Upload folder using huggingface_hub (part 69)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +54 -0
- actions/human_human_locomanipulation/HH08/session_007/raw/mocap/Body1.csv +3 -0
- actions/human_human_locomanipulation/HH08/session_007/raw/mocap/Body1.trc +3 -0
- actions/human_human_locomanipulation/HH08/session_007/raw/mocap/Tracker0.csv +0 -0
- actions/human_human_locomanipulation/HH08/session_007/raw/mocap/Tracker0.trc +0 -0
- actions/human_human_locomanipulation/HH08/session_007/raw/sensors/robocap_imu_left.db +3 -0
- actions/human_human_locomanipulation/HH08/session_007/raw/sensors/robocap_imu_right.db +3 -0
- actions/human_human_locomanipulation/HH08/session_007/raw/sensors/robocap_mag_middle.db +3 -0
- actions/human_human_locomanipulation/HH08/session_007/raw/sensors/robowrist_imu_left.db +3 -0
- actions/human_human_locomanipulation/HH08/session_007/raw/sensors/robowrist_imu_right.db +3 -0
- actions/human_human_locomanipulation/HH08/session_007/raw/sensors/robowrist_mag_left.db +3 -0
- actions/human_human_locomanipulation/HH08/session_007/raw/sensors/robowrist_mag_right.db +3 -0
- actions/human_human_locomanipulation/HH08/session_007/scene/infer.json +36 -0
- actions/human_human_locomanipulation/HH08/session_007/scene/views.npz +3 -0
- actions/human_human_locomanipulation/HH08/session_007/sensors/head_imu.npz +3 -0
- actions/human_human_locomanipulation/HH08/session_007/sensors/head_mag.npz +3 -0
- actions/human_human_locomanipulation/HH08/session_007/sensors/wrist_imu.npz +3 -0
- actions/human_human_locomanipulation/HH08/session_007/sensors/wrist_mag.npz +3 -0
- actions/human_human_locomanipulation/HH08/session_007/videos/frame_timestamps.npz +3 -0
- actions/human_human_locomanipulation/HH08/session_007/videos/head_left.mp4 +3 -0
- actions/human_human_locomanipulation/HH08/session_007/videos/head_left_eye.mp4 +3 -0
- actions/human_human_locomanipulation/HH08/session_007/videos/head_left_front.mp4 +3 -0
- actions/human_human_locomanipulation/HH08/session_007/videos/head_right.mp4 +3 -0
- actions/human_human_locomanipulation/HH08/session_007/videos/head_right_eye.mp4 +3 -0
- actions/human_human_locomanipulation/HH08/session_007/videos/head_right_front.mp4 +3 -0
- actions/human_human_locomanipulation/HH08/session_007/videos/third_person.mp4 +3 -0
- actions/human_human_locomanipulation/HH08/session_007/videos/wrist_left.mp4 +3 -0
- actions/human_human_locomanipulation/HH08/session_007/videos/wrist_right.mp4 +3 -0
- actions/human_human_locomanipulation/HH08/session_008/cameras/poses.npz +3 -0
- actions/human_human_locomanipulation/HH08/session_008/meta.json +532 -0
- actions/human_human_locomanipulation/HH08/session_008/motions/head_rig.npz +3 -0
- actions/human_human_locomanipulation/HH08/session_008/motions/markers.npz +3 -0
- actions/human_human_locomanipulation/HH08/session_008/motions/markers_body1.npz +3 -0
- actions/human_human_locomanipulation/HH08/session_008/motions/skeleton.npz +3 -0
- actions/human_human_locomanipulation/HH08/session_008/motions/skeleton_body1.npz +3 -0
- actions/human_human_locomanipulation/HH08/session_008/motions/smplx.npz +3 -0
- actions/human_human_locomanipulation/HH08/session_008/raw/audio.wav +3 -0
- actions/human_human_locomanipulation/HH08/session_008/raw/manifest.json +294 -0
- actions/human_human_locomanipulation/HH08/session_008/raw/mocap/Body0.bvh +0 -0
- actions/human_human_locomanipulation/HH08/session_008/raw/mocap/Body0.csv +3 -0
- actions/human_human_locomanipulation/HH08/session_008/raw/mocap/Body0.trc +3 -0
- actions/human_human_locomanipulation/HH08/session_008/raw/mocap/Body1.bvh +0 -0
- actions/human_human_locomanipulation/HH08/session_008/raw/mocap/Body1.csv +3 -0
- actions/human_human_locomanipulation/HH08/session_008/raw/mocap/Body1.trc +3 -0
- actions/human_human_locomanipulation/HH08/session_008/raw/mocap/Tracker0.csv +0 -0
- actions/human_human_locomanipulation/HH08/session_008/raw/mocap/Tracker0.trc +0 -0
- actions/human_human_locomanipulation/HH08/session_008/raw/sensors/robocap_imu_left.db +3 -0
- actions/human_human_locomanipulation/HH08/session_008/raw/sensors/robocap_imu_right.db +3 -0
- actions/human_human_locomanipulation/HH08/session_008/raw/sensors/robocap_mag_middle.db +3 -0
- actions/human_human_locomanipulation/HH08/session_008/raw/sensors/robowrist_imu_left.db +3 -0
.gitattributes
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@@ -3210,3 +3210,57 @@ actions/human_human_locomanipulation/HH08/session_006/raw/sensors/robowrist_mag_
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actions/human_human_locomanipulation/HH08/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/human_human_locomanipulation/HH08/session_007/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/human_human_locomanipulation/HH08/session_007/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/human_human_locomanipulation/HH08/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/human_human_locomanipulation/HH08/session_007/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/human_human_locomanipulation/HH08/session_007/raw/mocap/Body1.trc filter=lfs diff=lfs merge=lfs -text
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actions/human_human_locomanipulation/HH08/session_007/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/human_human_locomanipulation/HH08/session_008/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/human_human_locomanipulation/HH08/session_007/raw/mocap/Body1.csv
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actions/human_human_locomanipulation/HH08/session_007/raw/mocap/Body1.trc
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actions/human_human_locomanipulation/HH08/session_007/raw/mocap/Tracker0.trc
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actions/human_human_locomanipulation/HH08/session_007/raw/sensors/robocap_imu_left.db
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actions/human_human_locomanipulation/HH08/session_007/raw/sensors/robowrist_mag_right.db
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actions/human_human_locomanipulation/HH08/session_007/scene/infer.json
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{
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"model": "facebook/map-anything",
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"views": 168,
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"windows": 4,
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"cams": "left_front,right_front",
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"stride_s": 1.0,
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261024/HH08/20261024_071647_session3",
|
| 4 |
+
"session_id": "20261024_071647_session3",
|
| 5 |
+
"primitive": "HH08",
|
| 6 |
+
"batch": "20261024",
|
| 7 |
+
"participant": "daihaoxiang",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "c9205ac6e17d2d5c",
|
| 11 |
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"left": "cc5681142208e29a",
|
| 12 |
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"right": "a85418f7d807dff9"
|
| 13 |
+
},
|
| 14 |
