Upload folder using huggingface_hub (part 802)
Browse files- .gitattributes +8 -0
- actions/locomotion_primitives/P31/session_017/videos/wrist_right.mp4 +3 -0
- actions/locomotion_primitives/P31/session_018/cameras/poses.npz +3 -0
- actions/locomotion_primitives/P31/session_018/meta.json +525 -0
- actions/locomotion_primitives/P31/session_018/motions/head_rig.npz +3 -0
- actions/locomotion_primitives/P31/session_018/motions/markers.npz +3 -0
- actions/locomotion_primitives/P31/session_018/motions/skeleton.npz +3 -0
- actions/locomotion_primitives/P31/session_018/motions/smplx.npz +3 -0
- actions/locomotion_primitives/P31/session_018/raw/audio.wav +3 -0
- actions/locomotion_primitives/P31/session_018/raw/manifest.json +230 -0
- actions/locomotion_primitives/P31/session_018/raw/mocap/Body0.bvh +0 -0
- actions/locomotion_primitives/P31/session_018/raw/mocap/Body0.csv +3 -0
- actions/locomotion_primitives/P31/session_018/raw/mocap/Body0.trc +3 -0
- actions/locomotion_primitives/P31/session_018/raw/mocap/Tracker0.csv +0 -0
- actions/locomotion_primitives/P31/session_018/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/P31/session_018/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/P31/session_018/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/P31/session_018/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/P31/session_018/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/P31/session_018/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomotion_primitives/P31/session_018/raw/sensors/robowrist_mag_left.db +3 -0
.gitattributes
CHANGED
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@@ -32788,3 +32788,11 @@ actions/locomotion_primitives/P31/session_017/raw/sensors/robowrist_imu_left.db
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actions/locomotion_primitives/P31/session_017/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_017/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_017/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_017/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_017/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_017/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_018/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_018/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_018/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_018/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_018/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_018/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_018/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_018/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_017/videos/wrist_right.mp4
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size 55547731
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actions/locomotion_primitives/P31/session_018/cameras/poses.npz
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size 1126597
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actions/locomotion_primitives/P31/session_018/meta.json
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@@ -0,0 +1,525 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20260908/P31/20260908_091407_session97",
|
| 4 |
+
"session_id": "20260908_091407_session97",
|
| 5 |
+
"primitive": "P31",
|
| 6 |
+
"batch": "20260908",
|
| 7 |
+
"participant": "liujiaxin",
|
| 8 |
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"participant_source": "manifest",
|
| 9 |
+
"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": "2026-10-14T10:58:44.754898+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": -1.17832,
|
| 28 |
+
"rate": 0.0,
|
| 29 |
+
"global_lag_s": -1.18,
|
| 30 |
+
"peak_corr": 0.9741,
|
| 31 |
+
"reference_imu_first_sample_s": 17878.137157519,
|
| 32 |
+
"windows": {
|
| 33 |
+
"n_windows": 11,
|
| 34 |
+
"window_corr_median": 0.9833085498124069,
|
| 35 |
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"drift_ppm": 9.41839651345707,
|
| 36 |
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"drift_se_ppm": 4.938562883084327,
|
| 37 |
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"drift_ms_over_take": 1.2151301235111864,
|
| 38 |
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"lag_scatter_ms": 0.4685132123554293,
|
| 39 |
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"lag_range_ms": 2.2743699441438725
|
| 40 |
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}
|
| 41 |
+
},
|
| 42 |
+
"units": {
|
| 43 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 44 |
+
"y_up_to_z_up": [
|
| 45 |
+
[
|
| 46 |
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1.0,
|
| 47 |
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0.0,
|
| 48 |
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0.0
|
| 49 |
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],
|
| 50 |
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[
|
| 51 |
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0.0,
|
| 52 |
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0.0,
|
| 53 |
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-1.0
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| 54 |
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],
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| 55 |
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[
|
| 56 |
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0.0,
|
| 57 |
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1.0,
|
| 58 |
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0.0
|
| 59 |
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]
|
| 60 |
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],
|
| 61 |
+
"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": 26274,
|
| 75 |
