Upload folder using huggingface_hub (part 247)
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- .gitattributes +47 -0
- actions/locomanipulation/LM20/session_016/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM20/session_016/raw/sensors/robocap_imu_right.db +3 -0
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- actions/locomanipulation/LM20/session_016/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM20/session_016/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM20/session_016/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM20/session_016/scene/infer.json +36 -0
- actions/locomanipulation/LM20/session_016/scene/views.npz +3 -0
- actions/locomanipulation/LM20/session_016/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM20/session_016/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM20/session_016/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM20/session_016/sensors/wrist_mag.npz +3 -0
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- actions/locomanipulation/LM20/session_016/videos/head_right_front.mp4 +3 -0
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- actions/locomanipulation/LM20/session_016/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM20/session_016/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM20/session_017/cameras/poses.npz +3 -0
- actions/locomanipulation/LM20/session_017/meta.json +504 -0
- actions/locomanipulation/LM20/session_017/motions/head_rig.npz +3 -0
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- actions/locomanipulation/LM20/session_017/motions/skeleton.npz +3 -0
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- actions/locomanipulation/LM20/session_017/raw/audio.wav +3 -0
- actions/locomanipulation/LM20/session_017/raw/manifest.json +296 -0
- actions/locomanipulation/LM20/session_017/raw/mocap/Body0.bvh +3 -0
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- actions/locomanipulation/LM20/session_017/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM20/session_017/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM20/session_017/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM20/session_017/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM20/session_017/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM20/session_017/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM20/session_017/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM20/session_017/scene/infer.json +36 -0
- actions/locomanipulation/LM20/session_017/scene/views.npz +3 -0
- actions/locomanipulation/LM20/session_017/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM20/session_017/sensors/head_mag.npz +3 -0
.gitattributes
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| 1 |
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{
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| 2 |
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"schema_version": 1,
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| 3 |
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"session": "EgoMotionActions/20261014/LM20/20261014_045423_session69",
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| 4 |
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"session_id": "20261014_045423_session69",
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| 5 |
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"primitive": "LM20",
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| 6 |
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"batch": "20261014",
|
| 7 |
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"participant": "fengyixuan",
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"main": "e17c9efadb69e7b1",
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"left": "cc5681142208e29a",
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"right": "60a6f081bbe60b0d"
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},
