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- .gitattributes +38 -0
- actions/locomanipulation/LM63/session_006/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM63/session_006/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM63/session_006/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM63/session_006/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM63/session_006/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM63/session_006/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM63/session_006/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM63/session_006/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM63/session_006/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM63/session_006/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM63/session_006/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM63/session_006/scene/infer.json +36 -0
- actions/locomanipulation/LM63/session_006/scene/views.npz +3 -0
- actions/locomanipulation/LM63/session_006/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM63/session_006/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM63/session_006/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM63/session_006/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM63/session_006/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM63/session_006/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM63/session_006/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM63/session_006/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM63/session_006/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM63/session_006/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM63/session_006/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM63/session_006/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM63/session_006/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM63/session_006/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM63/session_007/cameras/poses.npz +3 -0
- actions/locomanipulation/LM63/session_007/meta.json +528 -0
- actions/locomanipulation/LM63/session_007/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM63/session_007/motions/markers.npz +3 -0
- actions/locomanipulation/LM63/session_007/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM63/session_007/motions/smplx.npz +3 -0
- actions/locomanipulation/LM63/session_007/raw/audio.wav +3 -0
- actions/locomanipulation/LM63/session_007/raw/manifest.json +261 -0
- actions/locomanipulation/LM63/session_007/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM63/session_007/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM63/session_007/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM63/session_007/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM63/session_007/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM63/session_007/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM63/session_007/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM63/session_007/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM63/session_007/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM63/session_007/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM63/session_007/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM63/session_007/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM63/session_007/scene/infer.json +36 -0
- actions/locomanipulation/LM63/session_007/scene/views.npz +3 -0
.gitattributes
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| 1 |
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{
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| 2 |
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"schema_version": 1,
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| 3 |
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"session": "EgoMotionActions/20261021/LM63/20261021_024506_session21",
|
| 4 |
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"session_id": "20261021_024506_session21",
|
| 5 |
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"primitive": "LM63",
|
| 6 |
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"batch": "20261021",
|
| 7 |
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"participant": "wangzhixin",
|
| 8 |
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"participant_source": "manifest",
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| 9 |
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"device_ids": {
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"main": "e3296774a321bb51",
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"left": "75b5984e04d1d236",
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"right": "c84bc808cb6b47af"
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},
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| 14 |
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"generated_at_utc": "2026-10-22T16:18:58.872265+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,
|
| 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": 94.59166666666667,
|
| 22 |
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"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 23 |
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},
|
| 24 |
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"alignment": {
|
| 25 |
+
"reference_imu": "imu_head_right",
|
| 26 |
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"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 |
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"offset_s": -0.075254,
|
| 29 |
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"rate": 0.0,
|
| 30 |
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"global_lag_s": -0.075,
|
| 31 |
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"peak_corr": 0.9938,
|
| 32 |
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"reference_imu_first_sample_s": 3902.415405297,
|
| 33 |
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"windows": {
|
| 34 |
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"n_windows": 8,
|
| 35 |
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"window_corr_median": 0.9970637705664664,
|
| 36 |
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"drift_ppm": -253.58224036774916,
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| 37 |
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"drift_se_ppm": 141.88370483829016,
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| 38 |
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"drift_ms_over_take": -23.984653568116276,
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| 39 |
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"lag_scatter_ms": 7.963203184065629,
|
| 40 |
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"lag_range_ms": 30.113618975297296
|
| 41 |
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}
|
| 42 |
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},
|
| 43 |
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"units": {
|
| 44 |
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"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
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"y_up_to_z_up": [
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| 46 |
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[
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| 47 |
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1.0,
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0.0,
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],
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[
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0.0
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| 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": "e3296774a321bb51",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 19120,
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| 76 |