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|
| 76 |
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"t_start": -1.1898887519819128,
|
| 77 |
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|
| 78 |
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},
|
| 79 |
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"imu_head_left": {
|
| 80 |
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"n_acc": 26225,
|
| 81 |
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"n_gyro": 26219,
|
| 82 |
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"t_start": -1.0769922939834815,
|
| 83 |
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|
| 84 |
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},
|
| 85 |
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"imu_wrist_right": {
|
| 86 |
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"n_acc": 25717,
|
| 87 |
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"n_gyro": 25716,
|
| 88 |
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"t_start": 0.2488708340170105,
|
| 89 |
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|
| 90 |
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},
|
| 91 |
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"imu_wrist_left": {
|
| 92 |
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"n_acc": 25109,
|
| 93 |
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"n_gyro": 25121,
|
| 94 |
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"t_start": 0.2253644360171292,
|
| 95 |
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|
| 96 |
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},
|
| 97 |
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|
| 98 |
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"n": 13112,
|
| 99 |
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|
| 100 |
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|
| 101 |
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},
|
| 102 |
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|
| 103 |
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"n": 12705,
|
| 104 |
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"t_start": 0.2655543840155714,
|
| 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": 12710,
|
| 109 |
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|
| 110 |
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"t_end": 127.32926837201741
|
| 111 |
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}
|
| 112 |
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},
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| 113 |
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"videos": {
|
| 114 |
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"left": {
|
| 115 |
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"fps": 30.0,
|
| 116 |
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"start_device_s": 17879.353174,
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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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"timeshift_cam_imu_s": 0.0023423887986386703,
|
| 121 |
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"file": "robocap_segment1_video_left.mp4",
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| 122 |
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"t_start": 0.040039320814697854,
|
| 123 |
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|
| 124 |
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"clock": "device",
|
| 125 |
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"calibrated": true
|
| 126 |
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},
|
| 127 |
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"right": {
|
| 128 |
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"fps": 30.0,
|
| 129 |
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"start_device_s": 17879.353118,
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| 130 |
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| 131 |
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"pts_gaps": 0,
|
| 132 |
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"timing": "pts",
|
| 133 |
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"timeshift_cam_imu_s": 0.0019489646456461974,
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| 134 |
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"file": "robocap_segment1_video_right.mp4",
|
| 135 |
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"t_start": 0.03958989666354129,
|
| 136 |
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"t_end": 129.00625689666413,
|
| 137 |
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"clock": "device",
|
| 138 |
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|
| 139 |
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},
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| 140 |
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| 141 |
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| 142 |
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| 143 |
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| 144 |
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| 145 |
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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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| 150 |
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| 152 |
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},
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| 154 |
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| 155 |
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| 156 |
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| 158 |
