Upload folder using huggingface_hub (part 828)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +17 -0
- actions/locomotion_primitives/P31/session_038/videos/wrist_left.mp4 +3 -0
- actions/locomotion_primitives/P31/session_038/videos/wrist_right.mp4 +3 -0
- actions/locomotion_primitives/P31/session_039/cameras/poses.npz +3 -0
- actions/locomotion_primitives/P31/session_039/meta.json +530 -0
- actions/locomotion_primitives/P31/session_039/motions/head_rig.npz +3 -0
- actions/locomotion_primitives/P31/session_039/motions/markers.npz +3 -0
- actions/locomotion_primitives/P31/session_039/motions/skeleton.npz +3 -0
- actions/locomotion_primitives/P31/session_039/motions/smplx.npz +3 -0
- actions/locomotion_primitives/P31/session_039/raw/audio.wav +3 -0
- actions/locomotion_primitives/P31/session_039/raw/manifest.json +230 -0
- actions/locomotion_primitives/P31/session_039/raw/mocap/Body0.bvh +0 -0
- actions/locomotion_primitives/P31/session_039/raw/mocap/Body0.csv +3 -0
- actions/locomotion_primitives/P31/session_039/raw/mocap/Body0.trc +3 -0
- actions/locomotion_primitives/P31/session_039/raw/mocap/Tracker0.csv +0 -0
- actions/locomotion_primitives/P31/session_039/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/P31/session_039/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/P31/session_039/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/P31/session_039/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/P31/session_039/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/P31/session_039/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomotion_primitives/P31/session_039/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomotion_primitives/P31/session_039/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomotion_primitives/P31/session_039/scene/infer.json +36 -0
- actions/locomotion_primitives/P31/session_039/scene/views.npz +3 -0
- actions/locomotion_primitives/P31/session_039/sensors/head_imu.npz +3 -0
- actions/locomotion_primitives/P31/session_039/sensors/head_mag.npz +3 -0
- actions/locomotion_primitives/P31/session_039/sensors/wrist_imu.npz +3 -0
- actions/locomotion_primitives/P31/session_039/sensors/wrist_mag.npz +3 -0
- actions/locomotion_primitives/P31/session_039/videos/frame_timestamps.npz +3 -0
- actions/locomotion_primitives/P31/session_039/videos/head_left.mp4 +3 -0
- actions/locomotion_primitives/P31/session_039/videos/head_left_eye.mp4 +3 -0
- actions/locomotion_primitives/P31/session_039/videos/head_left_front.mp4 +3 -0
- actions/locomotion_primitives/P31/session_039/videos/head_right.mp4 +3 -0
- actions/locomotion_primitives/P31/session_039/videos/head_right_eye.mp4 +3 -0
- actions/locomotion_primitives/P31/session_039/videos/head_right_front.mp4 +3 -0
- actions/locomotion_primitives/P31/session_039/videos/third_person.mp4 +3 -0
- actions/locomotion_primitives/P31/session_039/videos/wrist_left.mp4 +3 -0
- actions/locomotion_primitives/P31/session_039/videos/wrist_right.mp4 +3 -0
- actions/locomotion_primitives/P31/session_040/cameras/poses.npz +3 -0
- actions/locomotion_primitives/P31/session_040/meta.json +520 -0
- actions/locomotion_primitives/P31/session_040/motions/head_rig.npz +3 -0
- actions/locomotion_primitives/P31/session_040/motions/markers.npz +3 -0
- actions/locomotion_primitives/P31/session_040/motions/skeleton.npz +3 -0
- actions/locomotion_primitives/P31/session_040/motions/smplx.npz +3 -0
- actions/locomotion_primitives/P31/session_040/raw/audio.wav +3 -0
- actions/locomotion_primitives/P31/session_040/raw/manifest.json +230 -0
- actions/locomotion_primitives/P31/session_040/raw/mocap/Body0.bvh +0 -0
- actions/locomotion_primitives/P31/session_040/raw/mocap/Body0.csv +3 -0
- actions/locomotion_primitives/P31/session_040/raw/mocap/Body0.trc +3 -0
.gitattributes
CHANGED
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@@ -32964,3 +32964,20 @@ actions/locomotion_primitives/P31/session_038/raw/sensors/robowrist_imu_left.db
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actions/locomotion_primitives/P31/session_038/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_038/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_038/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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| 32964 |
actions/locomotion_primitives/P31/session_038/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_038/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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| 32966 |
