Upload folder using huggingface_hub (part 296)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +36 -0
- actions/locomanipulation/LM27/session_024/raw/mocap/BigBox.trc +0 -0
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- actions/locomanipulation/LM27/session_024/scene/infer.json +36 -0
- actions/locomanipulation/LM27/session_024/scene/views.npz +3 -0
- actions/locomanipulation/LM27/session_024/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM27/session_024/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM27/session_024/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM27/session_024/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM27/session_024/videos/frame_timestamps.npz +3 -0
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.gitattributes
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actions/locomanipulation/LM27/session_023/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM27/session_023/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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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/20261019/LM27/20261019_091310_session57",
|
| 4 |
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"session_id": "20261019_091310_session57",
|
| 5 |
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"primitive": "LM27",
|
| 6 |
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"batch": "20261019",
|
| 7 |
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"participant": "yanyitong",
|
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"participant_source": "manifest",
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"device_ids": {
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"main": "c9205ac6e17d2d5c",
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"left": "452031d7af00ef6f",
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"right": "a85418f7d807dff9"
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},
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| 14 |
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"generated_at_utc": "2026-10-22T16:06:23.875488+00:00",
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| 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": 105.525,
|
| 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 |
+
"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": -0.08125,
|
| 29 |
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"rate": 0.0,
|
| 30 |
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"global_lag_s": -0.08,
|
| 31 |
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"peak_corr": 0.9657,
|
| 32 |
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"reference_imu_first_sample_s": 829.166556962,
|
| 33 |
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"windows": {
|
| 34 |
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"n_windows": 9,
|
| 35 |
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"window_corr_median": 0.9843360127303352,
|
| 36 |
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"drift_ppm": -651.5772096445189,
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| 37 |
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"drift_se_ppm": 369.3493416161199,
|
| 38 |
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"drift_ms_over_take": -68.7522552376575,
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| 39 |
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"lag_scatter_ms": 25.231363459866486,
|
| 40 |
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"lag_range_ms": 97.93392841388223
|
| 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 |
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[
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| 47 |
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1.0,
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| 48 |
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0.0,
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| 49 |
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],
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[
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],
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[
|
| 57 |
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0.0,
|
| 58 |
+
1.0,
|
| 59 |
+
0.0
|
| 60 |
+
]
|
| 61 |
+
],
|
| 62 |
+
"acc": "m/s^2 (8192 LSB/g)",
|
| 63 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 64 |
+
"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 65 |
+
"quaternions": "xyzw, Nokov global"
|
| 66 |
+
},
|
| 67 |
+
"calibration": {
|
| 68 |
+
"device": "c9205ac6e17d2d5c",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
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"sensors": {
|
| 74 |
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"imu_head_right": {
|
| 75 |
+
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|
| 76 |
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|
| 77 |
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|
| 78 |
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| 79 |
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},
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| 80 |
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"imu_head_left": {
|
| 81 |
+
"n_acc": 21351,
|
| 82 |
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"n_gyro": 21345,
|
| 83 |
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"t_start": 0.0164217532694816,
|
| 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": 20920,
|
| 88 |
+
"n_gyro": 20932,
|
| 89 |
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"t_start": -0.9087298607305333,
|
| 90 |
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|
| 91 |
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},
|
| 92 |
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"imu_wrist_left": {
|
| 93 |
+
"n_acc": 21397,
|
| 94 |
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|
| 95 |
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"t_start": -0.9225508277305484,
|
| 96 |
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|
| 97 |
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},
|
| 98 |
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"mag_head": {
|
| 99 |
+
"n": 10595,
|
| 100 |
+
"t_start": 0.10057091926945629,
|
| 101 |
+
"t_end": 106.04056980326949
|
| 102 |
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},
|
| 103 |
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"mag_wrist_right": {
|
| 104 |
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"n": 10562,
|
| 105 |
+
"t_start": -0.8947245517305068,
|
| 106 |
+
"t_end": 104.7155411382695
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 10565,
|
| 110 |
+
"t_start": -0.9050106577304736,
|
| 111 |
+
"t_end": 104.73535957426942
|
| 112 |
+
}
|
| 113 |
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},
|
| 114 |
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"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
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"start_device_s": 829.285725,
|
| 118 |
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"frames": 3165,
|
| 119 |
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|
| 120 |
+
"timing": "pts",
|
| 121 |
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"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
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"file": "robocap_segment1_video_left.mp4",
|
| 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 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
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"start_device_s": 829.285698,
|
| 131 |
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"frames": 3165,
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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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"timeshift_cam_imu_s": 0.0024181146161434135,
