Upload folder using huggingface_hub (part 874)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +42 -0
- actions/locomotion_primitives/P33/session_080/raw/mocap/Body0.csv +3 -0
- actions/locomotion_primitives/P33/session_080/raw/mocap/Body0.trc +3 -0
- actions/locomotion_primitives/P33/session_080/raw/mocap/Tracker0.csv +0 -0
- actions/locomotion_primitives/P33/session_080/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/P33/session_080/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/P33/session_080/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/P33/session_080/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/P33/session_080/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/P33/session_080/raw/sensors/robowrist_imu_right.db +0 -0
- actions/locomotion_primitives/P33/session_080/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomotion_primitives/P33/session_080/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomotion_primitives/P33/session_080/scene/infer.json +36 -0
- actions/locomotion_primitives/P33/session_080/scene/views.npz +3 -0
- actions/locomotion_primitives/P33/session_080/sensors/head_imu.npz +3 -0
- actions/locomotion_primitives/P33/session_080/sensors/head_mag.npz +3 -0
- actions/locomotion_primitives/P33/session_080/sensors/wrist_imu.npz +3 -0
- actions/locomotion_primitives/P33/session_080/sensors/wrist_mag.npz +3 -0
- actions/locomotion_primitives/P33/session_080/videos/frame_timestamps.npz +3 -0
- actions/locomotion_primitives/P33/session_080/videos/head_left.mp4 +3 -0
- actions/locomotion_primitives/P33/session_080/videos/head_left_eye.mp4 +3 -0
- actions/locomotion_primitives/P33/session_080/videos/head_left_front.mp4 +3 -0
- actions/locomotion_primitives/P33/session_080/videos/head_right.mp4 +3 -0
- actions/locomotion_primitives/P33/session_080/videos/head_right_eye.mp4 +3 -0
- actions/locomotion_primitives/P33/session_080/videos/head_right_front.mp4 +3 -0
- actions/locomotion_primitives/P33/session_080/videos/third_person.mp4 +3 -0
- actions/locomotion_primitives/P33/session_080/videos/wrist_left.mp4 +3 -0
- actions/locomotion_primitives/P33/session_080/videos/wrist_right.mp4 +3 -0
- actions/locomotion_primitives/P33/session_081/cameras/poses.npz +3 -0
- actions/locomotion_primitives/P33/session_081/meta.json +509 -0
- actions/locomotion_primitives/P33/session_081/motions/head_rig.npz +3 -0
- actions/locomotion_primitives/P33/session_081/motions/markers.npz +3 -0
- actions/locomotion_primitives/P33/session_081/motions/skeleton.npz +3 -0
- actions/locomotion_primitives/P33/session_081/motions/smplx.npz +3 -0
- actions/locomotion_primitives/P33/session_081/raw/audio.wav +3 -0
- actions/locomotion_primitives/P33/session_081/raw/manifest.json +261 -0
- actions/locomotion_primitives/P33/session_081/raw/mocap/Body0.bvh +0 -0
- actions/locomotion_primitives/P33/session_081/raw/mocap/Body0.csv +3 -0
- actions/locomotion_primitives/P33/session_081/raw/mocap/Body0.trc +3 -0
- actions/locomotion_primitives/P33/session_081/raw/mocap/Tracker0.csv +0 -0
- actions/locomotion_primitives/P33/session_081/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/P33/session_081/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/P33/session_081/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/P33/session_081/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/P33/session_081/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/P33/session_081/raw/sensors/robowrist_imu_right.db +0 -0
- actions/locomotion_primitives/P33/session_081/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomotion_primitives/P33/session_081/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomotion_primitives/P33/session_081/scene/infer.json +36 -0
- actions/locomotion_primitives/P33/session_081/scene/views.npz +3 -0
.gitattributes
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actions/locomotion_primitives/P33/session_079/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P33/session_079/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P33/session_079/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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| 34924 |
actions/locomotion_primitives/P33/session_079/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P33/session_080/raw/sensors/robocap_imu_left.db
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| 1 |
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{
|
| 2 |
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"schema_version": 1,
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| 3 |
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"session": "EgoMotionActions/20261012/P33/20261012_051351_session80",
|
| 4 |
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"session_id": "20261012_051351_session80",
|
| 5 |
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"primitive": "P33",
|
| 6 |
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"batch": "20261012",
|
| 7 |
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"participant": "yanyitong",
|
| 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": "e17c9efadb69e7b1",
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| 11 |
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"left": "452031d7af00ef6f",
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"right": "6ee5ee4472fe2ad7"
|
| 13 |
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},
|
| 14 |
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"generated_at_utc": "2026-10-21T05:30:14.728335+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": 134.025,
|
| 22 |
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"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 23 |
+
},
|
| 24 |
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"alignment": {
|
| 25 |
+
"reference_imu": "imu_head_right",
|
| 26 |
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"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 |
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"offset_s": -1.181755,
|
| 29 |
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"rate": 0.0,
|
| 30 |
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"global_lag_s": -1.18,
|
| 31 |
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"peak_corr": 0.9728,
|
| 32 |
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"reference_imu_first_sample_s": 17900.562193789,
|
| 33 |
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"windows": {
|
| 34 |
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"n_windows": 11,
|
| 35 |
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"window_corr_median": 0.9927759582868633,
|
| 36 |
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"drift_ppm": -11.452155486803365,
|
| 37 |
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"drift_se_ppm": 7.763000860051004,
|
| 38 |
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"drift_ms_over_take": -1.5347797044897644,
|
| 39 |
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"lag_scatter_ms": 0.736462925868216,
|
| 40 |
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"lag_range_ms": 2.5075981097293365
|
| 41 |
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}
|
| 42 |
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},
|
| 43 |
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"units": {
|
| 44 |
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"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
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"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 |