actions/locomotion_primitives/P31/session_038/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_039/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_039/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_039/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_039/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_039/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_039/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_039/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_039/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_039/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_040/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_040/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_040/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_040/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_040/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_040/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_040/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_040/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_038/videos/wrist_left.mp4
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size 66517780
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actions/locomotion_primitives/P31/session_038/videos/wrist_right.mp4
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size 67366175
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actions/locomotion_primitives/P31/session_039/cameras/poses.npz
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size 1131552
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actions/locomotion_primitives/P31/session_039/meta.json
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@@ -0,0 +1,530 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20260912/P31/20260912_084411_session54",
|
| 4 |
+
"session_id": "20260912_084411_session54",
|
| 5 |
+
"primitive": "P31",
|
| 6 |
+
"batch": "20260912",
|
| 7 |
+
"participant": "zhangxinxin",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e17c9efadb69e7b1",
|
| 11 |
+
"left": "cc5681142208e29a",
|
| 12 |
+
"right": "60a6f081bbe60b0d"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-14T11:05:12.587856+00:00",
|
| 15 |
+
"generated_by": "scripts/sync_dataset.py",
|
| 16 |
+
"time_base": {
|
| 17 |
+
"definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
|
| 18 |
+
"mocap_rate_hz": 120.0,
|
| 19 |
+
"first_solved_frame": 0,
|
| 20 |
+
"duration_s": 129.025,
|
| 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": -1.174472,
|
| 28 |
+
"rate": 0.0,
|
| 29 |
+
"global_lag_s": -1.175,
|
| 30 |
+
"peak_corr": 0.9377,
|
| 31 |
+
"reference_imu_first_sample_s": 2689.197953606,
|
| 32 |
+
"windows": {
|
| 33 |
+
"n_windows": 11,
|
| 34 |
+
"window_corr_median": 0.9775657614022659,
|
| 35 |
+
"drift_ppm": 2.2809968173353234,
|
| 36 |
+
"drift_se_ppm": 6.901617762087974,
|
| 37 |
+
"drift_ms_over_take": 0.294286606049879,
|
| 38 |
+
"lag_scatter_ms": 0.6547449500421626,
|
| 39 |
+
"lag_range_ms": 2.411575067601701
|
| 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": 26269,
|
| 75 |
+
"n_gyro": 26263,
|
| 76 |
+
"t_start": -1.1810504442200322,
|
| 77 |
+
"t_end": 129.78553153577974
|
| 78 |
+
},
|
| 79 |
+
"imu_head_left": {
|
| 80 |
+
"n_acc": 26222,
|
| 81 |
+
"n_gyro": 26216,
|
| 82 |
+
"t_start": -1.07306552722042,
|
| 83 |
+
"t_end": 129.9515170967798
|
| 84 |
+
},
|
| 85 |
+
"imu_wrist_right": {
|
| 86 |
+
"n_acc": 25767,
|
| 87 |
+
"n_gyro": 25781,
|
| 88 |
+
"t_start": 0.28802352177996404,
|
| 89 |
+
"t_end": 127.63276566977999
|
| 90 |
+
},
|
| 91 |
+
"imu_wrist_left": {
|
| 92 |
+
"n_acc": 25158,
|
| 93 |
+
"n_gyro": 25156,
|
| 94 |
+
"t_start": 0.26402525077998185,
|
| 95 |
+
"t_end": 127.6391409727799
|
| 96 |
+
},
|
| 97 |
+
"mag_head": {
|
| 98 |
+
"n": 13111,
|
| 99 |
+
"t_start": -0.9882531942202473,
|
| 100 |
+
"t_end": 130.1117452437798
|
| 101 |
+
},
|
| 102 |
+
"mag_wrist_right": {
|
| 103 |
+
"n": 12735,
|
| 104 |
+
"t_start": 0.2994147867798933,
|
| 105 |
+
"t_end": 127.6393273467798
|
| 106 |
+
},
|
| 107 |
+
"mag_wrist_left": {
|
| 108 |
+
"n": 12736,
|
| 109 |
+
"t_start": 0.28269555377988986,
|
| 110 |
+
"t_end": 127.63292918977965
|
| 111 |
+
}
|
| 112 |
+
},
|
| 113 |
+
"videos": {
|
| 114 |
+
"left": {
|
| 115 |
+
"fps": 30.0,
|
| 116 |
+
"start_device_s": 2690.410851,
|
| 117 |
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"frames": 3870,
|
| 118 |
+
"pts_gaps": 0,
|
| 119 |
+
"timing": "pts",
|
| 120 |
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"timeshift_cam_imu_s": 0.0023423887986386703,
|
| 121 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 122 |
+
"t_start": 0.04076737157862631,
|
| 123 |
+
"t_end": 129.00740037157863,
|
| 124 |
+
