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- .gitattributes +64 -0
- actions/locomotion_primitives/P06/session_024/raw/mocap/Body0.csv +3 -0
- actions/locomotion_primitives/P06/session_024/raw/mocap/Body0.trc +3 -0
- actions/locomotion_primitives/P06/session_024/raw/mocap/Tracker0.csv +0 -0
- actions/locomotion_primitives/P06/session_024/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/P06/session_024/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/P06/session_024/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/P06/session_024/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/P06/session_024/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/P06/session_024/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomotion_primitives/P06/session_024/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomotion_primitives/P06/session_024/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomotion_primitives/P06/session_024/scene/infer.json +36 -0
- actions/locomotion_primitives/P06/session_024/scene/views.npz +3 -0
- actions/locomotion_primitives/P06/session_024/sensors/head_imu.npz +3 -0
- actions/locomotion_primitives/P06/session_024/sensors/head_mag.npz +3 -0
- actions/locomotion_primitives/P06/session_024/sensors/wrist_imu.npz +3 -0
- actions/locomotion_primitives/P06/session_024/sensors/wrist_mag.npz +3 -0
- actions/locomotion_primitives/P06/session_024/videos/frame_timestamps.npz +3 -0
- actions/locomotion_primitives/P06/session_024/videos/head_left.mp4 +3 -0
- actions/locomotion_primitives/P06/session_024/videos/head_left_eye.mp4 +3 -0
- actions/locomotion_primitives/P06/session_024/videos/head_left_front.mp4 +3 -0
- actions/locomotion_primitives/P06/session_024/videos/head_right.mp4 +3 -0
- actions/locomotion_primitives/P06/session_024/videos/head_right_eye.mp4 +3 -0
- actions/locomotion_primitives/P06/session_024/videos/head_right_front.mp4 +3 -0
- actions/locomotion_primitives/P06/session_024/videos/third_person.mp4 +3 -0
- actions/locomotion_primitives/P06/session_024/videos/wrist_left.mp4 +3 -0
- actions/locomotion_primitives/P06/session_024/videos/wrist_right.mp4 +3 -0
- actions/locomotion_primitives/P06/session_025/cameras/poses.npz +3 -0
- actions/locomotion_primitives/P06/session_025/meta.json +517 -0
- actions/locomotion_primitives/P06/session_025/motions/head_rig.npz +3 -0
- actions/locomotion_primitives/P06/session_025/motions/markers.npz +3 -0
- actions/locomotion_primitives/P06/session_025/motions/skeleton.npz +3 -0
- actions/locomotion_primitives/P06/session_025/motions/smplx.npz +3 -0
- actions/locomotion_primitives/P06/session_025/raw/audio.wav +3 -0
- actions/locomotion_primitives/P06/session_025/raw/manifest.json +261 -0
- actions/locomotion_primitives/P06/session_025/raw/mocap/Body0.bvh +0 -0
- actions/locomotion_primitives/P06/session_025/raw/mocap/Body0.csv +3 -0
- actions/locomotion_primitives/P06/session_025/raw/mocap/Body0.trc +3 -0
- actions/locomotion_primitives/P06/session_025/raw/mocap/Tracker0.csv +0 -0
- actions/locomotion_primitives/P06/session_025/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/P06/session_025/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/P06/session_025/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/P06/session_025/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/P06/session_025/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/P06/session_025/raw/sensors/robowrist_imu_right.db +0 -0
- actions/locomotion_primitives/P06/session_025/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomotion_primitives/P06/session_025/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomotion_primitives/P06/session_025/scene/infer.json +36 -0
- actions/locomotion_primitives/P06/session_025/scene/views.npz +3 -0
.gitattributes
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@@ -27922,3 +27922,67 @@ actions/locomotion_primitives/P06/session_023/raw/sensors/robowrist_imu_left.db
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actions/locomotion_primitives/P06/session_023/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P06/session_023/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P06/session_023/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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| 27922 |
actions/locomotion_primitives/P06/session_023/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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| 27923 |
actions/locomotion_primitives/P06/session_023/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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| 27924 |
actions/locomotion_primitives/P06/session_023/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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| 27925 |
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actions/locomotion_primitives/P06/session_024/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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| 27926 |
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actions/locomotion_primitives/P06/session_024/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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| 27927 |
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actions/locomotion_primitives/P06/session_024/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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| 27928 |
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actions/locomotion_primitives/P06/session_024/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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| 27929 |
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actions/locomotion_primitives/P06/session_024/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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| 27930 |
