Upload folder using huggingface_hub (part 278)
Browse files- actions/locomanipulation/LM06/session_010/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM06/session_010/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM06/session_010/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM06/session_010/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM06/session_010/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM06/session_010/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM06/session_010/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM06/session_010/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM06/session_010/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM06/session_010/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM06/session_010/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM06/session_010/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM06/session_011/cameras/poses.npz +3 -0
- actions/locomanipulation/LM06/session_011/meta.json +506 -0
- actions/locomanipulation/LM06/session_011/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM06/session_011/motions/markers.npz +3 -0
- actions/locomanipulation/LM06/session_011/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM06/session_011/motions/smplx.npz +3 -0
- actions/locomanipulation/LM06/session_011/raw/audio.wav +3 -0
- actions/locomanipulation/LM06/session_011/raw/manifest.json +396 -0
actions/locomanipulation/LM06/session_010/sensors/wrist_imu.npz
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actions/locomanipulation/LM06/session_010/sensors/wrist_mag.npz
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actions/locomanipulation/LM06/session_010/videos/frame_timestamps.npz
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actions/locomanipulation/LM06/session_010/videos/head_left.mp4
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actions/locomanipulation/LM06/session_010/videos/head_left_eye.mp4
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actions/locomanipulation/LM06/session_010/videos/head_left_front.mp4
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actions/locomanipulation/LM06/session_010/videos/head_right.mp4
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actions/locomanipulation/LM06/session_010/videos/wrist_left.mp4
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actions/locomanipulation/LM06/session_010/videos/wrist_right.mp4
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actions/locomanipulation/LM06/session_011/cameras/poses.npz
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actions/locomanipulation/LM06/session_011/meta.json
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| 1 |
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{
|
| 2 |
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"schema_version": 1,
|
| 3 |
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"session": "EgoMotionActions/20261026/LM06/20261026_061351_session20",
|
| 4 |
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"session_id": "20261026_061351_session20",
|
| 5 |
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"primitive": "LM06",
|
| 6 |
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"batch": "20261026",
|
| 7 |
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"participant": "liujiaxin",
|
| 8 |
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"participant_source": "manifest",
|
| 9 |
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"device_ids": {
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| 10 |
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"main": "c9205ac6e17d2d5c",
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| 11 |
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"left": "452031d7af00ef6f",
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| 12 |
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"right": "60a6f081bbe60b0d"
|
| 13 |
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},
|
| 14 |
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"generated_at_utc": "2026-10-27T05:26:34.854444+00:00",
|
| 15 |
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"generated_by": "scripts/sync_dataset.py",
|
| 16 |
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"time_base": {
|
| 17 |
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"definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
|
| 18 |
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"mocap_rate_hz": 120.0,
|
| 19 |
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"mocap_rate_fix": null,
|
| 20 |
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"first_solved_frame": 0,
|
| 21 |
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"duration_s": 126.725,
|
| 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": -0.084401,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.085,
|
| 31 |
+
"peak_corr": 0.9901,
|
| 32 |
+
"reference_imu_first_sample_s": 4817.402839873,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 11,
|
| 35 |
+
"window_corr_median": 0.9882828624092149,
|
| 36 |
+
"drift_ppm": 7.241607726339211,
|
| 37 |
+
"drift_se_ppm": 6.8312095104064765,
|
| 38 |
+
"drift_ms_over_take": 0.9176323923892836,
|
| 39 |
+
"lag_scatter_ms": 0.6480654368006451,
|
| 40 |
+
"lag_range_ms": 2.653746142323332
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"units": {
|
| 44 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
+
"y_up_to_z_up": [
|
| 46 |
+
[
|
| 47 |
+
1.0,
|
| 48 |
+
0.0,
|
| 49 |
+
0.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
0.0,
|
| 53 |
+
0.0,
|
| 54 |
+
-1.0
|
| 55 |
+
],
|
| 56 |
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[
|
| 57 |
+
0.0,
|
| 58 |
+
1.0,
|
| 59 |
+
0.0
|
| 60 |
+
]
|
| 61 |
+
],
|
| 62 |
+
"acc": "m/s^2 (8192 LSB/g)",
|
| 63 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 64 |
+
"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 65 |
+
"quaternions": "xyzw, Nokov global"
|
| 66 |
+
},
|
| 67 |
+
"calibration": {
|
| 68 |
+
"device": "c9205ac6e17d2d5c",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
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"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
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"n_acc": 25788,