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"timing": "pts",
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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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| 164 |
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| 165 |
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},
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| 167 |
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| 168 |
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"start_device_s": 17879.353138,
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| 169 |
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| 170 |
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| 171 |
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"timing": "pts",
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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": 0.03932986431392593,
|
| 175 |
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"t_end": 129.0060078643146,
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| 176 |
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"clock": "device",
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| 177 |
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"calibrated": true
|
| 178 |
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},
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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",
|
| 185 |
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|
| 186 |
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"file": "robocap_segment1_video_right_eye.mp4",
|
| 187 |
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"t_start": 0.039326869777154494,
|
| 188 |
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| 189 |
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|
| 190 |
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"calibrated": true
|
| 191 |
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},
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| 192 |
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|
| 193 |
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"fps": 30.0,
|
| 194 |
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| 195 |
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| 196 |
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| 197 |
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"timing": "pts",
|
| 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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| 201 |
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| 202 |
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| 204 |
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},
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|
| 207 |
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"start_device_s": 17879.561992,
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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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| 215 |
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| 216 |
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|
| 217 |
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},
|
| 218 |
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"third_person": {
|
| 219 |
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"file": "mocap/mocap-P31-S07-liujiaxin-01p1-1.mp4",
|
| 220 |
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"frames": 3871,
|
| 221 |
+
"fps": 30.0,
|
| 222 |
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"clock": "nokov (frame index)",
|
| 223 |
+
"t_start": 0.0,
|
| 224 |
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"t_end": 129.0
|
| 225 |
+
}
|
| 226 |
+
}
|
| 227 |
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},
|
| 228 |
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"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 S_REPORT_TIMING",
|
| 243 |
+
"WARN T_IMU_PAIR"
|
| 244 |
+
]
|
| 245 |
+
},
|
| 246 |
+
"canonical": {
|
| 247 |
+
"generated_at_utc": "2026-10-14T12:18:22.895480+00:00",
|
| 248 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 249 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 250 |
+
"R_canon_nokov": [
|
| 251 |
+
[
|
| 252 |
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0.9999989063,
|
| 253 |
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-0.0014789945,
|
| 254 |
+
2.8023e-06
|
| 255 |
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],
|
| 256 |
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[
|
| 257 |
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-2.8023e-06,
|
| 258 |
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-0.0037894199,
|
| 259 |
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-0.9999928201
|
| 260 |
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],
|
| 261 |
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[
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| 262 |
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0.0014789945,
|
| 263 |
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0.9999917264,
|
| 264 |
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-0.0037894199
|
| 265 |
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]
|
| 266 |
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],
|
| 267 |
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"scale_nokov_to_canon": 0.001,
|
| 268 |
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"T_canon_nokov_mm": [
|
| 269 |
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[
|
| 270 |
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0.000999998906,
|
| 271 |
