Upload folder using huggingface_hub (part 754)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +54 -0
- actions/locomotion_primitives/P23/session_038/raw/mocap/Body0.bvh +0 -0
- actions/locomotion_primitives/P23/session_038/raw/mocap/Body0.csv +3 -0
- actions/locomotion_primitives/P23/session_038/raw/mocap/Body0.trc +3 -0
- actions/locomotion_primitives/P23/session_038/raw/mocap/Tracker0.csv +0 -0
- actions/locomotion_primitives/P23/session_038/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/P23/session_038/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/P23/session_038/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/P23/session_038/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/P23/session_038/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/P23/session_038/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomotion_primitives/P23/session_038/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomotion_primitives/P23/session_038/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomotion_primitives/P23/session_038/scene/infer.json +36 -0
- actions/locomotion_primitives/P23/session_038/scene/views.npz +3 -0
- actions/locomotion_primitives/P23/session_038/sensors/head_imu.npz +3 -0
- actions/locomotion_primitives/P23/session_038/sensors/head_mag.npz +3 -0
- actions/locomotion_primitives/P23/session_038/sensors/wrist_imu.npz +3 -0
- actions/locomotion_primitives/P23/session_038/sensors/wrist_mag.npz +3 -0
- actions/locomotion_primitives/P23/session_038/videos/frame_timestamps.npz +3 -0
- actions/locomotion_primitives/P23/session_038/videos/head_left.mp4 +3 -0
- actions/locomotion_primitives/P23/session_038/videos/head_left_eye.mp4 +3 -0
- actions/locomotion_primitives/P23/session_038/videos/head_left_front.mp4 +3 -0
- actions/locomotion_primitives/P23/session_038/videos/head_right.mp4 +3 -0
- actions/locomotion_primitives/P23/session_038/videos/head_right_eye.mp4 +3 -0
- actions/locomotion_primitives/P23/session_038/videos/head_right_front.mp4 +3 -0
- actions/locomotion_primitives/P23/session_038/videos/third_person.mp4 +3 -0
- actions/locomotion_primitives/P23/session_038/videos/wrist_left.mp4 +3 -0
- actions/locomotion_primitives/P23/session_038/videos/wrist_right.mp4 +3 -0
- actions/locomotion_primitives/P23/session_039/cameras/poses.npz +3 -0
- actions/locomotion_primitives/P23/session_039/meta.json +529 -0
- actions/locomotion_primitives/P23/session_039/motions/head_rig.npz +3 -0
- actions/locomotion_primitives/P23/session_039/motions/markers.npz +3 -0
- actions/locomotion_primitives/P23/session_039/motions/skeleton.npz +3 -0
- actions/locomotion_primitives/P23/session_039/motions/smplx.npz +3 -0
- actions/locomotion_primitives/P23/session_039/raw/audio.wav +3 -0
- actions/locomotion_primitives/P23/session_039/raw/manifest.json +261 -0
- actions/locomotion_primitives/P23/session_039/raw/mocap/Body0.bvh +0 -0
- actions/locomotion_primitives/P23/session_039/raw/mocap/Body0.csv +3 -0
- actions/locomotion_primitives/P23/session_039/raw/mocap/Body0.trc +3 -0
- actions/locomotion_primitives/P23/session_039/raw/mocap/Tracker0.csv +0 -0
- actions/locomotion_primitives/P23/session_039/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/P23/session_039/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/P23/session_039/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/P23/session_039/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/P23/session_039/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/P23/session_039/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomotion_primitives/P23/session_039/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomotion_primitives/P23/session_039/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomotion_primitives/P23/session_039/scene/infer.json +36 -0
.gitattributes
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+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261017/P23/20261017_022249_session22",
|
| 4 |
+
"session_id": "20261017_022249_session22",
|
| 5 |
+
"primitive": "P23",
|
| 6 |
+
"batch": "20261017",
|
| 7 |
+
"participant": "huruoxuan",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
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"main": "c9205ac6e17d2d5c",
|
| 11 |
+
"left": "452031d7af00ef6f",
|
| 12 |
+
"right": "a85418f7d807dff9"
|
| 13 |
+
},
|
| 14 |
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"generated_at_utc": "2026-10-22T16:00:37.257714+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 |
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"first_solved_frame": 0,
|
| 21 |
+
"duration_s": 101.79166666666667,
|
| 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": -0.089405,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.9225,
|
| 32 |
+
"reference_imu_first_sample_s": 6227.25405938,
|
| 33 |
+
"windows": {
|
| 34 |
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"n_windows": 9,
|
| 35 |
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"window_corr_median": 0.9826107661702503,
|
| 36 |
+
"drift_ppm": -702.9725246193755,
|
| 37 |
+
"drift_se_ppm": 411.11571190331097,
|
| 38 |
+
"drift_ms_over_take": -71.55088679750877,
|
| 39 |
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"lag_scatter_ms": 28.08454972657105,
|
| 40 |
+
"lag_range_ms": 106.95782436823032
|
| 41 |
+
}
|
| 42 |
+
},
|
| 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 |
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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 |
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"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 |
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"date": "2026-10-21"
|
| 71 |
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},
|
| 72 |
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"streams": {
|
| 73 |
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"sensors": {
|
| 74 |
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"imu_head_right": {
|
| 75 |
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"n_acc": 20727,
|
| 76 |
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|
| 77 |
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"t_start": -0.10083380900843594,
|
| 78 |
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|
| 79 |
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},
|
| 80 |
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"imu_head_left": {
|
| 81 |
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"n_acc": 20602,
|
| 82 |
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"n_gyro": 20595,
|
| 83 |
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"t_start": 0.006833283992164346,
|
| 84 |
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|
| 85 |
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},
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| 86 |
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"imu_wrist_right": {
|
| 87 |
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"n_acc": 20187,
|
| 88 |
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"n_gyro": 20186,
|
| 89 |
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"t_start": -0.8143459400077697,
|
| 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": 20645,
|
| 94 |
