Upload folder using huggingface_hub (part 336)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +53 -0
- actions/locomanipulation/LM34/session_006/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM34/session_006/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM34/session_006/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM34/session_006/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM34/session_006/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM34/session_006/raw/sensors/robowrist_imu_right.db +0 -0
- actions/locomanipulation/LM34/session_006/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM34/session_006/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM34/session_006/scene/infer.json +36 -0
- actions/locomanipulation/LM34/session_006/scene/views.npz +3 -0
- actions/locomanipulation/LM34/session_006/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM34/session_006/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM34/session_006/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM34/session_006/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM34/session_006/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM34/session_006/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM34/session_006/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM34/session_006/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM34/session_006/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM34/session_006/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM34/session_006/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM34/session_006/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM34/session_006/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM34/session_006/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM34/session_007/cameras/poses.npz +3 -0
- actions/locomanipulation/LM34/session_007/meta.json +516 -0
- actions/locomanipulation/LM34/session_007/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM34/session_007/motions/markers.npz +3 -0
- actions/locomanipulation/LM34/session_007/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM34/session_007/motions/smplx.npz +3 -0
- actions/locomanipulation/LM34/session_007/raw/audio.wav +3 -0
- actions/locomanipulation/LM34/session_007/raw/manifest.json +248 -0
- actions/locomanipulation/LM34/session_007/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM34/session_007/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM34/session_007/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM34/session_007/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM34/session_007/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM34/session_007/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM34/session_007/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM34/session_007/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM34/session_007/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM34/session_007/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM34/session_007/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM34/session_007/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM34/session_007/scene/infer.json +36 -0
- actions/locomanipulation/LM34/session_007/scene/views.npz +3 -0
- actions/locomanipulation/LM34/session_007/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM34/session_007/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM34/session_007/sensors/wrist_imu.npz +3 -0
.gitattributes
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actions/locomanipulation/LM34/session_005/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM34/session_006/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM34/session_006/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM34/session_006/raw/sensors/robocap_imu_left.db
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20260922/LM34/20260922_031722_session39",
|
| 4 |
+
"session_id": "20260922_031722_session39",
|
| 5 |
+
"primitive": "LM34",
|
| 6 |
+
"batch": "20260922",
|
| 7 |
+
"participant": "wangyang",
|
| 8 |
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"participant_source": "manifest",
|
| 9 |
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"device_ids": {
|
| 10 |
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"main": "e17c9efadb69e7b1",
|
| 11 |
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"left": "cc5681142208e29a",
|
| 12 |
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"right": "60a6f081bbe60b0d"
|
| 13 |
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},
|
| 14 |
+
"generated_at_utc": "2026-10-14T11:22:19.281721+00:00",
|
| 15 |
+
"generated_by": "scripts/sync_dataset.py",
|
| 16 |
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"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 |
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"duration_s": 124.025,
|
| 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": -1.170329,
|
| 28 |
+
"rate": 0.0,
|
| 29 |
+
"global_lag_s": -1.17,
|
| 30 |
+
"peak_corr": 0.9944,
|
| 31 |
+
"reference_imu_first_sample_s": 5749.150905376,
|
| 32 |
+
"windows": {
|
| 33 |
+
"n_windows": 10,
|
| 34 |
+
"window_corr_median": 0.9976543733973091,
|
| 35 |
+
"drift_ppm": 4.258729528254394,
|
| 36 |
+
"drift_se_ppm": 3.509319577999651,
|
| 37 |
+
"drift_ms_over_take": 0.5281534403290157,
|
| 38 |
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"lag_scatter_ms": 0.28509847025810026,
|
| 39 |
+
"lag_range_ms": 1.1718636178728037
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"units": {
|
| 43 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 44 |
+
"y_up_to_z_up": [
|
| 45 |
+
[
|
| 46 |
+
1.0,
|
| 47 |
+
0.0,
|
| 48 |
+
0.0
|
| 49 |
+
],
|
| 50 |
+
[
|
| 51 |
+
0.0,
|
| 52 |
+
0.0,
|
| 53 |
+
-1.0
|
| 54 |
+
],
|
| 55 |
+
[
|
| 56 |
+
0.0,
|
| 57 |
+
1.0,
|
| 58 |
+
0.0
|
| 59 |
+
]
|
| 60 |
+
],
|
| 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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"imu_head_right": {
|
| 74 |
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"n_acc": 25267,
|
| 75 |
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| 76 |
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"t_start": -1.177310696563126,
|
| 77 |
