Release update 2026-11-05: 5760 sessions, instructions, annotations (part 300)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +10 -0
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261029/LM08/20261029_034537_session37",
|
| 4 |
+
"session_id": "20261029_034537_session37",
|
| 5 |
+
"primitive": "LM08",
|
| 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": "2026-11-03T05:43:26.949874+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": 157.15833333333333,
|
| 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": -0.083069,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.085,
|
| 31 |
+
"peak_corr": 0.9928,
|
| 32 |
+
"reference_imu_first_sample_s": 11591.143225256,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 14,
|
| 35 |
+
"window_corr_median": 0.9975202999003047,
|
| 36 |
+
"drift_ppm": -286.6260596764508,
|
| 37 |
+
"drift_se_ppm": 161.16728510138273,
|
| 38 |
+
"drift_ms_over_take": -45.043285278154244,
|
| 39 |
+
"lag_scatter_ms": 22.505786563582543,
|
| 40 |
+
"lag_range_ms": 99.04845353478066
|
| 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": 31725,
|
| 76 |
+
"n_gyro": 31718,
|
| 77 |
+
"t_start": -0.09954855830407693,
|
| 78 |
+
"t_end": 157.3628832496964
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 31569,
|
| 82 |
+
"n_gyro": 31562,
|
| 83 |
+
"t_start": 0.01168435869688468,
|
| 84 |
+
"t_end": 157.526897963697
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 31917,
|
| 88 |
+
"n_gyro": 31917,
|
| 89 |
+
"t_start": -0.7802344693042593,
|
| 90 |
+
"t_end": 156.5471913686964
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 31745,
|
| 94 |
+
"n_gyro": 31757,
|
| 95 |
+
"t_start": -0.7695648393034114,
|
| 96 |
+
"t_end": 156.54355482769674
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 15760,
|
| 100 |
+
"t_start": 0.09745885869627303,
|
| 101 |
+
"t_end": 157.68745297569725
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 15732,
|
| 105 |
+
"t_start": -0.7672663123027357,
|
| 106 |
+
"t_end": 156.543083044697
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 15730,
|
| 110 |
+
"t_start": -0.7527402623033319,
|
| 111 |
+
"t_end": 156.5380744676971
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 11591.263753,
|
| 118 |
+
"frames": 4714,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0025546514432425653,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.04001365113829737,
|
| 124 |
+
"t_end": 157.14002465113876,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 11591.263735,
|
| 131 |
+
"frames": 4714,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.002366886077403108,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.039807885774580734,
|
| 137 |
+
"t_end": 157.13981888577504,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 11591.263747,
|
| 144 |
+
"frames": 4714,
|
| 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": 0.040125870906495345,
|
| 150 |
+
"t_end": 157.14013687090696,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
},
|
| 154 |
+
"right_front": {
|
| 155 |
+
"fps": 30.0,
|
| 156 |
+
"start_device_s": 11591.263759,
|
| 157 |
+
"frames": 4714,
|
| 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": 0.0400605941889174,
|
| 163 |
+
"t_end": 157.14007159418938,
|
| 164 |
+
"clock": "device",
|
| 165 |
+
"calibrated": true
|
| 166 |
+
},
|
| 167 |
+
"left_eye": {
|
| 168 |
+
"fps": 60.0,
|
| 169 |
+
"start_device_s": 11591.263742,
|
| 170 |
+
"frames": 4691,
|
| 171 |
+
"pts_gaps": 4690,
|
| 172 |
+
"timing": "pts (gap undecided)",
|
| 173 |
+
"timeshift_cam_imu_s": 0.002394386090989767,
|
| 174 |
+
"gap_test": {
|
| 175 |
+
"pts": {
|
| 176 |
+
"offset_ms": -3.1,
|
| 177 |
+
"corr": 0.916,
|
| 178 |
+
"err_ms": 5.5
|
| 179 |
+
},
|
| 180 |
+
"nominal": {
|
| 181 |
+
"offset_ms": 150.0,
|
| 182 |
+
"corr": 0.14,
|
| 183 |
+
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|
| 184 |
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}
|
| 185 |
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},
|
| 186 |
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|
| 187 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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"wrist_left": {
|
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|
| 207 |
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"start_device_s": 11590.448703,
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| 208 |
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| 209 |
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| 210 |
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| 211 |
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| 223 |
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"file": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
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"calibrated": false
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},
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"file": "mocap/mocap-LM08-S03-zhangxinxin-01p2-1.mp4",
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| 233 |
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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-0047f4e143474281",
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|
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|
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|
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|
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|
| 274 |
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|
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|
| 278 |
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"gyro_deg": 0.709
|
