Upload folder using huggingface_hub (part 699)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +63 -0
- actions/locomotion_primitives/P04/session_023/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/P04/session_023/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/P04/session_023/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/P04/session_023/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/P04/session_023/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/P04/session_023/raw/sensors/robowrist_imu_right.db +0 -0
- actions/locomotion_primitives/P04/session_023/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomotion_primitives/P04/session_023/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomotion_primitives/P04/session_023/scene/infer.json +36 -0
- actions/locomotion_primitives/P04/session_023/scene/views.npz +3 -0
- actions/locomotion_primitives/P04/session_023/sensors/head_imu.npz +3 -0
- actions/locomotion_primitives/P04/session_023/sensors/head_mag.npz +3 -0
- actions/locomotion_primitives/P04/session_023/sensors/wrist_imu.npz +3 -0
- actions/locomotion_primitives/P04/session_023/sensors/wrist_mag.npz +3 -0
- actions/locomotion_primitives/P04/session_023/videos/frame_timestamps.npz +3 -0
- actions/locomotion_primitives/P04/session_023/videos/head_left.mp4 +3 -0
- actions/locomotion_primitives/P04/session_023/videos/head_left_eye.mp4 +3 -0
- actions/locomotion_primitives/P04/session_023/videos/head_left_front.mp4 +3 -0
- actions/locomotion_primitives/P04/session_023/videos/head_right.mp4 +3 -0
- actions/locomotion_primitives/P04/session_023/videos/head_right_eye.mp4 +3 -0
- actions/locomotion_primitives/P04/session_023/videos/head_right_front.mp4 +3 -0
- actions/locomotion_primitives/P04/session_023/videos/third_person.mp4 +3 -0
- actions/locomotion_primitives/P04/session_023/videos/wrist_left.mp4 +3 -0
- actions/locomotion_primitives/P04/session_023/videos/wrist_right.mp4 +3 -0
- actions/locomotion_primitives/P04/session_024/cameras/poses.npz +3 -0
- actions/locomotion_primitives/P04/session_024/meta.json +536 -0
- actions/locomotion_primitives/P04/session_024/motions/head_rig.npz +3 -0
- actions/locomotion_primitives/P04/session_024/motions/markers.npz +3 -0
- actions/locomotion_primitives/P04/session_024/motions/skeleton.npz +3 -0
- actions/locomotion_primitives/P04/session_024/motions/smplx.npz +3 -0
- actions/locomotion_primitives/P04/session_024/raw/audio.wav +3 -0
- actions/locomotion_primitives/P04/session_024/raw/manifest.json +261 -0
- actions/locomotion_primitives/P04/session_024/raw/mocap/Body0.bvh +0 -0
- actions/locomotion_primitives/P04/session_024/raw/mocap/Body0.csv +3 -0
- actions/locomotion_primitives/P04/session_024/raw/mocap/Body0.trc +3 -0
- actions/locomotion_primitives/P04/session_024/raw/mocap/Tracker0.csv +0 -0
- actions/locomotion_primitives/P04/session_024/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/P04/session_024/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/P04/session_024/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/P04/session_024/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/P04/session_024/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/P04/session_024/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomotion_primitives/P04/session_024/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomotion_primitives/P04/session_024/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomotion_primitives/P04/session_024/scene/infer.json +36 -0
- actions/locomotion_primitives/P04/session_024/scene/views.npz +3 -0
- actions/locomotion_primitives/P04/session_024/sensors/head_imu.npz +3 -0
- actions/locomotion_primitives/P04/session_024/sensors/head_mag.npz +3 -0
- actions/locomotion_primitives/P04/session_024/sensors/wrist_imu.npz +3 -0
.gitattributes
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@@ -27502,3 +27502,66 @@ actions/locomotion_primitives/P04/session_022/raw/sensors/robowrist_mag_left.db
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actions/locomotion_primitives/P04/session_022/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P04/session_023/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P04/session_023/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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| 27502 |
actions/locomotion_primitives/P04/session_022/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P04/session_023/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P04/session_023/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P04/session_024/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P04/session_024/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P05/session_006/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P04/session_023/raw/mocap/Tracker0.trc
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actions/locomotion_primitives/P04/session_023/raw/sensors/robocap_imu_left.db
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actions/locomotion_primitives/P04/session_023/raw/sensors/robowrist_mag_left.db
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{
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| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261019/P04/20261019_020654_session20",
|
| 4 |
+
"session_id": "20261019_020654_session20",
|
| 5 |
+
"primitive": "P04",
|
| 6 |
+
"batch": "20261019",
|
| 7 |
+
"participant": "xiaobo",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "c9205ac6e17d2d5c",
|
| 11 |
+
"left": "452031d7af00ef6f",
|
| 12 |
+
"right": "a85418f7d807dff9"
|
| 13 |
+
},
|
| 14 |
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"generated_at_utc": "2026-10-22T16:07:54.949313+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 |
+
"mocap_rate_hz": 120.0,
|
| 19 |
+
"mocap_rate_fix": null,
|
| 20 |
+
"first_solved_frame": 0,
|
| 21 |
+
"duration_s": 103.59166666666667,
|
| 22 |
+
"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 23 |
+
},
|
| 24 |
+
"alignment": {
|
| 25 |
+
"reference_imu": "imu_head_right",
|
| 26 |
+
"model": "offset (median of windows)",
|
| 27 |
+
"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 28 |
+
"offset_s": -0.092689,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.095,
|
| 31 |
+
"peak_corr": 0.988,
|
| 32 |
+
"reference_imu_first_sample_s": 5069.470118274,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 9,
|
| 35 |
+
"window_corr_median": 0.9923014743550943,
|
| 36 |
+
"drift_ppm": -728.9240816204953,
|
| 37 |
+
"drift_se_ppm": 413.0823943806121,
|
| 38 |
+
"drift_ms_over_take": -75.50438612118964,
|
| 39 |
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"lag_scatter_ms": 28.21889971668558,
|
| 40 |
+
"lag_range_ms": 108.83294231635743
|
| 41 |
+
}
|
| 42 |
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},
|
| 43 |
+
"units": {
|
| 44 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
+
"y_up_to_z_up": [
|
| 46 |
+
[
|
| 47 |
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1.0,
|
| 48 |
+
0.0,
|
| 49 |
+
0.0
|
| 50 |
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],
|
| 51 |
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[
|
| 52 |
+
0.0,
|
| 53 |
+
0.0,
|
| 54 |
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-1.0
|
| 55 |
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],
|
| 56 |
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[
|
| 57 |
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0.0,
|
| 58 |
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1.0,
|
| 59 |