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"calibration": {
|
| 68 |
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"device": "e17c9efadb69e7b1",
|
| 69 |
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"status": "ok",
|
| 70 |
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"date": "2026-09-08"
|
| 71 |
+
},
|
| 72 |
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"streams": {
|
| 73 |
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"sensors": {
|
| 74 |
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"imu_head_right": {
|
| 75 |
+
"n_acc": 27272,
|
| 76 |
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"n_gyro": 27267,
|
| 77 |
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"t_start": -1.1887386192402496,
|
| 78 |
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"t_end": 134.78217987875811
|
| 79 |
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},
|
| 80 |
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"imu_head_left": {
|
| 81 |
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"n_acc": 27222,
|
| 82 |
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"n_gyro": 27217,
|
| 83 |
+
"t_start": -1.075749594238952,
|
| 84 |
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|
| 85 |
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},
|
| 86 |
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"imu_wrist_left": {
|
| 87 |
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"n_acc": 26891,
|
| 88 |
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"n_gyro": 26902,
|
| 89 |
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"t_start": 0.3713641047606493,
|
| 90 |
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|
| 91 |
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},
|
| 92 |
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|
| 93 |
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"n": 13612,
|
| 94 |
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"t_start": -0.9903597032398843,
|
| 95 |
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|
| 96 |
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},
|
| 97 |
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|
| 98 |
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"n": 13301,
|
| 99 |
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"t_start": 0.12938265276075844,
|
| 100 |
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|
| 101 |
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},
|
| 102 |
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"mag_wrist_left": {
|
| 103 |
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"n": 13278,
|
| 104 |
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"t_start": 0.38977473775863336,
|
| 105 |
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"t_end": 133.15961132775826
|
| 106 |
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}
|
| 107 |
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},
|
| 108 |
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"videos": {
|
| 109 |
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"left": {
|
| 110 |
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"fps": 30.0,
|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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"timing": "pts",
|
| 115 |
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|
| 116 |
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"file": "robocap_segment1_video_left.mp4",
|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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"calibrated": true
|
| 121 |
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},
|
| 122 |
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|
| 123 |
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"fps": 30.0,
|
| 124 |
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"start_device_s": 17901.781049,
|
| 125 |
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|
| 126 |
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|
| 127 |
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"timing": "pts",
|
| 128 |
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|
| 129 |
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"file": "robocap_segment1_video_right.mp4",
|
| 130 |
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"t_start": 0.03904876840802762,
|
| 131 |
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"t_end": 134.00570476840855,
|
| 132 |
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|
| 133 |
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"calibrated": true
|
| 134 |
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},
|
| 135 |
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|
| 136 |
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"fps": 30.0,
|
| 137 |
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"start_device_s": 17901.781078,
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| 138 |
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| 139 |
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| 140 |
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"timing": "pts",
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| 141 |
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|
| 142 |
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"file": "robocap_segment1_video_left_front.mp4",
|
| 143 |
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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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|
| 149 |
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|
| 150 |
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| 151 |
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|
| 152 |
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|
| 153 |
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"timing": "pts",
|
| 154 |
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| 155 |
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"file": "robocap_segment1_video_right_front.mp4",
|
| 156 |
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|
| 157 |
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| 159 |
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|
| 160 |
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},
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| 161 |
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| 162 |
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|
| 163 |
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| 164 |
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| 166 |
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| 167 |
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| 168 |
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"file": "robocap_segment1_video_left_eye.mp4",
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| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 173 |
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},
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| 174 |
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| 175 |
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|
| 176 |
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| 177 |
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|
| 178 |
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|
| 179 |
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"timing": "pts",
|
| 180 |
