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- .gitattributes +51 -0
- actions/locomanipulation/LM40/session_014/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM40/session_014/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM40/session_014/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM40/session_014/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM40/session_014/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM40/session_014/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM40/session_014/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM40/session_014/scene/infer.json +36 -0
- actions/locomanipulation/LM40/session_014/scene/views.npz +3 -0
- actions/locomanipulation/LM40/session_014/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM40/session_014/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM40/session_014/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM40/session_014/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM40/session_014/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM40/session_014/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM40/session_014/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM40/session_014/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM40/session_014/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM40/session_014/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM40/session_014/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM40/session_014/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM40/session_014/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM40/session_014/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM40/session_015/cameras/poses.npz +3 -0
- actions/locomanipulation/LM40/session_015/meta.json +547 -0
- actions/locomanipulation/LM40/session_015/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM40/session_015/motions/markers.npz +3 -0
- actions/locomanipulation/LM40/session_015/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM40/session_015/motions/smplx.npz +3 -0
- actions/locomanipulation/LM40/session_015/raw/audio.wav +3 -0
- actions/locomanipulation/LM40/session_015/raw/manifest.json +230 -0
- actions/locomanipulation/LM40/session_015/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM40/session_015/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM40/session_015/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM40/session_015/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM40/session_015/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM40/session_015/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM40/session_015/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM40/session_015/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM40/session_015/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM40/session_015/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM40/session_015/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM40/session_015/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM40/session_015/scene/infer.json +36 -0
- actions/locomanipulation/LM40/session_015/scene/views.npz +3 -0
- actions/locomanipulation/LM40/session_015/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM40/session_015/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM40/session_015/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM40/session_015/sensors/wrist_mag.npz +3 -0
.gitattributes
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actions/locomanipulation/LM40/session_013/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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| 1 |
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{
|
| 2 |
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"schema_version": 1,
|
| 3 |
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"session": "EgoMotionActions/20260923/LM40/20260923_053634_session31",
|
| 4 |
+
"session_id": "20260923_053634_session31",
|
| 5 |
+
"primitive": "LM40",
|
| 6 |
+
"batch": "20260923",
|
| 7 |
+
"participant": "zhangxinxin",
|
| 8 |
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"participant_source": "manifest",
|
| 9 |
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"device_ids": {
|
| 10 |
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"main": "e17c9efadb69e7b1",
|
| 11 |
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"left": "cc5681142208e29a",
|
| 12 |
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"right": "60a6f081bbe60b0d"
|
| 13 |
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},
|
| 14 |
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"generated_at_utc": "2026-10-14T11:25:14.544221+00:00",
|
| 15 |
+
"generated_by": "scripts/sync_dataset.py",
|
| 16 |
+
"time_base": {
|
| 17 |
+
"definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
|
| 18 |
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"mocap_rate_hz": 120.0,
|
| 19 |
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"first_solved_frame": 0,
|
| 20 |
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"duration_s": 134.025,
|
| 21 |
+
"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 22 |
+
},
|
| 23 |
+
"alignment": {
|
| 24 |
+
"reference_imu": "imu_head_right",
|
| 25 |
+
"model": "offset (median of windows)",
|
| 26 |
+
"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 27 |
+
"offset_s": -1.187734,
|
| 28 |
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"rate": 0.0,
|
| 29 |
+
"global_lag_s": -1.19,
|
| 30 |
+
"peak_corr": 0.9921,
|
| 31 |
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"reference_imu_first_sample_s": 7285.925990658,
|
| 32 |
+
"windows": {
|
| 33 |
+
"n_windows": 12,
|
| 34 |
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"window_corr_median": 0.994369451965546,
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| 35 |
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| 36 |
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|
| 37 |
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| 38 |
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|
| 39 |
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|
| 40 |
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}
|
| 41 |
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|
| 42 |
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|
| 43 |
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"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 44 |
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|
| 45 |
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[
|
| 46 |
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1.0,
|
| 47 |
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0.0,
|
| 48 |
+
0.0
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| 49 |
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],
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| 50 |
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[
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| 51 |
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0.0,
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| 52 |
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0.0,
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| 53 |
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-1.0
|
| 54 |
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],
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| 55 |
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[
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| 56 |
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0.0,
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| 57 |
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1.0,
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| 58 |
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0.0
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| 59 |
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]
|
| 60 |
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],
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| 61 |
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"acc": "m/s^2 (8192 LSB/g)",
|
| 62 |
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"gyro": "rad/s (65.536 LSB/dps)",
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| 63 |
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"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
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| 64 |
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| 65 |
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},
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| 66 |
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| 67 |
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| 68 |
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"status": "ok",
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| 69 |
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"date": "2026-09-08"
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| 70 |
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| 71 |
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| 126 |
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},
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| 231 |
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"file": "mocap/mocap-LM40-S05-zhangxinxin-01p2-1.mp4",
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| 232 |
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| 233 |
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| 235 |
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| 236 |
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| 237 |
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}
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| 238 |
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}
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| 239 |
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},
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| 240 |
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| 241 |
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| 242 |
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| 243 |
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"structure": "WARN",
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| 244 |
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| 245 |
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| 246 |
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},
|
| 247 |
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"verdict": "READY_WITH_WARNINGS",
|
| 248 |
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"issues": [
|
| 249 |
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"WARN M_BODY_ID",
|
| 250 |
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"WARN M_SPIKES",
|
| 251 |
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"WARN M_TRACKER_LABELS",
|
| 252 |
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"WARN S_PARTICIPANT",
|
| 253 |
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"WARN S_REPORT_TIMING",
|
| 254 |
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"WARN T_FRAMES",
|
| 255 |
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"WARN T_PTS"
|
| 256 |
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]
|
| 257 |
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},
|
| 258 |
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"canonical": {
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| 259 |
