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- .gitattributes +56 -0
- actions/locomotion_primitives/P07/session_023/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/P07/session_023/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/P07/session_023/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/P07/session_023/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/P07/session_023/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/P07/session_023/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomotion_primitives/P07/session_023/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomotion_primitives/P07/session_023/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomotion_primitives/P07/session_023/scene/infer.json +36 -0
- actions/locomotion_primitives/P07/session_023/scene/views.npz +3 -0
- actions/locomotion_primitives/P07/session_023/sensors/head_imu.npz +3 -0
- actions/locomotion_primitives/P07/session_023/sensors/head_mag.npz +3 -0
- actions/locomotion_primitives/P07/session_023/sensors/wrist_imu.npz +3 -0
- actions/locomotion_primitives/P07/session_023/sensors/wrist_mag.npz +3 -0
- actions/locomotion_primitives/P07/session_023/videos/frame_timestamps.npz +3 -0
- actions/locomotion_primitives/P07/session_023/videos/head_left.mp4 +3 -0
- actions/locomotion_primitives/P07/session_023/videos/head_left_eye.mp4 +3 -0
- actions/locomotion_primitives/P07/session_023/videos/head_left_front.mp4 +3 -0
- actions/locomotion_primitives/P07/session_023/videos/head_right.mp4 +3 -0
- actions/locomotion_primitives/P07/session_023/videos/head_right_eye.mp4 +3 -0
- actions/locomotion_primitives/P07/session_023/videos/head_right_front.mp4 +3 -0
- actions/locomotion_primitives/P07/session_023/videos/third_person.mp4 +3 -0
- actions/locomotion_primitives/P07/session_023/videos/wrist_left.mp4 +3 -0
- actions/locomotion_primitives/P07/session_023/videos/wrist_right.mp4 +3 -0
- actions/locomotion_primitives/P07/session_024/cameras/poses.npz +3 -0
- actions/locomotion_primitives/P07/session_024/meta.json +514 -0
- actions/locomotion_primitives/P07/session_024/motions/head_rig.npz +3 -0
- actions/locomotion_primitives/P07/session_024/motions/markers.npz +3 -0
- actions/locomotion_primitives/P07/session_024/motions/skeleton.npz +3 -0
- actions/locomotion_primitives/P07/session_024/motions/smplx.npz +3 -0
- actions/locomotion_primitives/P07/session_024/raw/audio.wav +3 -0
- actions/locomotion_primitives/P07/session_024/raw/manifest.json +261 -0
- actions/locomotion_primitives/P07/session_024/raw/mocap/Body0.bvh +0 -0
- actions/locomotion_primitives/P07/session_024/raw/mocap/Body0.csv +3 -0
- actions/locomotion_primitives/P07/session_024/raw/mocap/Body0.trc +3 -0
- actions/locomotion_primitives/P07/session_024/raw/mocap/Tracker0.csv +0 -0
- actions/locomotion_primitives/P07/session_024/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/P07/session_024/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/P07/session_024/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/P07/session_024/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/P07/session_024/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/P07/session_024/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomotion_primitives/P07/session_024/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomotion_primitives/P07/session_024/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomotion_primitives/P07/session_024/scene/infer.json +36 -0
- actions/locomotion_primitives/P07/session_024/scene/views.npz +3 -0
- actions/locomotion_primitives/P07/session_024/sensors/head_imu.npz +3 -0
- actions/locomotion_primitives/P07/session_024/sensors/head_mag.npz +3 -0
- actions/locomotion_primitives/P07/session_024/sensors/wrist_imu.npz +3 -0
.gitattributes
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@@ -28142,3 +28142,59 @@ actions/locomotion_primitives/P07/session_022/raw/sensors/robowrist_mag_left.db
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actions/locomotion_primitives/P07/session_022/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_023/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_023/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_022/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_023/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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| 28144 |
actions/locomotion_primitives/P07/session_023/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_023/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_023/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_023/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_023/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_023/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_023/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_023/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_024/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_024/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_024/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_024/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_024/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_024/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_024/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_023/raw/mocap/Tracker0.trc
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actions/locomotion_primitives/P07/session_023/raw/sensors/robocap_imu_left.db
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| 1 |
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{
|
| 2 |
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|
| 3 |
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"session": "EgoMotionActions/20261013/P07/20261013_105005_session191",
|
| 4 |
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"session_id": "20261013_105005_session191",
|
| 5 |
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"primitive": "P07",
|
| 6 |
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"batch": "20261013",
|
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"participant": "lvaoshan",
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"main": "e17c9efadb69e7b1",
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| 14 |
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"generated_at_utc": "2026-10-14T07:38:06.496883+00:00",
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| 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,
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"first_solved_frame": 0,
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"duration_s": 89.025,
|
| 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": -1.176322,
|
| 28 |
+
"rate": 0.0,
|
| 29 |
+
"global_lag_s": -1.175,
|
| 30 |
+
"peak_corr": 0.9925,
|
| 31 |
+
"reference_imu_first_sample_s": 37641.407325754,
|
| 32 |
+
"windows": {
|
| 33 |
+
"n_windows": 7,
|
| 34 |
+
"window_corr_median": 0.9976895062459941,
|
| 35 |
+
"drift_ppm": -2.1809918191976116,
|
| 36 |
+
"drift_se_ppm": 10.475599092179966,
|
| 37 |
+
"drift_ms_over_take": -0.19414462177224073,
|
| 38 |
+
"lag_scatter_ms": 0.4684830335029897,
|
| 39 |
+
"lag_range_ms": 1.1718625728476262
|
| 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 |
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[
|
| 56 |
+
0.0,
|
| 57 |
+
1.0,
|
| 58 |
+
0.0
|
| 59 |
+
]
|
| 60 |
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],
|
| 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 |
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"quaternions": "xyzw, Nokov global"
|
| 65 |
+
},
|
| 66 |
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"calibration": {
|
| 67 |
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"device": "e17c9efadb69e7b1",
|
| 68 |
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"status": "ok",
|
| 69 |
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"date": "2026-09-08"
|
| 70 |
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},
|
| 71 |
+
"streams": {
|
| 72 |
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"sensors": {
|
| 73 |
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"imu_head_right": {
|
| 74 |
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|
| 75 |
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| 76 |
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"t_start": -1.1882913620513378,