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|
| 181 |
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"file": "robocap_segment1_video_right_eye.mp4",
|
| 182 |
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"t_start": 0.03879474152104967,
|
| 183 |
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| 184 |
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"clock": "device",
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| 185 |
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"calibrated": true
|
| 186 |
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},
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| 187 |
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"wrist_left": {
|
| 188 |
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"fps": 30.0,
|
| 189 |
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"start_device_s": 17902.141894,
|
| 190 |
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|
| 191 |
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"pts_gaps": 0,
|
| 192 |
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"timing": "pts",
|
| 193 |
+
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|
| 194 |
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"file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
|
| 195 |
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"t_start": 0.3979448037598181,
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| 196 |
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| 197 |
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| 198 |
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|
| 199 |
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},
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| 200 |
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|
| 201 |
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|
| 202 |
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"start_device_s": 17901.954956,
|
| 203 |
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| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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"file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
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| 208 |
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"t_start": 0.2110068037609003,
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| 210 |
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| 211 |
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"calibrated": false
|
| 212 |
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},
|
| 213 |
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"third_person": {
|
| 214 |
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"file": "mocap/mocap-P33-S13-yanyitong-01p1-1.mp4",
|
| 215 |
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"frames": 4021,
|
| 216 |
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"fps": 30.0,
|
| 217 |
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"clock": "nokov (frame index)",
|
| 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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"flags": [
|
| 224 |
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"wrist_right_imu empty"
|
| 225 |
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],
|
| 226 |
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"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
|
| 227 |
+
"rig_tracker": {
|
| 228 |
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"definition": "e17c9efadb69e7b1/20261012-morning/labels-530412/session-4acfbada7ccec06c",
|
| 229 |
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"R_tracker0_imu0": [
|
| 230 |
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[
|
| 231 |
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-0.62782186,
|
| 232 |
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0.19226067,
|
| 233 |
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| 234 |
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],
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| 235 |
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[
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|
| 237 |
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0.15681259,
|
| 238 |
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|
| 239 |
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],
|
| 240 |
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[
|
| 241 |
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0.00139412,
|
| 242 |
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|
| 243 |
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-0.24809758
|
| 244 |
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]
|
| 245 |
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],
|
| 246 |
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"p_tracker0_imu0_m": [
|
| 247 |
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|
| 248 |
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|
| 249 |
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|
| 250 |
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],
|
| 251 |
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"rig_check": {
|
| 252 |
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"gyro_samples": 10057,
|
| 253 |
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"gyro_max_deg": 2.5,
|
| 254 |
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"status": "ok",
|
| 255 |
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"dropped_marker": null,
|
| 256 |
+
"gyro_deg": 1.093
|
| 257 |
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},
|
| 258 |
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"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 259 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 260 |
+
},
|
| 261 |
+
"canonical": {
|
| 262 |
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"generated_at_utc": "2026-10-21T06:55:36.336604+00:00",
|
| 263 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 264 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 265 |
+
"R_canon_nokov": [
|
| 266 |
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[
|
| 267 |
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0.9999121654,
|
| 268 |
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-0.0132534406,
|
| 269 |
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-8.82372e-05
|
| 270 |
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],
|
| 271 |
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[
|
| 272 |
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8.82372e-05,
|
| 273 |
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0.0133141968,
|
| 274 |
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-0.9999113583
|
| 275 |
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],
|
| 276 |
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[
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0.0132534406,
|
| 278 |
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0.9998235237,
|
| 279 |
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0.0133141968
|
| 280 |
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]
|
| 281 |
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],
|
| 282 |
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"scale_nokov_to_canon": 0.001,
|
| 283 |
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"T_canon_nokov_mm": [
|
| 284 |
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[
