_012/raw/mocap/Tracker0.trc +0 -0
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- actions/locomotion_posture_dynamics/D59/session_012/raw/sensors/robocap_imu_right.db +2 -2
- actions/locomotion_posture_dynamics/D59/session_012/raw/sensors/robocap_mag_middle.db +2 -2
- actions/locomotion_posture_dynamics/D59/session_012/raw/sensors/robowrist_imu_left.db +2 -2
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| 211 |
"timeshift_cam_imu_s": null,
|
| 212 |
-
"file": "
|
| 213 |
-
"t_start": 0.
|
| 214 |
-
"t_end":
|
| 215 |
"clock": "device",
|
| 216 |
"calibrated": false
|
| 217 |
},
|
| 218 |
"third_person": {
|
| 219 |
-
"file": "mocap/mocap-D59-S01-
|
| 220 |
-
"frames":
|
| 221 |
"fps": 30.0,
|
| 222 |
"clock": "nokov (frame index)",
|
| 223 |
"t_start": 0.0,
|
| 224 |
-
"t_end":
|
| 225 |
}
|
| 226 |
}
|
| 227 |
},
|
| 228 |
"flags": [],
|
| 229 |
"sanity": {
|
| 230 |
"status": {
|
| 231 |
-
"structure": "
|
| 232 |
"markers": "WARN",
|
| 233 |
-
"timing": "
|
| 234 |
},
|
| 235 |
-
"verdict": "
|
| 236 |
"issues": [
|
| 237 |
"WARN M_FLOOR_SHIFT",
|
| 238 |
-
"WARN M_SPIKES"
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]
|
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},
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|
| 241 |
"canonical": {
|
| 242 |
-
"generated_at_utc": "2026-10-
|
| 243 |
"generated_by": "scripts/canonicalise_dataset.py",
|
| 244 |
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 245 |
"R_canon_nokov": [
|
| 246 |
[
|
| 247 |
-
0.
|
| 248 |
-
-0.
|
| 249 |
-
-
|
| 250 |
],
|
| 251 |
[
|
| 252 |
-
|
| 253 |
-
0.
|
| 254 |
-
-0.
|
| 255 |
],
|
| 256 |
[
|
| 257 |
-
0.
|
| 258 |
-
0.
|
| 259 |
-
0.
|
| 260 |
]
|
| 261 |
],
|
| 262 |
"scale_nokov_to_canon": 0.001,
|
| 263 |
"T_canon_nokov_mm": [
|
| 264 |
[
|
| 265 |
-
0.
|
| 266 |
-
-
|
| 267 |
-
-1.
|
| 268 |
0.0
|
| 269 |
],
|
| 270 |
[
|
| 271 |
-
1.
|
| 272 |
-
|
| 273 |
-
-0.
|
| 274 |
0.0
|
| 275 |
],
|
| 276 |
[
|
| 277 |
-
|
| 278 |
-
0.
|
| 279 |
-
|
| 280 |
0.0
|
| 281 |
],
|
| 282 |
[
|
|
@@ -286,26 +341,26 @@
|
|
| 286 |
1.0
|
| 287 |
]
|
| 288 |
],
|
| 289 |
-
"block": "
|
| 290 |
"block_assignment": "trc",
|
| 291 |
-
"tilt_removed_deg":
|
| 292 |
"plane_status": "ok",
|
| 293 |
"floor": {
|
| 294 |
-
"sole_marker_p1_mm":
|
| 295 |
-
"headtop_p95_mm":
|
| 296 |
},
|
| 297 |
"gravity_check": {
|
| 298 |
-
"static_samples":
|
| 299 |
"g_world_mean_m_s2": [
|
| 300 |
-
-0.
|
| 301 |
-
|
| 302 |
-
|
| 303 |
],
|
| 304 |
-
"tilt_from_z_deg": 0.
|
| 305 |
-
"tilt_from_z_deg_before_levelling":
|
| 306 |
-
"magnitude_m_s2":
|
| 307 |
},
|
| 308 |
-
"rig_tracker_definition": "
|
| 309 |
"camera_pose_source": "provider T_tracker0_cam",
|
| 310 |
"files": [
|
| 311 |
"mocap_zup.npz",
|
|
@@ -315,7 +370,7 @@
|
|
| 315 |
]
|
| 316 |
},
|
| 317 |
"smplx": {
|
| 318 |
-
"generated_at_utc": "2026-10-
|
| 319 |
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 320 |
"file": "smplx.npz",
|
| 321 |
"gender": "female",
|
|
@@ -330,194 +385,144 @@
|
|
| 330 |
"hand_marker_offsets_m": {
|
| 331 |
"left": {
|
| 332 |
"LHandIn": [
|
| 333 |
-
0.
