Upload folder using huggingface_hub (part 509)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +52 -0
- actions/locomanipulation/LM73/session_010/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM73/session_010/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM73/session_010/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM73/session_010/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM73/session_010/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM73/session_010/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM73/session_010/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM73/session_010/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM73/session_010/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM73/session_010/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM73/session_010/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM73/session_010/scene/infer.json +36 -0
- actions/locomanipulation/LM73/session_010/scene/views.npz +3 -0
- actions/locomanipulation/LM73/session_010/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM73/session_010/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM73/session_010/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM73/session_010/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM73/session_010/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM73/session_010/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM73/session_010/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM73/session_010/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM73/session_010/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM73/session_010/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM73/session_010/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM73/session_010/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM73/session_010/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM73/session_010/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM73/session_011/cameras/poses.npz +3 -0
- actions/locomanipulation/LM73/session_011/meta.json +541 -0
- actions/locomanipulation/LM73/session_011/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM73/session_011/motions/markers.npz +3 -0
- actions/locomanipulation/LM73/session_011/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM73/session_011/motions/smplx.npz +3 -0
- actions/locomanipulation/LM73/session_011/raw/audio.wav +3 -0
- actions/locomanipulation/LM73/session_011/raw/manifest.json +245 -0
- actions/locomanipulation/LM73/session_011/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM73/session_011/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM73/session_011/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM73/session_011/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM73/session_011/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM73/session_011/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM73/session_011/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM73/session_011/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM73/session_011/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM73/session_011/raw/sensors/robowrist_imu_right.db +0 -0
- actions/locomanipulation/LM73/session_011/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM73/session_011/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM73/session_011/scene/infer.json +36 -0
- actions/locomanipulation/LM73/session_011/scene/views.npz +3 -0
.gitattributes
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actions/locomanipulation/LM73/session_009/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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| 1 |
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{
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| 2 |
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| 3 |
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|
| 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": 134.025,
|
| 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": -1.184546,
|
| 28 |
+
"rate": 0.0,
|
| 29 |
+
"global_lag_s": -1.185,
|
| 30 |
+
"peak_corr": 0.9646,
|
| 31 |
+
"reference_imu_first_sample_s": 5254.024601787,
|
| 32 |
+
"windows": {
|
| 33 |
+
"n_windows": 11,
|
| 34 |
+
"window_corr_median": 0.9962987954794117,
|
| 35 |
+
"drift_ppm": 4.683668354728499,
|
| 36 |
+
"drift_se_ppm": 3.1074729156553063,
|
| 37 |
+
"drift_ms_over_take": 0.6276896206728644,
|
| 38 |
+
"lag_scatter_ms": 0.2948007654226522,
|
| 39 |
+
"lag_range_ms": 1.161422258304512
|
| 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 |
+
"calibration": {
|
| 67 |
+
"device": "e17c9efadb69e7b1",
|
| 68 |
+
"status": "ok",
|
| 69 |
+
"date": "2026-09-08"
|
| 70 |
+
},
|
| 71 |
+
"streams": {
|
| 72 |
+
"sensors": {
|
| 73 |
+
"imu_head_right": {
|
| 74 |
+
"n_acc": 27252,
|
| 75 |
+
"n_gyro": 27246,
|
| 76 |
+
"t_start": -1.1961318355121124,
|
| 77 |
+
"t_end": 134.67415492548787
|
| 78 |
+
},
|
| 79 |
+
"imu_head_left": {
|
| 80 |
+
"n_acc": 27200,
|
| 81 |
+
"n_gyro": 27194,
|
| 82 |
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"t_start": -1.0752290435126428,
|
| 83 |
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"t_end": 134.83989400048756
|
| 84 |
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},
|
| 85 |
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"imu_wrist_left": {
|
| 86 |
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"n_acc": 26393,
|
| 87 |
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"n_gyro": 26393,
|
| 88 |
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"t_start": 0.2243495524875312,
|
| 89 |
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|
| 90 |
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},
|
| 91 |
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|
| 92 |
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"n": 13600,
|
| 93 |
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"t_start": -0.990892751512199,
|
| 94 |
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|
| 95 |
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},
|
| 96 |
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|
| 97 |
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"n": 13034,
|
| 98 |
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|
| 99 |
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|
| 100 |
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},
|
| 101 |
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"mag_wrist_left": {
|
| 102 |
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"n": 13032,
|
| 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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"fps": 30.0,
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"timing": "pts",
|
| 114 |
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|
| 115 |
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"file": "robocap_segment1_video_left.mp4",
|
| 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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"fps": 30.0,
|
| 123 |
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|
| 124 |
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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",
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| 129 |
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"t_start": 0.03924208313345168,
|
| 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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"fps": 30.0,
|
| 136 |
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"start_device_s": 5255.246484,
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| 137 |
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"frames": 4020,
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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",
|
| 142 |
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"t_start": 0.03915324172647394,
|