"clock": "device",
|
| 125 |
+
"calibrated": true
|
| 126 |
+
},
|
| 127 |
+
"right": {
|
| 128 |
+
"fps": 30.0,
|
| 129 |
+
"start_device_s": 2690.41078,
|
| 130 |
+
"frames": 3870,
|
| 131 |
+
"pts_gaps": 0,
|
| 132 |
+
"timing": "pts",
|
| 133 |
+
"timeshift_cam_imu_s": 0.0019489646456461974,
|
| 134 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 135 |
+
"t_start": 0.04030294742557494,
|
| 136 |
+
"t_end": 129.00695894742563,
|
| 137 |
+
"clock": "device",
|
| 138 |
+
"calibrated": true
|
| 139 |
+
},
|
| 140 |
+
"left_front": {
|
| 141 |
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"fps": 30.0,
|
| 142 |
+
"start_device_s": 2690.410825,
|
| 143 |
+
"frames": 3870,
|
| 144 |
+
"pts_gaps": 0,
|
| 145 |
+
"timing": "pts",
|
| 146 |
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"timeshift_cam_imu_s": 0.0018171232386612972,
|
| 147 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 148 |
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"t_start": 0.04021610601836478,
|
| 149 |
+
"t_end": 129.00686010601845,
|
| 150 |
+
"clock": "device",
|
| 151 |
+
"calibrated": true
|
| 152 |
+
},
|
| 153 |
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"right_front": {
|
| 154 |
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"fps": 30.0,
|
| 155 |
+
"start_device_s": 2690.410873,
|
| 156 |
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"frames": 3870,
|
| 157 |
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"pts_gaps": 0,
|
| 158 |
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"timing": "pts",
|
| 159 |
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"timeshift_cam_imu_s": 0.0017295646474508202,
|
| 160 |
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"file": "robocap_segment1_video_right_front.mp4",
|
| 161 |
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"t_start": 0.040176547427167364,
|
| 162 |
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"t_end": 129.00680954742717,
|
| 163 |
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"clock": "device",
|
| 164 |
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"calibrated": true
|
| 165 |
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},
|
| 166 |
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"left_eye": {
|
| 167 |
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"fps": 30.0,
|
| 168 |
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"start_device_s": 2690.410801,
|
| 169 |
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"frames": 3870,
|
| 170 |
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"pts_gaps": 0,
|
| 171 |
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"timing": "pts",
|
| 172 |
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"timeshift_cam_imu_s": 0.001668932298833096,
|
| 173 |
+
"file": "robocap_segment1_video_left_eye.mp4",
|
| 174 |
+
"t_start": 0.04004391507857186,
|
| 175 |
+
"t_end": 129.00669991507863,
|
| 176 |
+
"clock": "device",
|
| 177 |
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"calibrated": true
|
| 178 |
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},
|
| 179 |
+
"right_eye": {
|
| 180 |
+
"fps": 30.0,
|
| 181 |
+
"start_device_s": 2690.410748,
|
| 182 |
+
"frames": 3870,
|
| 183 |
+
"pts_gaps": 0,
|
| 184 |
+
"timing": "pts",
|
| 185 |
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"timeshift_cam_imu_s": 0.0017169377622902274,
|
| 186 |
+
"file": "robocap_segment1_video_right_eye.mp4",
|
| 187 |
+
"t_start": 0.04003892054203284,
|
| 188 |
+
"t_end": 129.00670592054217,
|
| 189 |
+
"clock": "device",
|
| 190 |
+
"calibrated": true
|
| 191 |
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},
|
| 192 |
+
"wrist_left": {
|
| 193 |
+
"fps": 30.0,
|
| 194 |
+
"start_device_s": 2690.63828,
|
| 195 |
+
"frames": 3821,
|
| 196 |
+
"pts_gaps": 0,
|
| 197 |
+
"timing": "pts",
|
| 198 |
+
"timeshift_cam_imu_s": null,
|
| 199 |
+
"file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
|
| 200 |
+
"t_start": 0.2658539827799036,
|
| 201 |
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"t_end": 127.59944798278008,
|
| 202 |
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"clock": "device",
|
| 203 |
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"calibrated": false
|
| 204 |
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},
|
| 205 |
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"wrist_right": {
|
| 206 |
+
"fps": 30.0,
|
| 207 |
+
"start_device_s": 2690.656982,
|
| 208 |
+
"frames": 3820,
|
| 209 |
+
"pts_gaps": 0,
|
| 210 |
+
"timing": "pts",
|
| 211 |
+
"timeshift_cam_imu_s": null,
|
| 212 |
+