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"n_gyro": 20645,
|
| 95 |
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"t_start": -0.816245296008419,
|
| 96 |
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|
| 97 |
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},
|
| 98 |
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|
| 99 |
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"n": 10224,
|
| 100 |
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"t_start": 0.08929620099232152,
|
| 101 |
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|
| 102 |
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},
|
| 103 |
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"mag_wrist_right": {
|
| 104 |
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"n": 10194,
|
| 105 |
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"t_start": -0.7954160020078413,
|
| 106 |
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|
| 107 |
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},
|
| 108 |
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|
| 109 |
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"n": 10196,
|
| 110 |
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"t_start": -0.8083772020079047,
|
| 111 |
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|
| 112 |
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}
|
| 113 |
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},
|
| 114 |
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"videos": {
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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": 6227.380771,
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| 118 |
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| 119 |
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|
| 120 |
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| 121 |
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|
| 122 |
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"file": "robocap_segment1_video_left.mp4",
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| 123 |
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"t_start": 0.039934752639310594,
|
| 124 |
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| 125 |
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|
| 126 |
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"calibrated": true
|
| 127 |
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},
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| 128 |
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| 129 |
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"fps": 30.0,
|
| 130 |
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"start_device_s": 6227.380753,
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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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"clock": "device",
|
| 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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"calibrated": true
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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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| 158 |
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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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| 164 |
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| 165 |
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| 166 |
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},
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| 167 |
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"left_eye": {
|
| 168 |
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"fps": 60.0,
|
| 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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},
|
| 180 |
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"nominal": {
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| 181 |
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|
| 182 |
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"corr": -0.043,
|
| 183 |
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"err_ms": 141.2
|
| 184 |
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}
|
| 185 |
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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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"t_start": 0.04009730158784833,
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| 188 |
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| 189 |
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| 190 |
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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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"timing": "pts",
|
| 198 |
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|
| 199 |
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"file": "robocap_segment1_video_right_eye.mp4",
|
| 200 |
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"t_start": 0.040209683880021024,
|
| 201 |
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|
| 202 |
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|
| 203 |
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"calibrated": true
|
| 204 |
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},
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| 205 |
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"wrist_left": {
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| 206 |
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"fps": 30.0,
|
| 207 |
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"start_device_s": 6226.511426,
|
| 208 |
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|
| 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": -0.8320386830079949,
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| 214 |
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| 215 |
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|
| 216 |
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|
| 217 |
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},
|
| 218 |
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"wrist_right": {
|
| 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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"t_start": -0.822752683008475,
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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-P23-S03-huruoxuan-03p1-1.mp4",
|
| 233 |
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"frames": 3054,
|
| 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": 101.76666666666667
|
| 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 |
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},
|
| 248 |
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"verdict": "READY_WITH_WARNINGS",
|
| 249 |
+
"issues": [
|
| 250 |
+
"WARN M_SPIKES",
|
| 251 |
+
"WARN M_TRACKER_GEOM",
|
| 252 |
+
"WARN S_CALIB",
|
| 253 |
+
"WARN S_REPORT_TIMING",
|
| 254 |
+
"WARN S_VIDEO_FPS",
|
| 255 |
+
"WARN T_FRAMES",
|
| 256 |
+
"WARN T_LAG_OUTLIER",
|
| 257 |
+
"WARN T_LAG_SCATTER",
|
| 258 |
+
"WARN T_PTS",
|
| 259 |
+
"WARN T_RIG_TRACKER",
|
| 260 |
+
