Upload folder using huggingface_hub (part 234)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +36 -0
- actions/locomanipulation/LM18/session_036/raw/mocap/BigBox.trc +0 -0
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- actions/locomanipulation/LM18/session_036/scene/infer.json +36 -0
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| 1 |
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{
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| 2 |
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"schema_version": 1,
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| 3 |
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"session": "EgoMotionActions/20261017/LM18/20261017_073325_session87",
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| 4 |
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"session_id": "20261017_073325_session87",
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| 5 |
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"primitive": "LM18",
|
| 6 |
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"batch": "20261017",
|
| 7 |
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"participant": "yanyitong",
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"participant_source": "manifest",
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"left": "75b5984e04d1d236",
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"right": "c84bc808cb6b47af"
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},
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"generated_at_utc": "2026-10-22T15:55:08.766042+00:00",
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| 15 |
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"generated_by": "scripts/sync_dataset.py",
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| 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,
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"mocap_rate_fix": null,
|
| 20 |
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"first_solved_frame": 0,
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| 21 |
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"duration_s": 132.025,
|
| 22 |
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"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 23 |
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},
|
| 24 |
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"alignment": {
|
| 25 |
+
"reference_imu": "imu_head_right",
|
| 26 |
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"model": "offset (median of windows)",
|
| 27 |
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"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": -0.094143,
|
| 29 |
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"rate": 0.0,
|
| 30 |
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"global_lag_s": -0.095,
|
| 31 |
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"peak_corr": 0.9975,
|
| 32 |
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"reference_imu_first_sample_s": 24807.839732737,
|
| 33 |
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"windows": {
|
| 34 |
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"n_windows": 12,
|
| 35 |
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"window_corr_median": 0.9986209791610832,
|
| 36 |
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"drift_ppm": -26.7808080924406,
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| 37 |
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"drift_se_ppm": 16.458273892674132,
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| 38 |
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"drift_ms_over_take": -3.5355130150037004,
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| 39 |
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"lag_scatter_ms": 1.7966425509882287,
|
| 40 |
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"lag_range_ms": 7.617364923812126
|
| 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": [
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| 46 |
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[
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| 47 |
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1.0,
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0.0,
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],
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| 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": "e3296774a321bb51",
|
| 69 |
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"status": "ok",
|
| 70 |
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"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
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|
| 73 |
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"sensors": {
|
| 74 |
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"imu_head_right": {
|
| 75 |
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"n_acc": 26662,
|
| 76 |
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|
| 77 |
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"t_start": -0.10109152516021823,
|
| 78 |
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|
| 79 |
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},
|
| 80 |
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"imu_head_left": {
|
| 81 |
+
"n_acc": 26534,
|
| 82 |
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"n_gyro": 26527,
|
| 83 |
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"t_start": 0.004208016839338594,
|
| 84 |
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|
| 85 |
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},
|
| 86 |
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"imu_wrist_right": {
|
| 87 |
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"n_acc": 26435,
|
| 88 |
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"n_gyro": 26449,
|
| 89 |
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"t_start": -0.8330599141584298,
|
| 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": 26651,
|
| 94 |
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"n_gyro": 26652,
|
| 95 |
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"t_start": -0.8022487521586936,
|
| 96 |
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|
| 97 |
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},
|
| 98 |
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"mag_head": {
|
| 99 |
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"n": 13248,
|
| 100 |
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"t_start": 0.08683805784015021,
|
| 101 |
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|
| 102 |
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},
|
| 103 |
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"mag_wrist_right": {
|
| 104 |
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"n": 13150,
|
| 105 |
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"t_start": -0.8165461811579644,
|
| 106 |
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|
| 107 |
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},
|
| 108 |
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"mag_wrist_left": {
|
| 109 |
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"n": 13147,
|
| 110 |
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"t_start": -0.7849414041586624,
|
| 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": 24807.970775,
|
| 118 |
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|
| 119 |
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|
| 120 |
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"timing": "pts",
|
| 121 |
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"timeshift_cam_imu_s": 0.0025546514432425653,
|
| 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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"start_device_s": 24807.970759,
