Upload folder using huggingface_hub (part 242)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +55 -0
- actions/locomanipulation/LM19/session_027/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM19/session_027/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM19/session_027/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM19/session_027/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM19/session_027/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM19/session_027/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM19/session_027/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM19/session_027/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM19/session_027/scene/infer.json +36 -0
- actions/locomanipulation/LM19/session_027/scene/views.npz +3 -0
- actions/locomanipulation/LM19/session_027/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM19/session_027/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM19/session_027/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM19/session_027/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM19/session_027/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM19/session_027/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM19/session_027/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM19/session_027/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM19/session_027/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM19/session_027/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM19/session_027/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM19/session_027/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM19/session_027/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM19/session_027/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM19/session_028/cameras/poses.npz +3 -0
- actions/locomanipulation/LM19/session_028/meta.json +497 -0
- actions/locomanipulation/LM19/session_028/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM19/session_028/motions/markers.npz +3 -0
- actions/locomanipulation/LM19/session_028/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM19/session_028/motions/smplx.npz +3 -0
- actions/locomanipulation/LM19/session_028/raw/audio.wav +3 -0
- actions/locomanipulation/LM19/session_028/raw/manifest.json +261 -0
- actions/locomanipulation/LM19/session_028/raw/mocap/Body0.bvh +3 -0
- actions/locomanipulation/LM19/session_028/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM19/session_028/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM19/session_028/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM19/session_028/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM19/session_028/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM19/session_028/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM19/session_028/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM19/session_028/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM19/session_028/raw/sensors/robowrist_imu_right.db +0 -0
- actions/locomanipulation/LM19/session_028/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM19/session_028/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM19/session_028/scene/infer.json +36 -0
- actions/locomanipulation/LM19/session_028/scene/views.npz +3 -0
- actions/locomanipulation/LM19/session_028/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM19/session_028/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM19/session_028/sensors/wrist_imu.npz +3 -0
.gitattributes
CHANGED
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@@ -7811,3 +7811,58 @@ actions/locomanipulation/LM19/session_026/raw/sensors/robowrist_mag_left.db filt
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actions/locomanipulation/LM19/session_026/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM19/session_027/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM19/session_027/raw/mocap/Body0.trc 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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"schema_version": 1,
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| 3 |
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"session": "EgoMotionActions/20261010/LM19/20261010_070904_session85",
|
| 4 |
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"session_id": "20261010_070904_session85",
|
| 5 |
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"primitive": "LM19",
|
| 6 |
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"batch": "20261010",
|
| 7 |
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"participant": "fengyixuan",
|
| 8 |
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"participant_source": "manifest",
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"device_ids": {
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"main": "e17c9efadb69e7b1",
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"left": "452031d7af00ef6f",
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"right": "6ee5ee4472fe2ad7"
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},
|
| 14 |
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"generated_at_utc": "2026-10-21T05:29:16.691991+00:00",
|
| 15 |
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"generated_by": "scripts/sync_dataset.py",
|
| 16 |
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"time_base": {
|
| 17 |
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"definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
|
| 18 |
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"mocap_rate_hz": 120.0,
|
| 19 |
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"mocap_rate_fix": null,
|
| 20 |
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"first_solved_frame": 0,
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"duration_s": 149.025,
|
| 22 |
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"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 23 |
+
},
|
| 24 |
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"alignment": {
|
| 25 |
+
"reference_imu": "imu_head_right",
|
| 26 |
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"model": "offset (median of windows)",
|
| 27 |
+
"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 28 |
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"offset_s": -1.168375,
|
| 29 |
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"rate": 0.0,
|
| 30 |
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"global_lag_s": -1.17,
|
| 31 |
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"peak_corr": 0.9948,
|
| 32 |
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"reference_imu_first_sample_s": 24261.681564895,
|
| 33 |
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"windows": {
|
| 34 |
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"n_windows": 13,
|
| 35 |
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"window_corr_median": 0.9981664110286455,
|
| 36 |
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"drift_ppm": 3.036168037301256,
|
| 37 |
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"drift_se_ppm": 3.90714499659343,
|
| 38 |
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"drift_ms_over_take": 0.45243964035850887,
|
| 39 |
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|
| 40 |
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|
| 41 |
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}
|
| 42 |
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},
|
| 43 |
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"units": {
|
| 44 |
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"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
+
"y_up_to_z_up": [
|
| 46 |
+
[
|
| 47 |
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1.0,
|
| 48 |
+
0.0,
|
| 49 |
+
0.0
|
| 50 |
+
],
|
| 51 |
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[
|
| 52 |
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0.0,
|
| 53 |
+
0.0,
|
| 54 |
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-1.0
|
| 55 |
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],
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| 56 |
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[
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| 57 |
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0.0,
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| 58 |
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1.0,