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actions/locomotion_primitives/P06/session_024/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P06/session_024/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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| 27932 |
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actions/locomotion_primitives/P06/session_024/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P06/session_024/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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| 27934 |
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actions/locomotion_primitives/P06/session_025/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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| 27935 |
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actions/locomotion_primitives/P06/session_025/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P06/session_025/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P06/session_025/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P06/session_025/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P06/session_025/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P06/session_025/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P06/session_025/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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| 27942 |
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actions/locomotion_primitives/P06/session_026/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P06/session_026/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P06/session_026/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P06/session_026/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P06/session_026/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P06/session_026/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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| 27948 |
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actions/locomotion_primitives/P06/session_026/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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| 27949 |
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actions/locomotion_primitives/P06/session_026/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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| 27950 |
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actions/locomotion_primitives/P06/session_026/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_001/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_001/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_001/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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| 27954 |
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actions/locomotion_primitives/P07/session_001/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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| 27955 |
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actions/locomotion_primitives/P07/session_001/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_001/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_001/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_001/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_001/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_002/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_002/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_002/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_002/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_002/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_002/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_002/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_002/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_002/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_003/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_003/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_003/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_003/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_003/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_003/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_003/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_003/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_003/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_004/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_004/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_004/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_004/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_004/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_004/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_004/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_004/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_004/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_005/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_005/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P06/session_024/raw/mocap/Body0.csv
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size 89139595
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actions/locomotion_primitives/P06/session_024/raw/mocap/Body0.trc
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size 19629692
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actions/locomotion_primitives/P06/session_024/raw/mocap/Tracker0.csv
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actions/locomotion_primitives/P06/session_024/raw/mocap/Tracker0.trc
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actions/locomotion_primitives/P06/session_024/raw/sensors/robocap_imu_left.db
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actions/locomotion_primitives/P06/session_024/raw/sensors/robocap_imu_right.db