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"n_gyro": 19113,
|
| 77 |
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"t_start": -0.09173050337917259,
|
| 78 |
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"t_end": 94.80033448662094
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| 79 |
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},
|
| 80 |
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"imu_head_left": {
|
| 81 |
+
"n_acc": 19028,
|
| 82 |
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"n_gyro": 19022,
|
| 83 |
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"t_start": 0.029692579620908946,
|
| 84 |
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"t_end": 94.96316127162059
|
| 85 |
+
},
|
| 86 |
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"imu_wrist_right": {
|
| 87 |
+
"n_acc": 19070,
|
| 88 |
+
"n_gyro": 19080,
|
| 89 |
+
"t_start": -0.8988219023791734,
|
| 90 |
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"t_end": 93.97191329662097
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| 91 |
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},
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| 92 |
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"imu_wrist_left": {
|
| 93 |
+
"n_acc": 19214,
|
| 94 |
+
"n_gyro": 19226,
|
| 95 |
+
"t_start": -0.8198883053793414,
|
| 96 |
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"t_end": 93.97295430762084
|
| 97 |
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},
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| 98 |
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"mag_head": {
|
| 99 |
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"n": 9503,
|
| 100 |
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"t_start": 0.11135078762058954,
|
| 101 |
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"t_end": 95.13134258362093
|
| 102 |
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},
|
| 103 |
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"mag_wrist_right": {
|
| 104 |
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"n": 9486,
|
| 105 |
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"t_start": -0.8819426073793201,
|
| 106 |
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"t_end": 93.96847624262078
|
| 107 |
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},
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| 108 |
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"mag_wrist_left": {
|
| 109 |
+
"n": 9478,
|
| 110 |
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"t_start": -0.8028892123794739,
|
| 111 |
+
"t_end": 93.96736024262087
|
| 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": 3902.528089,
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| 118 |
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"frames": 2837,
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| 119 |
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"pts_gaps": 0,
|
| 120 |
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"timing": "pts",
|
| 121 |
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"timeshift_cam_imu_s": 0.0025546514432425653,
|
| 122 |
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"file": "robocap_segment1_video_left.mp4",
|
| 123 |
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"t_start": 0.039984246064117615,
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| 124 |
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"t_end": 94.57335124606412,
|
| 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 |
+
"fps": 30.0,
|
| 130 |
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"start_device_s": 3902.528049,
|
| 131 |
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| 132 |
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| 133 |
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"timing": "pts",
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| 134 |
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|
| 135 |
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"file": "robocap_segment1_video_right.mp4",
|
| 136 |
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"t_start": 0.03975648069795541,
|
| 137 |
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| 138 |
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"clock": "device",
|
| 139 |
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|
| 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": 3902.528075,
|
| 144 |
+
"frames": 2837,
|
| 145 |
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| 146 |
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"timing": "pts",
|
| 147 |
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| 148 |
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"file": "robocap_segment1_video_left_front.mp4",
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| 149 |
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"t_start": 0.040088465829152556,
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| 150 |
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| 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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| 156 |
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| 157 |
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| 158 |
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| 159 |
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"timing": "pts",
|
| 160 |
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| 161 |
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"file": "robocap_segment1_video_right_front.mp4",
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| 162 |
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| 163 |
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| 164 |
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| 165 |
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| 166 |
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},
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| 167 |
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| 168 |
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| 169 |
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| 170 |
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| 171 |
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| 172 |
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"timing": "pts (gap undecided)",
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| 173 |
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| 174 |
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| 175 |
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"pts": {
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| 176 |
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| 177 |
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"corr": 0.795,
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| 178 |
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| 179 |
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},
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| 180 |
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| 181 |
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| 182 |
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"corr": 0.125,
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| 183 |
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"err_ms": 93.9
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| 184 |
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}
|
| 185 |
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},
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| 186 |
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"file": "robocap_segment1_video_left_eye.mp4",
|
| 187 |
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| 188 |
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| 189 |