"file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
|
| 213 |
+
"t_start": 0.2845559827797519,
|
| 214 |
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"t_end": 127.58442598277958,
|
| 215 |
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"clock": "device",
|
| 216 |
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"calibrated": false
|
| 217 |
+
},
|
| 218 |
+
"third_person": {
|
| 219 |
+
"file": "mocap/mocap-P31-S05-zhangxinxin-01p1-1.mp4",
|
| 220 |
+
"frames": 3871,
|
| 221 |
+
"fps": 30.0,
|
| 222 |
+
"clock": "nokov (frame index)",
|
| 223 |
+
"t_start": 0.0,
|
| 224 |
+
"t_end": 129.0
|
| 225 |
+
}
|
| 226 |
+
}
|
| 227 |
+
},
|
| 228 |
+
"flags": [],
|
| 229 |
+
"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_INDEX",
|
| 241 |
+
"WARN S_PARTICIPANT",
|
| 242 |
+
"WARN T_IMU_PAIR"
|
| 243 |
+
]
|
| 244 |
+
},
|
| 245 |
+
"canonical": {
|
| 246 |
+
"generated_at_utc": "2026-10-14T12:19:17.123084+00:00",
|
| 247 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 248 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 249 |
+
"R_canon_nokov": [
|
| 250 |
+
[
|
| 251 |
+
0.9998941915,
|
| 252 |
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-0.0145465621,
|
| 253 |
+
-5.74517e-05
|
| 254 |
+
],
|
| 255 |
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[
|
| 256 |
+
5.74517e-05,
|
| 257 |
+
0.0078984625,
|
| 258 |
+
-0.999968805
|
| 259 |
+
],
|
| 260 |
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[
|
| 261 |
+
0.0145465621,
|
| 262 |
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0.9998629965,
|
| 263 |
+
0.0078984625
|
| 264 |
+
]
|
| 265 |
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],
|
| 266 |
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"scale_nokov_to_canon": 0.001,
|
| 267 |
+
"T_canon_nokov_mm": [
|
| 268 |
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[
|
| 269 |
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0.000999894192,
|
| 270 |
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-1.4546562e-05,
|
| 271 |
+
-5.7452e-08,
|
| 272 |
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0.0
|
| 273 |
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],
|
| 274 |
+
[
|
| 275 |
+
5.7452e-08,
|
| 276 |
+
7.898463e-06,
|
| 277 |
+
-0.000999968805,
|
| 278 |
+
0.0
|
| 279 |
+
],
|
| 280 |
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[
|
| 281 |
+
1.4546562e-05,
|
| 282 |
+
0.000999862997,
|
| 283 |
+
7.898463e-06,
|
| 284 |
+
0.0
|
| 285 |
+
],
|
| 286 |
+
[
|
| 287 |
+
0.0,
|
| 288 |
+
0.0,
|
| 289 |
+
0.0,
|
| 290 |
+
1.0
|
| 291 |
+
]
|
| 292 |
+
],
|
| 293 |
+
"block": "20260912-afternoon",
|
| 294 |
+
"block_assignment": "trc",
|
| 295 |
+
"tilt_removed_deg": 0.9484367639734627,
|
| 296 |
+
"plane_status": "ok",
|
| 297 |
+
"floor": {
|
| 298 |
+
"sole_marker_p1_mm": 30.6,
|
| 299 |
+
"headtop_p95_mm": 1612.0
|
| 300 |
+
},
|
| 301 |
+
"gravity_check": {
|
| 302 |
+
"static_samples": 251,
|
| 303 |
+
"g_world_mean_m_s2": [
|
| 304 |
+
0.1858,
|
| 305 |
+
-0.1909,
|
| 306 |
+
10.0512
|
| 307 |
+
],
|
| 308 |
+
"tilt_from_z_deg": 1.518,
|
| 309 |
+
"tilt_from_z_deg_before_levelling": 2.44,
|
| 310 |
+
"magnitude_m_s2": 10.0548
|
| 311 |
+
},
|
| 312 |
+
"rig_tracker_definition": "e17c9efadb69e7b1/20260912-afternoon/labels-530412/session-08ba99a200afccfc",
|
| 313 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 314 |
+
"files": [
|
| 315 |
+
"mocap_zup.npz",
|
| 316 |
+
"tracker0_zup.npz",
|
| 317 |
+
"rig_zup.npz",
|
| 318 |
+
"cameras_zup.npz"
|
| 319 |
+
]
|
| 320 |
+
},
|
| 321 |
+
"smplx": {
|
| 322 |
+
"generated_at_utc": "2026-10-15T09:50:47.167353+00:00",
|
| 323 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 324 |
+
"file": "smplx.npz",
|
| 325 |
+
"gender": "female",
|
| 326 |
+
"n_betas": 16,
|
| 327 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 328 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 329 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 330 |
+
"hands": {
|
| 331 |
+
"observed": false,
|
| 332 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 333 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 334 |
+
"hand_marker_offsets_m": {
|
| 335 |
+
"left": {
|
| 336 |
+
"LHandIn": [
|
| 337 |
+
0.05320567637681961,
|
| 338 |
+
0.008810708299279213,
|
| 339 |
+
0.03190651908516884
|
| 340 |
+
],
|
| 341 |
+
"LHandOut": [
|
| 342 |
+
0.03172767534852028,
|
| 343 |
+
0.021537594497203827,
|
| 344 |
+
-0.034455738961696625
|
| 345 |
+
],
|
| 346 |
+
"LWristOut": [
|
| 347 |
+
-0.023656269535422325,
|
| 348 |
+
0.01846175454556942,
|
| 349 |
+
-0.02638906240463257
|
| 350 |
+
