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- .gitattributes +1 -0
- actions/locomotion_primitives/P21/session_013/raw/sensors/robowrist_mag_right.db +2 -2
- actions/locomotion_primitives/P21/session_013/scene/infer.json +4 -4
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- actions/locomotion_primitives/P21/session_014/raw/sensors/robowrist_mag_right.db +2 -2
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-
"frames":
|
| 131 |
"pts_gaps": 0,
|
| 132 |
"timing": "pts",
|
| 133 |
"timeshift_cam_imu_s": 0.0019489646456461974,
|
| 134 |
"file": "robocap_segment1_video_right.mp4",
|
| 135 |
-
"t_start": 0.
|
| 136 |
-
"t_end":
|
| 137 |
"clock": "device",
|
| 138 |
"calibrated": true
|
| 139 |
},
|
| 140 |
"left_front": {
|
| 141 |
"fps": 30.0,
|
| 142 |
-
"start_device_s":
|
| 143 |
-
"frames":
|
| 144 |
"pts_gaps": 0,
|
| 145 |
"timing": "pts",
|
| 146 |
"timeshift_cam_imu_s": 0.0018171232386612972,
|
| 147 |
"file": "robocap_segment1_video_left_front.mp4",
|
| 148 |
-
"t_start": 0.
|
| 149 |
-
"t_end":
|
| 150 |
"clock": "device",
|
| 151 |
"calibrated": true
|
| 152 |
},
|
| 153 |
"right_front": {
|
| 154 |
"fps": 30.0,
|
| 155 |
-
"start_device_s":
|
| 156 |
-
"frames":
|
| 157 |
"pts_gaps": 0,
|
| 158 |
"timing": "pts",
|
| 159 |
"timeshift_cam_imu_s": 0.0017295646474508202,
|
| 160 |
"file": "robocap_segment1_video_right_front.mp4",
|
| 161 |
-
"t_start": 0.
|
| 162 |
-
"t_end":
|
| 163 |
"clock": "device",
|
| 164 |
"calibrated": true
|
| 165 |
},
|
| 166 |
"left_eye": {
|
| 167 |
"fps": 30.0,
|
| 168 |
-
"start_device_s":
|
| 169 |
-
"frames":
|
| 170 |
"pts_gaps": 0,
|
| 171 |
"timing": "pts",
|
| 172 |
"timeshift_cam_imu_s": 0.001668932298833096,
|
| 173 |
"file": "robocap_segment1_video_left_eye.mp4",
|
| 174 |
-
"t_start": 0.
|
| 175 |
-
"t_end":
|
| 176 |
"clock": "device",
|
| 177 |
"calibrated": true
|
| 178 |
},
|
| 179 |
"right_eye": {
|
| 180 |
"fps": 30.0,
|
| 181 |
-
"start_device_s":
|
| 182 |
-
"frames":
|
| 183 |
"pts_gaps": 0,
|
| 184 |
"timing": "pts",
|
| 185 |
"timeshift_cam_imu_s": 0.0017169377622902274,
|
| 186 |
"file": "robocap_segment1_video_right_eye.mp4",
|
| 187 |
-
"t_start": 0.
|
| 188 |
-
"t_end":
|
| 189 |
"clock": "device",
|
| 190 |
"calibrated": true
|
| 191 |
},
|
| 192 |
"wrist_left": {
|
| 193 |
"fps": 30.0,
|
| 194 |
-
"start_device_s":
|
| 195 |
-
"frames":
|
| 196 |
"pts_gaps": 0,
|
| 197 |
"timing": "pts",
|
| 198 |
"timeshift_cam_imu_s": null,
|
| 199 |
"file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
|
| 200 |
-
"t_start": 0.
|
| 201 |
-
"t_end":
|
| 202 |
"clock": "device",
|
| 203 |
"calibrated": false
|
| 204 |
},
|
| 205 |
"wrist_right": {
|
| 206 |
"fps": 30.0,
|
| 207 |
-
"start_device_s":
|
| 208 |
-
"frames":
|
| 209 |
"pts_gaps": 0,
|
| 210 |
"timing": "pts",
|
| 211 |
"timeshift_cam_imu_s": null,
|
| 212 |
"file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
|
| 213 |
-
"t_start": 0.