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|
| 78 |
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},
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| 79 |
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"imu_head_left": {
|
| 80 |
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"n_acc": 25224,
|
| 81 |
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"n_gyro": 25218,
|
| 82 |
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"t_start": -1.0707140715623782,
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| 83 |
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| 84 |
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},
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| 85 |
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| 86 |
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"n_acc": 24851,
|
| 87 |
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"n_gyro": 24851,
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| 88 |
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"t_start": 0.38633139443734854,
|
| 89 |
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|
| 90 |
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},
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| 91 |
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"imu_wrist_left": {
|
| 92 |
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"n_acc": 24213,
|
| 93 |
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"n_gyro": 24214,
|
| 94 |
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|
| 95 |
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|
| 96 |
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| 97 |
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|
| 98 |
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"n": 12612,
|
| 99 |
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|
| 100 |
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|
| 101 |
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},
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| 102 |
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|
| 103 |
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"n": 12281,
|
| 104 |
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| 105 |
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|
| 106 |
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},
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| 107 |
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|
| 108 |
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"n": 12258,
|
| 109 |
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"t_start": 0.3729359104370642,
|
| 110 |
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|
| 111 |
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}
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| 112 |
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| 113 |
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| 114 |
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"left": {
|
| 115 |
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"fps": 30.0,
|
| 116 |
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| 117 |
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| 118 |
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| 119 |
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"timing": "pts",
|
| 120 |
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| 121 |
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"file": "robocap_segment1_video_left.mp4",
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| 122 |
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"t_start": 0.03968778523611127,
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| 123 |
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|
| 124 |
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"clock": "device",
|
| 125 |
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"calibrated": true
|
| 126 |
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},
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| 127 |
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"right": {
|
| 128 |
+
"fps": 30.0,
|
| 129 |
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"start_device_s": 5750.358518,
|
| 130 |
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|
| 131 |
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| 132 |
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"timing": "pts",
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| 133 |
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"timeshift_cam_imu_s": 0.0019489646456461974,
|
| 134 |
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"file": "robocap_segment1_video_right.mp4",
|
| 135 |
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"t_start": 0.039232361082923495,
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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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| 141 |
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| 142 |
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| 143 |
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| 146 |
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| 147 |
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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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| 151 |
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| 152 |
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| 154 |
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| 156 |
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| 157 |
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| 158 |
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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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| 161 |
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| 162 |
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| 163 |
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| 165 |
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| 166 |
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| 167 |
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| 168 |