|
| 59 |
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0.0
|
| 60 |
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]
|
| 61 |
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],
|
| 62 |
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"acc": "m/s^2 (8192 LSB/g)",
|
| 63 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 64 |
+
"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 65 |
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"quaternions": "xyzw, Nokov global"
|
| 66 |
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},
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| 67 |
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"calibration": {
|
| 68 |
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"device": "e17c9efadb69e7b1",
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| 69 |
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"status": "ok",
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| 70 |
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"date": "2026-09-08"
|
| 71 |
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},
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| 72 |
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"streams": {
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| 73 |
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"sensors": {
|
| 74 |
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"imu_head_right": {
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| 75 |
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| 84 |
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| 93 |
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"n": 15114,
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"n": 14670,
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| 107 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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| 116 |
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"file": "robocap_segment1_video_left.mp4",
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| 118 |
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| 119 |
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| 120 |
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|
| 121 |
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},
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| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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| 126 |
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|
| 127 |
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"timing": "pts",
|
| 128 |
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|
| 129 |
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"file": "robocap_segment1_video_right.mp4",
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| 130 |
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| 131 |
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| 132 |
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|
| 133 |
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|
| 134 |
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},
|
| 135 |
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|
| 136 |
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|
| 137 |
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| 138 |
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| 140 |
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| 141 |
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| 142 |
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"file": "robocap_segment1_video_left_front.mp4",
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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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},
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| 148 |
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| 149 |
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|
| 150 |
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| 151 |
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| 152 |
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| 153 |
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| 154 |
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| 155 |
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"file": "robocap_segment1_video_right_front.mp4",
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| 156 |
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| 157 |
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| 160 |
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},
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| 162 |
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| 163 |
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| 164 |
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"file": "robocap_segment1_video_left_eye.mp4",
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| 169 |
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| 173 |
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},
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| 176 |
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| 177 |
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| 178 |
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| 179 |
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"timing": "pts",
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| 180 |
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| 181 |
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"file": "robocap_segment1_video_right_eye.mp4",
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| 182 |
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| 183 |
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| 184 |
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| 185 |
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| 186 |
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},
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| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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"file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
|
| 195 |
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| 196 |
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| 199 |
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},
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|
| 201 |
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|
| 202 |
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| 204 |
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| 205 |
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| 206 |
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| 207 |
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"file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
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| 212 |
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},
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"third_person": {
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| 214 |
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"file": "mocap/mocap-LM19-S01-fengyixuan-01p1-1.mp4",
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| 215 |
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| 216 |
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| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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}
|
| 221 |
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}
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| 222 |
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},
|
| 223 |
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"flags": [
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| 224 |
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"wrist_right_imu empty"
|
| 225 |
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],
|
| 226 |
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"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
|
| 227 |
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"rig_tracker": {
|
| 228 |
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"definition": "e17c9efadb69e7b1/20261010-afternoon/labels-352410/session-1e028832acba2351",
|
| 229 |