|
| 214 |
-
"t_end":
|
| 215 |
"clock": "device",
|
| 216 |
"calibrated": false
|
| 217 |
},
|
| 218 |
"third_person": {
|
| 219 |
-
"file": "mocap/mocap-P21-
|
| 220 |
-
"frames":
|
| 221 |
-
"fps":
|
| 222 |
"clock": "nokov (frame index)",
|
| 223 |
"t_start": 0.0,
|
| 224 |
-
"t_end":
|
| 225 |
}
|
| 226 |
}
|
| 227 |
},
|
|
@@ -234,51 +234,53 @@
|
|
| 234 |
},
|
| 235 |
"verdict": "READY",
|
| 236 |
"issues": [
|
|
|
|
| 237 |
"WARN M_SPIKES",
|
| 238 |
"WARN M_TRACKER_LABELS",
|
| 239 |
"WARN S_INDEX_STALE",
|
| 240 |
-
"WARN S_PARTICIPANT"
|
|
|
|
| 241 |
]
|
| 242 |
},
|
| 243 |
"canonical": {
|
| 244 |
-
"generated_at_utc": "2026-10-14T12:
|
| 245 |
"generated_by": "scripts/canonicalise_dataset.py",
|
| 246 |
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 247 |
"R_canon_nokov": [
|
| 248 |
[
|
| 249 |
-
0.
|
| 250 |
-
-0.
|
| 251 |
-
-
|
| 252 |
],
|
| 253 |
[
|
| 254 |
-
|
| 255 |
-
0.
|
| 256 |
-
-0.
|
| 257 |
],
|
| 258 |
[
|
| 259 |
-
0.
|
| 260 |
-
0.
|
| 261 |
-
0.
|
| 262 |
]
|
| 263 |
],
|
| 264 |
"scale_nokov_to_canon": 0.001,
|
| 265 |
"T_canon_nokov_mm": [
|
| 266 |
[
|
| 267 |
-
0.
|
| 268 |
-
-
|
| 269 |
-
-
|
| 270 |
0.0
|
| 271 |
],
|
| 272 |
[
|
| 273 |
-
|
| 274 |
-
|
| 275 |
-
-0.
|
| 276 |
0.0
|
| 277 |
],
|
| 278 |
[
|
| 279 |
-
|
| 280 |
-
0.
|
| 281 |
-
|
| 282 |
0.0
|
| 283 |
],
|
| 284 |
[
|
|
@@ -288,26 +290,26 @@
|
|
| 288 |
1.0
|
| 289 |
]
|
| 290 |
],
|
| 291 |
-
"block": "
|
| 292 |
"block_assignment": "trc",
|
| 293 |
-
"tilt_removed_deg": 0.
|
| 294 |
"plane_status": "ok",
|
| 295 |
"floor": {
|
| 296 |
-
"sole_marker_p1_mm":
|
| 297 |
-
"headtop_p95_mm":
|
| 298 |
},
|
| 299 |
"gravity_check": {
|
| 300 |
-
"static_samples":
|
| 301 |
"g_world_mean_m_s2": [
|
| 302 |
-
0.
|
| 303 |
-
-0.
|
| 304 |
-
9.
|
| 305 |
],
|
| 306 |
-
"tilt_from_z_deg": 1.
|
| 307 |
-
"tilt_from_z_deg_before_levelling":
|
| 308 |
-
"magnitude_m_s2": 9.
|
| 309 |
},
|
| 310 |
-
"rig_tracker_definition": "e17c9efadb69e7b1/
|
| 311 |
"camera_pose_source": "provider T_tracker0_cam",
|
| 312 |
"files": [
|
| 313 |
"mocap_zup.npz",
|
|
@@ -317,7 +319,7 @@
|
|
| 317 |
]
|
| 318 |
},
|
| 319 |
"smplx": {
|
| 320 |
-
"generated_at_utc": "2026-10-
|
| 321 |
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 322 |
"file": "smplx.npz",
|
| 323 |
"gender": "female",
|
|
@@ -332,94 +334,89 @@
|
|
| 332 |
"hand_marker_offsets_m": {
|
| 333 |
"left": {
|
| 334 |
"LHandIn": [
|
| 335 |
-
0.
|
| 336 |
-
0.
|
| 337 |
-
0.
|
| 338 |
],
|
| 339 |
"LHandOut": [
|
| 340 |
-
0.
|
| 341 |
-
0.
|
| 342 |
-
-0.
|
| 343 |
]
|
| 344 |
},
|
| 345 |
"right": {
|
| 346 |
"RHandIn": [
|
| 347 |
-
-0.
|
| 348 |
-
0.
|
| 349 |
-
0.
|
| 350 |
],
|
| 351 |
"RHandOut": [
|
| 352 |
-
-0.
|
| 353 |
-
0.
|
| 354 |
-
-0.
|
| 355 |
-
],
|
| 356 |
-
"RWristOut": [
|
| 357 |
-
0.0213023591786623,
|
| 358 |
-
0.014054371975362301,
|
| 359 |
-
-0.03128809109330177
|
| 360 |
]
|
| 361 |
}
|
| 362 |
}
|
| 363 |
},
|
| 364 |
"marker_rmse_mm": {
|
| 365 |
-
"median_frame": 4.
|
| 366 |
-
"p95_frame": 6.