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| 1 |
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{
|
| 2 |
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"schema_version": 1,
|
| 3 |
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"session": "EgoMotionActions/20260912/P31/20260912_111923_session9",
|
| 4 |
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"session_id": "20260912_111923_session9",
|
| 5 |
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"primitive": "P31",
|
| 6 |
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"batch": "20260912",
|
| 7 |
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"participant": "zhangxinxin",
|
| 8 |
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"participant_source": "manifest",
|
| 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": "452031d7af00ef6f",
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| 12 |
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"right": "6ee5ee4472fe2ad7"
|
| 13 |
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},
|
| 14 |
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"generated_at_utc": "2026-10-14T11:05:12.976959+00:00",
|
| 15 |
+
"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": 144.025,
|
| 21 |
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"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": -1.178779,
|
| 28 |
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"rate": 0.0,
|
| 29 |
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"global_lag_s": -1.18,
|
| 30 |
+
"peak_corr": 0.9358,
|
| 31 |
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"reference_imu_first_sample_s": 1561.537894757,
|
| 32 |
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"windows": {
|
| 33 |
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"n_windows": 12,
|
| 34 |
+
"window_corr_median": 0.9706320112717046,
|
| 35 |
+
"drift_ppm": -4.894964506052277,
|
| 36 |
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"drift_se_ppm": 1.825176217948588,
|
| 37 |
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"drift_ms_over_take": -0.7049564716132956,
|
| 38 |
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"lag_scatter_ms": 0.19924259844027895,
|
| 39 |
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"lag_range_ms": 0.9318408764336095
|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
+
"units": {
|
| 43 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 44 |
+
"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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],
|
| 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": 29257,
|
| 75 |
+
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|
| 76 |
+
"t_start": -1.1853591752191668,
|
| 77 |
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|
| 78 |
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},
|
| 79 |
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"imu_head_left": {
|
| 80 |
+
"n_acc": 29201,
|
| 81 |
+
"n_gyro": 29195,
|
| 82 |
+
"t_start": -1.0696986342192694,
|
| 83 |
+
"t_end": 144.83972860378077
|
| 84 |
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},
|
| 85 |
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"imu_wrist_left": {
|
| 86 |
+
"n_acc": 28821,
|
| 87 |
+
"n_gyro": 28821,
|
| 88 |
+
"t_start": 0.34955031678083026,
|
| 89 |
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|
| 90 |
+
},
|
| 91 |
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"mag_head": {
|
| 92 |
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"n": 14600,
|
| 93 |
+
"t_start": -0.9885737172191447,
|
| 94 |
+
"t_end": 145.00142501878082
|
| 95 |
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},
|
| 96 |
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"mag_wrist_right": {
|
| 97 |
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"n": 14261,
|
| 98 |
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"t_start": 0.08352197678078221,
|
| 99 |
+
"t_end": 142.68398201278075
|
| 100 |
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},
|
| 101 |
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"mag_wrist_left": {
|
| 102 |
+
"n": 14233,
|
| 103 |
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"t_start": 0.36300576678086793,
|
| 104 |
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"t_end": 142.6827115047809
|
| 105 |
+
}
|
| 106 |
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},
|
| 107 |
+
"videos": {
|
| 108 |
+
"left": {
|
| 109 |
+
"fps": 30.0,
|
| 110 |
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"start_device_s": 1562.754864,
|
| 111 |
