Upload folder using huggingface_hub (part 235)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +36 -0
- actions/locomanipulation/LM18/session_040/raw/mocap/BigBox.trc +0 -0
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- actions/locomanipulation/LM18/session_040/scene/infer.json +36 -0
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- actions/locomanipulation/LM18/session_040/sensors/wrist_imu.npz +3 -0
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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/LM18/20261021_021919_session13",
|
| 4 |
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"session_id": "20261021_021919_session13",
|
| 5 |
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"primitive": "LM18",
|
| 6 |
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"batch": "20261021",
|
| 7 |
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"participant": "wangzhixin",
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| 8 |
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"participant_source": "manifest",
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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": "2026-10-22T16:17:48.666489+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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| 19 |
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"mocap_rate_fix": null,
|
| 20 |
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"first_solved_frame": 0,
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| 21 |
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"duration_s": 108.825,
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| 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 |
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"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": -0.08839,
|
| 29 |
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"rate": 0.0,
|
| 30 |
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"global_lag_s": -0.09,
|
| 31 |
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"peak_corr": 0.9895,
|
| 32 |
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"reference_imu_first_sample_s": 2355.981915006,
|
| 33 |
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"windows": {
|
| 34 |
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"n_windows": 9,
|
| 35 |
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"window_corr_median": 0.9957167360160782,
|
| 36 |
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"drift_ppm": -193.18861512625475,
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| 37 |
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"drift_se_ppm": 119.68769564459862,
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| 38 |
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"drift_ms_over_take": -21.02214113598862,
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| 39 |
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"lag_scatter_ms": 8.176226163742395,
|
| 40 |
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"lag_range_ms": 32.701101121051956
|
| 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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| 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 |
+
"quaternions": "xyzw, Nokov global"
|
| 66 |
+
},
|
| 67 |
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"calibration": {
|
| 68 |
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"device": "e3296774a321bb51",
|
| 69 |
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"status": "ok",
|
| 70 |
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"date": "2026-10-21"
|
| 71 |
+
},
|
| 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": 21984,
|
| 76 |
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| 77 |
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"t_start": -0.10030320129162368,
|
| 78 |
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"t_end": 109.0096959677082
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| 79 |
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},
|
| 80 |
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"imu_head_left": {
|
| 81 |
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"n_acc": 21880,
|
| 82 |
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"n_gyro": 21873,
|
| 83 |
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"t_start": 0.007857007708210462,
|
| 84 |
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"t_end": 109.17458471970822
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| 85 |
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},
|
| 86 |
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"imu_wrist_right": {
|
| 87 |
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"n_acc": 21873,
|
| 88 |
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"n_gyro": 21874,
|
| 89 |
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"t_start": -0.770934299291909,
|
| 90 |
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"t_end": 108.0497091457084
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| 91 |
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},
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| 92 |
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"imu_wrist_left": {
|
| 93 |
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"n_acc": 22093,
|
| 94 |
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"n_gyro": 22092,
|
| 95 |
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"t_start": -0.9476664582914935,
|
| 96 |
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"t_end": 108.05350722370822
|
| 97 |
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},
|
| 98 |
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"mag_head": {
|
| 99 |
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"n": 10925,
|
| 100 |
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"t_start": 0.09330804870815251,
|
| 101 |
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|
| 102 |
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},
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| 103 |
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"mag_wrist_right": {
|
| 104 |
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"n": 10881,
|
| 105 |
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|
| 106 |
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|
| 107 |
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},
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| 108 |
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"mag_wrist_left": {
|
| 109 |
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"n": 10899,
|
| 110 |
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"t_start": -0.9346354252918871,
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| 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": {
|
| 115 |
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"left": {
|
| 116 |
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"fps": 30.0,
|
| 117 |
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"start_device_s": 2356.107661,
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| 118 |
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"frames": 3264,
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| 119 |
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| 120 |
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"timing": "pts",
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| 121 |
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"timeshift_cam_imu_s": 0.0025546514432425653,
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| 122 |
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"file": "robocap_segment1_video_left.mp4",
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| 123 |
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| 124 |
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| 125 |
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|
| 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": 2356.107632,
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| 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",
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| 136 |
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| 137 |
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| 138 |
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|
| 139 |
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|
| 140 |
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},
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| 141 |
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"left_front": {
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| 142 |
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"fps": 30.0,
|
| 143 |
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"start_device_s": 2356.107653,
|
| 144 |
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"frames": 3264,
|
| 145 |
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| 146 |
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"timing": "pts",
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| 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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| 150 |
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| 151 |
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| 152 |
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| 153 |
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},
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| 154 |
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| 155 |
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| 156 |
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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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| 162 |
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| 163 |
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| 166 |
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},
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| 168 |
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| 169 |
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| 170 |
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| 177 |
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"corr": 0.851,
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| 178 |
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| 179 |
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},
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| 180 |
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| 182 |
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"corr": 0.851,