|
| 367 |
},
|
| 368 |
"worst_markers": [
|
| 369 |
"RKneeIn 14mm",
|
| 370 |
-
"RKnee 11mm",
|
| 371 |
"LKneeIn 10mm",
|
| 372 |
-
"
|
| 373 |
-
"
|
|
|
|
| 374 |
],
|
| 375 |
-
"valid_fraction":
|
| 376 |
"qc": {
|
| 377 |
"lowest_vertex_mm": {
|
| 378 |
-
"median":
|
| 379 |
-
"p5":
|
| 380 |
},
|
| 381 |
-
"frames_checked":
|
| 382 |
-
"stature_mm":
|
| 383 |
},
|
| 384 |
"surface_term": {
|
| 385 |
"weight": 1.0,
|
| 386 |
"marker_height_mm": 11.0,
|
| 387 |
"markers_on_surface": 52,
|
| 388 |
-
"surface_rmse_mm_median":
|
| 389 |
},
|
| 390 |
"shape_source": "participant median",
|
| 391 |
"wrist_correction": {
|
| 392 |
"left": {
|
| 393 |
"status": "corrected",
|
| 394 |
-
"Q_deg":
|
| 395 |
"Q_rotvec": [
|
| 396 |
-
2.
|
| 397 |
-
0.
|
| 398 |
-
|
| 399 |
],
|
| 400 |
-
"in_out_sign":
|
| 401 |
-
"wrist_bend_deg_median":
|
| 402 |
-
"opposite_sign_bend_deg":
|
| 403 |
-
"in_out_convention": "pinky side =
|
| 404 |
-
"marker_frame_spread_deg": 1.
|
| 405 |
"hand_vs_marker_frame_deg": {
|
| 406 |
-
"before":
|
| 407 |
-
"after": 1.
|
| 408 |
},
|
| 409 |
"markers_on_wrist": [
|
| 410 |
"LHandIn",
|
| 411 |
"LHandOut"
|
| 412 |
],
|
| 413 |
"forearm_twist": {
|
| 414 |
-
"twist_moved_deg":
|
| 415 |
"wrist_twist_deg_after": {
|
| 416 |
-
"median": -
|
| 417 |
"iqr": [
|
| 418 |
-
-
|
| 419 |
-
|
| 420 |
]
|
| 421 |
},
|
| 422 |
-
"wrist_total_deg_median_after":
|
| 423 |
"markers_on_forearm": [
|
| 424 |
"LElbowIn",
|
| 425 |
"LForearm",
|
|
@@ -427,97 +424,96 @@
|
|
| 427 |
"LWristOut"
|
| 428 |
]
|
| 429 |
},
|
| 430 |
-
"frames_used":
|
| 431 |
},
|
| 432 |
"right": {
|
| 433 |
"status": "corrected",
|
| 434 |
-
"Q_deg":
|
| 435 |
"Q_rotvec": [
|
| 436 |
-
|
| 437 |
-
0.
|
| 438 |
-
-0.
|
| 439 |
],
|
| 440 |
"in_out_sign": 1,
|
| 441 |
-
"wrist_bend_deg_median":
|
| 442 |
-
"opposite_sign_bend_deg":
|
| 443 |
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 444 |
-
"marker_frame_spread_deg": 1.
|
| 445 |
"hand_vs_marker_frame_deg": {
|
| 446 |
-
"before":
|
| 447 |
-
"after": 1.
|
| 448 |
},
|
| 449 |
"markers_on_wrist": [
|
| 450 |
-
"RWristOut",
|
| 451 |
"RHandIn",
|
| 452 |
"RHandOut"
|
| 453 |
],
|
| 454 |
"forearm_twist": {
|
| 455 |
-
"twist_moved_deg": -
|
| 456 |
"wrist_twist_deg_after": {
|
| 457 |
"median": 0.0,
|
| 458 |
"iqr": [
|
| 459 |
-
-
|
| 460 |
-
|
| 461 |
]
|
| 462 |
},
|
| 463 |
-
"wrist_total_deg_median_after":
|
| 464 |
"markers_on_forearm": [
|
| 465 |
-
"RUArmHigh",
|
| 466 |
"RElbowIn",
|
| 467 |
"RForearm",
|
| 468 |
-
"RWristIn"
|
|
|
|
| 469 |
]
|
| 470 |
},
|
| 471 |
-
"frames_used":
|
| 472 |
},
|
| 473 |
-
"generated_at_utc": "2026-10-
|
| 474 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 475 |
}
|
| 476 |
},
|
| 477 |
"rig_tracker": {
|
| 478 |
-
"definition": "e17c9efadb69e7b1/
|
| 479 |
"R_tracker0_imu0": [
|
| 480 |
[
|
| 481 |
-
-0.
|
| 482 |
-
0.
|
| 483 |
-
-0.
