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- .gitattributes +51 -0
- actions/locomotion_primitives/P15/session_003/raw/mocap/Body0.csv +3 -0
- actions/locomotion_primitives/P15/session_003/raw/mocap/Body0.trc +3 -0
- actions/locomotion_primitives/P15/session_003/raw/mocap/Tracker-end.csv +0 -0
- actions/locomotion_primitives/P15/session_003/raw/mocap/Tracker-end.trc +0 -0
- actions/locomotion_primitives/P15/session_003/raw/mocap/Tracker-start.csv +0 -0
- actions/locomotion_primitives/P15/session_003/raw/mocap/Tracker-start.trc +0 -0
- actions/locomotion_primitives/P15/session_003/raw/mocap/Tracker0.csv +0 -0
- actions/locomotion_primitives/P15/session_003/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/P15/session_003/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/P15/session_003/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/P15/session_003/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/P15/session_003/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/P15/session_003/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomotion_primitives/P15/session_003/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomotion_primitives/P15/session_003/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomotion_primitives/P15/session_003/scene/infer.json +36 -0
- actions/locomotion_primitives/P15/session_003/scene/views.npz +3 -0
- actions/locomotion_primitives/P15/session_003/sensors/head_imu.npz +3 -0
- actions/locomotion_primitives/P15/session_003/sensors/head_mag.npz +3 -0
- actions/locomotion_primitives/P15/session_003/sensors/wrist_imu.npz +3 -0
- actions/locomotion_primitives/P15/session_003/sensors/wrist_mag.npz +3 -0
- actions/locomotion_primitives/P15/session_003/videos/frame_timestamps.npz +3 -0
- actions/locomotion_primitives/P15/session_003/videos/head_left.mp4 +3 -0
- actions/locomotion_primitives/P15/session_003/videos/head_left_eye.mp4 +3 -0
- actions/locomotion_primitives/P15/session_003/videos/head_left_front.mp4 +3 -0
- actions/locomotion_primitives/P15/session_003/videos/head_right.mp4 +3 -0
- actions/locomotion_primitives/P15/session_003/videos/head_right_eye.mp4 +3 -0
- actions/locomotion_primitives/P15/session_003/videos/head_right_front.mp4 +3 -0
- actions/locomotion_primitives/P15/session_003/videos/third_person.mp4 +3 -0
- actions/locomotion_primitives/P15/session_003/videos/wrist_left.mp4 +3 -0
- actions/locomotion_primitives/P15/session_003/videos/wrist_right.mp4 +3 -0
- actions/locomotion_primitives/P15/session_004/cameras/poses.npz +3 -0
- actions/locomotion_primitives/P15/session_004/meta.json +519 -0
- actions/locomotion_primitives/P15/session_004/motions/head_rig.npz +3 -0
- actions/locomotion_primitives/P15/session_004/motions/markers.npz +3 -0
- actions/locomotion_primitives/P15/session_004/motions/skeleton.npz +3 -0
- actions/locomotion_primitives/P15/session_004/motions/smplx.npz +3 -0
- actions/locomotion_primitives/P15/session_004/raw/audio.wav +3 -0
- actions/locomotion_primitives/P15/session_004/raw/manifest.json +230 -0
- actions/locomotion_primitives/P15/session_004/raw/mocap/Body0.bvh +0 -0
- actions/locomotion_primitives/P15/session_004/raw/mocap/Body0.csv +3 -0
- actions/locomotion_primitives/P15/session_004/raw/mocap/Body0.trc +3 -0
- actions/locomotion_primitives/P15/session_004/raw/mocap/Tracker0.csv +0 -0
- actions/locomotion_primitives/P15/session_004/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/P15/session_004/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/P15/session_004/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/P15/session_004/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/P15/session_004/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/P15/session_004/raw/sensors/robowrist_imu_right.db +0 -0
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actions/locomotion_primitives/P15/session_002/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P15/session_003/raw/mocap/Body0.csv
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actions/locomotion_primitives/P15/session_003/raw/mocap/Tracker-end.trc
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actions/locomotion_primitives/P15/session_003/raw/mocap/Tracker-start.trc
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{
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| 4 |
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"session_id": "20260908_054214_session35",
|
| 5 |
+
"primitive": "P15",
|
| 6 |
+
"batch": "20260908",
|
| 7 |
+
"participant": "daihaoxiang",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
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"main": "e17c9efadb69e7b1",
|
| 11 |
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"left": "452031d7af00ef6f",
|
| 12 |
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"right": "6ee5ee4472fe2ad7"
|
| 13 |
+
},
|
| 14 |
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"generated_at_utc": "2026-10-14T10:58:04.946836+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": 74.025,
|
| 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": -1.176745,
|
| 28 |
+
"rate": 0.0,
|
| 29 |
+
"global_lag_s": -1.175,
|
| 30 |
+
"peak_corr": 0.9691,
|
| 31 |
+
"reference_imu_first_sample_s": 5164.930972401,
|
| 32 |
+
"windows": {
|
| 33 |
+
"n_windows": 6,
|
| 34 |
+
"window_corr_median": 0.9938018909200773,
|
| 35 |
+
"drift_ppm": 19.707278328028444,
|
| 36 |
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"drift_se_ppm": 17.076465214915196,
|
| 37 |
+
"drift_ms_over_take": 1.4586670509129052,
|
| 38 |
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"lag_scatter_ms": 0.583272327712859,
|
| 39 |
+
"lag_range_ms": 2.0149805822646805
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"units": {
|
| 43 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 44 |
+
"y_up_to_z_up": [
|
| 45 |
+
[
|
| 46 |
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1.0,
|
| 47 |
+
0.0,
|
| 48 |
+
0.0
|
| 49 |
+
],
|
| 50 |
+
[
|
| 51 |
+
0.0,
|
| 52 |
+
0.0,
|
| 53 |
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-1.0
|
| 54 |
+
],
|
| 55 |
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[
|
| 56 |
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0.0,
|
| 57 |
+
1.0,
|
| 58 |
+
0.0
|
| 59 |
+
]
|
| 60 |
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],
|
| 61 |
+
"acc": "m/s^2 (8192 LSB/g)",
|