+
"frames": 4320,
|
| 112 |
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|
| 113 |
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"timing": "pts",
|
| 114 |
+
"timeshift_cam_imu_s": 0.0023423887986386703,
|
| 115 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 116 |
+
"t_start": 0.0405328025795435,
|
| 117 |
+
"t_end": 144.0071438025796,
|
| 118 |
+
"clock": "device",
|
| 119 |
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"calibrated": true
|
| 120 |
+
},
|
| 121 |
+
"right": {
|
| 122 |
+
"fps": 30.0,
|
| 123 |
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"start_device_s": 1562.754812,
|
| 124 |
+
"frames": 4320,
|
| 125 |
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"pts_gaps": 0,
|
| 126 |
+
"timing": "pts",
|
| 127 |
+
"timeshift_cam_imu_s": 0.0019489646456461974,
|
| 128 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 129 |
+
"t_start": 0.04008737842633048,
|
| 130 |
+
"t_end": 144.00670937842625,
|
| 131 |
+
"clock": "device",
|
| 132 |
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"calibrated": true
|
| 133 |
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},
|
| 134 |
+
"left_front": {
|
| 135 |
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"fps": 30.0,
|
| 136 |
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"start_device_s": 1562.754847,
|
| 137 |
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|
| 138 |
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|
| 139 |
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"timing": "pts",
|
| 140 |
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"timeshift_cam_imu_s": 0.0018171232386612972,
|
| 141 |
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"file": "robocap_segment1_video_left_front.mp4",
|
| 142 |
+
"t_start": 0.03999053701937294,
|
| 143 |
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"t_end": 144.00660153701943,
|
| 144 |
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"clock": "device",
|
| 145 |
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"calibrated": true
|
| 146 |
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},
|
| 147 |
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"right_front": {
|
| 148 |
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|
| 149 |
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"start_device_s": 1562.754881,
|
| 150 |
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"frames": 4320,
|
| 151 |
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|
| 152 |
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"timing": "pts",
|
| 153 |
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"timeshift_cam_imu_s": 0.0017295646474508202,
|
| 154 |
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"file": "robocap_segment1_video_right_front.mp4",
|
| 155 |
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"t_start": 0.03993697842821087,
|
| 156 |
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"t_end": 144.00654797842827,
|
| 157 |
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"clock": "device",
|
| 158 |
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"calibrated": true
|
| 159 |
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},
|
| 160 |
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"left_eye": {
|
| 161 |
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"fps": 30.0,
|
| 162 |
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"start_device_s": 1562.75483,
|
| 163 |
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"frames": 4320,
|
| 164 |
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|
| 165 |
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"timing": "pts",
|
| 166 |
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|
| 167 |
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"file": "robocap_segment1_video_left_eye.mp4",
|
| 168 |
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"t_start": 0.03982534607967603,
|
| 169 |
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"t_end": 144.00643634607974,
|
| 170 |
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"clock": "device",
|
| 171 |
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"calibrated": true
|
| 172 |
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},
|
| 173 |
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"right_eye": {
|
| 174 |
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"fps": 30.0,
|
| 175 |
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"start_device_s": 1562.754788,
|
| 176 |
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"frames": 4320,