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| 131 |
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| 132 |
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| 133 |
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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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|
| 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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|
| 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",
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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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},
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| 154 |
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| 155 |
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| 156 |
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| 157 |
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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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| 163 |
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| 165 |
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|
| 166 |
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},
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| 167 |
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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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| 173 |
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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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},
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| 180 |
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| 181 |
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| 182 |
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| 183 |
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| 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",
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| 187 |
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| 188 |
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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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| 196 |
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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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| 202 |
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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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| 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",
|
| 226 |
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| 228 |
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| 229 |
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|
| 230 |
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},
|
| 231 |
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"third_person": {
|
| 232 |
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"file": "mocap/mocap-LM18-S04-yanyitong-01p1-1.mp4",
|
| 233 |
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"frames": 3961,
|
| 234 |
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| 235 |
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"clock": "nokov (frame index)",
|
| 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": {
|
| 244 |
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"structure": "WARN",
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| 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 |
+
"issues": [
|
| 250 |
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"WARN M_BODY_ID",
|
| 251 |
+
"WARN M_SPIKES",
|
| 252 |
+
"WARN M_TRACKER_LABELS",
|
| 253 |
+
"WARN S_CALIB",
|
| 254 |
+
"WARN S_REPORT_TIMING",
|
| 255 |
+
"WARN S_VIDEO_FPS",
|
| 256 |
+
"WARN T_FRAMES",
|
| 257 |
+
"WARN T_LAG_OUTLIER",
|
| 258 |
+
"WARN T_PTS"
|
| 259 |
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]
|
| 260 |
+
},
|
| 261 |
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"rig_tracker": {
|
| 262 |
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"definition": "e3296774a321bb51/20261017-afternoon/labels-053142/session-72a3d074d9e23c04",
|
| 263 |
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"R_tracker0_imu0": [
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| 264 |
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[
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| 265 |
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| 266 |
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| 267 |
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|
| 268 |
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],
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| 269 |
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[
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| 272 |
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| 273 |
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],
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| 274 |
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[
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| 275 |
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| 276 |
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|
| 277 |
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|
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]
|
| 279 |
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],
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|
| 281 |
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| 283 |
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| 284 |
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],
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|
| 286 |
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|
| 287 |
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|
| 288 |
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"status": "ok",
|
| 289 |
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"dropped_marker": null,
|
| 290 |
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"gyro_deg": 1.34
|
| 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 |
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},
|
| 295 |
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"canonical": {
|
| 296 |
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"generated_at_utc": "2026-10-22T17:38:05.440653+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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0.9999950396,
|
| 302 |
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0.0031496627,
|
| 303 |
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1.73969e-05
|
| 304 |
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],
|
| 305 |
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[
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| 306 |
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-1.73969e-05,
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| 307 |
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0.0110464775,
|
| 308 |
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-0.9999389857
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| 309 |
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],
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| 310 |
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[
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-0.0031496627,
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0.9999340253,
|
| 313 |
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0.0110464775
|
| 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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0.00099999504,
|
| 320 |
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3.149663e-06,