| 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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"right_front": {
|
| 148 |
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|
| 149 |
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"start_device_s": 5255.24653,
|
| 150 |
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"frames": 4020,
|
| 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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| 158 |
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| 159 |
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},
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| 160 |
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|
| 161 |
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|
| 162 |
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"start_device_s": 5255.246464,
|
| 163 |
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"frames": 4013,
|
| 164 |
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| 165 |
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"timing": "pts",
|
| 166 |
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|
| 167 |
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| 168 |
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| 169 |
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|
| 170 |
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"corr": 0.831,
|
| 171 |
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| 172 |
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},
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| 173 |
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"nominal": {
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| 174 |
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|
| 175 |
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"corr": 0.831,
|
| 176 |
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"err_ms": 81.2
|
| 177 |
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}
|
| 178 |
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},
|
| 179 |
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"file": "robocap_segment1_video_left_eye.mp4",
|
| 180 |
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"t_start": 0.038985050786670916,
|
| 181 |
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| 182 |
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"clock": "device",
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| 183 |
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"calibrated": true
|
| 184 |
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},
|
| 185 |
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"right_eye": {
|
| 186 |
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"fps": 30.0,
|
| 187 |
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"start_device_s": 5255.246408,
|
| 188 |
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"frames": 4020,
|
| 189 |
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|
| 190 |
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"timing": "pts",
|
| 191 |
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|
| 192 |
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"file": "robocap_segment1_video_right_eye.mp4",
|
| 193 |
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"t_start": 0.03897705625002579,
|
| 194 |
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|
| 195 |
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|
| 196 |
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"calibrated": true
|
| 197 |
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},
|
| 198 |
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"wrist_left": {
|
| 199 |
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"fps": 30.0,
|
| 200 |
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"start_device_s": 5255.431569,
|
| 201 |
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"frames": 3910,
|
| 202 |
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|
| 203 |
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"timing": "pts",
|
| 204 |
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"timeshift_cam_imu_s": null,
|
| 205 |
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"file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
|
| 206 |
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"t_start": 0.2224211184878937,
|
| 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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"wrist_right": {
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| 212 |
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"fps": 30.0,
|
| 213 |
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"start_device_s": 5255.550506,
|
| 214 |
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|
| 215 |
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|
| 216 |
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"timing": "pts",
|
| 217 |
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|
| 218 |
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"file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
|
| 219 |
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| 220 |
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|
| 221 |
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|
| 222 |
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"calibrated": false
|
| 223 |
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},
|
| 224 |
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"third_person": {
|
| 225 |
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"file": "mocap/mocap-LM73-S02-zhangxinxin-01p1-1.mp4",
|
| 226 |
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"frames": 4021,
|
| 227 |
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"fps": 29.97002997002997,
|
| 228 |
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"clock": "nokov (frame index)",
|
| 229 |
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|
| 230 |
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"t_end": 134.13400000000001
|
| 231 |
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}
|
| 232 |
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}
|
| 233 |
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},
|
| 234 |
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"flags": [
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| 235 |
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"wrist_right_imu empty"
|
| 236 |
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],
|
| 237 |
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"sanity": {
|
| 238 |
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"status": {
|
| 239 |
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"structure": "FAIL",
|
| 240 |
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"markers": "WARN",
|
| 241 |
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"timing": "WARN"
|
| 242 |
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},
|
| 243 |
+
"verdict": "READY_WITH_WARNINGS",
|
| 244 |
+
"issues": [
|
| 245 |
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"FAIL S_DB_EMPTY",
|
| 246 |
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"FAIL S_REPORT_EMPTY",
|
| 247 |
+
"WARN M_BODY_ID",
|
| 248 |
+
"WARN M_SPIKES",
|
| 249 |
+
"WARN M_TRACKER_LABELS",
|
| 250 |
+
"WARN S_PARTICIPANT",
|
| 251 |
+
"WARN S_REPORT_TIMING",
|
| 252 |
+
"WARN S_VIDEO_FPS",
|
| 253 |
+
"WARN T_EMPTY",
|
| 254 |
+
"WARN T_FRAMES",
|
| 255 |
+
"WARN T_PTS"
|
| 256 |
+
]
|
| 257 |
+
},
|
| 258 |
+
"canonical": {
|
| 259 |
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"generated_at_utc": "2026-10-14T12:21:47.574521+00:00",
|
| 260 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 261 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 262 |
+
"R_canon_nokov": [
|
| 263 |
+
[
|
| 264 |
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0.999971398,
|
| 265 |
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-0.0075631784,
|
| 266 |