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actions/locomotion_primitives/P06/session_024/raw/sensors/robocap_mag_middle.db
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actions/locomotion_primitives/P06/session_024/raw/sensors/robowrist_imu_left.db
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actions/locomotion_primitives/P06/session_024/raw/sensors/robowrist_imu_right.db
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actions/locomotion_primitives/P06/session_024/raw/sensors/robowrist_mag_left.db
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actions/locomotion_primitives/P06/session_024/raw/sensors/robowrist_mag_right.db
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actions/locomotion_primitives/P06/session_024/scene/infer.json
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261013/P06/20261013_074321_session123",
|
| 4 |
+
"session_id": "20261013_074321_session123",
|
| 5 |
+
"primitive": "P06",
|
| 6 |
+
"batch": "20261013",
|
| 7 |
+
"participant": "lvaoshan",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e17c9efadb69e7b1",
|
| 11 |
+
"left": "452031d7af00ef6f",
|
| 12 |
+
"right": "6ee5ee4472fe2ad7"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-14T07:38:05.100837+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 |
+
"first_solved_frame": 0,
|
| 20 |
+
"duration_s": 59.025,
|
| 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": -1.179888,
|
| 28 |
+
"rate": 0.0,
|
| 29 |
+
"global_lag_s": -1.18,
|
| 30 |
+
"peak_corr": 0.9895,
|
| 31 |
+
"reference_imu_first_sample_s": 26437.291550752,
|
| 32 |
+
"windows": {
|
| 33 |
+
"n_windows": 4,
|
| 34 |
+
"window_corr_median": 0.9981305127969836,
|
| 35 |
+
"drift_ppm": -66.80598106245469,
|
| 36 |
+
"drift_se_ppm": 35.36632387806912,
|
| 37 |
+
"drift_ms_over_take": -3.9426663157025335,
|
| 38 |
+
"lag_scatter_ms": 0.5591906796094875,
|
| 39 |
+
"lag_range_ms": 2.3213826266927917
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"units": {
|
| 43 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 44 |
+
"y_up_to_z_up": [
|
| 45 |
+
[
|
| 46 |
+
1.0,
|
| 47 |
+
0.0,
|
| 48 |
+
0.0
|
| 49 |
+
],
|
| 50 |
+
[
|
| 51 |
+
0.0,
|
| 52 |
+
0.0,
|
| 53 |
+
-1.0
|
| 54 |
+
],
|
| 55 |
+
[
|
| 56 |
+
0.0,
|
| 57 |
+
1.0,
|
| 58 |
+
0.0
|
| 59 |
+
]
|
| 60 |
+
],
|
| 61 |
+
"acc": "m/s^2 (8192 LSB/g)",
|
| 62 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 63 |
+
"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 64 |
+
"quaternions": "xyzw, Nokov global"
|
| 65 |
+
},
|
| 66 |
+
"calibration": {
|
| 67 |
+
"device": "e17c9efadb69e7b1",
|
| 68 |
+
"status": "ok",
|
| 69 |
+
"date": "2026-09-08"
|
| 70 |
+
},
|
| 71 |
+
"streams": {
|
| 72 |
+
"sensors": {
|
| 73 |
+
"imu_head_right": {
|
| 74 |
+
"n_acc": 12229,
|
| 75 |
+
"n_gyro": 12223,
|
| 76 |
+
"t_start": -1.191856563422251,
|
| 77 |
+
"t_end": 59.771429955581056
|
| 78 |
+
},
|
| 79 |
+
"imu_head_left": {
|
| 80 |
+
"n_acc": 12213,
|
| 81 |
+
"n_gyro": 12206,
|
| 82 |
+
"t_start": -1.0751725284207247,
|
| 83 |
+
"t_end": 59.94450774657898
|
| 84 |
+
},
|
| 85 |
+
"imu_wrist_left": {
|
| 86 |
+
"n_acc": 11050,
|
| 87 |
+
"n_gyro": 11050,
|
| 88 |
+
"t_start": 0.36881602157890603,
|
| 89 |
+
"t_end": 54.939615453578966
|
| 90 |
+
},
|
| 91 |
+
"mag_head": {
|
| 92 |
+
"n": 6111,
|
| 93 |
+
"t_start": -0.9897224454215654,
|
| 94 |
+
"t_end": 60.11027733457749
|
| 95 |
+
},
|
| 96 |
+
"mag_wrist_right": {
|
| 97 |
+
"n": 5480,
|
| 98 |
+
"t_start": 0.17584343057759844,
|
| 99 |
+
"t_end": 54.96581412258101
|
| 100 |
+
},
|
| 101 |
+
"mag_wrist_left": {
|
| 102 |
+
"n": 5457,
|
| 103 |
+
"t_start": 0.3825765035799953,
|
| 104 |
+
"t_end": 54.94255534157864
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"videos": {
|
| 108 |
+
"left": {
|
| 109 |
+
"fps": 30.0,
|
| 110 |
+
"start_device_s": 26438.509033,
|
| 111 |
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"frames": 1770,
|
| 112 |
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"pts_gaps": 0,
|
| 113 |
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"timing": "pts",
|
| 114 |
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"timeshift_cam_imu_s": 0.0023423887986386703,
|
| 115 |
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"file": "robocap_segment1_video_left.mp4",
|
| 116 |
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"t_start": 0.03993663037553352,
|
| 117 |
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"t_end": 59.006447630374254,
|
| 118 |
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"clock": "device",
|
| 119 |
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"calibrated": true
|
| 120 |
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},
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| 121 |
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"right": {
|
| 122 |
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"fps": 30.0,
|
| 123 |
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"start_device_s": 26438.508973,
|
| 124 |
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"frames": 1770,
|
| 125 |
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"pts_gaps": 0,
|
| 126 |
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"timing": "pts",
|
| 127 |
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"timeshift_cam_imu_s": 0.0019489646456461974,
|
| 128 |
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"file": "robocap_segment1_video_right.mp4",
|
| 129 |
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"t_start": 0.039483206226660794,
|
| 130 |
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"t_end": 59.00602720622564,
|
| 131 |
+
"clock": "device",
|
| 132 |
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"calibrated": true
|
| 133 |
+
},
|
| 134 |