|
| 177 |
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|
| 178 |
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"timing": "pts",
|
| 179 |
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|
| 180 |
+
"file": "robocap_segment1_video_right_eye.mp4",
|
| 181 |
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"t_start": 0.03983135154299555,
|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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},
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| 186 |
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|
| 187 |
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"fps": 30.0,
|
| 188 |
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"start_device_s": 1563.056142,
|
| 189 |
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"frames": 4270,
|
| 190 |
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"pts_gaps": 0,
|
| 191 |
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"timing": "pts",
|
| 192 |
+
"timeshift_cam_imu_s": null,
|
| 193 |
+
"file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
|
| 194 |
+
"t_start": 0.3394684137807027,
|
| 195 |
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"t_end": 142.6391424137808,
|
| 196 |
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|
| 197 |
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"calibrated": false
|
| 198 |
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},
|
| 199 |
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"wrist_right": {
|
| 200 |
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"fps": 30.0,
|
| 201 |
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"start_device_s": 1562.916667,
|
| 202 |
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"frames": 4274,
|
| 203 |
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|
| 204 |
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"timing": "pts",
|
| 205 |
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"timeshift_cam_imu_s": null,
|
| 206 |
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"file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
|
| 207 |
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"t_start": 0.19999341378075508,
|
| 208 |
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|
| 209 |
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"clock": "device",
|
| 210 |
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"calibrated": false
|
| 211 |
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},
|
| 212 |
+
"third_person": {
|
| 213 |
+
"file": "mocap/mocap-P31-S11-zhangxinxin-01p1-1.mp4",
|
| 214 |
+
"frames": 4321,
|
| 215 |
+
"fps": 30.0,
|
| 216 |
+
"clock": "nokov (frame index)",
|
| 217 |
+
"t_start": 0.0,
|
| 218 |
+
"t_end": 144.0
|
| 219 |
+
}
|
| 220 |
+
}
|
| 221 |
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},
|
| 222 |
+
"flags": [
|
| 223 |
+
"wrist_right_imu empty"
|
| 224 |
+
],
|
| 225 |
+
"sanity": {
|
| 226 |
+
"status": {
|
| 227 |
+
"structure": "FAIL",
|
| 228 |
+
"markers": "WARN",
|
| 229 |
+
"timing": "WARN"
|
| 230 |
+
},
|
| 231 |
+
"verdict": "READY_WITH_WARNINGS",
|
| 232 |
+
"issues": [
|
| 233 |
+
"FAIL S_DB_EMPTY",
|
| 234 |
+
"FAIL S_REPORT_EMPTY",
|
| 235 |
+
"WARN M_BODY_ID",
|
| 236 |
+
"WARN M_FLOOR_SHIFT",
|
| 237 |
+
"WARN M_SPIKES",
|
| 238 |
+
"WARN M_TRACKER_LABELS",
|
| 239 |
+
"WARN S_INDEX",
|
| 240 |
+
"WARN S_PARTICIPANT",
|
| 241 |
+
"WARN T_EMPTY",
|
| 242 |
+
"WARN T_IMU_PAIR"
|
| 243 |
+
]
|
| 244 |
+
},
|
| 245 |
+
"canonical": {
|
| 246 |
+
"generated_at_utc": "2026-10-14T12:19:17.286949+00:00",
|
| 247 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 248 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 249 |
+
"R_canon_nokov": [
|
| 250 |
+
[
|
| 251 |
+
0.9998941915,
|
| 252 |
+
-0.0145465621,
|
| 253 |
+
-5.74517e-05
|
| 254 |
+
],
|
| 255 |
+
[
|
| 256 |
+
5.74517e-05,
|
| 257 |
+
0.0078984625,
|
| 258 |
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-0.999968805
|
| 259 |
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],
|
| 260 |
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[
|
| 261 |
+
0.0145465621,
|
| 262 |
+
0.9998629965,
|
| 263 |
+
0.0078984625
|
| 264 |
+
]
|
| 265 |
+
],
|
| 266 |
+
"scale_nokov_to_canon": 0.001,
|
| 267 |
+
"T_canon_nokov_mm": [
|
| 268 |
+
[
|
| 269 |
+
0.000999894192,
|
| 270 |
+
-1.4546562e-05,
|
| 271 |
+
-5.7452e-08,
|
| 272 |
+
0.0
|
| 273 |
+
],
|
| 274 |
+
[
|
| 275 |
+
5.7452e-08,
|
| 276 |
+
7.898463e-06,
|
| 277 |
+
-0.000999968805,
|
| 278 |
+
0.0
|
| 279 |
+
],
|
| 280 |
+
[
|
| 281 |
+
1.4546562e-05,
|
| 282 |
+
