Upload folder using huggingface_hub (part 262)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +34 -0
- actions/locomanipulation/LM22/session_035/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM22/session_035/raw/mocap/Body0.trc +3 -0
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- actions/locomanipulation/LM22/session_035/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM22/session_035/scene/infer.json +36 -0
- actions/locomanipulation/LM22/session_035/scene/views.npz +3 -0
- actions/locomanipulation/LM22/session_035/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM22/session_035/sensors/head_mag.npz +3 -0
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- actions/locomanipulation/LM22/session_035/videos/frame_timestamps.npz +3 -0
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.gitattributes
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| 1 |
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{
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| 2 |
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"schema_version": 1,
|
| 3 |
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"session": "EgoMotionActions/20261015/LM22/20261015_101514_session58",
|
| 4 |
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"session_id": "20261015_101514_session58",
|
| 5 |
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"primitive": "LM22",
|
| 6 |
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"batch": "20261015",
|
| 7 |
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"participant": "lvaoshan",
|
| 8 |
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"participant_source": "manifest",
|
| 9 |
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"device_ids": {
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| 10 |
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"main": "e3296774a321bb51",
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| 11 |
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"left": "75b5984e04d1d236",
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"right": "c84bc808cb6b47af"
|
| 13 |
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},
|
| 14 |
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"generated_at_utc": "2026-10-22T15:42:50.270235+00:00",
|
| 15 |
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"generated_by": "scripts/sync_dataset.py",
|
| 16 |
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"time_base": {
|
| 17 |
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"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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"mocap_rate_fix": null,
|
| 20 |
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"first_solved_frame": 0,
|
| 21 |
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"duration_s": 126.925,
|
| 22 |
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"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": -0.08801,
|
| 29 |
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"rate": 0.0,
|
| 30 |
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"global_lag_s": -0.09,
|
| 31 |
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"peak_corr": 0.9955,
|
| 32 |
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"reference_imu_first_sample_s": 13503.688523343,
|
| 33 |
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"windows": {
|
| 34 |
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"n_windows": 11,
|
| 35 |
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"window_corr_median": 0.9956991116279955,
|
| 36 |
+
"drift_ppm": 7.1800918658201125,
|
| 37 |
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"drift_se_ppm": 1.911755807304714,
|
| 38 |
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"drift_ms_over_take": 0.911273325970336,
|
| 39 |
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"lag_scatter_ms": 0.18136508043410587,
|
| 40 |
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"lag_range_ms": 1.0295533892090702
|
| 41 |
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}
|
| 42 |
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},
|
| 43 |
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"units": {
|
| 44 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
+
"y_up_to_z_up": [
|
| 46 |
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[
|
| 47 |
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1.0,
|
| 48 |
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0.0,
|
| 49 |
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0.0
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| 50 |
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],
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| 51 |
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[
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| 52 |
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0.0,
|
| 53 |
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0.0,
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| 54 |
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-1.0
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],
|
| 56 |
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[
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| 57 |
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0.0,
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| 58 |
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1.0,
|
| 59 |
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0.0
|
| 60 |
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]
|
| 61 |
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],
|
| 62 |
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"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 |
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"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 25636,
|
| 76 |
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"n_gyro": 25630,
|
| 77 |
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"t_start": -0.09952529223787435,
|
| 78 |
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"t_end": 127.13441011276214
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| 79 |
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},
|
| 80 |
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"imu_head_left": {
|
| 81 |
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"n_acc": 25513,
|
| 82 |
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"n_gyro": 25507,
|
| 83 |
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"t_start": 0.005674407761628281,
|
| 84 |
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| 85 |
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},
|
| 86 |
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"imu_wrist_right": {
|
| 87 |
+
"n_acc": 25396,
|
| 88 |
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"n_gyro": 25396,
|
| 89 |
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"t_start": -0.9056899992386637,
|
| 90 |
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|
| 91 |
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},
|
| 92 |
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"imu_wrist_left": {
|
| 93 |
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"n_acc": 25597,
|
| 94 |
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"n_gyro": 25597,
|
| 95 |
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"t_start": -0.8379769812393963,
|
| 96 |
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"t_end": 125.44414786176154