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"generated_at_utc": "2026-10-21T05:30:28.468118+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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"mocap_rate_fix": null,
|
| 20 |
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"first_solved_frame": 1,
|
| 21 |
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"duration_s": 149.01666666666668,
|
| 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 |
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"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": -1.165002,
|
| 29 |
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"rate": 0.0,
|
| 30 |
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"global_lag_s": -1.165,
|
| 31 |
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"peak_corr": 0.9951,
|
| 32 |
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"reference_imu_first_sample_s": 16814.125424051,
|
| 33 |
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"windows": {
|
| 34 |
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"n_windows": 13,
|
| 35 |
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"window_corr_median": 0.9974707718440506,
|
| 36 |
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"drift_ppm": -2.4263823931596513,
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| 37 |
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"drift_se_ppm": 5.656924049586638,
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| 38 |
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"drift_ms_over_take": -0.36157141628734074,
|
| 39 |
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"lag_scatter_ms": 0.7020058129552718,
|
| 40 |
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"lag_range_ms": 2.3303225508410907
|
| 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": [
|
| 46 |
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[
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| 47 |
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1.0,
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| 48 |
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0.0,
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| 49 |
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[
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[
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| 59 |
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| 60 |
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]
|
| 61 |
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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 |
+
"calibration": {
|
| 68 |
+
"device": "e17c9efadb69e7b1",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-09-08"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 30277,
|
| 76 |
+
"n_gyro": 30271,
|
| 77 |
+
"t_start": -1.1898981381682345,
|
| 78 |
+
"t_end": 149.75548796482965
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 30220,
|
| 82 |
+
"n_gyro": 30216,
|
| 83 |
+
"t_start": -1.0755733591695273,
|
| 84 |
+
"t_end": 149.9231529318304
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 29923,
|
| 88 |
+
"n_gyro": 29923,
|
| 89 |
+
"t_start": 0.26015914183063854,
|
| 90 |
+
"t_end": 148.1348332138323
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 29225,
|
| 94 |
+
"n_gyro": 29234,
|
| 95 |
+
"t_start": 0.20200084482986555,
|
| 96 |
+
"t_end": 148.15559123083133
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 15110,
|
| 100 |
+
"t_start": -0.9985157331693584,
|
| 101 |
+
"t_end": 150.09148396383083
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 14787,
|
| 105 |
+
"t_start": 0.27567840082975875,
|
| 106 |
+
"t_end": 148.13557646082975
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 14794,
|
| 110 |
+
"t_start": 0.2198531338317595,
|
| 111 |
+
"t_end": 148.15003397583044
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
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"start_device_s": 16815.327504,