|
| 77 |
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"t_end": 89.76273074394592
|
| 78 |
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},
|
| 79 |
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"imu_head_left": {
|
| 80 |
+
"n_acc": 18213,
|
| 81 |
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"n_gyro": 18208,
|
| 82 |
+
"t_start": -1.0751021950502277,
|
| 83 |
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|
| 84 |
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},
|
| 85 |
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"imu_wrist_right": {
|
| 86 |
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"n_acc": 17325,
|
| 87 |
+
"n_gyro": 17325,
|
| 88 |
+
"t_start": 0.25886713494289637,
|
| 89 |
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|
| 90 |
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},
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| 91 |
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"imu_wrist_left": {
|
| 92 |
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"n_acc": 16898,
|
| 93 |
+
"n_gyro": 16910,
|
| 94 |
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"t_start": 0.32725316094617796,
|
| 95 |
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|
| 96 |
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},
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| 97 |
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|
| 98 |
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"n": 9109,
|
| 99 |
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|
| 100 |
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|
| 101 |
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},
|
| 102 |
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| 103 |
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"n": 8561,
|
| 104 |
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|
| 105 |
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| 106 |
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},
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| 107 |
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| 109 |
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|
| 110 |
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|
| 111 |
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}
|
| 112 |
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},
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| 114 |
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| 116 |
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| 118 |
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| 119 |
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| 120 |
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| 121 |
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"file": "robocap_segment1_video_left.mp4",
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| 122 |
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| 123 |
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|
| 125 |
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"calibrated": true
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| 126 |
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},
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| 127 |
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"right": {
|
| 128 |
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"fps": 30.0,
|
| 129 |
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"start_device_s": 37642.620939,
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| 130 |
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| 131 |
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| 132 |
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"timing": "pts",
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| 133 |
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|
| 134 |
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"file": "robocap_segment1_video_right.mp4",
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| 135 |
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"t_start": 0.03923978059062705,
|
| 136 |
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| 137 |
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"clock": "device",
|
| 138 |
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"calibrated": true
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| 139 |
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},
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| 140 |
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"left_front": {
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| 141 |
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"fps": 30.0,
|
| 142 |
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| 143 |
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"frames": 2670,
|
| 144 |
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"pts_gaps": 0,
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| 145 |
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"timing": "pts",
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| 146 |
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| 147 |
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"file": "robocap_segment1_video_left_front.mp4",
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| 148 |
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"t_start": 0.039140939180263956,
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| 149 |
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| 150 |
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"clock": "device",
|
| 151 |
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"calibrated": true
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| 152 |
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},
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| 153 |
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"right_front": {
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| 154 |
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"fps": 30.0,
|
| 155 |
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| 156 |
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|
| 157 |
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| 158 |
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"timing": "pts",
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| 159 |
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| 160 |
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"file": "robocap_segment1_video_right_front.mp4",
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| 161 |
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"t_start": 0.0390823805926388,
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| 162 |
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| 163 |
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| 164 |
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"calibrated": true
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| 165 |
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},
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| 166 |
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"left_eye": {
|
| 167 |
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"fps": 30.0,
|
| 168 |
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| 169 |
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"frames": 2670,
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| 170 |
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| 171 |
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| 172 |
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| 173 |
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"file": "robocap_segment1_video_left_eye.mp4",
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| 174 |
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"t_start": 0.03897774824761058,
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| 175 |
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| 176 |
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| 177 |
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| 178 |
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},
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| 179 |