+
0.0
|
| 60 |
+
]
|
| 61 |
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],
|
| 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": "c9205ac6e17d2d5c",
|
| 69 |
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"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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"n_acc": 21094,
|
| 76 |
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"n_gyro": 21088,
|
| 77 |
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"t_start": -0.09958558657108957,
|
| 78 |
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"t_end": 103.79785632842885
|
| 79 |
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},
|
| 80 |
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"imu_head_left": {
|
| 81 |
+
"n_acc": 20967,
|
| 82 |
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"n_gyro": 20961,
|
| 83 |
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"t_start": 0.006482205429341359,
|
| 84 |
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"t_end": 103.9616886614287
|
| 85 |
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},
|
| 86 |
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"imu_wrist_right": {
|
| 87 |
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"n_acc": 20539,
|
| 88 |
+
"n_gyro": 20550,
|
| 89 |
+
"t_start": -0.8893235235707893,
|
| 90 |
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"t_end": 102.8237290084291
|
| 91 |
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},
|
| 92 |
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"imu_wrist_left": {
|
| 93 |
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"n_acc": 20999,
|
| 94 |
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"n_gyro": 21012,
|
| 95 |
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"t_start": -0.8719855265706487,
|
| 96 |
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"t_end": 102.82817563242878
|
| 97 |
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},
|
| 98 |
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"mag_head": {
|
| 99 |
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"n": 10405,
|
| 100 |
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"t_start": 0.08505020542924607,
|
| 101 |
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"t_end": 104.12504354642914
|
| 102 |
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},
|
| 103 |
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"mag_wrist_right": {
|
| 104 |
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"n": 10370,
|
| 105 |
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"t_start": -0.871305145570483,
|
| 106 |
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"t_end": 102.81817095842888
|
| 107 |
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},
|
| 108 |
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"mag_wrist_left": {
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| 109 |
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"n": 10370,
|
| 110 |
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"t_start": -0.8591933675705208,
|
| 111 |
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|
| 112 |
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}
|
| 113 |
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},
|
| 114 |
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| 115 |
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"left": {
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| 116 |
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"fps": 30.0,
|
| 117 |
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"start_device_s": 5069.600322,
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| 118 |
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"frames": 3107,
|
| 119 |
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"pts_gaps": 0,
|
| 120 |
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"timing": "pts",
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| 121 |
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"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
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"file": "robocap_segment1_video_left.mp4",
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| 123 |
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"t_start": 0.040143059076575394,
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| 124 |
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| 125 |
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"clock": "device",
|
| 126 |
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"calibrated": true
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| 127 |
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},
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| 128 |
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"right": {
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| 129 |
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"fps": 30.0,
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| 130 |
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"start_device_s": 5069.600304,
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| 131 |
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"frames": 3107,
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| 132 |
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"pts_gaps": 0,
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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,
|
| 135 |
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"file": "robocap_segment1_video_right.mp4",
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| 136 |
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"t_start": 0.03991473804507545,
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| 137 |
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"t_end": 103.57329273804515,
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| 138 |
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"clock": "device",
|
| 139 |
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"calibrated": true
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| 140 |
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},
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| 141 |
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"left_front": {
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| 142 |
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"fps": 30.0,
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| 143 |
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"start_device_s": 5069.600316,
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| 144 |
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"frames": 3107,
|
| 145 |
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"pts_gaps": 0,
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| 146 |
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"timing": "pts",
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| 147 |
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"timeshift_cam_imu_s": 0.002458947067077895,
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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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"t_start": 0.039967570495895,
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| 150 |
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|
| 151 |
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"clock": "device",
|
| 152 |