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| 135 |
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"file": "robocap_segment1_video_right.mp4",
|
| 136 |
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"t_start": 0.04030926588565177,
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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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},
|
| 141 |
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"left_front": {
|
| 142 |
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"fps": 30.0,
|
| 143 |
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"start_device_s": 829.285716,
|
| 144 |
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| 145 |
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| 146 |
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"timing": "pts",
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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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| 150 |
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|
| 151 |
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| 152 |
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"calibrated": true
|
| 153 |
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},
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| 154 |
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"right_front": {
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| 155 |
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| 156 |
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| 157 |
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| 158 |
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| 159 |
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"timing": "pts",
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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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| 164 |
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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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"start_device_s": 829.285708,
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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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"err_ms": 94.0
|
| 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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"calibrated": true
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| 191 |
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},
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| 192 |
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|
| 193 |
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|
| 194 |
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| 195 |
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| 196 |
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| 197 |
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| 198 |
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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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"wrist_left": {
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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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"timing": "pts",
|
| 211 |
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|
| 212 |
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"file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
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| 213 |
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| 214 |
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| 215 |
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| 216 |
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| 217 |
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},
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"wrist_right": {
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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_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
|
| 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": {
|
| 232 |
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"file": "mocap/mocap-LM27-S04-yanyitong-01p1-1.mp4",
|
| 233 |
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"frames": 3166,
|
| 234 |
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"fps": 30.0,
|
| 235 |
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"clock": "nokov (frame index)",
|
| 236 |
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| 237 |
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"t_end": 105.5
|
| 238 |
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}
|
| 239 |
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}
|
| 240 |
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},
|
| 241 |
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"flags": [],
|
| 242 |
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"sanity": {
|
| 243 |
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"status": {
|
| 244 |
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"structure": "WARN",
|
| 245 |
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"markers": "WARN",
|
| 246 |
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"timing": "WARN"
|
| 247 |
+
},
|
| 248 |
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"verdict": "READY_WITH_WARNINGS",
|
| 249 |
+
"issues": [
|
| 250 |
+
"WARN M_BODY_ID",
|
| 251 |
+
"WARN M_SPIKES",
|
| 252 |
+
"WARN M_TRACKER_GEOM",
|
| 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_LAG_SCATTER",
|
| 259 |
+
"WARN T_PTS",
|
| 260 |
+
"WARN T_RIG_TRACKER",
|
| 261 |
+
"WARN T_UNITS"
|
| 262 |
+
]
|
| 263 |
+
},
|
| 264 |
+
"rig_tracker": {
|
| 265 |
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"definition": "c9205ac6e17d2d5c/20261019-afternoon/labels-503412/session-9a826f1d613a6c7d",
|
| 266 |
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"R_tracker0_imu0": [
|
| 267 |
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[
|
| 268 |
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| 269 |
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| 270 |
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| 271 |
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],
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| 272 |
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[
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| 273 |
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| 274 |
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0.1859576,
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| 275 |
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|
| 276 |
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],
|
| 277 |
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[
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| 278 |
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|
| 279 |
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|
| 280 |
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-0.01199533
|
| 281 |
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]
|
| 282 |
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],
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| 284 |
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|
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-0.007141264252048386,
|
| 286 |
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| 287 |
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],
|
| 288 |
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|
| 289 |
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"gyro_samples": 2451,
|
| 290 |
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|
| 291 |
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"status": "ok",
|
| 292 |
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"dropped_marker": null,
|
| 293 |
+