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"right_eye": {
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| 180 |
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|
| 181 |
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"start_device_s": 37642.620917,
|
| 182 |
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"frames": 2670,
|
| 183 |
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|
| 184 |
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"timing": "pts",
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| 185 |
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| 186 |
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"file": "robocap_segment1_video_right_eye.mp4",
|
| 187 |
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"t_start": 0.038985753707287074,
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| 188 |
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|
| 189 |
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"clock": "device",
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| 190 |
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| 191 |
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},
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| 192 |
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"wrist_left": {
|
| 193 |
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"fps": 30.0,
|
| 194 |
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"start_device_s": 37642.897194,
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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": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
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| 200 |
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| 204 |
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},
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| 205 |
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| 206 |
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| 207 |
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| 208 |
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| 209 |
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| 210 |
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|
| 211 |
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| 212 |
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"file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
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| 213 |
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| 217 |
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},
|
| 218 |
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"third_person": {
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| 219 |
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"file": "mocap/mocap-P07-S02-lvaoshan-10p1-1.mp4",
|
| 220 |
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"frames": 2671,
|
| 221 |
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"fps": 30.0,
|
| 222 |
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"clock": "nokov (frame index)",
|
| 223 |
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|
| 224 |
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|
| 225 |
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}
|
| 226 |
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}
|
| 227 |
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},
|
| 228 |
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"flags": [],
|
| 229 |
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"sanity": {
|
| 230 |
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"status": {
|
| 231 |
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"structure": "FAIL",
|
| 232 |
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"markers": "WARN",
|
| 233 |
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"timing": "WARN"
|
| 234 |
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},
|
| 235 |
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"verdict": "READY_WITH_WARNINGS",
|
| 236 |
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"issues": [
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| 237 |
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"FAIL S_REPORT_EMPTY",
|
| 238 |
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"WARN M_SPIKES",
|
| 239 |
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"WARN T_UNITS"
|
| 240 |
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]
|
| 241 |
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},
|
| 242 |
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"canonical": {
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| 243 |
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"generated_at_utc": "2026-10-14T12:23:27.338624+00:00",
|
| 244 |
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"generated_by": "scripts/canonicalise_dataset.py",
|
| 245 |
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"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 246 |
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"R_canon_nokov": [
|
| 247 |
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[
|
| 248 |
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0.9998816061,
|
| 249 |
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|
| 250 |
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| 251 |
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],
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[
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| 253 |
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0.000107871,
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| 254 |
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0.0140194608,
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-0.9999017167
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],
|
| 257 |
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[
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0.0153870789,
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0.9997833228,
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0.0140194608
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| 261 |
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]
|
| 262 |
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],
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| 263 |
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"scale_nokov_to_canon": 0.001,
|
| 264 |
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"T_canon_nokov_mm": [
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| 265 |
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[
|
| 266 |
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0.000999881606,
|
| 267 |
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-1.5387079e-05,
|
| 268 |
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-1.07871e-07,
|
| 269 |
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0.0
|
| 270 |
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],
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| 271 |
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[
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| 272 |
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1.07871e-07,
|
| 273 |
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1.4019461e-05,
|
| 274 |
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-0.000999901717,
|
| 275 |
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0.0
|
| 276 |
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],
|
| 277 |
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[
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1.5387079e-05,
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| 279 |
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0.000999783323,
|
| 280 |
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1.4019461e-05,
|
| 281 |
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0.0
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| 282 |
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],
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| 283 |
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[
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| 284 |
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0.0,
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| 285 |