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| 172 |
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| 173 |
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"file": "robocap_segment1_video_left_eye.mp4",
|
| 174 |
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"t_start": 0.03897332873637516,
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| 175 |
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| 176 |
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"clock": "device",
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| 177 |
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| 178 |
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| 179 |
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| 180 |
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| 181 |
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| 182 |
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| 183 |
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| 184 |
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"timing": "pts",
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| 185 |
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| 186 |
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"file": "robocap_segment1_video_right_eye.mp4",
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| 187 |
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"t_start": 0.03897333419970983,
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| 188 |
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| 189 |
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| 190 |
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|
| 191 |
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},
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| 192 |
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| 193 |
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| 194 |
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| 195 |
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| 196 |
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| 197 |
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|
| 198 |
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|
| 199 |
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"file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
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| 200 |
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| 204 |
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},
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| 206 |
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| 207 |
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| 208 |
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| 209 |
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| 210 |
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| 211 |
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|
| 212 |
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"file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
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| 213 |
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| 214 |
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| 216 |
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"calibrated": false
|
| 217 |
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},
|
| 218 |
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"third_person": {
|
| 219 |
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"file": "mocap/mocap-LM34-S01-wangyang-01p1-1.mp4",
|
| 220 |
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"frames": 3721,
|
| 221 |
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"fps": 60.0,
|
| 222 |
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"clock": "nokov (frame index)",
|
| 223 |
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|
| 224 |
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"t_end": 62.0
|
| 225 |
+
}
|
| 226 |
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}
|
| 227 |
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},
|
| 228 |
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"flags": [],
|
| 229 |
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"sanity": {
|
| 230 |
+
"status": {
|
| 231 |
+
"structure": "WARN",
|
| 232 |
+
"markers": "WARN",
|
| 233 |
+
"timing": "WARN"
|
| 234 |
+
},
|
| 235 |
+
"verdict": "READY_WITH_WARNINGS",
|
| 236 |
+
"issues": [
|
| 237 |
+
"WARN M_BODY_ID",
|
| 238 |
+
"WARN M_SPIKES",
|
| 239 |
+
"WARN M_TRACKER_LABELS",
|
| 240 |
+
"WARN S_VIDEO_FPS",
|
| 241 |
+
"WARN T_UNITS"
|
| 242 |
+
]
|
| 243 |
+
},
|
| 244 |
+
"canonical": {
|
| 245 |
+
"generated_at_utc": "2026-10-14T12:21:28.968454+00:00",
|
| 246 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 247 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 248 |
+
"R_canon_nokov": [
|
| 249 |
+
[
|
| 250 |
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0.9999891338,
|
| 251 |
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-0.0046617433,
|
| 252 |
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-2.23966e-05
|
| 253 |
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],
|
| 254 |
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[
|
| 255 |
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2.23966e-05,
|
| 256 |
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0.0096084269,
|
| 257 |
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-0.9999538377
|
| 258 |
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],
|
| 259 |
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[
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| 260 |
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0.0046617433,
|
| 261 |
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0.9999429715,
|
| 262 |
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0.0096084269
|
| 263 |
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]
|
| 264 |
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],
|
| 265 |
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"scale_nokov_to_canon": 0.001,
|
| 266 |
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"T_canon_nokov_mm": [
|
| 267 |
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[
|