|
| 321 |
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1.7397e-08,
|
| 322 |
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0.0
|
| 323 |
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],
|
| 324 |
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[
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| 325 |
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-1.7397e-08,
|
| 326 |
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1.1046477e-05,
|
| 327 |
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-0.000999938986,
|
| 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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-3.149663e-06,
|
| 332 |
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0.000999934025,
|
| 333 |
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1.1046477e-05,
|
| 334 |
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0.0
|
| 335 |
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],
|
| 336 |
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[
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| 337 |
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0.0,
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| 338 |
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0.0,
|
| 339 |
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0.0,
|
| 340 |
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1.0
|
| 341 |
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]
|
| 342 |
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],
|
| 343 |
+
"block": "20261017-afternoon",
|
| 344 |
+
"block_assignment": "trc",
|
| 345 |
+
"tilt_removed_deg": 0.6581558054705959,
|
| 346 |
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"plane_status": "ok",
|
| 347 |
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"floor": {
|
| 348 |
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"sole_marker_p1_mm": 39.9,
|
| 349 |
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"headtop_p95_mm": 1626.0
|
| 350 |
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},
|
| 351 |
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"gravity_check": {
|
| 352 |
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"static_samples": 1365,
|
| 353 |
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"g_world_mean_m_s2": [
|
| 354 |
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0.2354,
|
| 355 |
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-0.1273,
|
| 356 |
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9.7249
|
| 357 |
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],
|
| 358 |
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"tilt_from_z_deg": 1.576,
|
| 359 |
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|
| 360 |
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|
| 361 |
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},
|
| 362 |
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"rig_tracker_definition": "e3296774a321bb51/20261017-afternoon/labels-053142/session-72a3d074d9e23c04",
|
| 363 |
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"camera_pose_source": "provider T_tracker0_cam",
|
| 364 |
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"files": [
|
| 365 |
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"mocap_zup.npz",
|
| 366 |
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"tracker0_zup.npz",
|
| 367 |
+
"rig_zup.npz",
|
| 368 |
+
"cameras_zup.npz"
|
| 369 |
+
]
|
| 370 |
+
},
|
| 371 |
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"smplx": {
|
| 372 |
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"generated_at_utc": "2026-10-23T03:15:49.352700+00:00",
|
| 373 |
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"generated_by": "scripts/fit_smplx_dataset.py",
|
| 374 |
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"file": "smplx.npz",
|
| 375 |
+
"gender": "female",
|
| 376 |
+
"n_betas": 16,
|
| 377 |
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"betas_source": "participant median (derived/smplx/participants.json)",
|
| 378 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 379 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 380 |
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"hands": {
|
| 381 |
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"observed": false,
|
| 382 |
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"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 383 |
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"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 384 |
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"hand_marker_offsets_m": {
|
| 385 |
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"left": {
|
| 386 |
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"LHandIn": [
|
| 387 |
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0.05327790230512619,
|
| 388 |
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0.011369138956069946,
|
| 389 |
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-0.029140204191207886
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],
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| 392 |
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0.043598972260951996,
|
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-0.04314396157860756,
|
| 394 |
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0.018058547750115395
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| 395 |
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],
|
| 396 |
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|
| 397 |
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|
| 398 |
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|
| 399 |
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|
| 400 |
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]
|
| 401 |
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},
|
| 402 |
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"right": {
|
| 403 |
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"RHandIn": [
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| 404 |
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-0.062440767884254456,
|
| 405 |
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0.012501384131610394,
|
| 406 |
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0.028582554310560226
|
| 407 |
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],
|
| 408 |
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|
| 409 |
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-0.07110636681318283,
|
| 410 |
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0.014662575908005238,
|
| 411 |
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-0.026613840833306313
|
| 412 |
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]
|
| 413 |
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}
|
| 414 |
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}
|
| 415 |
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},
|
| 416 |
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"marker_rmse_mm": {
|
| 417 |
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"median_frame": 4.5,
|
| 418 |
+
"p95_frame": 6.07
|
| 419 |
+
},
|
| 420 |
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"worst_markers": [
|
| 421 |
+
"LThigh 10mm",
|
| 422 |
+
"RKneeIn 10mm",
|
| 423 |
+
"LKneeIn 9mm",
|
| 424 |
+
"RThigh 9mm",
|
| 425 |
+
"WaistRFront 9mm"
|
| 426 |
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],
|
| 427 |
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"valid_fraction": 0.9997,
|
| 428 |
+
"qc": {
|
| 429 |
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"lowest_vertex_mm": {
|
| 430 |
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"median": 1.8,
|
| 431 |
+
"p5": -5.1
|
| 432 |
+
},
|
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