| 62 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 63 |
+
"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 64 |
+
"quaternions": "xyzw, Nokov global"
|
| 65 |
+
},
|
| 66 |
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"calibration": {
|
| 67 |
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"device": "e17c9efadb69e7b1",
|
| 68 |
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"status": "ok",
|
| 69 |
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"date": "2026-09-08"
|
| 70 |
+
},
|
| 71 |
+
"streams": {
|
| 72 |
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"sensors": {
|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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},
|
| 79 |
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|
| 80 |
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"n_acc": 15212,
|
| 81 |
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|
| 82 |
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"t_start": -1.07305748401975,
|
| 83 |
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|
| 84 |
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},
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| 85 |
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"imu_wrist_left": {
|
| 86 |
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"n_acc": 14363,
|
| 87 |
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|
| 88 |
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"t_start": 0.22642414497952412,
|
| 89 |
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|
| 90 |
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},
|
| 91 |
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|
| 92 |
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"n": 7609,
|
| 93 |
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"t_start": -0.9898207340200083,
|
| 94 |
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|
| 95 |
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|
| 96 |
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"n": 7094,
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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"n": 7092,
|
| 103 |
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|
| 104 |
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|
| 105 |
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}
|
| 106 |
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| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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"file": "robocap_segment1_video_left.mp4",
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| 116 |
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|
| 117 |
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| 118 |
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|
| 119 |
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"calibrated": true
|
| 120 |
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},
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| 121 |
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"right": {
|
| 122 |
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|
| 123 |
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| 124 |
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"frames": 2220,
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| 125 |
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|
| 126 |
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"timing": "pts",
|
| 127 |
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|
| 128 |
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"file": "robocap_segment1_video_right.mp4",
|
| 129 |
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"t_start": 0.03899531062527384,
|
| 130 |
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|
| 131 |
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|
| 132 |
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"calibrated": true
|
| 133 |
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},
|
| 134 |
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"left_front": {
|
| 135 |
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|
| 136 |
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"start_device_s": 5166.144795,
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| 137 |
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| 138 |
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| 139 |
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"timing": "pts",
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| 140 |
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| 141 |
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"file": "robocap_segment1_video_left_front.mp4",
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| 142 |
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|
| 143 |
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|
| 144 |
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| 145 |
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| 146 |
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},
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| 147 |
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| 148 |
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| 149 |
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| 150 |
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| 151 |
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| 152 |
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"timing": "pts",
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| 153 |
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| 154 |
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"file": "robocap_segment1_video_right_front.mp4",
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| 155 |
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| 156 |
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| 157 |
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| 159 |
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},
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| 161 |
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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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| 167 |
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"file": "robocap_segment1_video_left_eye.mp4",
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| 168 |