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| 190 |
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| 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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|
| 195 |
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| 196 |
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| 197 |
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"timing": "pts",
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| 198 |
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| 199 |
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"file": "robocap_segment1_video_right_eye.mp4",
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| 200 |
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| 201 |
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| 202 |
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| 204 |
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},
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| 205 |
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"wrist_left": {
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| 206 |
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| 207 |
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| 208 |
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| 209 |
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|
| 210 |
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"timing": "pts",
|
| 211 |
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| 212 |
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"file": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4",
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| 213 |
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| 216 |
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| 217 |
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},
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| 218 |
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| 219 |
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| 220 |
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| 221 |
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| 222 |
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| 223 |
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| 224 |
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| 225 |
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"file": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4",
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| 226 |
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| 227 |
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| 228 |
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| 229 |
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|
| 230 |
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},
|
| 231 |
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"third_person": {
|
| 232 |
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"file": "mocap/mocap-LM63-S01-wangzhixin-02p1-1.mp4",
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| 233 |
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"frames": 2838,
|
| 234 |
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| 235 |
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| 236 |
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| 237 |
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| 238 |
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}
|
| 239 |
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}
|
| 240 |
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},
|
| 241 |
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"flags": [],
|
| 242 |
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"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
|
| 243 |
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"rig_tracker": {
|
| 244 |
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"definition": "e3296774a321bb51/20261021-morning/labels-320145/session-98e31cca6929a977",
|
| 245 |
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|
| 246 |
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[
|
| 247 |
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-0.6945904,
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| 248 |
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0.15240975,
|
| 249 |
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| 250 |
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],
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| 251 |
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[
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| 252 |
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| 253 |
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0.04606534,
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| 254 |
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| 255 |
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],
|
| 256 |
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[
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| 257 |
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-0.07383968,
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| 258 |
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|
| 259 |
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-0.14106187
|
| 260 |
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]
|
| 261 |
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],
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| 262 |
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| 263 |
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| 265 |
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| 266 |
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],
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| 267 |
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|
| 268 |
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"gyro_samples": 4759,
|
| 269 |
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|
| 270 |
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"status": "video_solve",
|
| 271 |
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|
| 272 |
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|
| 273 |
+
"video_solve": {
|
| 274 |
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"status": "ok",
|
| 275 |
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"reason": "",
|
| 276 |
+
"reprojection_px": 3.379,
|
| 277 |
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"n_assoc": 585,
|
| 278 |
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"gyro_deg": 0.637
|
| 279 |
+
}
|
| 280 |
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},
|
| 281 |
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"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 282 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 283 |
+
},
|
| 284 |
+
"canonical": {
|
| 285 |
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"generated_at_utc": "2026-10-26T10:25:01.260686+00:00",
|
| 286 |
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"generated_by": "scripts/canonicalise_dataset.py",
|
| 287 |
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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)",
|
| 288 |
+
"R_canon_nokov": [
|
| 289 |
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[
|
| 290 |
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0.9999996167,
|
| 291 |
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-0.0008755721,
|
| 292 |
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-3.761e-06
|
| 293 |
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],
|
| 294 |
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[
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| 295 |
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3.761e-06,
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| 296 |