0.000999862997,
|
| 283 |
+
7.898463e-06,
|
| 284 |
+
0.0
|
| 285 |
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],
|
| 286 |
+
[
|
| 287 |
+
0.0,
|
| 288 |
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0.0,
|
| 289 |
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0.0,
|
| 290 |
+
1.0
|
| 291 |
+
]
|
| 292 |
+
],
|
| 293 |
+
"block": "20260912-afternoon",
|
| 294 |
+
"block_assignment": "trc",
|
| 295 |
+
"tilt_removed_deg": 0.9484367639734627,
|
| 296 |
+
"plane_status": "ok",
|
| 297 |
+
"floor": {
|
| 298 |
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"sole_marker_p1_mm": 42.0,
|
| 299 |
+
"headtop_p95_mm": 1612.9
|
| 300 |
+
},
|
| 301 |
+
"gravity_check": null,
|
| 302 |
+
"rig_tracker_definition": "e17c9efadb69e7b1/20260912-afternoon/labels-530412/session-c78ab04c79e63cad",
|
| 303 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 304 |
+
"files": [
|
| 305 |
+
"mocap_zup.npz",
|
| 306 |
+
"tracker0_zup.npz",
|
| 307 |
+
"rig_zup.npz",
|
| 308 |
+
"cameras_zup.npz"
|
| 309 |
+
]
|
| 310 |
+
},
|
| 311 |
+
"smplx": {
|
| 312 |
+
"generated_at_utc": "2026-10-15T09:51:44.056927+00:00",
|
| 313 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 314 |
+
"file": "smplx.npz",
|
| 315 |
+
"gender": "female",
|
| 316 |
+
"n_betas": 16,
|
| 317 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 318 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 319 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 320 |
+
"hands": {
|
| 321 |
+
"observed": false,
|
| 322 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 323 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 324 |
+
"hand_marker_offsets_m": {
|
| 325 |
+
"left": {
|
| 326 |
+
"LHandIn": [
|
| 327 |
+
0.031063709408044815,
|
| 328 |
+
0.0024942425079643726,
|
| 329 |
+
0.03808974474668503
|
| 330 |
+
],
|
| 331 |
+
"LHandOut": [
|
| 332 |
+
0.04051670432090759,
|
| 333 |
+
0.01033023651689291,
|
| 334 |
+
-0.03157980740070343
|
| 335 |
+
],
|
| 336 |
+
"LWristIn": [
|
| 337 |
+
-0.0417066253721714,
|
| 338 |
+
-0.017388250678777695,
|
| 339 |
+
0.02458440326154232
|
| 340 |
+
]
|
| 341 |
+
},
|
| 342 |
+
"right": {
|
| 343 |
+
"RHandIn": [
|
| 344 |
+
-0.10139814764261246,
|
| 345 |
+
0.005867278203368187,
|
| 346 |
+
0.02900761552155018
|
| 347 |
+
],
|
| 348 |
+
"RHandOut": [
|
| 349 |
+
-0.08055659383535385,
|
| 350 |
+
0.019777631387114525,
|
| 351 |
+
-0.01996145211160183
|
| 352 |
+
],
|
| 353 |
+
"RWristOut": [
|
| 354 |
+
-0.0043162330985069275,
|
| 355 |
+
0.028915587812662125,
|
| 356 |
+
-0.004410202614963055
|
| 357 |
+
]
|
| 358 |
+
}
|
| 359 |
+
}
|
| 360 |
+
},
|
| 361 |
+
"marker_rmse_mm": {
|
| 362 |
+
"median_frame": 4.93,
|
| 363 |
+
"p95_frame": 8.39
|
| 364 |
+
},
|
| 365 |
+
"worst_markers": [
|
| 366 |
+
"RElbowIn 18mm",
|
| 367 |
+
"RElbow 15mm",
|
| 368 |
+
"LKneeIn 10mm",
|
| 369 |
+
"LShin 9mm",
|
| 370 |
+
"RKneeIn 9mm"
|
| 371 |
+
],
|
| 372 |
+
"valid_fraction": 1.0,
|
| 373 |
+
"qc": {
|
| 374 |
+
"lowest_vertex_mm": {
|
| 375 |
+
"median": 17.3,
|
| 376 |
+
"p5": 2.4
|
| 377 |
+
},
|
| 378 |
+
"frames_checked": 577,
|
| 379 |
+
"stature_mm": 1627.7
|
| 380 |
+
},
|
| 381 |
+
"surface_term": {
|
| 382 |
+
"weight": 1.0,
|
| 383 |
+
"marker_height_mm": 11.0,
|
| 384 |
+
"markers_on_surface": 52,
|
| 385 |
+
"surface_rmse_mm_median": 12.9
|
| 386 |
+
},
|
| 387 |
+
"shape_source": "participant median",
|
| 388 |
+
"wrist_correction": {
|
| 389 |
+
"left": {
|
| 390 |
+
"status": "corrected",
|
| 391 |
+
"Q_deg": 170.59,
|
| 392 |
+
"Q_rotvec": [
|
| 393 |
+
-2.96096,
|
| 394 |
+
-0.21567,
|
| 395 |
+
0.22607
|
| 396 |
+
],
|
| 397 |
+
"in_out_sign": -1,
|
| 398 |
+
"wrist_bend_deg_median": 172.0,
|
| 399 |
+
"opposite_sign_bend_deg": 17.8,
|
| 400 |
+
"in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
|
| 401 |
+
"marker_frame_spread_deg": 0.96,
|
| 402 |
+
"hand_vs_marker_frame_deg": {
|
| 403 |
+
"before": 170.8,
|
| 404 |
+
"after": 0.96
|
| 405 |
+
},
|
| 406 |
+
"markers_on_wrist": [
|
| 407 |
+
"LWristIn",
|
| 408 |
+
"LHandIn",
|
| 409 |
+
"LHandOut"
|
| 410 |
+
],
|
| 411 |
+
"forearm_twist": {
|
| 412 |
+
"twist_moved_deg": -171.62,
|
| 413 |
+
"wrist_twist_deg_after": {
|
| 414 |
+
"median": -0.05,
|
| 415 |
+
"iqr": [
|
| 416 |
+
-2.9,
|
| 417 |
+
1.8
|
| 418 |
+
]
|
| 419 |
+
},
|
| 420 |
+
"wrist_total_deg_median_after": 29.7,
|
| 421 |
+
"markers_on_forearm": [
|
| 422 |
+
"LElbowIn",
|
| 423 |
+
"LForearm",
|
| 424 |
+
"LWristOut"
|
| 425 |
+
]
|
| 426 |
+
},
|
| 427 |
+
"frames_used": 1500
|
| 428 |
+
},
|
| 429 |
+
"right": {
|
| 430 |
+
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