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- .gitattributes +46 -0
- actions/locomanipulation/LM33/session_004/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM33/session_004/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM33/session_004/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM33/session_004/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM33/session_004/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM33/session_004/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM33/session_004/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM33/session_004/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM33/session_004/raw/sensors/robowrist_imu_right.db +0 -0
- actions/locomanipulation/LM33/session_004/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM33/session_004/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM33/session_004/scene/infer.json +36 -0
- actions/locomanipulation/LM33/session_004/scene/views.npz +3 -0
- actions/locomanipulation/LM33/session_004/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM33/session_004/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM33/session_004/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM33/session_004/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM33/session_004/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM33/session_004/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM33/session_004/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM33/session_004/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM33/session_004/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM33/session_004/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM33/session_004/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM33/session_004/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM33/session_004/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM33/session_004/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM33/session_005/cameras/poses.npz +3 -0
- actions/locomanipulation/LM33/session_005/meta.json +527 -0
- actions/locomanipulation/LM33/session_005/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM33/session_005/motions/markers.npz +3 -0
- actions/locomanipulation/LM33/session_005/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM33/session_005/motions/smplx.npz +3 -0
- actions/locomanipulation/LM33/session_005/raw/audio.wav +3 -0
- actions/locomanipulation/LM33/session_005/raw/manifest.json +245 -0
- actions/locomanipulation/LM33/session_005/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM33/session_005/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM33/session_005/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM33/session_005/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM33/session_005/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM33/session_005/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM33/session_005/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM33/session_005/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM33/session_005/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM33/session_005/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM33/session_005/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM33/session_005/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM33/session_005/scene/infer.json +36 -0
- actions/locomanipulation/LM33/session_005/scene/views.npz +3 -0
.gitattributes
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actions/locomanipulation/LM33/session_003/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM33/session_003/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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|
| 1 |
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{
|
| 2 |
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"schema_version": 1,
|
| 3 |
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"session": "EgoMotionActions/20260920/LM33/20260920_050532_session34",
|
| 4 |
+
"session_id": "20260920_050532_session34",
|
| 5 |
+
"primitive": "LM33",
|
| 6 |
+
"batch": "20260920",
|
| 7 |
+
"participant": "gaoziyue",
|
| 8 |
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"participant_source": "manifest",
|
| 9 |
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"device_ids": {
|
| 10 |
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"main": "e17c9efadb69e7b1",
|
| 11 |
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"left": "cc5681142208e29a",
|
| 12 |
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"right": "60a6f081bbe60b0d"
|
| 13 |
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},
|
| 14 |
+
"generated_at_utc": "2026-10-14T11:18:07.369178+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 |
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"mocap_rate_hz": 120.0,
|
| 19 |
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"first_solved_frame": 0,
|
| 20 |
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"duration_s": 134.025,
|
| 21 |
+
"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 22 |
+
},
|
| 23 |
+
"alignment": {
|
| 24 |
+
"reference_imu": "imu_head_right",
|
| 25 |
+
"model": "offset (median of windows)",
|
| 26 |
+
"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 27 |
+
"offset_s": -1.171579,
|
| 28 |
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"rate": 0.0,
|
| 29 |
+
"global_lag_s": -1.17,
|
| 30 |
+
"peak_corr": 0.9963,
|
| 31 |
+
"reference_imu_first_sample_s": 7623.438226195,
|
| 32 |
+
"windows": {
|
| 33 |
+
"n_windows": 12,
|
| 34 |
+
"window_corr_median": 0.9979021997628492,
|
| 35 |
+
"drift_ppm": 0.1329815463314648,
|
| 36 |
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"drift_se_ppm": 3.2992969890906734,
|
| 37 |
+
"drift_ms_over_take": 0.017821743567521812,
|
| 38 |
+
"lag_scatter_ms": 0.3601627605423528,
|
| 39 |
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|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"units": {
|
| 43 |
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"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 44 |
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"y_up_to_z_up": [
|
| 45 |
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[
|
| 46 |
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1.0,
|
| 47 |
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0.0,
|
| 48 |
+
0.0
|
| 49 |
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],
|
| 50 |
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[
|
| 51 |
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0.0,
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| 52 |
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0.0,
|
| 53 |
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-1.0
|
| 54 |
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],
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| 55 |
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[
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| 56 |
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0.0,
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| 57 |
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1.0,
|
| 58 |
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0.0
|
| 59 |
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]
|
| 60 |
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],
|
| 61 |
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"acc": "m/s^2 (8192 LSB/g)",
|
| 62 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 63 |
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"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 64 |