|
| 118 |
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"frames": 4470,
|
| 119 |
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"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0023423887986386703,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.031087430629679752,
|
| 124 |
+
"t_end": 148.9977204306297,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 16815.327452,
|
| 131 |
+
"frames": 4470,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
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"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0019489646456461974,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.03064200647987733,
|
| 137 |
+
"t_end": 148.9972980064804,
|
| 138 |
+
"clock": "device",
|
| 139 |
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"calibrated": true
|
| 140 |
+
},
|
| 141 |
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"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 16815.327484,
|
| 144 |
+
"frames": 4470,
|
| 145 |
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"pts_gaps": 0,
|
| 146 |
+
"timing": "pts",
|
| 147 |
+
"timeshift_cam_imu_s": 0.0018171232386612972,
|
| 148 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
+
"t_start": 0.030542165072813682,
|
| 150 |
+
"t_end": 148.99718616507292,
|
| 151 |
+
"clock": "device",
|
| 152 |
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"calibrated": true
|
| 153 |
+
},
|
| 154 |
+
"right_front": {
|
| 155 |
+
"fps": 30.0,
|
| 156 |
+
"start_device_s": 16815.32752,
|
| 157 |
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"frames": 4470,
|
| 158 |
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"pts_gaps": 0,
|
| 159 |
+
"timing": "pts",
|
| 160 |
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"timeshift_cam_imu_s": 0.0017295646474508202,
|
| 161 |
+
"file": "robocap_segment1_video_right_front.mp4",
|
| 162 |
+
"t_start": 0.03049060647664434,
|
| 163 |
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"t_end": 148.99711260647658,
|
| 164 |
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"clock": "device",
|
| 165 |
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"calibrated": true
|
| 166 |
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},
|
| 167 |
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"left_eye": {
|
| 168 |
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"fps": 30.0,
|
| 169 |
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"start_device_s": 16815.32747,
|
| 170 |
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"frames": 4470,
|
| 171 |
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"pts_gaps": 0,
|
| 172 |
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"timing": "pts",
|
| 173 |
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"timeshift_cam_imu_s": 0.001668932298833096,
|
| 174 |
+
"file": "robocap_segment1_video_left_eye.mp4",
|
| 175 |
+
"t_start": 0.030379974129584902,
|
| 176 |
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"t_end": 148.9970239741297,
|
| 177 |
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"clock": "device",
|
| 178 |
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"calibrated": true
|
| 179 |
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},
|
| 180 |
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"right_eye": {
|
| 181 |
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"fps": 30.0,
|
| 182 |
+
"start_device_s": 16815.327428,
|
| 183 |
+
"frames": 4470,
|
| 184 |
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"pts_gaps": 0,
|
| 185 |
+
"timing": "pts",
|
| 186 |
+
"timeshift_cam_imu_s": 0.0017169377622902274,
|
| 187 |
+
"file": "robocap_segment1_video_right_eye.mp4",
|
| 188 |
+
"t_start": 0.030385979592222306,
|
| 189 |
+
"t_end": 148.99705297959284,
|
| 190 |
+
"clock": "device",
|
| 191 |
+
"calibrated": true
|
| 192 |
+
},
|
| 193 |
+
"wrist_left": {
|