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"generated_at_utc": "2026-10-26T05:02:37.584566+00:00",
|
| 15 |
+
"generated_by": "scripts/sync_dataset.py",
|
| 16 |
+
"time_base": {
|
| 17 |
+
"definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
|
| 18 |
+
"mocap_rate_hz": 120.0,
|
| 19 |
+
"mocap_rate_fix": null,
|
| 20 |
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"first_solved_frame": 0,
|
| 21 |
+
"duration_s": 130.95833333333334,
|
| 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": -0.090354,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.9665,
|
| 32 |
+
"reference_imu_first_sample_s": 1974.443457546,
|
| 33 |
+
"windows": {
|
| 34 |
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"n_windows": 12,
|
| 35 |
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"window_corr_median": 0.9784230119414754,
|
| 36 |
+
"drift_ppm": -250.82269719361918,
|
| 37 |
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"drift_se_ppm": 150.4515241894776,
|
| 38 |
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"drift_ms_over_take": -32.84523219750443,
|
| 39 |
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"lag_scatter_ms": 16.42381284833089,
|
| 40 |
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"lag_range_ms": 67.84289452069606
|
| 41 |
+
}
|
| 42 |
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},
|
| 43 |
+
"units": {
|
| 44 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
+
"y_up_to_z_up": [
|
| 46 |
+
[
|
| 47 |
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1.0,
|
| 48 |
+
0.0,
|
| 49 |
+
0.0
|
| 50 |
+
],
|
| 51 |
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[
|
| 52 |
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0.0,
|
| 53 |
+
0.0,
|
| 54 |
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-1.0
|
| 55 |
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],
|
| 56 |
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[
|
| 57 |
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0.0,
|
| 58 |
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1.0,
|
| 59 |
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0.0
|
| 60 |
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]
|
| 61 |
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],
|
| 62 |
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"acc": "m/s^2 (8192 LSB/g)",
|
| 63 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 64 |
+
"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 65 |
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"quaternions": "xyzw, Nokov global"
|
| 66 |
+
},
|
| 67 |
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"calibration": {
|
| 68 |
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"device": "c9205ac6e17d2d5c",
|
| 69 |
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"status": "ok",
|
| 70 |
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"date": "2026-10-21"
|
| 71 |
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},
|
| 72 |
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"streams": {
|
| 73 |
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"sensors": {
|
| 74 |
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"imu_head_right": {
|
| 75 |
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"n_acc": 26642,
|
| 76 |
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"n_gyro": 26637,
|
| 77 |
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"t_start": -0.09724852675422804,
|
| 78 |
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"t_end": 131.13421697024606
|
| 79 |
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},
|
| 80 |
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"imu_head_left": {
|
| 81 |
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"n_acc": 26477,
|
| 82 |
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"n_gyro": 26472,
|
| 83 |
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"t_start": 0.016741246245956826,
|
| 84 |
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"t_end": 131.29802964824594
|
| 85 |
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},
|
| 86 |
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"imu_wrist_right": {
|
| 87 |
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"n_acc": 25898,
|
| 88 |
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"n_gyro": 25912,
|
| 89 |
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"t_start": -0.8081634237540667,
|
| 90 |
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"t_end": 129.96365355024582
|
| 91 |
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},
|
| 92 |
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"imu_wrist_left": {
|
| 93 |
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"n_acc": 25846,
|
| 94 |
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"n_gyro": 25846,
|
| 95 |
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"t_start": -0.8708233667540382,
|
| 96 |
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"t_end": 129.96289758324602
|
| 97 |
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},
|
| 98 |
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"mag_head": {
|
| 99 |
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"n": 13137,
|
| 100 |
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"t_start": 0.09854668124593521,
|
| 101 |
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"t_end": 131.45854566124572
|
| 102 |
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},
|
| 103 |
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"mag_wrist_right": {
|
| 104 |
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"n": 13077,
|
| 105 |
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"t_start": -0.7993919157541851,
|
| 106 |
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"t_end": 129.96023181924593
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| 107 |
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},
|
| 108 |
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"mag_wrist_left": {
|
| 109 |
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"n": 13082,
|
| 110 |
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"t_start": -0.8522317117541289,
|
| 111 |
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| 112 |
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}
|
| 113 |
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},
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| 114 |
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"videos": {
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| 115 |
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"left": {
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| 116 |
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"fps": 30.0,
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| 117 |
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"start_device_s": 1974.571281,
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| 118 |
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"frames": 3928,
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| 119 |
