Upload folder using huggingface_hub (part 905)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +55 -0
- actions/locomotion_primitives/P40/session_006/raw/mocap/Body0.csv +3 -0
- actions/locomotion_primitives/P40/session_006/raw/mocap/Body0.trc +3 -0
- actions/locomotion_primitives/P40/session_006/raw/mocap/Tracker0.csv +0 -0
- actions/locomotion_primitives/P40/session_006/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/P40/session_006/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/P40/session_006/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/P40/session_006/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/P40/session_006/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/P40/session_006/raw/sensors/robowrist_imu_right.db +0 -0
- actions/locomotion_primitives/P40/session_006/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomotion_primitives/P40/session_006/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomotion_primitives/P40/session_006/scene/infer.json +36 -0
- actions/locomotion_primitives/P40/session_006/scene/views.npz +3 -0
- actions/locomotion_primitives/P40/session_006/sensors/head_imu.npz +3 -0
- actions/locomotion_primitives/P40/session_006/sensors/head_mag.npz +3 -0
- actions/locomotion_primitives/P40/session_006/sensors/wrist_imu.npz +3 -0
- actions/locomotion_primitives/P40/session_006/sensors/wrist_mag.npz +3 -0
- actions/locomotion_primitives/P40/session_006/videos/frame_timestamps.npz +3 -0
- actions/locomotion_primitives/P40/session_006/videos/head_left.mp4 +3 -0
- actions/locomotion_primitives/P40/session_006/videos/head_left_eye.mp4 +3 -0
- actions/locomotion_primitives/P40/session_006/videos/head_left_front.mp4 +3 -0
- actions/locomotion_primitives/P40/session_006/videos/head_right.mp4 +3 -0
- actions/locomotion_primitives/P40/session_006/videos/head_right_eye.mp4 +3 -0
- actions/locomotion_primitives/P40/session_006/videos/head_right_front.mp4 +3 -0
- actions/locomotion_primitives/P40/session_006/videos/third_person.mp4 +3 -0
- actions/locomotion_primitives/P40/session_006/videos/wrist_left.mp4 +3 -0
- actions/locomotion_primitives/P40/session_006/videos/wrist_right.mp4 +3 -0
- actions/locomotion_primitives/P40/session_007/cameras/poses.npz +3 -0
- actions/locomotion_primitives/P40/session_007/meta.json +524 -0
- actions/locomotion_primitives/P40/session_007/motions/head_rig.npz +3 -0
- actions/locomotion_primitives/P40/session_007/motions/markers.npz +3 -0
- actions/locomotion_primitives/P40/session_007/motions/skeleton.npz +3 -0
- actions/locomotion_primitives/P40/session_007/motions/smplx.npz +3 -0
- actions/locomotion_primitives/P40/session_007/raw/audio.wav +3 -0
- actions/locomotion_primitives/P40/session_007/raw/manifest.json +230 -0
- actions/locomotion_primitives/P40/session_007/raw/mocap/Body0.bvh +3 -0
- actions/locomotion_primitives/P40/session_007/raw/mocap/Body0.csv +3 -0
- actions/locomotion_primitives/P40/session_007/raw/mocap/Body0.trc +3 -0
- actions/locomotion_primitives/P40/session_007/raw/mocap/Tracker0.csv +0 -0
- actions/locomotion_primitives/P40/session_007/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/P40/session_007/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/P40/session_007/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/P40/session_007/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/P40/session_007/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/P40/session_007/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomotion_primitives/P40/session_007/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomotion_primitives/P40/session_007/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomotion_primitives/P40/session_007/scene/infer.json +36 -0
- actions/locomotion_primitives/P40/session_007/scene/views.npz +3 -0
.gitattributes
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actions/locomotion_primitives/P40/session_005/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P40/session_005/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P40/session_006/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P40/session_006/raw/mocap/Tracker0.trc
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actions/locomotion_primitives/P40/session_006/raw/sensors/robocap_imu_left.db
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| 1 |
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{
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| 2 |
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| 3 |
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| 4 |
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| 7 |
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| 9 |
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"device_ids": {
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| 10 |
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"main": "e17c9efadb69e7b1",
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| 11 |
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"left": "cc5681142208e29a",
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| 12 |
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"right": "60a6f081bbe60b0d"
|
| 13 |
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},
|
| 14 |
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"generated_at_utc": "2026-10-14T11:21:28.065142+00:00",
|
| 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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"first_solved_frame": 0,
|
| 20 |
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"duration_s": 179.025,
|
| 21 |
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"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 22 |
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},
|
| 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": -1.169158,
|
| 28 |
+
"rate": 0.0,
|
| 29 |
+
"global_lag_s": -1.17,
|
| 30 |
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"peak_corr": 0.9781,
|
| 31 |
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"reference_imu_first_sample_s": 25139.460401717,
|
| 32 |
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"windows": {
|
| 33 |
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"n_windows": 15,
|
| 34 |
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"window_corr_median": 0.9961861783432631,
|
| 35 |
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"drift_ppm": 4.640624909631414,
|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"units": {
|
| 43 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 44 |
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"y_up_to_z_up": [
|
| 45 |
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[
|
| 46 |
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1.0,
|
| 47 |
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0.0,
|
| 48 |
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0.0
|
| 49 |
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],
|
| 50 |
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[
|
| 51 |
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0.0,
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| 52 |
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0.0,
|
| 53 |
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-1.0
|
| 54 |
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],
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| 55 |
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[
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| 56 |
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0.0,
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| 57 |
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1.0,
|
| 58 |
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0.0
|
| 59 |
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]
|
| 60 |
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],
|
| 61 |
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"acc": "m/s^2 (8192 LSB/g)",
|
| 62 |
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"gyro": "rad/s (65.536 LSB/dps)",