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| 65 |
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},
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| 66 |
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| 67 |
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"device": "e17c9efadb69e7b1",
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| 68 |
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"status": "ok",
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| 69 |
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"date": "2026-09-08"
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| 70 |
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},
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| 71 |
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| 93 |
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| 126 |
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| 128 |
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|
| 129 |
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| 132 |
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| 134 |
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| 178 |
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| 181 |
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| 186 |
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| 187 |
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| 191 |
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| 197 |
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},
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| 212 |
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| 213 |
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| 217 |
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},
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| 218 |
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"third_person": {
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| 219 |
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"file": "mocap/mocap-LM33-S01-gaoziyue-01p2-1.mp4",
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| 220 |
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|
| 221 |
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| 222 |
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| 223 |
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| 224 |
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|
| 225 |
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}
|
| 226 |
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}
|
| 227 |
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},
|
| 228 |
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"flags": [],
|
| 229 |
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|
| 230 |
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"status": {
|
| 231 |
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"structure": "WARN",
|
| 232 |
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"markers": "WARN",
|
| 233 |
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|
| 234 |
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},
|
| 235 |
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"verdict": "READY_WITH_WARNINGS",
|
| 236 |
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"issues": [
|
| 237 |
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"WARN M_BODY_ID",
|
| 238 |
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"WARN M_RIGID",
|
| 239 |
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"WARN M_SPIKES",
|
| 240 |
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"WARN M_TRACKER_LABELS",
|
| 241 |
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"WARN S_INDEX_STALE",
|
| 242 |
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"WARN S_MOCAP_TS",
|
| 243 |
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"WARN S_PARTICIPANT",
|
| 244 |
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"WARN S_REPORT_TIMING",
|
| 245 |
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"WARN T_UNITS"
|
| 246 |
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]
|
| 247 |
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},
|
| 248 |
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"canonical": {
|
| 249 |
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"generated_at_utc": "2026-10-14T12:20:54.124488+00:00",
|
| 250 |
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"generated_by": "scripts/canonicalise_dataset.py",
|
| 251 |
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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)",
|
| 252 |
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"R_canon_nokov": [
|
| 253 |
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[
|
| 254 |
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0.9998856186,
|
| 255 |
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|
| 256 |
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|
| 257 |
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],
|
| 258 |
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[
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| 259 |
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0.009828365,
|
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],
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| 263 |
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[
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0.9998373163,
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| 266 |
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0.009828365
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]
|
| 268 |
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],
|
| 269 |
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|
| 270 |
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|
| 271 |
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[
|
| 272 |
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0.000999885619,
|
| 273 |
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-1.5124293e-05,
|
| 274 |
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-7.433e-08,
|
| 275 |
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0.0
|
| 276 |
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],
|
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[
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7.433e-08,
|
| 279 |
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|
| 280 |
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-0.000999951698,
|
| 281 |
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0.0
|
| 282 |
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],
|
| 283 |
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[
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| 284 |
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1.5124293e-05,
|
| 285 |
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0.000999837316,
|
| 286 |
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9.828365e-06,
|
| 287 |
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0.0
|
| 288 |
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],
|
| 289 |
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[
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| 290 |
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0.0,
|
| 291 |
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0.0,
|
| 292 |
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0.0,
|
| 293 |
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1.0
|
| 294 |
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]
|
| 295 |
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],
|
| 296 |