|
| 76 |
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"n_gyro": 25783,
|
| 77 |
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"t_start": -0.09582785895662511,
|
| 78 |
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"t_end": 126.93278390904408
|
| 79 |
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},
|
| 80 |
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"imu_head_left": {
|
| 81 |
+
"n_acc": 25632,
|
| 82 |
+
"n_gyro": 25627,
|
| 83 |
+
"t_start": 0.007845949043541786,
|
| 84 |
+
"t_end": 127.10271802304334
|
| 85 |
+
},
|
| 86 |
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"imu_wrist_right": {
|
| 87 |
+
"n_acc": 25588,
|
| 88 |
+
"n_gyro": 25599,
|
| 89 |
+
"t_start": -0.9157064909565523,
|
| 90 |
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"t_end": 125.53578992904414
|
| 91 |
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},
|
| 92 |
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"imu_wrist_left": {
|
| 93 |
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"n_acc": 25611,
|
| 94 |
+
"n_gyro": 25622,
|
| 95 |
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"t_start": -0.95071742695626,
|
| 96 |
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"t_end": 125.53367613304391
|
| 97 |
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},
|
| 98 |
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"mag_head": {
|
| 99 |
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"n": 12718,
|
| 100 |
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"t_start": 0.08999613404404243,
|
| 101 |
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"t_end": 127.25999402804365
|
| 102 |
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},
|
| 103 |
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"mag_wrist_right": {
|
| 104 |
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"n": 12644,
|
| 105 |
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"t_start": -0.8975228149562898,
|
| 106 |
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"t_end": 125.53228841904394
|
| 107 |
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},
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| 108 |
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"mag_wrist_left": {
|
| 109 |
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"n": 12647,
|
| 110 |
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"t_start": -0.932233021956279,
|
| 111 |
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|
| 112 |
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}
|
| 113 |
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},
|
| 114 |
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"videos": {
|
| 115 |
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"left": {
|
| 116 |
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"fps": 30.0,
|
| 117 |
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"start_device_s": 4817.52427,
|
| 118 |
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"frames": 3801,
|
| 119 |
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"pts_gaps": 0,
|
| 120 |
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"timing": "pts",
|
| 121 |
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"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
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"file": "robocap_segment1_video_left.mp4",
|
| 123 |
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"t_start": 0.03965794069091515,
|
| 124 |
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|
| 125 |
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"clock": "device",
|
| 126 |
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"calibrated": true
|
| 127 |
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},
|
| 128 |
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"right": {
|
| 129 |
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"fps": 30.0,
|
| 130 |
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"start_device_s": 4817.524252,
|
| 131 |
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"frames": 3801,
|
| 132 |
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"pts_gaps": 0,
|
| 133 |
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"timing": "pts",
|
| 134 |
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"timeshift_cam_imu_s": 0.0024181146161434135,
|
| 135 |
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"file": "robocap_segment1_video_right.mp4",
|
| 136 |
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"t_start": 0.0394296196603247,
|
| 137 |
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"t_end": 126.70622961966029,
|
| 138 |
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"clock": "device",
|
| 139 |
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"calibrated": true
|
| 140 |
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},
|
| 141 |
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"left_front": {
|
| 142 |
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"fps": 30.0,
|
| 143 |
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"start_device_s": 4817.524265,
|
| 144 |
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"frames": 3801,
|
| 145 |
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"pts_gaps": 0,
|
| 146 |
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"timing": "pts",
|
| 147 |
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"timeshift_cam_imu_s": 0.002458947067077895,
|
| 148 |
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"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
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"t_start": 0.03948345211057329,
|
| 150 |
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"t_end": 126.70630545211071,
|
| 151 |
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"clock": "device",
|
| 152 |
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"calibrated": true
|
| 153 |
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},
|
| 154 |
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"right_front": {
|
| 155 |
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"fps": 30.0,
|
| 156 |
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"start_device_s": 4817.524276,
|
| 157 |