|
| 63 |
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"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 64 |
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| 65 |
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},
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| 66 |
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| 67 |
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"device": "e17c9efadb69e7b1",
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| 68 |
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"status": "ok",
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| 69 |
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"date": "2026-09-08"
|
| 70 |
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},
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| 71 |
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| 72 |
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|
| 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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| 81 |
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|
| 82 |
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| 83 |
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| 86 |
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| 87 |
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| 88 |
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|
| 89 |
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| 92 |
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| 93 |
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| 103 |
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"n": 17835,
|
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| 105 |
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|
| 109 |
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| 110 |
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| 111 |
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| 114 |
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| 126 |
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},
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| 128 |
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| 132 |
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| 133 |
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},
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"file": "robocap_segment1_video_left_front.mp4",
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| 148 |
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| 149 |
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| 152 |
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},
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| 154 |
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| 156 |
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},
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| 178 |
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},
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| 181 |
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| 182 |
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"file": "robocap_segment1_video_right_eye.mp4",
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| 191 |
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},
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| 197 |
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"file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
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| 204 |
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| 210 |
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| 212 |
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"file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
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| 217 |
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},
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| 218 |
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"third_person": {
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| 219 |
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"file": "mocap/mocap-P40-S02-zhangxinxin-12p1-1.mp4",
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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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}
|
| 226 |
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}
|
| 227 |
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},
|
| 228 |
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"flags": [],
|
| 229 |
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"sanity": {
|
| 230 |
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"status": {
|
| 231 |
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"structure": "WARN",
|
| 232 |
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"markers": "WARN",
|
| 233 |
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|
| 234 |
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},
|
| 235 |
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"verdict": "READY_WITH_WARNINGS",
|
| 236 |
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"issues": [
|
| 237 |
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"WARN M_BODY_ID",
|
| 238 |
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|
| 239 |
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"WARN M_TRACKER_LABELS",
|
| 240 |
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"WARN S_INDEX_STALE",
|
| 241 |
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"WARN S_PARTICIPANT",
|
| 242 |
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"WARN S_VIDEO_FPS",
|
| 243 |
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"WARN T_UNITS"
|
| 244 |
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]
|
| 245 |
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},
|
| 246 |
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"canonical": {
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| 247 |
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"generated_at_utc": "2026-10-14T12:21:20.595162+00:00",
|
| 248 |
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"generated_by": "scripts/canonicalise_dataset.py",
|
| 249 |
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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)",
|
| 250 |
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"R_canon_nokov": [
|
| 251 |
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[
|
| 252 |
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0.9999883331,
|
| 253 |
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|
| 254 |
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-2.10161e-05
|
| 255 |
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],
|
| 256 |
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[
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| 257 |
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2.10161e-05,
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| 258 |
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0.0087013021,
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| 259 |
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],
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| 261 |
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[
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0.9999504758,
|
| 264 |
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0.0087013021
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| 265 |
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]
|
| 266 |
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],
|
| 267 |
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"scale_nokov_to_canon": 0.001,
|
| 268 |
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|
| 269 |
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[
|
| 270 |
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0.000999988333,
|
| 271 |
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-4.830454e-06,
|
| 272 |