|
| 484 |
],
|
| 485 |
[
|
| 486 |
-
0.
|
| 487 |
-
0.
|
| 488 |
-
-0.
|
| 489 |
],
|
| 490 |
[
|
| 491 |
-
-0.
|
| 492 |
-
-0.
|
| 493 |
-
-0.
|
| 494 |
]
|
| 495 |
],
|
| 496 |
"p_tracker0_imu0_m": [
|
| 497 |
-
-0.
|
| 498 |
-
-0.
|
| 499 |
-
-0.
|
| 500 |
],
|
| 501 |
"rig_check": {
|
| 502 |
-
"gyro_samples":
|
| 503 |
"gyro_max_deg": 2.5,
|
| 504 |
"status": "ok",
|
| 505 |
"dropped_marker": null,
|
| 506 |
-
"gyro_deg": 0.
|
| 507 |
},
|
| 508 |
"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 509 |
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 510 |
},
|
| 511 |
"rig_calibration_repair": {
|
| 512 |
"version": 2,
|
| 513 |
-
"applied_at_utc": "2026-10-
|
| 514 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 515 |
-
"remaining_gyro_frame_deg": 0.
|
| 516 |
},
|
| 517 |
"release": {
|
| 518 |
"release_path": "actions/locomotion_primitives/P21/session_014",
|
| 519 |
"family": "locomotion_primitives",
|
| 520 |
"primitive": "P21",
|
| 521 |
-
"source_session": "
|
| 522 |
}
|
| 523 |
}
|
|
|
|
| 1 |
{
|
| 2 |
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20260921/P21/20260921_072443_session129",
|
| 4 |
+
"session_id": "20260921_072443_session129",
|
| 5 |
"primitive": "P21",
|
| 6 |
+
"batch": "20260921",
|
| 7 |
+
"participant": "zhangxinxin",
|
| 8 |
"participant_source": "manifest",
|
| 9 |
"device_ids": {
|
| 10 |
"main": "e17c9efadb69e7b1",
|
| 11 |
"left": "cc5681142208e29a",
|
| 12 |
"right": "60a6f081bbe60b0d"
|
| 13 |
},
|
| 14 |
+
"generated_at_utc": "2026-10-14T11:20:38.221056+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 |
"first_solved_frame": 0,
|
| 20 |
+
"duration_s": 89.025,
|
| 21 |
"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 22 |
},
|
| 23 |
"alignment": {
|
| 24 |
"reference_imu": "imu_head_right",
|
| 25 |
"model": "offset (median of windows)",
|
| 26 |
"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 27 |
+
"offset_s": -1.172431,
|
| 28 |
"rate": 0.0,
|
| 29 |
"global_lag_s": -1.175,
|
| 30 |
+
"peak_corr": 0.9742,
|
| 31 |
+
"reference_imu_first_sample_s": 25593.225656961,
|
| 32 |
"windows": {
|
| 33 |
+
"n_windows": 7,
|
| 34 |
+
"window_corr_median": 0.9937152489989955,
|
| 35 |
+
"drift_ppm": 22.995154160965708,
|
| 36 |
+
"drift_se_ppm": 3.181339875272762,
|
| 37 |
+
"drift_ms_over_take": 2.046951972895297,
|
| 38 |
+
"lag_scatter_ms": 0.14227384441281196,
|
| 39 |
+
"lag_range_ms": 1.2866993436149166
|
| 40 |
}
|
| 41 |
},
|
| 42 |
"units": {
|
|
|
|
| 71 |
"streams": {
|
| 72 |
"sensors": {
|
| 73 |
"imu_head_right": {
|
| 74 |
+
"n_acc": 18227,
|
| 75 |
+
"n_gyro": 18220,
|
| 76 |
+
"t_start": -1.1940156857538096,
|
| 77 |
+
"t_end": 89.67534219424738
|
| 78 |
},
|
| 79 |
"imu_head_left": {
|
| 80 |
+
"n_acc": 18195,
|
| 81 |
+
"n_gyro": 18189,
|
| 82 |
+
"t_start": -1.0680628937527654,
|
| 83 |
+
"t_end": 89.84496337824635
|
| 84 |
},
|
| 85 |
"imu_wrist_right": {
|
| 86 |
+
"n_acc": 17181,
|
| 87 |
+
"n_gyro": 17192,
|
| 88 |
+
"t_start": 0.2631482992462697,
|
| 89 |
+
"t_end": 85.16707097624635
|
| 90 |
},
|
| 91 |
"imu_wrist_left": {
|
| 92 |
+
"n_acc": 16759,
|
| 93 |
+
"n_gyro": 16759,
|
| 94 |
+
"t_start": 0.3305647072472784,
|
| 95 |
+
"t_end": 85.17128379524615
|
| 96 |
},
|
| 97 |
"mag_head": {
|
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