"gyro_deg": 1.61
|
| 294 |
+
},
|
| 295 |
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"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 296 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 297 |
+
},
|
| 298 |
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"canonical": {
|
| 299 |
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"generated_at_utc": "2026-10-22T17:38:32.806791+00:00",
|
| 300 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 301 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 302 |
+
"R_canon_nokov": [
|
| 303 |
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[
|
| 304 |
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0.9999958763,
|
| 305 |
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0.0028718205,
|
| 306 |
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1.5793e-06
|
| 307 |
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],
|
| 308 |
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[
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| 309 |
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-1.5793e-06,
|
| 310 |
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0.0010998835,
|
| 311 |
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-0.9999993951
|
| 312 |
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],
|
| 313 |
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[
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| 314 |
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-0.0028718205,
|
| 315 |
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0.9999952714,
|
| 316 |
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0.0010998835
|
| 317 |
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]
|
| 318 |
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],
|
| 319 |
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"scale_nokov_to_canon": 0.001,
|
| 320 |
+
"T_canon_nokov_mm": [
|
| 321 |
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[
|
| 322 |
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0.000999995876,
|
| 323 |
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2.87182e-06,
|
| 324 |
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1.579e-09,
|
| 325 |
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0.0
|
| 326 |
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],
|
| 327 |
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[
|
| 328 |
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-1.579e-09,
|
| 329 |
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1.099883e-06,
|
| 330 |
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-0.000999999395,
|
| 331 |
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0.0
|
| 332 |
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],
|
| 333 |
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[
|
| 334 |
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-2.87182e-06,
|
| 335 |
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0.000999995271,
|
| 336 |
+
1.099883e-06,
|
| 337 |
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0.0
|
| 338 |
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],
|
| 339 |
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[
|
| 340 |
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0.0,
|
| 341 |
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0.0,
|
| 342 |
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0.0,
|
| 343 |
+
1.0
|
| 344 |
+
]
|
| 345 |
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],
|
| 346 |
+
"block": "20261019-afternoon",
|
| 347 |
+
"block_assignment": "trc",
|
| 348 |
+
"tilt_removed_deg": 0.17619850949641716,
|
| 349 |
+
"plane_status": "ok",
|
| 350 |
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"floor": {
|
| 351 |
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"sole_marker_p1_mm": 35.0,
|
| 352 |
+
"headtop_p95_mm": 1616.0
|
| 353 |
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},
|
| 354 |
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"gravity_check": {
|
| 355 |
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"static_samples": 2131,
|
| 356 |
+
"g_world_mean_m_s2": [
|
| 357 |
+
-0.0435,
|
| 358 |
+
0.0372,
|
| 359 |
+
9.8074
|
| 360 |
+
],
|
| 361 |
+
"tilt_from_z_deg": 0.334,
|
| 362 |
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|
| 363 |
+
"magnitude_m_s2": 9.8075
|
| 364 |
+
},
|
| 365 |
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"rig_tracker_definition": "c9205ac6e17d2d5c/20261019-afternoon/labels-503412/session-9a826f1d613a6c7d",
|
| 366 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 367 |
+
"files": [
|
| 368 |
+
"mocap_zup.npz",
|
| 369 |
+
"tracker0_zup.npz",
|
| 370 |
+
"rig_zup.npz",
|
| 371 |
+
"cameras_zup.npz"
|
| 372 |
+
]
|
| 373 |
+
},
|
| 374 |
+
"smplx": {
|
| 375 |
+
"generated_at_utc": "2026-10-23T05:41:43.392035+00:00",
|
| 376 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 377 |
+
"file": "smplx.npz",
|
| 378 |
+
"gender": "female",
|
| 379 |
+
"n_betas": 16,
|
| 380 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 381 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 382 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 383 |
+
"hands": {
|
| 384 |
+
"observed": false,
|
| 385 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 386 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 387 |
+
"hand_marker_offsets_m": {
|
| 388 |
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"left": {
|
| 389 |
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"LHandIn": [
|
| 390 |
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0.0826588124036789,
|
| 391 |
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0.01342121884226799,
|
| 392 |
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0.027740398421883583
|
| 393 |
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],
|
| 394 |
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"LHandOut": [
|
| 395 |
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0.0729580819606781,
|
| 396 |
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0.021009761840105057,
|
| 397 |
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-0.0193411223590374
|
| 398 |
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]
|
| 399 |
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},
|
| 400 |
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"right": {
|
| 401 |
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"RHandIn": [
|
| 402 |
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-0.03777410462498665,
|
| 403 |
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-0.027488961815834045,
|
| 404 |
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-0.025326857343316078
|
| 405 |
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],
|
| 406 |
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|
| 407 |
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-0.05096493288874626,
|
| 408 |
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-0.03338949382305145,
|
| 409 |
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0.02063535340130329
|
| 410 |
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]
|
| 411 |
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}
|
| 412 |
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}
|
| 413 |
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},
|
| 414 |
+
"marker_rmse_mm": {
|
| 415 |
+
"median_frame": 3.48,
|
| 416 |
+
"p95_frame": 5.54
|
| 417 |
+
},
|
| 418 |
+
"worst_markers": [
|
| 419 |
+
"LKneeIn 8mm",
|
| 420 |
+
"RKneeIn 8mm",
|
| 421 |
+
"LThigh 8mm",
|
| 422 |
+
"RHeadBack 7mm",
|
| 423 |
+
"LForearm 7mm"
|
| 424 |
+
],
|
| 425 |
+
"valid_fraction": 0.9968,
|
| 426 |
+
"qc": {
|
| 427 |
+
"lowest_vertex_mm": {
|
| 428 |
+
"median": 21.6,
|
| 429 |
+
"p5": 16.5
|
| 430 |
+
},
|
| 431 |
+
"frames_checked": 421,
|
| 432 |
+
"stature_mm": 1600.3
|
| 433 |
+
},
|
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