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0.0085906853,
|
| 297 |
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-0.9999630994
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| 298 |
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],
|
| 299 |
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[
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| 300 |
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0.0008755721,
|
| 301 |
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0.9999627161,
|
| 302 |
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0.0085906853
|
| 303 |
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]
|
| 304 |
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],
|
| 305 |
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"scale_nokov_to_canon": 0.001,
|
| 306 |
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"T_canon_nokov_mm": [
|
| 307 |
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[
|
| 308 |
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0.000999999617,
|
| 309 |
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-8.75572e-07,
|
| 310 |
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-3.761e-09,
|
| 311 |
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0.0
|
| 312 |
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],
|
| 313 |
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[
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| 314 |
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3.761e-09,
|
| 315 |
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8.590685e-06,
|
| 316 |
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-0.000999963099,
|
| 317 |
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0.0
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| 318 |
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],
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| 319 |
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[
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| 320 |
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8.75572e-07,
|
| 321 |
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0.000999962716,
|
| 322 |
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8.590685e-06,
|
| 323 |
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0.0
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| 324 |
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],
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| 325 |
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[
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| 326 |
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0.0,
|
| 327 |
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0.0,
|
| 328 |
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0.0,
|
| 329 |
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1.0
|
| 330 |
+
]
|
| 331 |
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],
|
| 332 |
+
"block": "20261021-morning",
|
| 333 |
+
"block_assignment": "trc",
|
| 334 |
+
"tilt_removed_deg": 0.4947660703921395,
|
| 335 |
+
"plane_status": "ok",
|
| 336 |
+
"floor": {
|
| 337 |
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"sole_marker_p1_mm": 12.0,
|
| 338 |
+
"headtop_p95_mm": 1592.3
|
| 339 |
+
},
|
| 340 |
+
"gravity_check": {
|
| 341 |
+
"static_samples": 1727,
|
| 342 |
+
"g_world_mean_m_s2": [
|
| 343 |
+
0.1673,
|
| 344 |
+
-0.0554,
|
| 345 |
+
9.741
|
| 346 |
+
],
|
| 347 |
+
"tilt_from_z_deg": 1.037,
|
| 348 |
+
"tilt_from_z_deg_before_levelling": 1.319,
|
| 349 |
+
"magnitude_m_s2": 9.7426
|
| 350 |
+
},
|
| 351 |
+
"rig_tracker_definition": "e3296774a321bb51/20261021-morning/labels-320145/session-98e31cca6929a977",
|
| 352 |
+
"rig_check": {
|
| 353 |
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"status": "video_solve",
|
| 354 |
+
"dropped_marker": null,
|
| 355 |
+
"gyro_deg": 0.637
|
| 356 |
+
},
|
| 357 |
+
"camera_pose_source": "T_tracker0_imu0 @ inv(T_cam_imu)",
|
| 358 |
+
"files": [
|
| 359 |
+
"mocap_zup.npz",
|
| 360 |
+
"tracker0_zup.npz",
|
| 361 |
+
"rig_zup.npz",
|
| 362 |
+
"cameras_zup.npz"
|
| 363 |
+
]
|
| 364 |
+
},
|
| 365 |
+
"smplx": {
|
| 366 |
+
"generated_at_utc": "2026-10-26T13:03:28.995486+00:00",
|
| 367 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 368 |
+
"file": "smplx.npz",
|
| 369 |
+
"gender": "female",
|
| 370 |
+
"n_betas": 16,
|
| 371 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 372 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 373 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 374 |
+
"hands": {
|
| 375 |
+
"observed": false,
|
| 376 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 377 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 378 |
+
"hand_marker_offsets_m": {
|
| 379 |
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"left": {
|
| 380 |
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"LHandIn": [
|
| 381 |
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0.06866784393787384,
|
| 382 |
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0.005795338656753302,
|
| 383 |
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0.03028048574924469
|
| 384 |
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],
|
| 385 |
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|
| 386 |
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0.07146771997213364,
|
| 387 |
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0.02087181806564331,
|
| 388 |
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-0.028143417090177536
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| 389 |
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],
|
| 390 |
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|
| 391 |
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-0.008991029113531113,
|
| 392 |
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0.023767201229929924,
|
| 393 |
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|
| 394 |
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]
|
| 395 |
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},
|
| 396 |
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"right": {
|
| 397 |
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"RHandIn": [
|
| 398 |
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-0.03224455937743187,
|
| 399 |
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0.008252325467765331,
|
| 400 |
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0.0265530776232481
|
| 401 |
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],
|
| 402 |
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"RHandOut": [
|
| 403 |
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-0.0322476401925087,
|
| 404 |
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0.03173619881272316,
|
| 405 |
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-0.01470722071826458
|
| 406 |
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]
|
| 407 |
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}
|
| 408 |
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}
|
| 409 |
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},
|
| 410 |
+
"marker_rmse_mm": {
|
| 411 |
+
"median_frame": 3.59,
|
| 412 |
+
"p95_frame": 4.72
|
| 413 |
+
},
|
| 414 |
+
"worst_markers": [
|
| 415 |
+
"RKneeIn 10mm",
|
| 416 |
+
"LThigh 9mm",
|
| 417 |
+
"LKneeIn 8mm",
|
| 418 |
+
"RHeel 7mm",
|
| 419 |
+
"LHeel 5mm"
|
| 420 |
+
],
|
| 421 |
+
"valid_fraction": 0.9994,
|
| 422 |
+
"qc": {
|
| 423 |
+
"lowest_vertex_mm": {
|
| 424 |
+
"median": 5.5,
|
| 425 |
+
"p5": -17.2
|
| 426 |
+
},
|
| 427 |
+
"frames_checked": 379,
|
| 428 |
+
"stature_mm": 1582.0
|
| 429 |
+
},
|
| 430 |
+
"surface_term": {
|
| 431 |
+
"weight": 1.0,
|
| 432 |
+
"marker_height_mm": 11.0,
|
| 433 |
+
"markers_on_surface": 52,
|
| 434 |
+
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