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-3.95322e-05
|
| 267 |
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],
|
| 268 |
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[
|
| 269 |
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3.95322e-05,
|
| 270 |
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0.0104534224,
|
| 271 |
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-0.9999453607
|
| 272 |
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],
|
| 273 |
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[
|
| 274 |
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0.0075631784,
|
| 275 |
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0.9999167587,
|
| 276 |
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0.0104534224
|
| 277 |
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]
|
| 278 |
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],
|
| 279 |
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"scale_nokov_to_canon": 0.001,
|
| 280 |
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"T_canon_nokov_mm": [
|
| 281 |
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[
|
| 282 |
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0.000999971398,
|
| 283 |
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-7.563178e-06,
|
| 284 |
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-3.9532e-08,
|
| 285 |
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0.0
|
| 286 |
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],
|
| 287 |
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[
|
| 288 |
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3.9532e-08,
|
| 289 |
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1.0453422e-05,
|
| 290 |
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-0.000999945361,
|
| 291 |
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0.0
|
| 292 |
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],
|
| 293 |
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[
|
| 294 |
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7.563178e-06,
|
| 295 |
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0.000999916759,
|
| 296 |
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1.0453422e-05,
|
| 297 |
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0.0
|
| 298 |
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],
|
| 299 |
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[
|
| 300 |
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0.0,
|
| 301 |
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0.0,
|
| 302 |
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0.0,
|
| 303 |
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1.0
|
| 304 |
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]
|
| 305 |
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],
|
| 306 |
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"block": "20260923-morning",
|
| 307 |
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"block_assignment": "trc",
|
| 308 |
+
"tilt_removed_deg": 0.7392819725535851,
|
| 309 |
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"plane_status": "contacts span only 0.43 m",
|
| 310 |
+
"floor": {
|
| 311 |
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"sole_marker_p1_mm": 32.7,
|
| 312 |
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"headtop_p95_mm": 1632.1
|
| 313 |
+
},
|
| 314 |
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"gravity_check": {
|
| 315 |
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"static_samples": 3402,
|
| 316 |
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"g_world_mean_m_s2": [
|
| 317 |
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0.1244,
|
| 318 |
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-0.0848,
|
| 319 |
+
9.8053
|
| 320 |
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],
|
| 321 |
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"tilt_from_z_deg": 0.879,
|
| 322 |
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"tilt_from_z_deg_before_levelling": 1.595,
|
| 323 |
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"magnitude_m_s2": 9.8065
|
| 324 |
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},
|
| 325 |
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"rig_tracker_definition": "e17c9efadb69e7b1/20260923-morning/labels-352410/session-29e7878efb59d9a5",
|
| 326 |
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"camera_pose_source": "provider T_tracker0_cam",
|
| 327 |
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"files": [
|
| 328 |
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"mocap_zup.npz",
|
| 329 |
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"tracker0_zup.npz",
|
| 330 |
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"rig_zup.npz",
|
| 331 |
+
"cameras_zup.npz"
|
| 332 |
+
]
|
| 333 |
+
},
|
| 334 |
+
"smplx": {
|
| 335 |
+
"generated_at_utc": "2026-10-15T00:03:32.819360+00:00",
|
| 336 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 337 |
+
"file": "smplx.npz",
|
| 338 |
+
"gender": "female",
|
| 339 |
+
"n_betas": 16,
|
| 340 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 341 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 342 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 343 |
+
"hands": {
|
| 344 |
+
"observed": false,
|
| 345 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 346 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 347 |
+
"hand_marker_offsets_m": {
|
| 348 |
+
"left": {
|
| 349 |
+
"LHandIn": [
|
| 350 |
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0.014349582605063915,
|
| 351 |
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0.015579227358102798,
|
| 352 |
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0.02735903300344944
|
| 353 |
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],
|
| 354 |
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"LHandOut": [
|
| 355 |
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0.02379535511136055,
|
| 356 |
+
0.027836807072162628,
|
| 357 |
+
-0.01456351950764656
|
| 358 |
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],
|
| 359 |
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"LWristOut": [
|
| 360 |
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-0.03329194709658623,
|
| 361 |
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0.027318796142935753,
|
| 362 |
+
-0.032060977071523666
|
| 363 |
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]
|
| 364 |
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},
|
| 365 |
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"right": {
|
| 366 |
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"RHandIn": [
|
| 367 |
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-0.03663453087210655,
|
| 368 |
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-0.01568695344030857,
|
| 369 |
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0.05186716467142105
|
| 370 |
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],
|
| 371 |
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"RHandOut": [
|
| 372 |
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-0.061840325593948364,
|
| 373 |
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0.014119279570877552,
|
| 374 |
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0.009499392472207546
|
| 375 |
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],
|
| 376 |
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"RWristOut": [
|
| 377 |
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0.004601411055773497,
|
| 378 |
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0.035762012004852295,
|
| 379 |
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-0.006432550493627787
|
| 380 |
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]
|
| 381 |
+
}
|
| 382 |
+
}
|
| 383 |
+
},
|
| 384 |
+
"marker_rmse_mm": {
|
| 385 |
+
"median_frame": 4.52,
|
| 386 |
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