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"block": "202600920-morning",
|
| 297 |
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"block_assignment": "trc",
|
| 298 |
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"tilt_removed_deg": 1.0335121535969845,
|
| 299 |
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|
| 300 |
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"floor": {
|
| 301 |
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|
| 302 |
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|
| 303 |
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},
|
| 304 |
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"gravity_check": {
|
| 305 |
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|
| 306 |
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"g_world_mean_m_s2": [
|
| 307 |
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0.0547,
|
| 308 |
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-0.0023,
|
| 309 |
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9.6389
|
| 310 |
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],
|
| 311 |
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"tilt_from_z_deg": 0.325,
|
| 312 |
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|
| 313 |
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|
| 314 |
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},
|
| 315 |
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"rig_tracker_definition": "e17c9efadb69e7b1/202600920-morning/labels-530412/session-2acf7ba77c152c05",
|
| 316 |
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"camera_pose_source": "provider T_tracker0_cam",
|
| 317 |
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"files": [
|
| 318 |
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"mocap_zup.npz",
|
| 319 |
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"tracker0_zup.npz",
|
| 320 |
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"rig_zup.npz",
|
| 321 |
+
"cameras_zup.npz"
|
| 322 |
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]
|
| 323 |
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},
|
| 324 |
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"smplx": {
|
| 325 |
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"generated_at_utc": "2026-10-15T07:02:57.211602+00:00",
|
| 326 |
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"generated_by": "scripts/fit_smplx_dataset.py",
|
| 327 |
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"file": "smplx.npz",
|
| 328 |
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"gender": "female",
|
| 329 |
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"n_betas": 16,
|
| 330 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 331 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 332 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 333 |
+
"hands": {
|
| 334 |
+
"observed": false,
|
| 335 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 336 |
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"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 337 |
+
"hand_marker_offsets_m": {
|
| 338 |
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"left": {
|
| 339 |
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"LHandIn": [
|
| 340 |
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0.05395163968205452,
|
| 341 |
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0.013631477952003479,
|
| 342 |
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0.02723521925508976
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| 343 |
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],
|
| 344 |
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"LHandOut": [
|
| 345 |
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0.0533251017332077,
|
| 346 |
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0.014893729239702225,
|
| 347 |
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-0.03300018981099129
|
| 348 |
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],
|
| 349 |
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"LWristOut": [
|
| 350 |
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-0.0025317028630524874,
|
| 351 |
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0.027337541803717613,
|
| 352 |
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-0.020567309111356735
|
| 353 |
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]
|
| 354 |
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},
|
| 355 |
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"right": {
|
| 356 |
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"RHandIn": [
|
| 357 |
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-0.03995203226804733,
|
| 358 |
+
0.008953437209129333,
|
| 359 |
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0.030439384281635284
|
| 360 |
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],
|
| 361 |
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"RHandOut": [
|
| 362 |
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-0.05455407500267029,
|
| 363 |
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0.027684057131409645,
|
| 364 |
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-0.01972021721303463
|
| 365 |
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]
|
| 366 |
+
}
|
| 367 |
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}
|
| 368 |
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},
|
| 369 |
+
"marker_rmse_mm": {
|
| 370 |
+
"median_frame": 4.69,
|
| 371 |
+
"p95_frame": 6.75
|
| 372 |
+
},
|
| 373 |
+
"worst_markers": [
|
| 374 |
+
"LKneeIn 11mm",
|
| 375 |
+
"RKneeIn 11mm",
|
| 376 |
+
"LThigh 11mm",
|
| 377 |
+
"RKnee 9mm",
|
| 378 |
+
"LWristIn 9mm"
|
| 379 |
+
],
|
| 380 |
+
"valid_fraction": 0.9882,
|
| 381 |
+
"qc": {
|
| 382 |
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"lowest_vertex_mm": {
|
| 383 |
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"median": 8.7,
|
| 384 |
+
"p5": 1.0
|
| 385 |
+
},
|
| 386 |
+
"frames_checked": 530,
|
| 387 |
+
"stature_mm": 1598.8
|
| 388 |
+
},
|
| 389 |
+
"surface_term": {
|
| 390 |
+
"weight": 1.0,
|
| 391 |
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"marker_height_mm": 11.0,
|
| 392 |
+
"markers_on_surface": 52,
|
| 393 |
+
"surface_rmse_mm_median": 12.6
|
| 394 |
+
},
|
| 395 |
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"shape_source": "participant median",
|
| 396 |
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"wrist_correction": {
|
| 397 |
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"left": {
|
| 398 |
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"status": "corrected",
|
| 399 |
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"Q_deg": 174.08,
|
| 400 |
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"Q_rotvec": [
|
| 401 |
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-3.00435,
|
| 402 |
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0.00188,
|
| 403 |
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0.45272
|
| 404 |
+
],
|
| 405 |
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"in_out_sign": -1,
|
| 406 |
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"wrist_bend_deg_median": 174.7,
|
| 407 |
+
"opposite_sign_bend_deg": 34.3,
|
| 408 |
+
"in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
|
| 409 |
+
"marker_frame_spread_deg": 1.28,
|
| 410 |
+
"hand_vs_marker_frame_deg": {
|
| 411 |
+
"before": 174.1,
|
| 412 |
+
"after": 1.28
|
| 413 |
+
},
|
| 414 |
+
"markers_on_wrist": [
|
| 415 |
+
"LWristOut",
|
| 416 |
+
"LHandIn",
|
| 417 |
+
"LHandOut"
|
| 418 |
+
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