| 268 |
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0.000999989134,
|
| 269 |
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-4.661743e-06,
|
| 270 |
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-2.2397e-08,
|
| 271 |
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0.0
|
| 272 |
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],
|
| 273 |
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[
|
| 274 |
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2.2397e-08,
|
| 275 |
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9.608427e-06,
|
| 276 |
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-0.000999953838,
|
| 277 |
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0.0
|
| 278 |
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],
|
| 279 |
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[
|
| 280 |
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4.661743e-06,
|
| 281 |
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0.000999942972,
|
| 282 |
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9.608427e-06,
|
| 283 |
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0.0
|
| 284 |
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],
|
| 285 |
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[
|
| 286 |
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0.0,
|
| 287 |
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0.0,
|
| 288 |
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0.0,
|
| 289 |
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1.0
|
| 290 |
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]
|
| 291 |
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],
|
| 292 |
+
"block": "20260922-morning",
|
| 293 |
+
"block_assignment": "trc",
|
| 294 |
+
"tilt_removed_deg": 0.6119072705165756,
|
| 295 |
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"plane_status": "ok",
|
| 296 |
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"floor": {
|
| 297 |
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"sole_marker_p1_mm": 54.2,
|
| 298 |
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"headtop_p95_mm": 1776.0
|
| 299 |
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},
|
| 300 |
+
"gravity_check": {
|
| 301 |
+
"static_samples": 1510,
|
| 302 |
+
"g_world_mean_m_s2": [
|
| 303 |
+
0.1105,
|
| 304 |
+
-0.0922,
|
| 305 |
+
9.7254
|
| 306 |
+
],
|
| 307 |
+
"tilt_from_z_deg": 0.848,
|
| 308 |
+
"tilt_from_z_deg_before_levelling": 1.428,
|
| 309 |
+
"magnitude_m_s2": 9.7264
|
| 310 |
+
},
|
| 311 |
+
"rig_tracker_definition": "e17c9efadb69e7b1/20260922-morning/labels-352410/session-1b88e725ac41906a",
|
| 312 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 313 |
+
"files": [
|
| 314 |
+
"mocap_zup.npz",
|
| 315 |
+
"tracker0_zup.npz",
|
| 316 |
+
"rig_zup.npz",
|
| 317 |
+
"cameras_zup.npz"
|
| 318 |
+
]
|
| 319 |
+
},
|
| 320 |
+
"smplx": {
|
| 321 |
+
"generated_at_utc": "2026-10-15T10:41:55.530051+00:00",
|
| 322 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 323 |
+
"file": "smplx.npz",
|
| 324 |
+
"gender": "male",
|
| 325 |
+
"n_betas": 16,
|
| 326 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 327 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 328 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 329 |
+
"hands": {
|
| 330 |
+
"observed": false,
|
| 331 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 332 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 333 |
+
"hand_marker_offsets_m": {
|
| 334 |
+
"left": {
|
| 335 |
+
"LHandIn": [
|
| 336 |
+
0.06759505718946457,
|
| 337 |
+
0.013719528913497925,
|
| 338 |
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-0.017087584361433983
|
| 339 |
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],
|
| 340 |
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"LHandOut": [
|
| 341 |
+
0.057795267552137375,
|
| 342 |
+
0.01647595688700676,
|
| 343 |
+
0.03170230612158775
|
| 344 |
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]
|
| 345 |
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},
|
| 346 |
+
"right": {
|
| 347 |
+
"RHandIn": [
|
| 348 |
+
-0.02626035176217556,
|
| 349 |
+
0.0036847232840955257,
|
| 350 |
+
0.04071857035160065
|
| 351 |
+
],
|
| 352 |
+
"RHandOut": [
|
| 353 |
+
-0.04591337963938713,
|
| 354 |
+
0.03305765986442566,
|
| 355 |
+
0.001928462297655642
|
| 356 |
+
]
|
| 357 |
+
}
|
| 358 |
+
}
|
| 359 |
+
},
|
| 360 |
+
"marker_rmse_mm": {
|
| 361 |
+
"median_frame": 5.05,
|
| 362 |
+
"p95_frame": 9.25
|
| 363 |
+
},
|
| 364 |
+
"worst_markers": [
|
| 365 |
+
"RKneeIn 12mm",
|
| 366 |
+
"LKneeIn 12mm",
|
| 367 |
+
"LWristOut 9mm",
|
| 368 |
+
"RThigh 9mm",
|
| 369 |
+
"LThigh 9mm"
|
| 370 |
+
],
|
| 371 |
+
"valid_fraction": 1.0,
|
| 372 |
+
"qc": {
|
| 373 |
+
"lowest_vertex_mm": {
|
| 374 |
+
"median": 0.0,
|
| 375 |
+
"p5": -6.6
|
| 376 |
+
},
|
| 377 |
+
"frames_checked": 497,
|
| 378 |
+
"stature_mm": 1765.5
|
| 379 |
+
},
|
| 380 |
+
"surface_term": {
|
| 381 |
+
"weight": 1.0,
|
| 382 |
+
"marker_height_mm": 11.0,
|
| 383 |
+
"markers_on_surface": 52,
|
| 384 |
+
"surface_rmse_mm_median": 16.06
|
| 385 |
+
},
|
| 386 |
+
"shape_source": "participant median",
|
| 387 |
+
"wrist_correction": {
|
| 388 |
+
"left": {
|
| 389 |
+
"status": "corrected",
|
| 390 |
+
"Q_deg": 31.59,
|
| 391 |
+
"Q_rotvec": [
|
| 392 |
+
0.05656,
|
| 393 |
+
-0.43089,
|
| 394 |
+
0.33936
|
| 395 |
+
],
|
| 396 |
+
"in_out_sign": -1,
|
| 397 |
+
"wrist_bend_deg_median": 38.2,
|
| 398 |
+
"opposite_sign_bend_deg": 159.6,
|
| 399 |
+
"in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
|
| 400 |
+
"marker_frame_spread_deg": 1.93,
|
| 401 |
+
"hand_vs_marker_frame_deg": {
|
| 402 |
+
"before": 31.63,
|
| 403 |
+
"after": 1.93
|
| 404 |
+
},
|
| 405 |
+
"markers_on_wrist": [
|
| 406 |
+
"LHandIn",
|
| 407 |
+
"LHandOut"
|
| 408 |
+
],
|
| 409 |
+
"forearm_twist": {
|
| 410 |
+
"twist_moved_deg": 20.53,
|
| 411 |
+
"wrist_twist_deg_after": {
|
| 412 |
+
"median": 0.0,
|
| 413 |
+
"iqr": [
|
| 414 |
+
-5.4,
|
| 415 |
+
4.6
|
| 416 |
+
]
|
| 417 |
+
},
|
| 418 |
+
"wrist_total_deg_median_after": 33.2,
|
| 419 |
+
"markers_on_forearm": [
|
| 420 |
+
"LForearm",
|
| 421 |
+
"LWristIn",
|
| 422 |
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