|
| 334 |
-
0.
|
| 335 |
-
0.
|
| 336 |
],
|
| 337 |
"LHandOut": [
|
| 338 |
-
0.
|
| 339 |
-
0.
|
| 340 |
-
-0.
|
| 341 |
-
],
|
| 342 |
-
"LWristOut": [
|
| 343 |
-
-0.0010890468256548047,
|
| 344 |
-
0.030931338667869568,
|
| 345 |
-
-0.025327133014798164
|
| 346 |
]
|
| 347 |
},
|
| 348 |
"right": {
|
| 349 |
"RHandIn": [
|
| 350 |
-
-0.
|
| 351 |
-
|
| 352 |
-
0.
|
| 353 |
],
|
| 354 |
"RHandOut": [
|
| 355 |
-
-0.
|
| 356 |
-
0.
|
| 357 |
-
-0.
|
| 358 |
-
],
|
| 359 |
-
"RWristOut": [
|
| 360 |
-
0.01304102223366499,
|
| 361 |
-
0.03313861042261124,
|
| 362 |
-
-0.022063301876187325
|
| 363 |
]
|
| 364 |
}
|
| 365 |
}
|
| 366 |
},
|
| 367 |
"marker_rmse_mm": {
|
| 368 |
-
"median_frame":
|
| 369 |
-
"p95_frame":
|
| 370 |
},
|
| 371 |
"worst_markers": [
|
| 372 |
-
"
|
| 373 |
"CLAV 12mm",
|
| 374 |
-
"
|
| 375 |
-
"
|
| 376 |
-
"
|
| 377 |
],
|
| 378 |
"valid_fraction": 1.0,
|
| 379 |
"qc": {
|
| 380 |
"lowest_vertex_mm": {
|
| 381 |
-
"median":
|
| 382 |
-
"p5":
|
| 383 |
},
|
| 384 |
-
"frames_checked":
|
| 385 |
-
"stature_mm":
|
| 386 |
},
|
| 387 |
"surface_term": {
|
| 388 |
"weight": 1.0,
|
| 389 |
"marker_height_mm": 11.0,
|
| 390 |
"markers_on_surface": 52,
|
| 391 |
-
"surface_rmse_mm_median":
|
| 392 |
},
|
| 393 |
"shape_source": "participant median",
|
| 394 |
"wrist_correction": {
|
| 395 |
"left": {
|
| 396 |
"status": "corrected",
|
| 397 |
-
"Q_deg":
|
| 398 |
"Q_rotvec": [
|
| 399 |
-
|
| 400 |
-
0.
|
| 401 |
-
0.
|
| 402 |
],
|
| 403 |
-
"in_out_sign":
|
| 404 |
-
"wrist_bend_deg_median":
|
| 405 |
-
"opposite_sign_bend_deg":
|
| 406 |
-
"in_out_convention": "pinky side =
|
| 407 |
-
"marker_frame_spread_deg":
|
| 408 |
"hand_vs_marker_frame_deg": {
|
| 409 |
-
"before":
|
| 410 |
-
"after":
|
| 411 |
},
|
| 412 |
"markers_on_wrist": [
|
| 413 |
-
"LWristOut",
|
| 414 |
"LHandIn",
|
| 415 |
"LHandOut"
|
| 416 |
],
|
| 417 |
"forearm_twist": {
|
| 418 |
-
"twist_moved_deg": -
|
| 419 |
"wrist_twist_deg_after": {
|
| 420 |
-
"median": -0.
|
| 421 |
"iqr": [
|
| 422 |
-
-
|
| 423 |
-
|
| 424 |
]
|
| 425 |
},
|
| 426 |
-
"wrist_total_deg_median_after":
|
| 427 |
"markers_on_forearm": [
|
| 428 |
"LForearm",
|
| 429 |
-
"LWristIn"
|
|
|
|
| 430 |
]
|
| 431 |
},
|
| 432 |
-
"frames_used":
|
| 433 |
},
|
| 434 |
"right": {
|
| 435 |
"status": "corrected",
|
| 436 |
-
"Q_deg":
|
| 437 |
"Q_rotvec": [
|
| 438 |
-
|
| 439 |
-
0.
|
| 440 |
-
0.
|
| 441 |
],
|
| 442 |
"in_out_sign": 1,
|
| 443 |
-
"wrist_bend_deg_median":
|
| 444 |
-
"opposite_sign_bend_deg":
|
| 445 |
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 446 |
-
"marker_frame_spread_deg": 2.
|
| 447 |
"hand_vs_marker_frame_deg": {
|
| 448 |
-
"before":
|
| 449 |
-
"after": 2.