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-2.1016e-08,
|
| 273 |
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0.0
|
| 274 |
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],
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| 275 |
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[
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| 276 |
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2.1016e-08,
|
| 277 |
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8.701302e-06,
|
| 278 |
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-0.000999962143,
|
| 279 |
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0.0
|
| 280 |
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],
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| 281 |
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[
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| 282 |
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4.830454e-06,
|
| 283 |
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0.000999950476,
|
| 284 |
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8.701302e-06,
|
| 285 |
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0.0
|
| 286 |
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],
|
| 287 |
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[
|
| 288 |
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0.0,
|
| 289 |
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0.0,
|
| 290 |
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0.0,
|
| 291 |
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1.0
|
| 292 |
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]
|
| 293 |
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],
|
| 294 |
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"block": "20260921-afternoon",
|
| 295 |
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"block_assignment": "trc",
|
| 296 |
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"tilt_removed_deg": 0.57022748706666,
|
| 297 |
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"plane_status": "ok",
|
| 298 |
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"floor": {
|
| 299 |
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"sole_marker_p1_mm": 41.9,
|
| 300 |
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|
| 301 |
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},
|
| 302 |
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"gravity_check": {
|
| 303 |
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"static_samples": 2770,
|
| 304 |
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"g_world_mean_m_s2": [
|
| 305 |
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0.0649,
|
| 306 |
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-0.0545,
|
| 307 |
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9.7233
|
| 308 |
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],
|
| 309 |
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"tilt_from_z_deg": 0.499,
|
| 310 |
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|
| 311 |
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|
| 312 |
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},
|
| 313 |
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"rig_tracker_definition": "e17c9efadb69e7b1/20260921-afternoon/labels-530412/session-803f9eeda0f5c4d6",
|
| 314 |
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"camera_pose_source": "provider T_tracker0_cam",
|
| 315 |
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"files": [
|
| 316 |
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"mocap_zup.npz",
|
| 317 |
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"tracker0_zup.npz",
|
| 318 |
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"rig_zup.npz",
|
| 319 |
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"cameras_zup.npz"
|
| 320 |
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]
|
| 321 |
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},
|
| 322 |
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"smplx": {
|
| 323 |
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"generated_at_utc": "2026-10-15T09:49:12.925279+00:00",
|
| 324 |
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"generated_by": "scripts/fit_smplx_dataset.py",
|
| 325 |
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"file": "smplx.npz",
|
| 326 |
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"gender": "female",
|
| 327 |
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"n_betas": 16,
|
| 328 |
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"betas_source": "participant median (derived/smplx/participants.json)",
|
| 329 |
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 330 |
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 331 |
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"hands": {
|
| 332 |
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"observed": false,
|
| 333 |
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"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 334 |
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"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 335 |
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"hand_marker_offsets_m": {
|
| 336 |
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"left": {
|
| 337 |
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"LHandIn": [
|
| 338 |
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0.06346192955970764,
|
| 339 |
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0.010273241437971592,
|
| 340 |
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0.026542948558926582
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| 341 |
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],
|
| 342 |
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"LHandOut": [
|
| 343 |
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0.06622036546468735,
|
| 344 |
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0.006433252245187759,
|
| 345 |
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-0.03145831823348999
|
| 346 |
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],
|
| 347 |
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"LWristOut": [
|
| 348 |
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-0.0029974111821502447,
|
| 349 |
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0.02885471098124981,
|
| 350 |
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-0.023456819355487823
|
| 351 |
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]
|
| 352 |
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},
|
| 353 |
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"right": {
|
| 354 |
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"RHandIn": [
|
| 355 |
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-0.07465444505214691,
|
| 356 |
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0.010945758782327175,
|
| 357 |
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0.02574709989130497
|
| 358 |
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],
|
| 359 |
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"RHandOut": [
|
| 360 |
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-0.06296028941869736,
|
| 361 |
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0.015668369829654694,
|
| 362 |
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-0.02035716362297535
|
| 363 |
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]
|
| 364 |
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}
|
| 365 |
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}
|
| 366 |
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},
|
| 367 |
+
"marker_rmse_mm": {
|
| 368 |
+
"median_frame": 4.34,
|
| 369 |
+
"p95_frame": 9.2
|
| 370 |
+
},
|
| 371 |
+
"worst_markers": [
|
| 372 |
+
"RForearm 17mm",
|
| 373 |
+
"LShin 14mm",
|
| 374 |
+
"RWristOut 11mm",
|
| 375 |
+
"RElbowIn 11mm",
|
| 376 |
+
"LKneeIn 8mm"
|
| 377 |
+
],
|
| 378 |
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