| 194 |
+
"fps": 30.0,
|
| 195 |
+
"start_device_s": 16815.528274,
|
| 196 |
+
"frames": 4437,
|
| 197 |
+
"pts_gaps": 0,
|
| 198 |
+
"timing": "pts",
|
| 199 |
+
"timeshift_cam_imu_s": null,
|
| 200 |
+
"file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
|
| 201 |
+
"t_start": 0.22951504183130297,
|
| 202 |
+
"t_end": 148.09637704183027,
|
| 203 |
+
"clock": "device",
|
| 204 |
+
"calibrated": false
|
| 205 |
+
},
|
| 206 |
+
"wrist_right": {
|
| 207 |
+
"fps": 30.0,
|
| 208 |
+
"start_device_s": 16815.545359,
|
| 209 |
+
"frames": 4437,
|
| 210 |
+
"pts_gaps": 0,
|
| 211 |
+
"timing": "pts",
|
| 212 |
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"timeshift_cam_imu_s": null,
|
| 213 |
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"file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
|
| 214 |
+
"t_start": 0.24660004183080006,
|
| 215 |
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"t_end": 148.11313604183218,
|
| 216 |
+
"clock": "device",
|
| 217 |
+
"calibrated": false
|
| 218 |
+
},
|
| 219 |
+
"third_person": {
|
| 220 |
+
"file": "mocap/mocap-LM20-S02-fengyixuan-01p1-1.mp4",
|
| 221 |
+
"frames": 4471,
|
| 222 |
+
"fps": 30.0,
|
| 223 |
+
"clock": "nokov (frame index)",
|
| 224 |
+
"t_start": -0.008333333333333333,
|
| 225 |
+
"t_end": 148.99166666666667
|
| 226 |
+
}
|
| 227 |
+
}
|
| 228 |
+
},
|
| 229 |
+
"flags": [],
|
| 230 |
+
"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
|
| 231 |
+
"rig_tracker": {
|
| 232 |
+
"definition": "e17c9efadb69e7b1/20261014-morning/labels-352410/session-be021640964b7e49",
|
| 233 |
+
"R_tracker0_imu0": [
|
| 234 |
+
[
|
| 235 |
+
-0.64944206,
|
| 236 |
+
0.17530542,
|
| 237 |
+
-0.73992771
|
| 238 |
+
],
|
| 239 |
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[
|
| 240 |
+
0.75610684,
|
| 241 |
+
0.04548837,
|
| 242 |
+
-0.65286542
|
| 243 |
+
],
|
| 244 |
+
[
|
| 245 |
+
-0.08079274,
|
| 246 |
+
-0.98346267,
|
| 247 |
+
-0.16209169
|
| 248 |
+
]
|
| 249 |
+
],
|
| 250 |
+
"p_tracker0_imu0_m": [
|
| 251 |
+
-0.17730502618903285,
|
| 252 |
+
-0.015044342332722766,
|
| 253 |
+
-0.010948688224452078
|
| 254 |
+
],
|
| 255 |
+
"rig_check": {
|
| 256 |
+
"gyro_samples": 3814,
|
| 257 |
+
"gyro_max_deg": 2.5,
|
| 258 |
+
"status": "ok",
|
| 259 |
+
"dropped_marker": null,
|
| 260 |
+
"gyro_deg": 0.977
|
| 261 |
+
},
|
| 262 |
+
"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 263 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 264 |
+
},
|
| 265 |
+
"canonical": {
|
| 266 |
+
"generated_at_utc": "2026-10-21T06:55:39.287018+00:00",
|
| 267 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 268 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 269 |
+
"R_canon_nokov": [
|
| 270 |
+
[
|
| 271 |
+
1.0,
|
| 272 |
+
0.0,
|
| 273 |
+
0.0
|
| 274 |
+
],
|
| 275 |
+
[
|
| 276 |
+
0.0,
|
| 277 |
+
0.0,
|
| 278 |
+
-1.0
|
| 279 |
+
],
|
| 280 |
+
[
|
| 281 |
+
0.0,
|
| 282 |
+
1.0,
|
| 283 |
+
0.0
|
| 284 |
+
]
|
| 285 |
+
],
|
| 286 |
+
"scale_nokov_to_canon": 0.001,
|
| 287 |
+
"T_canon_nokov_mm": [
|
| 288 |
+
[
|
| 289 |
+
0.001,
|
| 290 |
+
0.0,
|
| 291 |
+
0.0,
|
| 292 |
+
0.0
|
| 293 |
+
],
|
| 294 |
+
[
|
| 295 |
+
0.0,
|
| 296 |
+
0.0,
|
| 297 |
+
-0.001,
|
| 298 |
+
0.0
|
| 299 |
+
],
|
| 300 |
+
[
|
| 301 |
+
0.0,
|
| 302 |
+
0.001,
|
| 303 |
+
0.0,
|
| 304 |
+
0.0
|
| 305 |
+
],
|
| 306 |
+
[
|
| 307 |
+
0.0,
|
| 308 |
+
0.0,
|
| 309 |
+
0.0,
|
| 310 |
+
1.0
|
| 311 |
+
]
|
| 312 |
+
],
|
| 313 |
+
"block": "20261014-morning",
|
| 314 |
+
"block_assignment": "trc",
|
| 315 |
+
"tilt_removed_deg": null,
|
| 316 |
+
"plane_status": "contacts span only 0.43 m",
|
| 317 |
+
"floor": {
|
| 318 |
+
"sole_marker_p1_mm": 15.9,
|
| 319 |
+
"headtop_p95_mm": 1659.2
|
| 320 |
+
},
|
| 321 |
+
"gravity_check": {
|
| 322 |
+
"static_samples": 4554,
|
| 323 |
+
"g_world_mean_m_s2": [
|
| 324 |
+
0.2711,
|
| 325 |
+
-0.2281,
|
| 326 |
+
9.7276
|
| 327 |
+
],
|
| 328 |
+
"tilt_from_z_deg": 2.086,