"WARN T_UNITS"
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
+
"rig_tracker": {
|
| 264 |
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"definition": "c9205ac6e17d2d5c/20261017-morning/labels-325410/session-e05ce7af656c7370",
|
| 265 |
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"R_tracker0_imu0": [
|
| 266 |
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[
|
| 267 |
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-0.63366482,
|
| 268 |
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-0.07931323,
|
| 269 |
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|
| 270 |
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],
|
| 271 |
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[
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| 272 |
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0.74412528,
|
| 273 |
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0.20950709,
|
| 274 |
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-0.63433773
|
| 275 |
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],
|
| 276 |
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[
|
| 277 |
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0.21153362,
|
| 278 |
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-0.97458514,
|
| 279 |
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-0.07373829
|
| 280 |
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]
|
| 281 |
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],
|
| 282 |
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"p_tracker0_imu0_m": [
|
| 283 |
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0.01541453583030253,
|
| 284 |
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-0.006740923795794357,
|
| 285 |
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-0.01616226645200517
|
| 286 |
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],
|
| 287 |
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"rig_check": {
|
| 288 |
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"gyro_samples": 6145,
|
| 289 |
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"gyro_max_deg": 2.5,
|
| 290 |
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"status": "ok",
|
| 291 |
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"dropped_marker": null,
|
| 292 |
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"gyro_deg": 1.535
|
| 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": "2026-10-22T17:38:17.963993+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 |
+
0.9999941336,
|
| 304 |
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-0.0034252867,
|
| 305 |
+
-1.38614e-05
|
| 306 |
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],
|
| 307 |
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[
|
| 308 |
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1.38614e-05,
|
| 309 |
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0.0080934184,
|
| 310 |
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-0.9999672477
|
| 311 |
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],
|
| 312 |
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[
|
| 313 |
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0.0034252867,
|
| 314 |
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0.9999613812,
|
| 315 |
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0.0080934184
|
| 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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0.000999994134,
|
| 322 |
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-3.425287e-06,
|
| 323 |
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-1.3861e-08,
|
| 324 |
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0.0
|
| 325 |
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],
|
| 326 |
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[
|
| 327 |
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1.3861e-08,
|
| 328 |
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8.093418e-06,
|
| 329 |
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-0.000999967248,
|
| 330 |
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0.0
|
| 331 |
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],
|
| 332 |
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[
|
| 333 |
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3.425287e-06,
|
| 334 |
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0.000999961381,
|
| 335 |
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8.093418e-06,
|
| 336 |
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0.0
|
| 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 |
+
"block": "20261017-morning",
|
| 346 |
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"block_assignment": "trc",
|
| 347 |
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"tilt_removed_deg": 0.5035448256779972,
|
| 348 |
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"plane_status": "ok",
|
| 349 |
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"floor": {
|
| 350 |
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"sole_marker_p1_mm": 30.9,
|
| 351 |
+
"headtop_p95_mm": 1609.0
|
| 352 |
+
},
|
| 353 |
+
"gravity_check": {
|
| 354 |
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"static_samples": 1393,
|
| 355 |
+
"g_world_mean_m_s2": [
|
| 356 |
+
-0.1141,
|
| 357 |
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-0.0183,
|
| 358 |
+
9.7688
|
| 359 |
+
],
|
| 360 |
+
"tilt_from_z_deg": 0.678,
|
| 361 |
+
"tilt_from_z_deg_before_levelling": 0.741,
|
| 362 |
+
"magnitude_m_s2": 9.7695
|
| 363 |
+
},
|
| 364 |
+
"rig_tracker_definition": "c9205ac6e17d2d5c/20261017-morning/labels-325410/session-e05ce7af656c7370",
|
| 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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| 3 |
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| 8 |
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| 9 |
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| 10 |
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| 12 |
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[
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| 13 |
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| 14 |
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0.0,
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| 15 |
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| 16 |
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],
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| 17 |
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[
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| 18 |
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0.0,
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| 19 |
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| 20 |
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196.0
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| 21 |
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],
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[
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| 23 |
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0.0,
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| 24 |
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