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| 171 |
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| 172 |
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},
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| 173 |
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| 174 |
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|
| 175 |
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| 176 |
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|
| 177 |
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|
| 178 |
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"timing": "pts",
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| 179 |
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|
| 180 |
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"file": "robocap_segment1_video_right_eye.mp4",
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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"calibrated": true
|
| 185 |
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},
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| 186 |
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|
| 187 |
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|
| 188 |
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"start_device_s": 5166.320417,
|
| 189 |
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|
| 190 |
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|
| 191 |
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"timing": "pts",
|
| 192 |
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|
| 193 |
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"file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
|
| 194 |
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"t_start": 0.21269934597987739,
|
| 195 |
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| 197 |
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|
| 198 |
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},
|
| 199 |
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|
| 200 |
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|
| 201 |
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| 202 |
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|
| 203 |
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|
| 204 |
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| 205 |
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|
| 206 |
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"file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
|
| 207 |
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| 209 |
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| 210 |
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| 211 |
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},
|
| 212 |
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"third_person": {
|
| 213 |
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"file": "mocap/mocap-P15-S01-daihaoxiang-12p1-1.mp4",
|
| 214 |
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"frames": 2221,
|
| 215 |
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|
| 216 |
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"clock": "nokov (frame index)",
|
| 217 |
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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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"flags": [
|
| 223 |
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"wrist_right_imu empty"
|
| 224 |
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],
|
| 225 |
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"sanity": {
|
| 226 |
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"status": {
|
| 227 |
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"structure": "FAIL",
|
| 228 |
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"markers": "WARN",
|
| 229 |
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"timing": "WARN"
|
| 230 |
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},
|
| 231 |
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"verdict": "READY_WITH_WARNINGS",
|
| 232 |
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"issues": [
|
| 233 |
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"FAIL S_DB_EMPTY",
|
| 234 |
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"FAIL S_REPORT_EMPTY",
|
| 235 |
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"WARN M_BODY_ID",
|
| 236 |
+
"WARN M_SPIKES",
|
| 237 |
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"WARN M_TRACKER_LABELS",
|
| 238 |
+
"WARN S_INDEX",
|
| 239 |
+
"WARN S_MOCAP_TS",
|
| 240 |
+
"WARN S_PARTICIPANT",
|
| 241 |
+
"WARN T_EMPTY",
|
| 242 |
+
"WARN T_MOCAP_TS"
|
| 243 |
+
]
|
| 244 |
+
},
|
| 245 |
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"canonical": {
|
| 246 |
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"generated_at_utc": "2026-10-14T12:18:17.715439+00:00",
|
| 247 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 248 |
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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)",
|
| 249 |
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"R_canon_nokov": [
|
| 250 |
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[
|
| 251 |
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0.9999992442,
|
| 252 |
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-0.0012295027,
|
| 253 |
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2.5019e-06
|
| 254 |
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],
|
| 255 |
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[
|
| 256 |
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-2.5019e-06,
|
| 257 |
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-0.004069728,
|
| 258 |
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-0.9999917186
|
| 259 |
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],
|
| 260 |
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[
|
| 261 |
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0.0012295027,
|
| 262 |
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0.9999909628,
|
| 263 |
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-0.004069728
|
| 264 |
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]
|
| 265 |
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],
|
| 266 |