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0.0,
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| 286 |
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0.0,
|
| 287 |
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1.0
|
| 288 |
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]
|
| 289 |
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],
|
| 290 |
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"block": "20261013-afternoon",
|
| 291 |
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"block_assignment": "trc",
|
| 292 |
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"tilt_removed_deg": 1.1927573277331252,
|
| 293 |
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"plane_status": "ok",
|
| 294 |
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"floor": {
|
| 295 |
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"sole_marker_p1_mm": 34.2,
|
| 296 |
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"headtop_p95_mm": 1690.4
|
| 297 |
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},
|
| 298 |
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"gravity_check": {
|
| 299 |
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"static_samples": 3138,
|
| 300 |
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"g_world_mean_m_s2": [
|
| 301 |
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-0.0933,
|
| 302 |
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0.0798,
|
| 303 |
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9.7649
|
| 304 |
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],
|
| 305 |
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"tilt_from_z_deg": 0.72,
|
| 306 |
+
"tilt_from_z_deg_before_levelling": 0.473,
|
| 307 |
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"magnitude_m_s2": 9.7657
|
| 308 |
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},
|
| 309 |
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"rig_tracker_definition": "e17c9efadb69e7b1/20261013-afternoon/labels-530412/session-5d81229ed4ceeb3f",
|
| 310 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 311 |
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"files": [
|
| 312 |
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"mocap_zup.npz",
|
| 313 |
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"tracker0_zup.npz",
|
| 314 |
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"rig_zup.npz",
|
| 315 |
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"cameras_zup.npz"
|
| 316 |
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]
|
| 317 |
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},
|
| 318 |
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"rig_tracker": {
|
| 319 |
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"definition": "e17c9efadb69e7b1/20261013-afternoon/labels-530412/session-5d81229ed4ceeb3f",
|
| 320 |
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"R_tracker0_imu0": [
|
| 321 |
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[
|
| 322 |
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-0.51661013,
|
| 323 |
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0.05947755,
|
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],
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| 326 |
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[
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0.83504728,
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],
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[
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-0.18923536,
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|
| 334 |
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0.04615401
|
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]
|
| 336 |
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],
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0.017238896329957443,
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0.007400626047910561
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| 341 |
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],
|
| 342 |
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"rig_check": {
|
| 343 |
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"gyro_samples": 3248,
|
| 344 |
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"gyro_max_deg": 2.5,
|
| 345 |
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"status": "ok",
|
| 346 |
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"dropped_marker": null,
|
| 347 |
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"gyro_deg": 0.799
|
| 348 |
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},
|
| 349 |
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"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 350 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 351 |
+
},
|
| 352 |
+
"rig_calibration_repair": {
|
| 353 |
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"version": 2,
|
| 354 |
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"applied_at_utc": "2026-10-18T19:11:14.897882+00:00",
|
| 355 |
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"generated_by": "scripts/correct_processed_rig.py",
|
| 356 |
+
"remaining_gyro_frame_deg": 0.9086282574516706
|
| 357 |
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},
|
| 358 |
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"smplx": {
|
| 359 |
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"generated_at_utc": "2026-10-22T20:27:18.911070+00:00",
|
| 360 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 361 |
+
"file": "smplx.npz",
|
| 362 |
+
"gender": "female",
|
| 363 |
+
"n_betas": 16,
|
| 364 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 365 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 366 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 367 |
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"hands": {
|
| 368 |
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"observed": false,
|
| 369 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 370 |
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"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 371 |
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"hand_marker_offsets_m": {
|
| 372 |
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"left": {
|
| 373 |
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"LHandIn": [
|
| 374 |
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0.08157169073820114,
|
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0.0007909127161838114,
|
| 376 |
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0.03882327675819397
|
| 377 |
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],
|
| 378 |
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"LHandOut": [
|
| 379 |
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0.0755547285079956,
|
| 380 |
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0.01200888305902481,
|
| 381 |
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-0.025785058736801147
|
| 382 |
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]
|
| 383 |
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},
|
| 384 |
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"right": {
|
| 385 |
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"RHandIn": [
|
| 386 |
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|
| 387 |
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|
| 388 |
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0.01311226561665535
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| 389 |
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],
|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 966680
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actions/locomotion_primitives/P07/session_024/sensors/head_mag.npz
ADDED
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@@ -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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| 3 |
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size 83876
|
actions/locomotion_primitives/P07/session_024/sensors/wrist_imu.npz
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:6051668c27b0c79f449173f14788184314be755b0f19fe640258e8ac4a44e55f
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| 3 |
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