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"frames": 3801,
|
| 158 |
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"pts_gaps": 0,
|
| 159 |
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"timing": "pts",
|
| 160 |
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"timeshift_cam_imu_s": 0.0021420814739499558,
|
| 161 |
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"file": "robocap_segment1_video_right_front.mp4",
|
| 162 |
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"t_start": 0.03917758651760976,
|
| 163 |
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| 164 |
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"clock": "device",
|
| 165 |
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"calibrated": true
|
| 166 |
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},
|
| 167 |
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"left_eye": {
|
| 168 |
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"fps": 30.0,
|
| 169 |
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"start_device_s": 4817.524258,
|
| 170 |
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"frames": 3801,
|
| 171 |
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"pts_gaps": 0,
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| 172 |
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"timing": "pts",
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| 173 |
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"timeshift_cam_imu_s": 0.002801984596191448,
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| 174 |
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"file": "robocap_segment1_video_left_eye.mp4",
|
| 175 |
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"t_start": 0.03981948964002384,
|
| 176 |
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"t_end": 126.70663048964008,
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| 177 |
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"clock": "device",
|
| 178 |
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"calibrated": true
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| 179 |
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},
|
| 180 |
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"right_eye": {
|
| 181 |
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"fps": 30.0,
|
| 182 |
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"start_device_s": 4817.524242,
|
| 183 |
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"frames": 3801,
|
| 184 |
+
"pts_gaps": 0,
|
| 185 |
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"timing": "pts",
|
| 186 |
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"timeshift_cam_imu_s": 0.002930366888236734,
|
| 187 |
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"file": "robocap_segment1_video_right_eye.mp4",
|
| 188 |
+
"t_start": 0.039931871932196536,
|
| 189 |
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"t_end": 126.70670987193199,
|
| 190 |
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"clock": "device",
|
| 191 |
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"calibrated": true
|
| 192 |
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},
|
| 193 |
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"wrist_left": {
|
| 194 |
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"fps": 30.0,
|
| 195 |
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"start_device_s": 4816.574566,
|
| 196 |
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"frames": 3793,
|
| 197 |
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"pts_gaps": 0,
|
| 198 |
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"timing": "pts",
|
| 199 |
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"timeshift_cam_imu_s": null,
|
| 200 |
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"file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
|
| 201 |
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"t_start": -0.9126744949559796,
|
| 202 |
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"t_end": 125.48739050504383,
|
| 203 |
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"clock": "device",
|
| 204 |
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"calibrated": false
|
| 205 |
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},
|
| 206 |
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"wrist_right": {
|
| 207 |
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"fps": 30.0,
|
| 208 |
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"start_device_s": 4816.623097,
|
| 209 |
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"frames": 3791,
|
| 210 |
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"pts_gaps": 0,
|
| 211 |
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"timing": "pts",
|
| 212 |
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"timeshift_cam_imu_s": null,
|
| 213 |
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"file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
|
| 214 |
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"t_start": -0.8641434949565227,
|
| 215 |
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"t_end": 125.46899450504344,
|
| 216 |
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"clock": "device",
|
| 217 |
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"calibrated": false
|
| 218 |
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},
|
| 219 |
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"third_person": {
|
| 220 |
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"file": "mocap/mocap-LM06-S07-liujiaxin-01p2-1.mp4",
|
| 221 |
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"frames": 3802,
|
| 222 |
+
"fps": 30.0,
|
| 223 |
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"clock": "nokov (frame index)",
|
| 224 |
+
"t_start": 0.0,
|
| 225 |
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"t_end": 126.7
|
| 226 |
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}
|
| 227 |
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}
|
| 228 |
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},
|
| 229 |
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"flags": [
|
| 230 |
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"single person exported as Body1 (no Body0); used as the main body"