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"scale_nokov_to_canon": 0.001,
|
| 267 |
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"T_canon_nokov_mm": [
|
| 268 |
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[
|
| 269 |
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0.000999999244,
|
| 270 |
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-1.229503e-06,
|
| 271 |
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2.502e-09,
|
| 272 |
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0.0
|
| 273 |
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],
|
| 274 |
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[
|
| 275 |
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-2.502e-09,
|
| 276 |
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-4.069728e-06,
|
| 277 |
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-0.000999991719,
|
| 278 |
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0.0
|
| 279 |
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],
|
| 280 |
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[
|
| 281 |
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1.229503e-06,
|
| 282 |
+
0.000999990963,
|
| 283 |
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-4.069728e-06,
|
| 284 |
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0.0
|
| 285 |
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],
|
| 286 |
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[
|
| 287 |
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0.0,
|
| 288 |
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0.0,
|
| 289 |
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0.0,
|
| 290 |
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1.0
|
| 291 |
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]
|
| 292 |
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],
|
| 293 |
+
"block": "20260908-morning",
|
| 294 |
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"block_assignment": "trc",
|
| 295 |
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"tilt_removed_deg": 0.24358775042597203,
|
| 296 |
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"plane_status": "ok",
|
| 297 |
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"floor": {
|
| 298 |
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"sole_marker_p1_mm": 46.1,
|
| 299 |
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"headtop_p95_mm": 1770.3
|
| 300 |
+
},
|
| 301 |
+
"gravity_check": {
|
| 302 |
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"static_samples": 666,
|
| 303 |
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"g_world_mean_m_s2": [
|
| 304 |
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-0.1125,
|
| 305 |
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-0.0361,
|
| 306 |
+
9.8201
|
| 307 |
+
],
|
| 308 |
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"tilt_from_z_deg": 0.689,
|
| 309 |
+
"tilt_from_z_deg_before_levelling": 0.586,
|
| 310 |
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"magnitude_m_s2": 9.8208
|
| 311 |
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},
|
| 312 |
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"rig_tracker_definition": "e17c9efadb69e7b1/20260908-morning/labels-530412/session-f2980a85d9ba7d5a",
|
| 313 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 314 |
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"files": [
|
| 315 |
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"mocap_zup.npz",
|
| 316 |
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"tracker0_zup.npz",
|
| 317 |
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"rig_zup.npz",
|
| 318 |
+
"cameras_zup.npz"
|
| 319 |
+
]
|
| 320 |
+
},
|
| 321 |
+
"smplx": {
|
| 322 |
+
"generated_at_utc": "2026-10-15T03:52:30.910292+00:00",
|
| 323 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 324 |
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"file": "smplx.npz",
|
| 325 |
+
"gender": "male",
|
| 326 |
+
"n_betas": 16,
|
| 327 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 328 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 329 |
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 330 |
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"hands": {
|
| 331 |
+
"observed": false,
|
| 332 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 333 |
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"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 334 |
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"hand_marker_offsets_m": {
|
| 335 |
+
"left": {
|
| 336 |
+
"LHandIn": [
|
| 337 |
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0.09072700887918472,
|
| 338 |
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0.004551135003566742,
|
| 339 |
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0.030954984948039055
|
| 340 |
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],
|
| 341 |
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"LHandOut": [
|
| 342 |
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0.07190349698066711,
|
| 343 |
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0.032270364463329315,
|
| 344 |
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-0.014871464110910892
|
| 345 |
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]
|
| 346 |
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},
|
| 347 |
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"right": {
|
| 348 |
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"RHandIn": [
|
| 349 |
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-0.047574982047080994,
|
| 350 |
+
-0.02667957916855812,
|
| 351 |
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0.0031350685749202967
|
| 352 |
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],
|
| 353 |
+
"RHandOut": [
|
| 354 |
+
-0.039308566600084305,
|
| 355 |
+
0.030510544776916504,
|
| 356 |
+
-0.008945886977016926
|
| 357 |
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]
|
| 358 |
+
}
|
| 359 |
+
}
|
| 360 |
+
},
|
| 361 |
+
"marker_rmse_mm": {
|
| 362 |
+
"median_frame": 4.73,
|
| 363 |
+
"p95_frame": 7.18
|
| 364 |
+
},
|
| 365 |
+
"worst_markers": [
|
| 366 |
+
"LKnee 13mm",
|
| 367 |
+
"RKneeIn 11mm",
|
| 368 |
+
"LKneeIn 11mm",
|
| 369 |
+
"LThigh 10mm",
|
| 370 |
+
"WaistRFront 8mm"
|
| 371 |
+
],
|
| 372 |
+
"valid_fraction": 0.9762,
|
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