|
| 97 |
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},
|
| 98 |
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"mag_head": {
|
| 99 |
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"n": 12738,
|
| 100 |
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"t_start": 0.08911557376145782,
|
| 101 |
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"t_end": 127.45920113476191
|
| 102 |
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},
|
| 103 |
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"mag_wrist_right": {
|
| 104 |
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"n": 12633,
|
| 105 |
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"t_start": -0.8890079332389608,
|
| 106 |
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|
| 107 |
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},
|
| 108 |
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"mag_wrist_left": {
|
| 109 |
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"n": 12628,
|
| 110 |
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"t_start": -0.8298165982390376,
|
| 111 |
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|
| 112 |
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}
|
| 113 |
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},
|
| 114 |
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"videos": {
|
| 115 |
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"left": {
|
| 116 |
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"fps": 30.0,
|
| 117 |
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"start_device_s": 13503.813809,
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| 118 |
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"frames": 3807,
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| 119 |
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| 120 |
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"timing": "pts",
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| 121 |
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"timeshift_cam_imu_s": 0.0025546514432425653,
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| 122 |
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"file": "robocap_segment1_video_left.mp4",
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| 123 |
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| 124 |
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| 125 |
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"clock": "device",
|
| 126 |
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"calibrated": true
|
| 127 |
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},
|
| 128 |
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"right": {
|
| 129 |
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"fps": 30.0,
|
| 130 |
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| 131 |
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| 132 |
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| 133 |
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"timing": "pts",
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| 134 |
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| 135 |
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"file": "robocap_segment1_video_right.mp4",
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| 136 |
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|
| 137 |
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|
| 138 |
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"clock": "device",
|
| 139 |
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|
| 140 |
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},
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| 141 |
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| 142 |
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|
| 143 |
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"start_device_s": 13503.813803,
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| 144 |
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| 145 |
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| 146 |
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| 147 |
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| 148 |
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"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
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"t_start": 0.039942090969500604,
|
| 150 |
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| 151 |
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| 152 |
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| 153 |
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},
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| 154 |
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| 155 |
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| 156 |
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| 159 |
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| 160 |
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| 161 |
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"file": "robocap_segment1_video_right_front.mp4",
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| 162 |
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| 166 |
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},
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| 168 |
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| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 174 |
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| 175 |
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| 176 |
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| 177 |
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"corr": 0.922,
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| 178 |
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"err_ms": 5.9
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| 179 |
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},
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| 180 |
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"nominal": {
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| 181 |
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| 182 |
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"corr": 0.922,
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| 183 |
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"err_ms": 44.1
|
| 184 |
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}
|
| 185 |
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},
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| 186 |
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"file": "robocap_segment1_video_left_eye.mp4",
|
| 187 |
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| 188 |
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| 189 |
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| 190 |
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| 191 |
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},
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| 193 |
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| 194 |
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| 195 |
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| 197 |
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| 199 |
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"file": "robocap_segment1_video_right_eye.mp4",
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| 200 |