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"left_front": {
|
| 135 |
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"fps": 30.0,
|
| 136 |
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"start_device_s": 26438.509016,
|
| 137 |
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"frames": 1770,
|
| 138 |
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"pts_gaps": 0,
|
| 139 |
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"timing": "pts",
|
| 140 |
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"timeshift_cam_imu_s": 0.0018171232386612972,
|
| 141 |
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"file": "robocap_segment1_video_left_front.mp4",
|
| 142 |
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"t_start": 0.03939436481968306,
|
| 143 |
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"t_end": 59.00591636481849,
|
| 144 |
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"clock": "device",
|
| 145 |
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"calibrated": true
|
| 146 |
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},
|
| 147 |
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"right_front": {
|
| 148 |
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"fps": 30.0,
|
| 149 |
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"start_device_s": 26438.509052,
|
| 150 |
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"frames": 1770,
|
| 151 |
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"pts_gaps": 0,
|
| 152 |
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"timing": "pts",
|
| 153 |
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"timeshift_cam_imu_s": 0.0017295646474508202,
|
| 154 |
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"file": "robocap_segment1_video_right_front.mp4",
|
| 155 |
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"t_start": 0.039342806227151694,
|
| 156 |
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"t_end": 59.005842806225786,
|
| 157 |
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"clock": "device",
|
| 158 |
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"calibrated": true
|
| 159 |
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},
|
| 160 |
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"left_eye": {
|
| 161 |
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"fps": 30.0,
|
| 162 |
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"start_device_s": 26438.508993,
|
| 163 |
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"frames": 1770,
|
| 164 |
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"pts_gaps": 0,
|
| 165 |
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"timing": "pts",
|
| 166 |
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|
| 167 |
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"file": "robocap_segment1_video_left_eye.mp4",
|
| 168 |
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"t_start": 0.039223173877045436,
|
| 169 |
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"t_end": 59.00575617387594,
|
| 170 |
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"clock": "device",
|
| 171 |
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"calibrated": true
|
| 172 |
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},
|
| 173 |
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"right_eye": {
|
| 174 |
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"fps": 30.0,
|
| 175 |
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"start_device_s": 26438.508945,
|
| 176 |
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"frames": 1770,
|
| 177 |
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"pts_gaps": 0,
|
| 178 |
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"timing": "pts",
|
| 179 |
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"timeshift_cam_imu_s": 0.0017169377622902274,
|
| 180 |
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"file": "robocap_segment1_video_right_eye.mp4",
|
| 181 |
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"t_start": 0.039223179341289605,
|
| 182 |
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"t_end": 59.00579017934078,
|
| 183 |
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"clock": "device",
|
| 184 |
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"calibrated": true
|
| 185 |
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},
|
| 186 |
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"wrist_left": {
|
| 187 |
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"fps": 30.0,
|
| 188 |
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"start_device_s": 26438.825085,
|
| 189 |
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"frames": 1638,
|
| 190 |
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"pts_gaps": 0,
|
| 191 |
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"timing": "pts",
|
| 192 |
+
"timeshift_cam_imu_s": null,
|
| 193 |
+
"file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
|
| 194 |
+
"t_start": 0.3536462415796371,
|
| 195 |
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"t_end": 54.92031324157878,
|
| 196 |
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"clock": "device",
|
| 197 |
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"calibrated": false
|
| 198 |
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},
|
| 199 |
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"wrist_right": {
|
| 200 |
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"fps": 30.0,
|
| 201 |
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"start_device_s": 26438.768806,
|
| 202 |
+
"frames": 1639,
|
| 203 |
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"pts_gaps": 0,
|
| 204 |
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"timing": "pts",
|
| 205 |