|
| 450 |
},
|
| 451 |
"markers_on_wrist": [
|
| 452 |
-
"RWristOut",
|
| 453 |
"RHandIn",
|
| 454 |
"RHandOut"
|
| 455 |
],
|
| 456 |
"forearm_twist": {
|
| 457 |
-
"twist_moved_deg": -
|
| 458 |
"wrist_twist_deg_after": {
|
| 459 |
"median": -0.0,
|
| 460 |
"iqr": [
|
| 461 |
-
-
|
| 462 |
-
|
| 463 |
]
|
| 464 |
},
|
| 465 |
-
"wrist_total_deg_median_after":
|
| 466 |
"markers_on_forearm": [
|
| 467 |
"RForearm",
|
| 468 |
-
"RWristIn"
|
|
|
|
| 469 |
]
|
| 470 |
},
|
| 471 |
-
"frames_used":
|
| 472 |
},
|
| 473 |
-
"generated_at_utc": "2026-10-
|
| 474 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 475 |
}
|
| 476 |
},
|
| 477 |
-
"rig_tracker": {
|
| 478 |
-
"definition": "e17c9efadb69e7b1/20261013-afternoon/labels-530412/session-87fda29e76134bed",
|
| 479 |
-
"R_tracker0_imu0": [
|
| 480 |
-
[
|
| 481 |
-
-0.51663672,
|
| 482 |
-
0.05950376,
|
| 483 |
-
-0.85413453
|
| 484 |
-
],
|
| 485 |
-
[
|
| 486 |
-
0.8350363,
|
| 487 |
-
-0.18543689,
|
| 488 |
-
-0.51800342
|
| 489 |
-
],
|
| 490 |
-
[
|
| 491 |
-
-0.18921121,
|
| 492 |
-
-0.98085292,
|
| 493 |
-
0.04611571
|
| 494 |
-
]
|
| 495 |
-
],
|
| 496 |
-
"p_tracker0_imu0_m": [
|
| 497 |
-
-0.1772678347063988,
|
| 498 |
-
0.017236458979247127,
|
| 499 |
-
0.007406051238015213
|
| 500 |
-
],
|
| 501 |
-
"rig_check": {
|
| 502 |
-
"gyro_samples": 4720,
|
| 503 |
-
"gyro_max_deg": 2.5,
|
| 504 |
-
"status": "ok",
|
| 505 |
-
"dropped_marker": null,
|
| 506 |
-
"gyro_deg": 1.347
|
| 507 |
-
},
|
| 508 |
-
"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 509 |
-
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 510 |
-
},
|
| 511 |
-
"rig_calibration_repair": {
|
| 512 |
-
"version": 2,
|
| 513 |
-
"applied_at_utc": "2026-10-18T19:10:43.430847+00:00",
|
| 514 |
-
"generated_by": "scripts/correct_processed_rig.py",
|
| 515 |
-
"remaining_gyro_frame_deg": 1.2968901846282554
|
| 516 |
-
},
|
| 517 |
"release": {
|
| 518 |
"release_path": "actions/locomotion_posture_dynamics/D59/session_012",
|
| 519 |
"family": "locomotion_posture_dynamics",
|
| 520 |
"primitive": "D59",
|
| 521 |
-
"source_session": "
|
| 522 |
}
|
| 523 |
}
|
|
|
|
| 1 |
{
|
| 2 |
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261017/D59/20261017_015534_session15",
|
| 4 |
+
"session_id": "20261017_015534_session15",
|
| 5 |
"primitive": "D59",
|
| 6 |
+
"batch": "20261017",
|
| 7 |
+
"participant": "huruoxuan",
|
| 8 |
"participant_source": "manifest",
|
| 9 |
"device_ids": {
|
| 10 |
+
"main": "c9205ac6e17d2d5c",
|
| 11 |
+
"left": "452031d7af00ef6f",
|
| 12 |
+
"right": "a85418f7d807dff9"
|
| 13 |
},
|
| 14 |
+
"generated_at_utc": "2026-10-22T15:52:08.296255+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": 95.59166666666667,
|
| 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": -0.078077,
|
| 29 |
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.08,
|
| 31 |
+
"peak_corr": 0.9375,
|
| 32 |
+
"reference_imu_first_sample_s": 4592.395490854,
|
| 33 |
"windows": {
|
| 34 |
+
"n_windows": 8,
|
| 35 |
+
"window_corr_median": 0.9672670466908412,
|
| 36 |
+
"drift_ppm": -783.9158944672719,
|
| 37 |
+
"drift_se_ppm": 462.484907587284,
|
| 38 |
+
"drift_ms_over_take": -74.92929424616341,
|
| 39 |
+
"lag_scatter_ms": 25.956901061181373,
|
| 40 |
+
"lag_range_ms": 96.19476189186899
|
| 41 |
}
|
| 42 |
},
|
| 43 |
"units": {
|
|
|
|
| 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": 19466,
|
| 76 |
+
"n_gyro": 19460,
|
| 77 |
+
"t_start": -0.09443363125707784,
|
| 78 |
+
"t_end": 95.78757452074272
|
| 79 |
},
|
| 80 |
"imu_head_left": {
|
| 81 |
+
"n_acc": 19349,
|
| 82 |
+
"n_gyro": 19342,
|
| 83 |
+
"t_start": 0.016565493742502255,
|
| 84 |
+
"t_end": 95.95232625074253
|
| 85 |
},
|
| 86 |
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 18879,
|
| 88 |
+
"n_gyro": 18892,
|
| 89 |
+
"t_start": -0.7853553942570836,
|
| 90 |
+
"t_end": 94.55163837374288
|
| 91 |
},
|
| 92 |
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 19336,
|
| 94 |
+
"n_gyro": 19347,
|
| 95 |
+
"t_start": -0.948076439257664,
|
| 96 |
+
"t_end": 94.54395325574272
|
| 97 |
},
|
| 98 |
"mag_head": {
|
| 99 |
+
"n": 9602,
|
| 100 |
+
"t_start": 0.10317457674294182,
|
| 101 |
+
"t_end": 96.11316666474316
|
| 102 |
},
|
| 103 |
"mag_wrist_right": {
|
| 104 |
+
"n": 9533,
|
| 105 |
+
"t_start": -0.7764614242571662,
|
| 106 |
+
"t_end": 94.54332059174315
|
| 107 |
},
|
| 108 |
"mag_wrist_left": {
|
| 109 |
+
"n": 9548,
|
| 110 |
+
"t_start": -0.9284167832568239,
|
| 111 |
+
"t_end": 94.54088804174238
|
| 112 |
}
|
| 113 |
},
|
| 114 |
"videos": {
|
| 115 |
"left": {
|
| 116 |
"fps": 30.0,
|
| 117 |
+
"start_device_s": 4592.51064,
|
| 118 |
+
"frames": 2867,
|
| 119 |
"pts_gaps": 0,
|
| 120 |
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.03970040839042831,
|
| 124 |
+
"t_end": 95.57296740839023,
|
| 125 |
"clock": "device",
|
| 126 |
"calibrated": true
|
| 127 |
},
|
| 128 |
"right": {
|
| 129 |
"fps": 30.0,
|
| 130 |
+
"start_device_s": 4592.510611,
|
| 131 |
+
"frames": 2867,
|
| 132 |
"pts_gaps": 0,
|