|
| 231 |
+
],
|
| 232 |
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"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
|
| 233 |
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"rig_tracker": {
|
| 234 |
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"definition": "c9205ac6e17d2d5c/20261026-morning/labels-235140/session-d4b99b216b74e4de",
|
| 235 |
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"R_tracker0_imu0": [
|
| 236 |
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[
|
| 237 |
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-0.6194142,
|
| 238 |
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-0.00141696,
|
| 239 |
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-0.78506308
|
| 240 |
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],
|
| 241 |
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[
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| 242 |
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0.78023428,
|
| 243 |
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0.1096455,
|
| 244 |
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-0.61580218
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| 245 |
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],
|
| 246 |
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[
|
| 247 |
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0.0869512,
|
| 248 |
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-0.99396975,
|
| 249 |
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-0.06681042
|
| 250 |
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]
|
| 251 |
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],
|
| 252 |
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"p_tracker0_imu0_m": [
|
| 253 |
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-0.17953621714675563,
|
| 254 |
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-0.0015654825097885057,
|
| 255 |
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0.007000471931456059
|
| 256 |
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],
|
| 257 |
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"rig_check": {
|
| 258 |
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"gyro_samples": 8759,
|
| 259 |
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"gyro_max_deg": 2.5,
|
| 260 |
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"status": "dropped_marker",
|
| 261 |
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"dropped_marker": 1,
|
| 262 |
+
"gyro_deg": 2.173
|
| 263 |
+
},
|
| 264 |
+
"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 265 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 266 |
+
},
|
| 267 |
+
"canonical": {
|
| 268 |
+
"generated_at_utc": "2026-10-27T06:43:10.213896+00:00",
|
| 269 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 270 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 271 |
+
"R_canon_nokov": [
|
| 272 |
+
[
|
| 273 |
+
0.9999318201,
|
| 274 |
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0.0116771196,
|
| 275 |
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-7.9583e-06
|
| 276 |
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],
|
| 277 |
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[
|
| 278 |
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7.9583e-06,
|
| 279 |
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-0.0013630091,
|
| 280 |
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-0.9999990711
|
| 281 |
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],
|
| 282 |
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[
|
| 283 |
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-0.0116771196,
|
| 284 |
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0.9999308912,
|
| 285 |
+
-0.0013630091
|
| 286 |
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]
|
| 287 |
+
],
|
| 288 |
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"scale_nokov_to_canon": 0.001,
|
| 289 |
+
"T_canon_nokov_mm": [
|
| 290 |
+
[
|
| 291 |
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0.00099993182,
|
| 292 |
+
1.167712e-05,
|
| 293 |
+
-7.958e-09,
|
| 294 |
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0.0
|
| 295 |
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],
|
| 296 |
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[
|
| 297 |
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7.958e-09,
|
| 298 |
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-1.363009e-06,
|
| 299 |
+
-0.000999999071,
|
| 300 |
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0.0
|
| 301 |
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],
|
| 302 |
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[
|
| 303 |
+
-1.167712e-05,
|
| 304 |
+
0.000999930891,
|
| 305 |
+
-1.363009e-06,
|
| 306 |
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0.0
|
| 307 |
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],
|
| 308 |
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[
|
| 309 |
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0.0,
|
| 310 |
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0.0,
|
| 311 |
+
0.0,
|
| 312 |
+
1.0
|
| 313 |
+
]
|
| 314 |
+
],
|
| 315 |
+
"block": "20261026-morning",
|
| 316 |
+
"block_assignment": "trc",
|
| 317 |
+
"tilt_removed_deg": 0.6736075582400546,
|
| 318 |
+
"plane_status": "ok",
|
| 319 |
+
"floor": {
|
| 320 |
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"sole_marker_p1_mm": 26.3,
|
| 321 |
+
"headtop_p95_mm": 1647.3
|
| 322 |
+
},
|
| 323 |
+
"gravity_check": {
|
| 324 |
+
"static_samples": 233,
|
| 325 |
+
"g_world_mean_m_s2": [
|
| 326 |
+
0.0639,
|
| 327 |
+
-0.087,
|
| 328 |
+
9.7125
|
| 329 |
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],
|
| 330 |
+
"tilt_from_z_deg": 0.637,
|
| 331 |
+
"tilt_from_z_deg_before_levelling": 0.524,
|
| 332 |
+
"magnitude_m_s2": 9.7131
|
| 333 |
+
},
|
| 334 |
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"rig_tracker_definition": "c9205ac6e17d2d5c/20261026-morning/labels-235140/session-d4b99b216b74e4de",
|
| 335 |
+
"rig_check": {
|
| 336 |
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"status": "dropped_marker",
|
| 337 |
+
"dropped_marker": 1,
|
| 338 |
+