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"timeshift_cam_imu_s": null,
|
| 206 |
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"file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
|
| 207 |
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"t_start": 0.2973672415792783,
|
| 208 |
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"t_end": 54.89730224157765,
|
| 209 |
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"clock": "device",
|
| 210 |
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"calibrated": false
|
| 211 |
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},
|
| 212 |
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"third_person": {
|
| 213 |
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"file": "mocap/mocap-P06-S01-lvaoshan-10p1-1.mp4",
|
| 214 |
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"frames": 1771,
|
| 215 |
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"fps": 30.0,
|
| 216 |
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"clock": "nokov (frame index)",
|
| 217 |
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"t_start": 0.0,
|
| 218 |
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"t_end": 59.0
|
| 219 |
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}
|
| 220 |
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}
|
| 221 |
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},
|
| 222 |
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"flags": [
|
| 223 |
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"wrist_right_imu empty"
|
| 224 |
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],
|
| 225 |
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"sanity": {
|
| 226 |
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"status": {
|
| 227 |
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"structure": "FAIL",
|
| 228 |
+
"markers": "WARN",
|
| 229 |
+
"timing": "WARN"
|
| 230 |
+
},
|
| 231 |
+
"verdict": "READY_WITH_WARNINGS",
|
| 232 |
+
"issues": [
|
| 233 |
+
"FAIL S_DB_EMPTY",
|
| 234 |
+
"FAIL S_REPORT_EMPTY",
|
| 235 |
+
"WARN M_SPIKES",
|
| 236 |
+
"WARN T_EMPTY"
|
| 237 |
+
]
|
| 238 |
+
},
|
| 239 |
+
"canonical": {
|
| 240 |
+
"generated_at_utc": "2026-10-14T12:23:26.945257+00:00",
|
| 241 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 242 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 243 |
+
"R_canon_nokov": [
|
| 244 |
+
[
|
| 245 |
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0.9998816061,
|
| 246 |
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-0.0153870789,
|
| 247 |
+
-0.000107871
|
| 248 |
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],
|
| 249 |
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[
|
| 250 |
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0.000107871,
|
| 251 |
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0.0140194608,
|
| 252 |
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-0.9999017167
|
| 253 |
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],
|
| 254 |
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[
|
| 255 |
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0.0153870789,
|
| 256 |
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0.9997833228,
|
| 257 |
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0.0140194608
|
| 258 |
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]
|
| 259 |
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],
|
| 260 |
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"scale_nokov_to_canon": 0.001,
|
| 261 |
+
"T_canon_nokov_mm": [
|
| 262 |
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[
|
| 263 |
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0.000999881606,
|
| 264 |
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-1.5387079e-05,
|
| 265 |
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-1.07871e-07,
|
| 266 |
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0.0
|
| 267 |
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],
|
| 268 |
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[
|
| 269 |
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1.07871e-07,
|
| 270 |
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1.4019461e-05,
|
| 271 |
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-0.000999901717,
|
| 272 |
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0.0
|
| 273 |
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],
|
| 274 |
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[
|
| 275 |
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1.5387079e-05,
|
| 276 |
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0.000999783323,
|
| 277 |
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1.4019461e-05,
|
| 278 |
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0.0
|
| 279 |
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],
|
| 280 |
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[
|
| 281 |
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0.0,
|
| 282 |
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0.0,
|
| 283 |
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0.0,
|
| 284 |
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1.0
|
| 285 |
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]
|
| 286 |
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],
|
| 287 |
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"block": "20261013-afternoon",
|
| 288 |
+
"block_assignment": "trc",
|
| 289 |
+
"tilt_removed_deg": 1.1927573277331252,
|
| 290 |
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"plane_status": "ok",
|
| 291 |
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"floor": {
|
| 292 |
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"sole_marker_p1_mm": 36.2,
|
| 293 |
+
"headtop_p95_mm": 1692.8
|
| 294 |
+
},
|
| 295 |
+
"gravity_check": {
|
| 296 |