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| 183 |
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"err_ms": 54.8
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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",
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| 187 |
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| 188 |
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| 189 |
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| 191 |
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},
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| 193 |
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| 194 |
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| 195 |
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| 197 |
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| 199 |
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"file": "robocap_segment1_video_right_eye.mp4",
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| 201 |
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| 204 |
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},
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| 210 |
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| 211 |
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| 212 |
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"file": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4",
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| 217 |
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},
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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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| 230 |
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},
|
| 231 |
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"third_person": {
|
| 232 |
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"file": "mocap/mocap-LM18-S04-wangzhixin-01p1-1.mp4",
|
| 233 |
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"frames": 3265,
|
| 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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},
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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": {
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| 244 |
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"definition": "e3296774a321bb51/20261021-morning/labels-320145/session-86cd7a79218df4d5",
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| 245 |
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| 246 |
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[
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| 247 |
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0.1355847,
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| 249 |
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[
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],
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[
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| 259 |
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]
|
| 261 |
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],
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| 266 |
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],
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| 269 |
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| 270 |
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| 271 |
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|
| 272 |
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|
| 273 |
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|
| 274 |
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"status": "ok",
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| 275 |
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"reason": "",
|
| 276 |
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|
| 277 |
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|
| 278 |
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|
| 279 |
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}
|
| 280 |
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},
|
| 281 |
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"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 282 |
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"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 283 |
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},
|
| 284 |
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"canonical": {
|
| 285 |
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"generated_at_utc": "2026-10-26T10:24:45.205459+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 |
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"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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],
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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,
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| 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,
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| 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,
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| 327 |
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0.0,
|
| 328 |
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0.0,
|
| 329 |
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1.0
|
| 330 |
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]
|
| 331 |
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],
|
| 332 |
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"block": "20261021-morning",
|
| 333 |
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"block_assignment": "trc",
|
| 334 |
+
"tilt_removed_deg": 0.4947660703921395,
|
| 335 |
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"plane_status": "ok",
|
| 336 |
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"floor": {
|
| 337 |
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"sole_marker_p1_mm": 29.4,
|
| 338 |
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"headtop_p95_mm": 1590.7
|
| 339 |
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},
|
| 340 |
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"gravity_check": {
|
| 341 |
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"static_samples": 6288,
|
| 342 |
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"g_world_mean_m_s2": [
|
| 343 |
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0.1994,
|
| 344 |
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-0.1344,
|
| 345 |
+
9.7239
|
| 346 |
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],
|
| 347 |
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"tilt_from_z_deg": 1.417,
|
| 348 |
+
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|
| 349 |
+
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|
| 350 |
+
},
|
| 351 |
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"rig_tracker_definition": "e3296774a321bb51/20261021-morning/labels-320145/session-86cd7a79218df4d5",
|
| 352 |
+
"rig_check": {
|
| 353 |
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"status": "video_solve",
|
| 354 |
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"dropped_marker": null,
|
| 355 |
+
"gyro_deg": 1.813
|
| 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": "2026-10-26T12:10:51.425448+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 |
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"observed": false,
|
| 376 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 377 |
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"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 378 |
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|
| 379 |
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"left": {
|
| 380 |
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"LHandIn": [
|
| 381 |
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0.0671587660908699,
|
| 382 |
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0.018945636227726936,
|
| 383 |
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-0.005669682286679745
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| 384 |
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],
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| 386 |
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|
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|
| 388 |
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|
| 389 |
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]
|
| 390 |
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},
|
| 391 |
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|
| 393 |
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-0.03033388778567314,
|
| 394 |
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0.007137910928577185,
|
| 395 |
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|
| 396 |
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],
|
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| 398 |
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|
| 399 |
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0.03772439435124397,
|
| 400 |
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|
| 401 |
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]
|
| 402 |
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}
|
| 403 |
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}
|
| 404 |
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},
|
| 405 |
+
"marker_rmse_mm": {
|
| 406 |
+
"median_frame": 3.63,
|
| 407 |
+
"p95_frame": 5.35
|
| 408 |
+
},
|
| 409 |
+
"worst_markers": [
|
| 410 |
+
"RKneeIn 10mm",
|
| 411 |
+
"LKneeIn 9mm",
|
| 412 |
+
"LThigh 8mm",
|
| 413 |
+
"RHeel 7mm",
|
| 414 |
+
"LHeel 6mm"
|
| 415 |
+
],
|
| 416 |
+
"valid_fraction": 1.0,
|
| 417 |
+
"qc": {
|
| 418 |
+
"lowest_vertex_mm": {
|
| 419 |
+
"median": 8.1,
|
| 420 |
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"p5": -4.0
|
| 421 |
+
},
|
| 422 |
+
"frames_checked": 436,
|
| 423 |
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"stature_mm": 1582.0
|
| 424 |
+
},
|
| 425 |
+
"surface_term": {
|
| 426 |
+
"weight": 1.0,
|
| 427 |
+
"marker_height_mm": 11.0,
|
| 428 |
+
"markers_on_surface": 52,
|
| 429 |
+
"surface_rmse_mm_median": 12.49
|
| 430 |
+
},
|
| 431 |
+
"shape_source": "participant median",
|
| 432 |
+
"wrist_correction": {
|
| 433 |
+
"left": {
|
| 434 |
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"status": "corrected",
|
| 435 |
+
"Q_deg": 145.0,
|
| 436 |
+
"Q_rotvec": [
|
| 437 |
+
2.46665,
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