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"pts_gaps": 0,
|
| 120 |
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"timing": "pts",
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| 121 |
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"timeshift_cam_imu_s": 0.0026284356473863946,
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| 122 |
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"file": "robocap_segment1_video_left.mp4",
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| 123 |
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"t_start": 0.040097427893343446,
|
| 124 |
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"t_end": 130.94006442789296,
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| 125 |
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"clock": "device",
|
| 126 |
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"calibrated": true
|
| 127 |
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},
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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": 1974.571252,
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| 131 |
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"frames": 3928,
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| 132 |
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"pts_gaps": 0,
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| 133 |
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"timing": "pts",
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| 134 |
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"timeshift_cam_imu_s": 0.0024181146161434135,
|
| 135 |
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"file": "robocap_segment1_video_right.mp4",
|
| 136 |
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"t_start": 0.03985810686198496,
|
| 137 |
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"t_end": 130.93981410686175,
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| 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": 1974.571271,
|
| 144 |
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"frames": 3928,
|
| 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",
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| 149 |
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"t_start": 0.039917939312900524,
|
| 150 |
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"t_end": 130.93987393931312,
|
| 151 |
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"clock": "device",
|
| 152 |
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"calibrated": true
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| 153 |
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},
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| 154 |
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"right_front": {
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| 155 |
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"fps": 30.0,
|
| 156 |
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"start_device_s": 1974.571291,
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| 157 |
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"frames": 3928,
|
| 158 |
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"pts_gaps": 0,
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| 159 |
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"timing": "pts",
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| 160 |
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| 161 |
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"file": "robocap_segment1_video_right_front.mp4",
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| 162 |
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"t_start": 0.03962107371980059,
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| 163 |
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| 164 |
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"clock": "device",
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| 165 |
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"calibrated": true
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| 166 |
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},
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| 167 |
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"left_eye": {
|
| 168 |
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"fps": 60.0,
|
| 169 |
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"start_device_s": 1974.571262,
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| 170 |
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"frames": 3808,
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| 171 |
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"pts_gaps": 3807,
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| 172 |
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"timing": "pts (gap undecided)",
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| 173 |
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"timeshift_cam_imu_s": 0.002801984596191448,
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| 174 |
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"gap_test": {
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| 175 |
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"pts": {
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| 176 |
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"offset_ms": 2.2,
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| 177 |
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"corr": 0.85,
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| 178 |
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"err_ms": 0.6
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| 179 |
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},
|
| 180 |
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"nominal": {
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| 181 |
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"offset_ms": 51.8,
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| 182 |
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"corr": 0.026,
|
| 183 |
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"err_ms": 49.0
|
| 184 |
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}
|
| 185 |
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},
|
| 186 |
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"file": "robocap_segment1_video_left_eye.mp4",
|
| 187 |
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"t_start": 0.04025197684190138,
|
| 188 |
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"t_end": 130.95685197684216,
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| 189 |
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"clock": "device",
|
| 190 |
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"calibrated": true
|
| 191 |
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},
|
| 192 |
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"right_eye": {
|
| 193 |
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"fps": 30.0,
|
| 194 |