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"calibrated": true
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| 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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"fps": 30.0,
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| 156 |
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"start_device_s": 5069.600328,
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| 157 |
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"frames": 3107,
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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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"t_start": 0.03966270490327001,
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| 163 |
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| 164 |
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"clock": "device",
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| 165 |
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"calibrated": true
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| 166 |
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},
|
| 167 |
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"left_eye": {
|
| 168 |
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"fps": 60.0,
|
| 169 |
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"start_device_s": 5069.60031,
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| 170 |
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"frames": 3001,
|
| 171 |
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"pts_gaps": 3000,
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| 172 |
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"timing": "pts (gap undecided)",
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| 173 |
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| 174 |
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"gap_test": {
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| 175 |
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"pts": {
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| 176 |
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"offset_ms": 3.6,
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| 177 |
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"corr": 0.532,
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| 178 |
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"err_ms": 0.8
|
| 179 |
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},
|
| 180 |
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"nominal": {
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| 181 |
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"offset_ms": -150.0,
|
| 182 |
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"corr": 0.058,
|
| 183 |
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"err_ms": 152.8
|
| 184 |
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}
|
| 185 |
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},
|
| 186 |
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"file": "robocap_segment1_video_left_eye.mp4",
|
| 187 |
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"t_start": 0.04030460802477459,
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| 188 |
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"t_end": 103.59029360802487,
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| 189 |
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"clock": "device",
|
| 190 |
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"calibrated": true
|
| 191 |
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},
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| 192 |
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"right_eye": {
|
| 193 |
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"fps": 30.0,
|
| 194 |
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"start_device_s": 5069.600295,
|
| 195 |
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"frames": 3107,
|
| 196 |
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"pts_gaps": 0,
|
| 197 |
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"timing": "pts",
|
| 198 |
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"timeshift_cam_imu_s": 0.002930366888236734,
|
| 199 |
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"file": "robocap_segment1_video_right_eye.mp4",
|
| 200 |
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"t_start": 0.040417990317285823,
|
| 201 |
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"t_end": 103.57378499031728,
|
| 202 |
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"clock": "device",
|
| 203 |
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"calibrated": true
|
| 204 |
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},
|
| 205 |
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"wrist_left": {
|
| 206 |
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"fps": 30.0,
|
| 207 |
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"start_device_s": 5068.678295,
|
| 208 |
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"frames": 3111,
|
| 209 |
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"pts_gaps": 0,
|
| 210 |
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"timing": "pts",
|
| 211 |
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"timeshift_cam_imu_s": null,
|
| 212 |
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"file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
|
| 213 |
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"t_start": -0.8845123765711891,
|
| 214 |
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"t_end": 102.78208962342904,
|
| 215 |
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"clock": "device",
|
| 216 |
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"calibrated": false
|
| 217 |
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},
|
| 218 |
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"wrist_right": {
|
| 219 |
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"fps": 30.0,
|
| 220 |
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"start_device_s": 5068.706062,
|
| 221 |
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"frames": 3110,
|
| 222 |
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"pts_gaps": 0,
|
| 223 |
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"timing": "pts",
|
| 224 |
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"timeshift_cam_imu_s": null,
|
| 225 |
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"file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
|
| 226 |
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"t_start": -0.8567453765706945,
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| 227 |
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|
| 228 |
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"clock": "device",
|
| 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-P04-S01-xiaobo-10p1-1.mp4",
|
| 233 |
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"frames": 3108,
|
| 234 |
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"fps": 30.0,
|
| 235 |
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"clock": "nokov (frame index)",
|
| 236 |
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"t_start": 0.0,
|
| 237 |
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"t_end": 103.56666666666666
|
| 238 |
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}
|
| 239 |