| 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": "2026-11-03T09:17:20.398538+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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"scale_nokov_to_canon": 0.001,
|
| 306 |
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"T_canon_nokov_mm": [
|
| 307 |
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[
|
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[
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[
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]
|
| 331 |
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],
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| 332 |
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"block": "20261029-morning",
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| 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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| 336 |
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"floor": {
|
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|
| 338 |
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|
| 339 |
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},
|
| 340 |
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"gravity_check": {
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|
| 342 |
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"g_world_mean_m_s2": [
|
| 343 |
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-0.0142,
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-0.0448,
|
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9.7665
|
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],
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"tilt_from_z_deg": 0.276,
|
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|
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},
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"rig_tracker_definition": "e3296774a321bb51/20261029-morning/labels-145230/session-0047f4e143474281",
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| 352 |
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|
| 353 |
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"status": "video_solve",
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| 354 |
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"dropped_marker": null,
|
| 355 |
+
"gyro_deg": 0.709
|
| 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": "2026-11-03T10:07:28.893476+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 |
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"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": {
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| 379 |
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"left": {
|
| 380 |
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"LHandIn": [
|
| 381 |
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0.07330113649368286,
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0.007058816961944103,
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0.030592598021030426
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],
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"LHandOut": [
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|
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0.023207351565361023,
|
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|
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],
|
| 390 |
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"LWristOut": [
|
| 391 |
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|
| 392 |
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|
| 393 |
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]
|
| 395 |
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},
|
| 396 |
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"right": {
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| 397 |
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|
| 398 |
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-0.05635765194892883,
|
| 399 |
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0.012903233990073204,
|
| 400 |
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0.02812381647527218
|
| 401 |
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],
|
| 402 |
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"RHandOut": [
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| 403 |
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|
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0.023129533976316452,
|
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|
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]
|
| 407 |
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}
|
| 408 |
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}
|
| 409 |
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},
|
| 410 |
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"marker_rmse_mm": {
|
| 411 |
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"median_frame": 3.37,
|
| 412 |
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"p95_frame": 6.3
|
| 413 |
+
},
|
| 414 |
+
"worst_markers": [
|
| 415 |
+
"RElbow 8mm",
|
| 416 |
+
"CLAV 8mm",
|
| 417 |
+
"T10 7mm",
|
| 418 |
+
"RUArmHigh 7mm",
|
| 419 |
+
"STRN 6mm"
|
| 420 |
+
],
|
| 421 |
+
"valid_fraction": 1.0,
|
| 422 |
+
"qc": {
|
| 423 |
+
"lowest_vertex_mm": {
|
| 424 |
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"median": -3.5,
|
| 425 |
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"p5": -7.7
|
| 426 |
+
},
|
| 427 |
+
"frames_checked": 629,
|
| 428 |
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"stature_mm": 1627.7
|
| 429 |
+
},
|
| 430 |
+
"surface_term": {
|
| 431 |
+
"weight": 1.0,
|
| 432 |
+
"marker_height_mm": 11.0,
|
| 433 |
+
"markers_on_surface": 52,
|
| 434 |
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"surface_rmse_mm_median": 10.05