"gyro_deg": 2.173
|
| 339 |
+
},
|
| 340 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 341 |
+
"files": [
|
| 342 |
+
"mocap_zup.npz",
|
| 343 |
+
"tracker0_zup.npz",
|
| 344 |
+
"rig_zup.npz",
|
| 345 |
+
"cameras_zup.npz"
|
| 346 |
+
]
|
| 347 |
+
},
|
| 348 |
+
"smplx": {
|
| 349 |
+
"generated_at_utc": "2026-10-27T08:00:19.789873+00:00",
|
| 350 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 351 |
+
"file": "smplx.npz",
|
| 352 |
+
"gender": "female",
|
| 353 |
+
"n_betas": 16,
|
| 354 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 355 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 356 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 357 |
+
"hands": {
|
| 358 |
+
"observed": false,
|
| 359 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 360 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 361 |
+
"hand_marker_offsets_m": {
|
| 362 |
+
"left": {
|
| 363 |
+
"LHandIn": [
|
| 364 |
+
0.06404632329940796,
|
| 365 |
+
0.011375239118933678,
|
| 366 |
+
0.02583123929798603
|
| 367 |
+
],
|
| 368 |
+
"LHandOut": [
|
| 369 |
+
0.05786200240254402,
|
| 370 |
+
0.010906071402132511,
|
| 371 |
+
-0.031589098274707794
|
| 372 |
+
]
|
| 373 |
+
},
|
| 374 |
+
"right": {
|
| 375 |
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"RHandIn": [
|
| 376 |
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-0.1113419383764267,
|
| 377 |
+
-0.03339073807001114,
|
| 378 |
+
0.008925016038119793
|
| 379 |
+
],
|
| 380 |
+
"RHandOut": [
|
| 381 |
+
-0.10380671918392181,
|
| 382 |
+
0.02360907755792141,
|
| 383 |
+
-0.0004997813375666738
|
| 384 |
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]
|
| 385 |
+
}
|
| 386 |
+
}
|
| 387 |
+
},
|
| 388 |
+
"marker_rmse_mm": {
|
| 389 |
+
"median_frame": 6.39,
|
| 390 |
+
"p95_frame": 10.79
|
| 391 |
+
},
|
| 392 |
+
"worst_markers": [
|
| 393 |
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|
| 394 |
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"RElbow 13mm",
|
| 395 |
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"RUArmHigh 12mm",
|
| 396 |
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"RKneeIn 12mm",
|
| 397 |
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"RElbowIn 11mm"
|
| 398 |
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],
|
| 399 |
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"valid_fraction": 0.9998,
|
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"qc": {
|
| 401 |
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|
| 402 |
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"median": 13.6,
|
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"p5": 10.2
|
| 404 |
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},
|
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|
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|
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},
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"generated_at_utc": "2026-10-28T06:50:38.768936+00:00",
|
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
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}
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},
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"release": {
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"release_path": "actions/locomanipulation/LM06/session_011",
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"family": "locomanipulation",
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}
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}
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| 1 |
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{
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| 2 |
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|
| 4 |
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|
| 5 |
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"session_id": "20261026_061351_session20",
|
| 6 |
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"upload_batch_id": "20261026",
|
| 7 |
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"dataset_path": "EgoMotionActions/20261026/LM06/20261026_061351_session20",
|
| 8 |
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"segment": "auto/all",
|
| 9 |
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"duration_s": 126.666844,
|
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|
| 11 |
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"main": "c9205ac6e17d2d5c",
|
| 12 |
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"left": "452031d7af00ef6f",
|
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|
| 14 |
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},
|
| 15 |
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"mocap_rigid_names": [
|
| 16 |
+
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|
| 17 |
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|
| 18 |
+
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|
| 19 |
+
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|
| 20 |
+
"LittleBox6",
|
| 21 |
+
"Table",
|
| 22 |
+
"Table2",
|
| 23 |
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"Tracker0"
|
| 24 |
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],
|
| 25 |
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"objects": [
|
| 26 |
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|
| 27 |
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"LittleBox4",
|
| 28 |
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"LittleBox5",
|
| 29 |
+
"LittleBox6",
|
| 30 |
+
"Table0",
|
| 31 |
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"Table2"
|
| 32 |
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],
|
| 33 |
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"options": {
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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"mocap_files": [
|
| 40 |
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|
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|
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|
| 43 |
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"mocap-LM06-S07-liujiaxin-01p2/mocap-LM06-S07-liujiaxin-01p2-Body1.trc",
|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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