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}
|
| 240 |
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},
|
| 241 |
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"flags": [],
|
| 242 |
+
"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_UNITS"
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
+
"rig_tracker": {
|
| 264 |
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"definition": "c9205ac6e17d2d5c/20261019-morning/labels-503412/session-10284265edd25b31",
|
| 265 |
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"R_tracker0_imu0": [
|
| 266 |
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[
|
| 267 |
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-0.68021141,
|
| 268 |
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0.11114977,
|
| 269 |
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-0.72453996
|
| 270 |
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],
|
| 271 |
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[
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| 272 |
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0.73233514,
|
| 273 |
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0.14563923,
|
| 274 |
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-0.66518754
|
| 275 |
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],
|
| 276 |
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[
|
| 277 |
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0.031586,
|
| 278 |
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-0.98307423,
|
| 279 |
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-0.18046435
|
| 280 |
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]
|
| 281 |
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],
|
| 282 |
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"p_tracker0_imu0_m": [
|
| 283 |
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0.02052000085246364,
|
| 284 |
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-0.0070331751081692635,
|
| 285 |
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-0.011033499276847865
|
| 286 |
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],
|
| 287 |
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"rig_check": {
|
| 288 |
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"gyro_samples": 2663,
|
| 289 |
+
"gyro_max_deg": 2.5,
|
| 290 |
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"status": "ok",
|
| 291 |
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"dropped_marker": null,
|
| 292 |
+
"gyro_deg": 2.163
|
| 293 |
+
},
|
| 294 |
+
"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 295 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 296 |
+
},
|
| 297 |
+
"canonical": {
|
| 298 |
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"generated_at_utc": "2026-10-22T17:38:36.236752+00:00",
|
| 299 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 300 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 301 |
+
"R_canon_nokov": [
|
| 302 |
+
[
|
| 303 |
+
0.9999993023,
|
| 304 |
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0.0011813089,
|
| 305 |
+
1.2167e-06
|
| 306 |
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],
|
| 307 |
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[
|
| 308 |
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-1.2167e-06,
|
| 309 |
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0.0020598409,
|
| 310 |
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-0.9999978785
|
| 311 |
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],
|
| 312 |
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[
|
| 313 |
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-0.0011813089,
|
| 314 |
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0.9999971808,
|
| 315 |
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0.0020598409
|
| 316 |
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]
|
| 317 |
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],
|
| 318 |
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"scale_nokov_to_canon": 0.001,
|
| 319 |
+
"T_canon_nokov_mm": [
|
| 320 |
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[
|
| 321 |
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0.000999999302,
|
| 322 |
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1.181309e-06,
|
| 323 |
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1.217e-09,
|
| 324 |
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0.0
|
| 325 |
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],
|
| 326 |
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[
|
| 327 |
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-1.217e-09,
|
| 328 |
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2.059841e-06,
|
| 329 |
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-0.000999997879,
|
| 330 |
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0.0
|
| 331 |
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],
|
| 332 |
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[
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| 333 |
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-1.181309e-06,
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| 334 |
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0.000999997181,
|
| 335 |
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2.059841e-06,
|
| 336 |
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0.0
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| 337 |
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],
|
| 338 |
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[
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| 339 |
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0.0,
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| 340 |
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0.0,
|
| 341 |
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0.0,
|
| 342 |
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1.0
|
| 343 |
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]
|
| 344 |
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],
|
| 345 |
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"block": "20261019-morning",
|
| 346 |
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"block_assignment": "trc",
|
| 347 |
+
"tilt_removed_deg": 0.1360511893348655,
|
| 348 |
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"plane_status": "ok",
|
| 349 |
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"floor": {
|
| 350 |
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"sole_marker_p1_mm": 43.0,
|
| 351 |
+
"headtop_p95_mm": 1723.8
|
| 352 |
+
},
|
| 353 |
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"gravity_check": {
|
| 354 |
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"static_samples": 2735,
|
| 355 |
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"g_world_mean_m_s2": [
|
| 356 |
+
-0.0928,
|
| 357 |
+
0.0108,
|
| 358 |
+
9.77
|
| 359 |
+
],
|
| 360 |
+
"tilt_from_z_deg": 0.548,
|
| 361 |
+
"tilt_from_z_deg_before_levelling": 0.615,
|
| 362 |
+
"magnitude_m_s2": 9.7704
|
| 363 |
+
},
|
| 364 |
+
"rig_tracker_definition": "c9205ac6e17d2d5c/20261019-morning/labels-503412/session-10284265edd25b31",
|
| 365 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 366 |
+
"files": [
|
| 367 |
+
"mocap_zup.npz",
|
| 368 |
+
"tracker0_zup.npz",
|
| 369 |
+
"rig_zup.npz",
|
| 370 |
+
"cameras_zup.npz"
|
| 371 |
+
]
|
| 372 |
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