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"start_device_s": 1974.571238,
|
| 195 |
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"frames": 3928,
|
| 196 |
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"pts_gaps": 0,
|
| 197 |
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"timing": "pts",
|
| 198 |
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"timeshift_cam_imu_s": 0.002930366888236734,
|
| 199 |
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"file": "robocap_segment1_video_right_eye.mp4",
|
| 200 |
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"t_start": 0.04035635913409427,
|
| 201 |
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"t_end": 130.94031235913454,
|
| 202 |
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"clock": "device",
|
| 203 |
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"calibrated": true
|
| 204 |
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},
|
| 205 |
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"wrist_left": {
|
| 206 |
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"fps": 30.0,
|
| 207 |
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"start_device_s": 1973.660352,
|
| 208 |
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"frames": 3925,
|
| 209 |
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"pts_gaps": 0,
|
| 210 |
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"timing": "pts",
|
| 211 |
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|
| 212 |
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"file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
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| 213 |
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"t_start": -0.8734600077540191,
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"clock": "device",
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"calibrated": false
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| 217 |
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},
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"wrist_right": {
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"fps": 30.0,
|
| 220 |
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"start_device_s": 1973.722173,
|
| 221 |
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"frames": 3923,
|
| 222 |
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"pts_gaps": 0,
|
| 223 |
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"timing": "pts",
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| 224 |
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"timeshift_cam_imu_s": null,
|
| 225 |
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"file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
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| 226 |
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"t_start": -0.8116390077540101,
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| 227 |
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"t_end": 129.92130399224598,
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| 228 |
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"clock": "device",
|
| 229 |
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"calibrated": false
|
| 230 |
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},
|
| 231 |
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"third_person": {
|
| 232 |
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"file": "mocap/mocap-HH08-S01-daihaoxiang-01p-1.mp4",
|
| 233 |
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"frames": 3929,
|
| 234 |
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"fps": 30.0,
|
| 235 |
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"clock": "nokov (frame index)",
|
| 236 |
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"t_start": 0.0,
|
| 237 |
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"t_end": 130.93333333333334
|
| 238 |
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}
|
| 239 |
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},
|
| 240 |
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"mocap_body1": {
|
| 241 |
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"file": "mocap_body1.npz",
|
| 242 |
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"frames": 15716,
|
| 243 |
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"solved_fraction": 0.9844,
|
| 244 |
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"note": "second person (no ego cameras), Body1 of the same take, same time base as mocap.npz"
|
| 245 |
+
}
|
| 246 |
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},
|
| 247 |
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"flags": [],
|
| 248 |
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"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
|
| 249 |
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"rig_tracker": {
|
| 250 |
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"definition": "c9205ac6e17d2d5c/20261024-afternoon/labels-053142/session-afc98f08021d64e1",
|
| 251 |
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"R_tracker0_imu0": [
|
| 252 |
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[
|
| 253 |
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-0.64854984,
|
| 254 |
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0.05141986,
|
| 255 |
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-0.75943341
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| 256 |
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],
|
| 257 |
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[
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| 258 |
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| 259 |
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| 260 |
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| 261 |
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],
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| 262 |
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[
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| 263 |
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-0.07370838,
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| 264 |
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-0.99726933,
|
| 265 |
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-0.00457695
|
| 266 |
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]
|
| 267 |
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],
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| 268 |
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| 269 |
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| 270 |
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|
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| 272 |
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],
|
| 273 |
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"rig_check": {
|
| 274 |
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"gyro_samples": 7101,
|
| 275 |
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|
| 276 |