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-1.478994e-06,
|
| 272 |
+
2.802e-09,
|
| 273 |
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0.0
|
| 274 |
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],
|
| 275 |
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[
|
| 276 |
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-2.802e-09,
|
| 277 |
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-3.78942e-06,
|
| 278 |
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-0.00099999282,
|
| 279 |
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0.0
|
| 280 |
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],
|
| 281 |
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[
|
| 282 |
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1.478994e-06,
|
| 283 |
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0.000999991726,
|
| 284 |
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-3.78942e-06,
|
| 285 |
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0.0
|
| 286 |
+
],
|
| 287 |
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[
|
| 288 |
+
0.0,
|
| 289 |
+
0.0,
|
| 290 |
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0.0,
|
| 291 |
+
1.0
|
| 292 |
+
]
|
| 293 |
+
],
|
| 294 |
+
"block": "20260908-afternoon",
|
| 295 |
+
"block_assignment": "trc",
|
| 296 |
+
"tilt_removed_deg": 0.23306933823135978,
|
| 297 |
+
"plane_status": "ok",
|
| 298 |
+
"floor": {
|
| 299 |
+
"sole_marker_p1_mm": 58.2,
|
| 300 |
+
"headtop_p95_mm": 1657.8
|
| 301 |
+
},
|
| 302 |
+
"gravity_check": {
|
| 303 |
+
"static_samples": 478,
|
| 304 |
+
"g_world_mean_m_s2": [
|
| 305 |
+
0.0523,
|
| 306 |
+
0.1178,
|
| 307 |
+
9.7958
|
| 308 |
+
],
|
| 309 |
+
"tilt_from_z_deg": 0.754,
|
| 310 |
+
"tilt_from_z_deg_before_levelling": 0.987,
|
| 311 |
+
"magnitude_m_s2": 9.7966
|
| 312 |
+
},
|
| 313 |
+
"rig_tracker_definition": "e17c9efadb69e7b1/20260908-afternoon/labels-352410/session-f69018a15f8c720d",
|
| 314 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 315 |
+
"files": [
|
| 316 |
+
"mocap_zup.npz",
|
| 317 |
+
"tracker0_zup.npz",
|
| 318 |
+
"rig_zup.npz",
|
| 319 |
+
"cameras_zup.npz"
|
| 320 |
+
]
|
| 321 |
+
},
|
| 322 |
+
"smplx": {
|
| 323 |
+
"generated_at_utc": "2026-10-15T04:20:16.308414+00:00",
|
| 324 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 325 |
+
"file": "smplx.npz",
|
| 326 |
+
"gender": "female",
|
| 327 |
+
"n_betas": 16,
|
| 328 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 329 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 330 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 331 |
+
"hands": {
|
| 332 |
+
"observed": false,
|
| 333 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 334 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 335 |
+
"hand_marker_offsets_m": {
|
| 336 |
+
"left": {
|
| 337 |
+
"LHandIn": [
|
| 338 |
+
0.08180932700634003,
|
| 339 |
+
0.006849432364106178,
|
| 340 |
+
0.024925295263528824
|
| 341 |
+
],
|
| 342 |
+
"LHandOut": [
|
| 343 |
+
0.07728147506713867,
|
| 344 |
+
0.0121007664129138,
|
| 345 |
+
-0.020740723237395287
|
| 346 |
+
]
|
| 347 |
+
},
|
| 348 |
+
"right": {
|
| 349 |
+
"RHandIn": [
|
| 350 |
+
-0.06605643779039383,
|
| 351 |
+
0.004440397955477238,
|
| 352 |
+
0.02217830717563629
|
| 353 |
+
],
|
| 354 |
+
"RHandOut": [
|
| 355 |
+
-0.05047217383980751,
|
| 356 |
+
0.019274799153208733,
|
| 357 |
+
-0.020513193681836128
|
| 358 |
+
],
|
| 359 |
+
"RWristOut": [
|
| 360 |
+
0.012664656154811382,
|
| 361 |
+
0.016428496688604355,
|
| 362 |
+
-0.0231340155005455
|
| 363 |
+
]
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
},
|
| 367 |
+
"marker_rmse_mm": {
|
| 368 |
+
"median_frame": 4.31,
|
| 369 |
+
"p95_frame": 5.95
|
| 370 |
+
},
|
| 371 |
+
"worst_markers": [
|
| 372 |
+
"LKneeIn 13mm",
|
| 373 |
+
"LThigh 9mm",
|
| 374 |
+
"RKneeIn 8mm",
|
| 375 |
+
"WaistRFront 8mm",
|
| 376 |
+
"LHeel 8mm"
|
| 377 |
+
],
|
| 378 |
+
"valid_fraction": 1.0,
|
| 379 |
+
"qc": {
|
| 380 |
+
"lowest_vertex_mm": {
|
| 381 |
+
"median": 30.2,
|
| 382 |
+
"p5": 22.6
|
| 383 |
+
},
|
| 384 |
+
"frames_checked": 517,
|
| 385 |
+
"stature_mm": 1614.2
|
| 386 |
+
},
|
| 387 |
+
"surface_term": {
|
| 388 |
+
"weight": 1.0,
|
| 389 |
+
"marker_height_mm": 11.0,
|
| 390 |
+
"markers_on_surface": 52,
|
| 391 |
+
"surface_rmse_mm_median": 13.22
|
| 392 |
+
},
|
| 393 |
+
"shape_source": "participant median",
|
| 394 |
+
"wrist_correction": {
|
| 395 |
+
"left": {
|
| 396 |
+
"status": "corrected",
|
| 397 |
+
"Q_deg": 167.64,
|
| 398 |
+
"Q_rotvec": [
|
| 399 |
+
-2.86483,
|
| 400 |
+
0.16926,
|
| 401 |
+
0.56974
|
| 402 |
+
],
|
| 403 |
+
"in_out_sign": -1,
|
| 404 |
+
"wrist_bend_deg_median": 155.4,
|
| 405 |
+
"opposite_sign_bend_deg": 33.3,
|
| 406 |
+
"in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
|
| 407 |
+
"marker_frame_spread_deg": 1.18,
|
| 408 |
+
"hand_vs_marker_frame_deg": {
|
| 409 |
+
"before": 167.58,
|
| 410 |
+
"after": 1.18
|
| 411 |
+
},
|
| 412 |
+
"markers_on_wrist": [
|
| 413 |
+
"LHandIn",
|
| 414 |
+
"LHandOut"
|
| 415 |
+
],
|
| 416 |
+
"forearm_twist": {
|
| 417 |
+
"twist_moved_deg": -154.13,
|
| 418 |
+
"wrist_twist_deg_after": {
|
| 419 |
+
"median": -0.01,
|
| 420 |
+
"iqr": [
|
| 421 |
+
-3.4,
|
| 422 |
+
2.9
|
| 423 |
+
]
|
| 424 |
+
},
|
| 425 |
+
"wrist_total_deg_median_after": 37.7,
|
| 426 |
+
"markers_on_forearm": [
|
| 427 |
+
"LElbowIn",
|
| 428 |
+
"LForearm",
|
| 429 |
+
"LWristIn",
|
| 430 |
+
"LWristOut"
|
| 431 |
+
]
|
| 432 |
+
},
|
| 433 |
+
"frames_used": 1500
|
| 434 |
+
},
|
| 435 |
+
"right": {
|
| 436 |
+
"status": "corrected",
|
| 437 |
+
"Q_deg": 30.22,
|
| 438 |
+
"Q_rotvec": [
|
| 439 |
+
0.48432,
|
| 440 |
+
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