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"generated_at_utc": "2026-10-14T12:21:46.365619+00:00",
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| 260 |
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"generated_by": "scripts/canonicalise_dataset.py",
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| 261 |
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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)",
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| 262 |
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"R_canon_nokov": [
|
| 263 |
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[
|
| 264 |
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0.999971398,
|
| 265 |
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| 266 |
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-3.95322e-05
|
| 267 |
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| 268 |
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[
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3.95322e-05,
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| 273 |
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[
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0.9999167587,
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0.0104534224
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| 277 |
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]
|
| 278 |
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],
|
| 279 |
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|
| 280 |
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| 281 |
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[
|
| 282 |
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0.000999971398,
|
| 283 |
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|
| 284 |
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-3.9532e-08,
|
| 285 |
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0.0
|
| 286 |
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],
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| 287 |
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[
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| 288 |
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3.9532e-08,
|
| 289 |
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1.0453422e-05,
|
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| 291 |
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0.0
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| 292 |
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],
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| 293 |
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[
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| 294 |
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7.563178e-06,
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| 295 |
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0.000999916759,
|
| 296 |
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1.0453422e-05,
|
| 297 |
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0.0
|
| 298 |
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],
|
| 299 |
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[
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0.0,
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| 301 |
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0.0,
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| 302 |
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0.0,
|
| 303 |
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1.0
|
| 304 |
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]
|
| 305 |
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],
|
| 306 |
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"block": "20260923-morning",
|
| 307 |
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|
| 308 |
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|
| 309 |
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|
| 310 |
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|
| 311 |
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|
| 312 |
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|
| 313 |
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},
|
| 314 |
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|
| 315 |
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|
| 316 |
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|
| 317 |
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0.0758,
|
| 318 |
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-0.1244,
|
| 319 |
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9.7437
|
| 320 |
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],
|
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|
| 322 |
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|
| 323 |
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| 324 |
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},
|
| 325 |
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|
| 326 |
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"camera_pose_source": "provider T_tracker0_cam",
|
| 327 |
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"files": [
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| 328 |
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"mocap_zup.npz",
|
| 329 |
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"tracker0_zup.npz",
|
| 330 |
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"rig_zup.npz",
|
| 331 |
+
"cameras_zup.npz"
|
| 332 |
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]
|
| 333 |
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},
|
| 334 |
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"smplx": {
|
| 335 |
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"generated_at_utc": "2026-10-14T23:57:30.673865+00:00",
|
| 336 |
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"generated_by": "scripts/fit_smplx_dataset.py",
|
| 337 |
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"file": "smplx.npz",
|
| 338 |
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"gender": "female",
|
| 339 |
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"n_betas": 16,
|
| 340 |
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"betas_source": "participant median (derived/smplx/participants.json)",
|
| 341 |
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 342 |
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 343 |
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"hands": {
|
| 344 |
+
"observed": false,
|
| 345 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 346 |
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"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 347 |
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"hand_marker_offsets_m": {
|
| 348 |
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"left": {
|
| 349 |
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"LHandIn": [
|
| 350 |
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0.015372378751635551,
|
| 351 |
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0.032673005014657974,
|
| 352 |
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0.008813384920358658
|
| 353 |
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],
|
| 354 |
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|
| 355 |
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0.02394898794591427,
|
| 356 |
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0.004661827813833952,
|
| 357 |
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-0.02586006186902523
|
| 358 |
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],
|
| 359 |
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|
| 360 |
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-0.04198392108082771,
|
| 361 |
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0.007303415331989527,
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| 362 |
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0.027535153552889824
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| 363 |
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],
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| 364 |
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| 365 |
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-0.032034412026405334,
|
| 366 |
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0.0015323677798733115,
|
| 367 |
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-0.04547693952918053
|
| 368 |
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]
|
| 369 |
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},
|
| 370 |
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| 372 |
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-0.04560781642794609,
|
| 373 |
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0.019989049062132835,
|
| 374 |
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-0.02426685392856598
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| 375 |
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],
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| 377 |
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-0.043540406972169876,
|
| 378 |
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-0.03165281191468239,
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| 379 |
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0.002242675283923745
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| 380 |
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],
|
| 381 |
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| 382 |
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0.020441414788365364,
|
| 383 |
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-0.03490154445171356,
|
| 384 |
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| 385 |
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]
|
| 386 |
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}
|
| 387 |
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}
|
| 388 |
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},
|
| 389 |
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"marker_rmse_mm": {
|
| 390 |
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"median_frame": 4.47,
|
| 391 |
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"p95_frame": 7.18
|
| 392 |
+
},
|
| 393 |
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"worst_markers": [
|
| 394 |
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"RKneeIn 11mm",
|
| 395 |
+
"STRN 9mm",
|
| 396 |
+
"LShin 9mm",
|
| 397 |
+
"RUArmHigh 9mm",
|
| 398 |
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"LHeel 8mm"
|
| 399 |
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],
|
| 400 |
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"valid_fraction": 1.0,
|
| 401 |
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"qc": {
|
| 402 |
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"lowest_vertex_mm": {
|
| 403 |
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"median": 7.7,
|
| 404 |
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"p5": 1.6
|
| 405 |
+
},
|
| 406 |
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"frames_checked": 537,
|
| 407 |
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"stature_mm": 1627.7
|
| 408 |
+
},
|
| 409 |
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"surface_term": {
|
| 410 |
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"weight": 1.0,
|
| 411 |
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"marker_height_mm": 11.0,
|
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