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"static_samples": 1248,
|
| 297 |
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"g_world_mean_m_s2": [
|
| 298 |
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-0.0353,
|
| 299 |
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0.0465,
|
| 300 |
+
9.8322
|
| 301 |
+
],
|
| 302 |
+
"tilt_from_z_deg": 0.34,
|
| 303 |
+
"tilt_from_z_deg_before_levelling": 0.86,
|
| 304 |
+
"magnitude_m_s2": 9.8324
|
| 305 |
+
},
|
| 306 |
+
"rig_tracker_definition": "e17c9efadb69e7b1/20261013-afternoon/labels-530412/session-a134ed04e7151743",
|
| 307 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 308 |
+
"files": [
|
| 309 |
+
"mocap_zup.npz",
|
| 310 |
+
"tracker0_zup.npz",
|
| 311 |
+
"rig_zup.npz",
|
| 312 |
+
"cameras_zup.npz"
|
| 313 |
+
]
|
| 314 |
+
},
|
| 315 |
+
"rig_tracker": {
|
| 316 |
+
"definition": "e17c9efadb69e7b1/20261013-afternoon/labels-530412/session-a134ed04e7151743",
|
| 317 |
+
"R_tracker0_imu0": [
|
| 318 |
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[
|
| 319 |
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-0.51658926,
|
| 320 |
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0.05946359,
|
| 321 |
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-0.85416604
|
| 322 |
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],
|
| 323 |
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[
|
| 324 |
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0.83507331,
|
| 325 |
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-0.18541859,
|
| 326 |
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-0.5179503
|
| 327 |
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],
|
| 328 |
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[
|
| 329 |
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-0.18917745,
|
| 330 |
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-0.98085882,
|
| 331 |
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0.04612879
|
| 332 |
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]
|
| 333 |
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],
|
| 334 |
+
"p_tracker0_imu0_m": [
|
| 335 |
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-0.17727249867255626,
|
| 336 |
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0.0172439416331872,
|
| 337 |
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0.00740694793246989
|
| 338 |
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],
|
| 339 |
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"rig_check": {
|
| 340 |
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"gyro_samples": 2058,
|
| 341 |
+
"gyro_max_deg": 2.5,
|
| 342 |
+
"status": "ok",
|
| 343 |
+
"dropped_marker": null,
|
| 344 |
+
"gyro_deg": 1.115
|
| 345 |
+
},
|
| 346 |
+
"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 347 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 348 |
+
},
|
| 349 |
+
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|
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|
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|
| 1 |
+
{
|
| 2 |
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"model": "facebook/map-anything",
|
| 3 |
+
"views": 118,
|
| 4 |
+
"windows": 3,
|
| 5 |
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"cams": "left_front,right_front",
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| 6 |
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"stride_s": 1.0,
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| 7 |
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"size": [
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| 8 |
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|
| 9 |
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| 10 |
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| 11 |
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"K": [
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| 12 |
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[
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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[
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| 18 |
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| 19 |
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| 20 |
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|
| 21 |
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| 22 |
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[
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| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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"pitch_deg": -20.0,
|
| 29 |
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"hfov_deg": 80.0,
|
| 30 |
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"pose_agreement_window_aligned": {
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"trans_median_m": 0.0648,
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| 32 |
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"trans_p95_m": 0.3418,
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| 33 |
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"rot_median_deg": 0.443,
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| 34 |
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"rot_p95_deg": 0.784
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| 35 |
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}
|
| 36 |
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}
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actions/locomotion_primitives/P06/session_025/scene/views.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:9d400b2f6faefcffed056a4347dc1e534d3e323886541499cbc745d6a7e31685
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size 133269416
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