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"status": "ok",
|
| 277 |
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"dropped_marker": null,
|
| 278 |
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"gyro_deg": 2.061
|
| 279 |
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},
|
| 280 |
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"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 281 |
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"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 282 |
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},
|
| 283 |
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"canonical": {
|
| 284 |
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"generated_at_utc": "2026-10-26T10:26:12.709546+00:00",
|
| 285 |
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"generated_by": "scripts/canonicalise_dataset.py",
|
| 286 |
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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)",
|
| 287 |
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"R_canon_nokov": [
|
| 288 |
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[
|
| 289 |
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0.9999934948,
|
| 290 |
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0.0036069732,
|
| 291 |
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5.0842e-06
|
| 292 |
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],
|
| 293 |
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[
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| 294 |
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-5.0842e-06,
|
| 295 |
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0.0028190824,
|
| 296 |
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-0.9999960264
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| 297 |
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],
|
| 298 |
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[
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| 299 |
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-0.0036069732,
|
| 300 |
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0.9999895212,
|
| 301 |
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0.0028190824
|
| 302 |
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]
|
| 303 |
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],
|
| 304 |
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"scale_nokov_to_canon": 0.001,
|
| 305 |
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"T_canon_nokov_mm": [
|
| 306 |
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[
|
| 307 |
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0.000999993495,
|
| 308 |
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3.606973e-06,
|
| 309 |
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5.084e-09,
|
| 310 |
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0.0
|
| 311 |
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],
|
| 312 |
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[
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| 313 |
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-5.084e-09,
|
| 314 |
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2.819082e-06,
|
| 315 |
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-0.000999996026,
|
| 316 |
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0.0
|
| 317 |
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],
|
| 318 |
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[
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| 319 |
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-3.606973e-06,
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| 320 |
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|
| 321 |
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2.819082e-06,
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| 322 |
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| 323 |
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],
|
| 324 |
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[
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| 325 |
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| 326 |
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| 327 |
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|
| 328 |
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1.0
|
| 329 |
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]
|
| 330 |
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],
|
| 331 |
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"block": "20261024-afternoon",
|
| 332 |
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"block_assignment": "trc",
|
| 333 |
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"tilt_removed_deg": 0.2622972247140124,
|
| 334 |
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"plane_status": "ok",
|
| 335 |
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"floor": {
|
| 336 |
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"sole_marker_p1_mm": 24.8,
|
| 337 |
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"headtop_p95_mm": 1778.9
|
| 338 |
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},
|
| 339 |
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"gravity_check": {
|
| 340 |
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"static_samples": 541,
|
| 341 |
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"g_world_mean_m_s2": [
|
| 342 |
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0.0855,
|
| 343 |
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-0.1201,
|
| 344 |
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9.7167
|
| 345 |
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],
|
| 346 |
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"tilt_from_z_deg": 0.869,
|
| 347 |
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"tilt_from_z_deg_before_levelling": 0.919,
|
| 348 |
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"magnitude_m_s2": 9.7179
|
| 349 |
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},
|
| 350 |
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"rig_tracker_definition": "c9205ac6e17d2d5c/20261024-afternoon/labels-053142/session-afc98f08021d64e1",
|
| 351 |
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"rig_check": {
|
| 352 |
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"status": "ok",
|
| 353 |
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"dropped_marker": null,
|
| 354 |
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"gyro_deg": 2.061
|
| 355 |
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},
|
| 356 |
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"camera_pose_source": "provider T_tracker0_cam",
|
| 357 |
+
"files": [
|
| 358 |
+
"mocap_zup.npz",
|
| 359 |
+
"tracker0_zup.npz",
|
| 360 |
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{
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|
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|
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