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| 201 |
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| 204 |
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},
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| 206 |
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| 207 |
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| 208 |
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| 209 |
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| 210 |
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| 211 |
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| 212 |
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"file": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4",
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| 213 |
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| 216 |
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| 217 |
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},
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| 218 |
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| 219 |
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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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"file": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4",
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| 226 |
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| 227 |
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| 228 |
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| 229 |
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"calibrated": false
|
| 230 |
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},
|
| 231 |
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"third_person": {
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| 232 |
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"file": "mocap/mocap-LM22-S04-lvaoshan-01p1-1.mp4",
|
| 233 |
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"frames": 3808,
|
| 234 |
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"fps": 30.0,
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| 235 |
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"clock": "nokov (frame index)",
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| 236 |
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| 237 |
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| 238 |
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}
|
| 239 |
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}
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| 240 |
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},
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| 241 |
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"flags": [],
|
| 242 |
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"sanity": {
|
| 243 |
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"status": {
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| 244 |
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"structure": "WARN",
|
| 245 |
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"markers": "WARN",
|
| 246 |
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"timing": "WARN"
|
| 247 |
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},
|
| 248 |
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"verdict": "READY_WITH_WARNINGS",
|
| 249 |
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"issues": [
|
| 250 |
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"WARN M_FLOOR_SHIFT",
|
| 251 |
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"WARN M_RIGID",
|
| 252 |
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"WARN M_SPIKES",
|
| 253 |
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"WARN M_TRACKER_GEOM",
|
| 254 |
+
"WARN S_CALIB",
|
| 255 |
+
"WARN S_REPORT_TIMING",
|
| 256 |
+
"WARN T_LAG_OUTLIER",
|
| 257 |
+
"WARN T_PTS",
|
| 258 |
+
"WARN T_UNITS"
|
| 259 |
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]
|
| 260 |
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},
|
| 261 |
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"rig_tracker": {
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| 262 |
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"definition": "e3296774a321bb51/20261015-afternoon/labels-235410/session-c853911d39791178",
|
| 263 |
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| 264 |
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[
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0.21558734,
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[
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],
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[
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]
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| 279 |
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],
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0.01974528793815263,
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| 284 |
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],
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"rig_check": {
|
| 286 |
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"gyro_samples": 7478,
|
| 287 |
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|
| 288 |
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"status": "dropped_marker",
|
| 289 |
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"dropped_marker": 0,
|
| 290 |
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"gyro_deg": 2.367
|
| 291 |
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},
|
| 292 |
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"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 293 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 294 |
+
},
|
| 295 |
+
"canonical": {
|
| 296 |
+
"generated_at_utc": "2026-10-24T05:11:08.531012+00:00",
|
| 297 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 298 |
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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)",
|
| 299 |
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"R_canon_nokov": [
|
| 300 |
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[
|
| 301 |
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0.999907077,
|
| 302 |
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-0.0136318504,
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| 303 |
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-0.00010024
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| 304 |
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],
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| 305 |
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[
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| 306 |
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0.00010024,
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0.0147052486,
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-0.999891867
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],
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[
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0.0136318504,
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0.9997989439,
|
| 313 |
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0.0147052486
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| 314 |
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]
|
| 315 |
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],
|
| 316 |