| 133 |
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0024181146161434135,
|
| 135 |
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.03946108735884245,
|
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"file": "derived/rig_tracker_provider/rig_tracker.json",
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|
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|
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"LThigh 17mm",
|
| 418 |
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|
| 419 |
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"LUArmHigh 11mm",
|
| 420 |
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"WaistRBack 10mm",
|
| 421 |
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|
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"median": 11.1,
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"p5": 7.9
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|
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|
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"Q_deg": 180.0,
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|
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|
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|
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"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 452 |
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"before": 179.17,
|
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"after": 1.84
|
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|
| 458 |
"LHandIn",
|
| 459 |
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|
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| 461 |
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|
| 462 |
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"twist_moved_deg": -171.93,
|
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|
| 464 |
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"median": -0.01,
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| 465 |
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|
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| 468 |
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|
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},
|
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"wrist_total_deg_median_after": 26.6,
|
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|
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"LWristIn",
|
| 474 |
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"LWristOut"
|
| 475 |
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|
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"frames_used": 1148
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|
| 479 |
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|
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"Q_deg": 0.0,
|
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|
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-0.0
|
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|
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|
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"opposite_sign_bend_deg": 178.4,
|
| 490 |
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|
| 491 |
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"marker_frame_spread_deg": 2.49,
|
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|
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"before": 2.49,
|
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"after": 2.49
|
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|
|
| 497 |
"RHandIn",
|
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|
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],
|
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|
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"twist_moved_deg": -0.0,
|
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|
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1.4
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"wrist_total_deg_median_after": 6.5,
|
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|
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|
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"RWristIn",
|
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"RWristOut"
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"frames_used": 1148
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"generated_at_utc": "2026-10-28T06:40:08.043250+00:00",
|
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 520 |
}
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"release": {
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"source_session": "20261017/D59/20261017_015534_session15"
|
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}
|
actions/locomotion_posture_dynamics/D59/session_012/motions/head_rig.npz
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actions/locomotion_posture_dynamics/D59/session_012/motions/markers.npz
CHANGED
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