|
| 329 |
+
"tilt_from_z_deg_before_levelling": 2.086,
|
| 330 |
+
"magnitude_m_s2": 9.734
|
| 331 |
+
},
|
| 332 |
+
"rig_tracker_definition": "e17c9efadb69e7b1/20261014-morning/labels-352410/session-be021640964b7e49",
|
| 333 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 334 |
+
"files": [
|
| 335 |
+
"mocap_zup.npz",
|
| 336 |
+
"tracker0_zup.npz",
|
| 337 |
+
"rig_zup.npz",
|
| 338 |
+
"cameras_zup.npz"
|
| 339 |
+
]
|
| 340 |
+
},
|
| 341 |
+
"smplx": {
|
| 342 |
+
"generated_at_utc": "2026-10-22T23:08:40.148926+00:00",
|
| 343 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 344 |
+
"file": "smplx.npz",
|
| 345 |
+
"gender": "female",
|
| 346 |
+
"n_betas": 16,
|
| 347 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 348 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 349 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 350 |
+
"hands": {
|
| 351 |
+
"observed": false,
|
| 352 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 353 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 354 |
+
"hand_marker_offsets_m": {
|
| 355 |
+
"left": {
|
| 356 |
+
"LHandIn": [
|
| 357 |
+
0.06869406253099442,
|
| 358 |
+
0.011774501763284206,
|
| 359 |
+
0.026192376390099525
|
| 360 |
+
],
|
| 361 |
+
"LHandOut": [
|
| 362 |
+
0.05821497365832329,
|
| 363 |
+
0.01177851390093565,
|
| 364 |
+
-0.031190622597932816
|
| 365 |
+
],
|
| 366 |
+
"LWristOut": [
|
| 367 |
+
-0.0012926848139613867,
|
| 368 |
+
0.027653148397803307,
|
| 369 |
+
-0.02393539622426033
|
| 370 |
+
]
|
| 371 |
+
},
|
| 372 |
+
"right": {
|
| 373 |
+
"RHandIn": [
|
| 374 |
+
-0.05701804533600807,
|
| 375 |
+
0.009577021934092045,
|
| 376 |
+
0.04189366474747658
|
| 377 |
+
],
|
| 378 |
+
"RHandOut": [
|
| 379 |
+
-0.05536235496401787,
|
| 380 |
+
0.021913915872573853,
|
| 381 |
+
-0.0236196406185627
|
| 382 |
+
]
|
| 383 |
+
}
|
| 384 |
+
}
|
| 385 |
+
},
|
| 386 |
+
"marker_rmse_mm": {
|
| 387 |
+
"median_frame": 4.51,
|
| 388 |
+
"p95_frame": 8.47
|
| 389 |
+
},
|
| 390 |
+
"worst_markers": [
|
| 391 |
+
"LShin 14mm",
|
| 392 |
+
"LKneeIn 12mm",
|
| 393 |
+
"WaistRFront 11mm",
|
| 394 |
+
"LElbowIn 10mm",
|
| 395 |
+
"WaistRSide 10mm"
|
| 396 |
+
],
|
| 397 |
+
"valid_fraction": 1.0,
|
| 398 |
+
"qc": {
|
| 399 |
+
"lowest_vertex_mm": {
|
| 400 |
+
"median": 11.9,
|
| 401 |
+
"p5": -18.3
|
| 402 |
+
},
|
| 403 |
+
"frames_checked": 597,
|
| 404 |
+
"stature_mm": 1593.9
|
| 405 |
+
},
|
| 406 |
+
"surface_term": {
|
| 407 |
+
"weight": 1.0,
|
| 408 |
+
"marker_height_mm": 11.0,
|
| 409 |
+
"markers_on_surface": 52,
|
| 410 |
+
"surface_rmse_mm_median": 11.47
|
| 411 |
+
},
|
| 412 |
+
"shape_source": "participant median",
|
| 413 |
+
"wrist_correction": {
|
| 414 |
+
"left": {
|
| 415 |
+
"status": "corrected",
|
| 416 |
+
"Q_deg": 175.49,
|
| 417 |
+
"Q_rotvec": [
|
| 418 |
+
-2.97928,
|
| 419 |
+
0.01435,
|
| 420 |
+
0.71022
|
| 421 |
+
],
|
| 422 |
+
"in_out_sign": -1,
|
| 423 |
+
"wrist_bend_deg_median": 165.3,
|
| 424 |
+
"opposite_sign_bend_deg": 49.1,
|
| 425 |
+
"in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
|
| 426 |
+
"marker_frame_spread_deg": 1.85,
|
| 427 |
+
"hand_vs_marker_frame_deg": {
|
| 428 |
+
"before": 175.57,
|
| 429 |
+
"after": 1.85
|
| 430 |
+
},
|
| 431 |
+
"markers_on_wrist": [
|
| 432 |
+
"LWristOut",
|
| 433 |
+
"LHandIn",
|
| 434 |
+
"LHandOut"
|
| 435 |
+
],
|
| 436 |
+
"forearm_twist": {
|
| 437 |
+
"twist_moved_deg": -163.07,
|
| 438 |
+
"wrist_twist_deg_after": {
|
| 439 |
+
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|
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|
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|
| 34 |
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|
| 35 |
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|
| 36 |
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ADDED
|
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|
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