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"scale_nokov_to_canon": 0.001,
|
| 317 |
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"T_canon_nokov_mm": [
|
| 318 |
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[
|
| 319 |
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0.000999907077,
|
| 320 |
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-1.363185e-05,
|
| 321 |
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-1.0024e-07,
|
| 322 |
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0.0
|
| 323 |
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],
|
| 324 |
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[
|
| 325 |
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1.0024e-07,
|
| 326 |
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1.4705249e-05,
|
| 327 |
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-0.000999891867,
|
| 328 |
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0.0
|
| 329 |
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],
|
| 330 |
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[
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| 331 |
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1.363185e-05,
|
| 332 |
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0.000999798944,
|
| 333 |
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1.4705249e-05,
|
| 334 |
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0.0
|
| 335 |
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],
|
| 336 |
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[
|
| 337 |
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0.0,
|
| 338 |
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0.0,
|
| 339 |
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0.0,
|
| 340 |
+
1.0
|
| 341 |
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]
|
| 342 |
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],
|
| 343 |
+
"block": "20261015-afternoon",
|
| 344 |
+
"block_assignment": "trc",
|
| 345 |
+
"tilt_removed_deg": 1.1489562255076442,
|
| 346 |
+
"plane_status": "ok",
|
| 347 |
+
"floor": {
|
| 348 |
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"sole_marker_p1_mm": 29.9,
|
| 349 |
+
"headtop_p95_mm": 1681.4
|
| 350 |
+
},
|
| 351 |
+
"gravity_check": {
|
| 352 |
+
"static_samples": 1764,
|
| 353 |
+
"g_world_mean_m_s2": [
|
| 354 |
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-0.2008,
|
| 355 |
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-0.0068,
|
| 356 |
+
9.8139
|
| 357 |
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],
|
| 358 |
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"tilt_from_z_deg": 1.173,
|
| 359 |
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"tilt_from_z_deg_before_levelling": 0.965,
|
| 360 |
+
"magnitude_m_s2": 9.816
|
| 361 |
+
},
|
| 362 |
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"rig_tracker_definition": "e3296774a321bb51/20261015-afternoon/labels-235410/session-c853911d39791178",
|
| 363 |
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"rig_check": {
|
| 364 |
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"status": "dropped_marker",
|
| 365 |
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"dropped_marker": 0,
|
| 366 |
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"gyro_deg": 2.367
|
| 367 |
+
},
|
| 368 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 369 |
+
"files": [
|
| 370 |
+
"mocap_zup.npz",
|
| 371 |
+
"tracker0_zup.npz",
|
| 372 |
+
"rig_zup.npz",
|
| 373 |
+
"cameras_zup.npz"
|
| 374 |
+
]
|
| 375 |
+
},
|
| 376 |
+
"smplx": {
|
| 377 |
+
"generated_at_utc": "2026-10-23T00:15:10.614811+00:00",
|
| 378 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 379 |
+
"file": "smplx.npz",
|
| 380 |
+
"gender": "female",
|
| 381 |
+
"n_betas": 16,
|
| 382 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 383 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 384 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 385 |
+
"hands": {
|
| 386 |
+
"observed": false,
|
| 387 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 388 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 389 |
+
"hand_marker_offsets_m": {
|
| 390 |
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"left": {
|
| 391 |
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"LHandIn": [
|
| 392 |
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0.08117461949586868,
|
| 393 |
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0.012620060704648495,
|
| 394 |
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0.030584070831537247
|
| 395 |
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],
|
| 396 |
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"LHandOut": [
|
| 397 |
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0.08083609491586685,
|
| 398 |
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0.015665313228964806,
|
| 399 |
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-0.00729208393022418
|
| 400 |
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],
|
| 401 |
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"LWristOut": [
|
| 402 |
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0.012217286042869091,
|
| 403 |
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0.02563876286149025,
|
| 404 |
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-0.013890091329813004
|
| 405 |
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]
|
| 406 |
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},
|
| 407 |
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"right": {
|
| 408 |
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"RHandIn": [
|
| 409 |
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-0.0647677481174469,
|
| 410 |
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-0.02456502616405487,
|
| 411 |
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0.0059293219819664955
|
| 412 |
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],
|
| 413 |
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"RHandOut": [
|
| 414 |
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-0.0720437690615654,
|
| 415 |
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0.013636069372296333,
|
| 416 |
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-0.008303239941596985
|
| 417 |
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],
|
| 418 |
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"RWristOut": [
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| 419 |
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0.004973090253770351,
|
| 420 |
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0.03150150179862976,
|
| 421 |
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-0.018949618563055992
|
| 422 |
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]
|
| 423 |
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}
|
| 424 |
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}
|
| 425 |
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},
|
| 426 |
+
"marker_rmse_mm": {
|
| 427 |
+
"median_frame": 5.19,
|
| 428 |
+
"p95_frame": 9.87
|
| 429 |
+
},
|
| 430 |
+
"worst_markers": [
|
| 431 |
+
"RThigh 15mm",
|
| 432 |
+
"WaistLFront 14mm",
|
| 433 |
+
"WaistRFront 11mm",
|
| 434 |
+
"T10 10mm",
|
| 435 |
+
"RShin 9mm"
|
| 436 |
+
],
|
| 437 |
+
"valid_fraction": 1.0,
|
| 438 |
+
"qc": {
|
| 439 |
+
"lowest_vertex_mm": {
|
| 440 |
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"median": 10.8,
|
| 441 |
+
"p5": 1.5
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