|
| 435 |
+
},
|
| 436 |
+
"shape_source": "participant median",
|
| 437 |
+
"wrist_correction": {
|
| 438 |
+
"left": {
|
| 439 |
+
"status": "corrected",
|
| 440 |
+
"Q_deg": 37.35,
|
| 441 |
+
"Q_rotvec": [
|
| 442 |
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0.5856,
|
| 443 |
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-0.13469,
|
| 444 |
+
0.25269
|
| 445 |
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],
|
| 446 |
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"in_out_sign": 1,
|
| 447 |
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"wrist_bend_deg_median": 26.7,
|
| 448 |
+
"opposite_sign_bend_deg": 168.1,
|
| 449 |
+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 450 |
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"marker_frame_spread_deg": 1.42,
|
| 451 |
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"hand_vs_marker_frame_deg": {
|
| 452 |
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"before": 37.64,
|
| 453 |
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"after": 1.42
|
| 454 |
+
},
|
| 455 |
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"markers_on_wrist": [
|
| 456 |
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"LWristOut",
|
| 457 |
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"LHandIn",
|
| 458 |
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"LHandOut"
|
| 459 |
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],
|
| 460 |
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"forearm_twist": {
|
| 461 |
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"twist_moved_deg": 17.68,
|
| 462 |
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|
| 463 |
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"median": 0.0,
|
| 464 |
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"iqr": [
|
| 465 |
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-3.0,
|
| 466 |
+
2.6
|
| 467 |
+
]
|
| 468 |
+
},
|
| 469 |
+
"wrist_total_deg_median_after": 20.1,
|
| 470 |
+
"markers_on_forearm": [
|
| 471 |
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"LElbowIn",
|
| 472 |
+
"LForearm",
|
| 473 |
+
"LWristIn"
|
| 474 |
+
]
|
| 475 |
+
},
|
| 476 |
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"frames_used": 1500
|
| 477 |
+
},
|
| 478 |
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"right": {
|
| 479 |
+
"status": "corrected",
|
| 480 |
+
"Q_deg": 29.6,
|
| 481 |
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"Q_rotvec": [
|
| 482 |
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0.34118,
|
| 483 |
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0.28954,
|
| 484 |
+
-0.25834
|
| 485 |
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],
|
| 486 |
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"in_out_sign": 1,
|
| 487 |
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"wrist_bend_deg_median": 25.5,
|
| 488 |
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"opposite_sign_bend_deg": 165.9,
|
| 489 |
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"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 490 |
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"marker_frame_spread_deg": 1.18,
|
| 491 |
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"hand_vs_marker_frame_deg": {
|
| 492 |
+
"before": 29.61,
|
| 493 |
+
"after": 1.18
|
| 494 |
+
},
|
| 495 |
+
"markers_on_wrist": [
|
| 496 |
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"RHandIn",
|
| 497 |
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"RHandOut"
|
| 498 |
+
],
|
| 499 |
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|
| 500 |
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"twist_moved_deg": -15.62,
|
| 501 |
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|
| 502 |
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"median": -0.0,
|
| 503 |
+
"iqr": [
|
| 504 |
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-7.0,
|
| 505 |
+
9.7
|
| 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": "2026-11-03T10:07:32.371571+00:00",
|
| 519 |
+
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 520 |
+
}
|
| 521 |
+
},
|
| 522 |
+
"release": {
|
| 523 |
+
"release_path": "actions/locomanipulation/LM08/session_023",
|
| 524 |
+
"family": "locomanipulation",
|
| 525 |
+
"primitive": "LM08",
|
| 526 |
+
"source_session": "20261029/LM08/20261029_034537_session37"
|
| 527 |
+
},
|
| 528 |
+
"task": {
|
| 529 |
+
"primitive": "LM08",
|
| 530 |
+
"instruction": "Take an object from the lowest shelf, carry it across the room, and place it on the highest shelf you can comfortably reach. 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/LM08/session_023/motions/head_rig.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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actions/locomanipulation/LM08/session_023/motions/objects.json
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{
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| 2 |
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|
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| 9 |
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| 16 |
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| 18 |
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{
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| 25 |
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"name": "LittleBox4",
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| 27 |
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|
| 63 |
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| 74 |
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}
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