|
| 285 |
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0.000999912165,
|
| 286 |
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-1.3253441e-05,
|
| 287 |
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|
| 288 |
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0.0
|
| 289 |
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],
|
| 290 |
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[
|
| 291 |
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8.8237e-08,
|
| 292 |
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1.3314197e-05,
|
| 293 |
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-0.000999911358,
|
| 294 |
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0.0
|
| 295 |
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],
|
| 296 |
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[
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| 297 |
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1.3253441e-05,
|
| 298 |
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0.000999823524,
|
| 299 |
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1.3314197e-05,
|
| 300 |
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0.0
|
| 301 |
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],
|
| 302 |
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[
|
| 303 |
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0.0,
|
| 304 |
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0.0,
|
| 305 |
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0.0,
|
| 306 |
+
1.0
|
| 307 |
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]
|
| 308 |
+
],
|
| 309 |
+
"block": "20261012-morning",
|
| 310 |
+
"block_assignment": "trc",
|
| 311 |
+
"tilt_removed_deg": 1.0764336219464705,
|
| 312 |
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"plane_status": "ok",
|
| 313 |
+
"floor": {
|
| 314 |
+
"sole_marker_p1_mm": 43.7,
|
| 315 |
+
"headtop_p95_mm": 1609.0
|
| 316 |
+
},
|
| 317 |
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"gravity_check": {
|
| 318 |
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"static_samples": 549,
|
| 319 |
+
"g_world_mean_m_s2": [
|
| 320 |
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0.1958,
|
| 321 |
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-0.1546,
|
| 322 |
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9.7501
|
| 323 |
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],
|
| 324 |
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|
| 325 |
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|
| 326 |
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|
| 327 |
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},
|
| 328 |
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|
| 329 |
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"camera_pose_source": "provider T_tracker0_cam",
|
| 330 |
+
"files": [
|
| 331 |
+
"mocap_zup.npz",
|
| 332 |
+
"tracker0_zup.npz",
|
| 333 |
+
"rig_zup.npz",
|
| 334 |
+
"cameras_zup.npz"
|
| 335 |
+
]
|
| 336 |
+
},
|
| 337 |
+
"smplx": {
|
| 338 |
+
"generated_at_utc": "2026-10-22T22:16:19.424054+00:00",
|
| 339 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 340 |
+
"file": "smplx.npz",
|
| 341 |
+
"gender": "female",
|
| 342 |
+
"n_betas": 16,
|
| 343 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 344 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 345 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 346 |
+
"hands": {
|
| 347 |
+
"observed": false,
|
| 348 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 349 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 350 |
+
"hand_marker_offsets_m": {
|
| 351 |
+
"left": {
|
| 352 |
+
"LHandIn": [
|
| 353 |
+
0.07323812693357468,
|
| 354 |
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0.016065092757344246,
|
| 355 |
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0.02263721264898777
|
| 356 |
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],
|
| 357 |
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"LHandOut": [
|
| 358 |
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0.05995049327611923,
|
| 359 |
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0.001585202757269144,
|
| 360 |
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-0.03548223152756691
|
| 361 |
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],
|
| 362 |
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"LWristOut": [
|
| 363 |
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|
| 364 |
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0.015530691482126713,
|
| 365 |
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|
| 366 |
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]
|
| 367 |
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},
|
| 368 |
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|
| 369 |
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"RHandIn": [
|
| 370 |
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|
| 371 |
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0.012849821709096432,
|
| 372 |
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0.04290752485394478
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| 373 |
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],
|
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| 375 |
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-0.06053424999117851,
|
| 376 |
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0.01445508748292923,
|
| 377 |
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|
| 378 |
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],
|
| 379 |
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|
| 380 |
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0.013848911970853806,
|
| 381 |
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0.0009202324436046183,
|
| 382 |
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0.03951803594827652
|
| 383 |
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],
|
| 384 |
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| 385 |
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0.001964149298146367,
|
| 386 |
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0.004704260732978582,
|
| 387 |
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| 388 |
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]
|
| 389 |
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}
|
| 390 |
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}
|
| 391 |
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},
|
| 392 |
+
"marker_rmse_mm": {
|
| 393 |
+
"median_frame": 4.31,
|
| 394 |
+
"p95_frame": 6.04
|
| 395 |
+
},
|
| 396 |
+
"worst_markers": [
|
| 397 |
+
"LKneeIn 16mm",
|
| 398 |
+
"RThigh 10mm",
|
| 399 |
+
"LThigh 10mm",
|
| 400 |
+
"RKneeIn 9mm",
|
| 401 |
+
"WaistLFront 9mm"
|
| 402 |
+
],
|
| 403 |
+
"valid_fraction": 1.0,
|
| 404 |
+
"qc": {
|
| 405 |
+
"lowest_vertex_mm": {
|
| 406 |
+
"median": 0.3,
|
| 407 |
+
"p5": -8.0
|
| 408 |
+
},
|
| 409 |
+
"frames_checked": 537,
|
| 410 |
+
"stature_mm": 1600.3
|
| 411 |
+
},
|
| 412 |
+
"surface_term": {
|
| 413 |
+
"weight": 1.0,
|
| 414 |
+
"marker_height_mm": 11.0,
|
| 415 |
+
"markers_on_surface": 52,
|
| 416 |
+
"surface_rmse_mm_median": 10.91
|
| 417 |
+
},
|
| 418 |
+
"shape_source": "participant median",
|
| 419 |
+
"wrist_correction": {
|
| 420 |
+
"left": {
|
| 421 |
+
"status": "corrected",
|
| 422 |
+
"Q_deg": 170.98,
|
| 423 |
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