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| 230 |
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[
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[
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| 243 |
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]
|
| 245 |
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],
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],
|
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|
| 252 |
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|
| 253 |
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|
| 254 |
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"status": "ok",
|
| 255 |
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"dropped_marker": null,
|
| 256 |
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"gyro_deg": 0.997
|
| 257 |
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},
|
| 258 |
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"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 259 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 260 |
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},
|
| 261 |
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"canonical": {
|
| 262 |
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"generated_at_utc": "2026-10-21T06:55:29.425327+00:00",
|
| 263 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 264 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 265 |
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"R_canon_nokov": [
|
| 266 |
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[
|
| 267 |
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0.9999131129,
|
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|
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|
| 270 |
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],
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[
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|
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0.0130433601,
|
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],
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[
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0.999828041,
|
| 279 |
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0.0130433601
|
| 280 |
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]
|
| 281 |
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],
|
| 282 |
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"scale_nokov_to_canon": 0.001,
|
| 283 |
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"T_canon_nokov_mm": [
|
| 284 |
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[
|
| 285 |
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0.000999913113,
|
| 286 |
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-1.3181776e-05,
|
| 287 |
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|
| 288 |
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0.0
|
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],
|
| 290 |
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[
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8.5975e-08,
|
| 292 |
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1.304336e-05,
|
| 293 |
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|
| 294 |
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0.0
|
| 295 |
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],
|
| 296 |
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[
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1.3181776e-05,
|
| 298 |
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0.000999828041,
|
| 299 |
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1.304336e-05,
|
| 300 |
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0.0
|
| 301 |
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],
|
| 302 |
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[
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| 303 |
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0.0,
|
| 304 |
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0.0,
|
| 305 |
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0.0,
|
| 306 |
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1.0
|
| 307 |
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]
|
| 308 |
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],
|
| 309 |
+
"block": "20261010-afternoon",
|
| 310 |
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"block_assignment": "trc",
|
| 311 |
+
"tilt_removed_deg": 1.0625670016897062,
|
| 312 |
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|
| 313 |
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"floor": {
|
| 314 |
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"sole_marker_p1_mm": 35.9,
|
| 315 |
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|
| 316 |
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},
|
| 317 |
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|
| 318 |
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|
| 319 |
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|
| 320 |
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0.0693,
|
| 321 |
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-0.0551,
|
| 322 |
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9.7518
|
| 323 |
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],
|
| 324 |
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|
| 325 |
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|
| 326 |
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|
| 327 |
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},
|
| 328 |
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|
| 329 |
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"camera_pose_source": "provider T_tracker0_cam",
|
| 330 |
+
"files": [
|
| 331 |
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"mocap_zup.npz",
|
| 332 |
+
"tracker0_zup.npz",
|
| 333 |
+
"rig_zup.npz",
|
| 334 |
+
"cameras_zup.npz"
|
| 335 |
+
]
|
| 336 |
+
},
|
| 337 |
+
"smplx": {
|
| 338 |
+
"generated_at_utc": "2026-10-22T21:41:39.027696+00:00",
|
| 339 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 340 |
+
"file": "smplx.npz",
|
| 341 |
+
"gender": "female",
|
| 342 |
+
"n_betas": 16,
|
| 343 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 344 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 345 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 346 |
+
"hands": {
|
| 347 |
+
"observed": false,
|
| 348 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 349 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 350 |
+
"hand_marker_offsets_m": {
|
| 351 |
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"left": {
|
| 352 |
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"LHandIn": [
|
| 353 |
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0.08672760426998138,
|
| 354 |
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0.015602396801114082,
|
| 355 |
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-0.0015671184519305825
|
| 356 |
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],
|
| 357 |
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|
| 358 |
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0.07876274734735489,
|
| 359 |
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|
| 360 |
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-0.04274102300405502
|
| 361 |
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]
|
| 362 |
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},
|
| 363 |
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"right": {
|
| 364 |
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|
| 365 |
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|
| 366 |
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0.01807907037436962,
|
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0.011405494064092636,
|
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| 373 |
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]
|
| 374 |
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}
|
| 375 |
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}
|
| 376 |
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},
|
| 377 |
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"marker_rmse_mm": {
|
| 378 |
+
"median_frame": 4.79,
|
| 379 |
+
"p95_frame": 8.91
|
| 380 |
+
},
|
| 381 |
+
"worst_markers": [
|
| 382 |
+
"LShin 19mm",
|
| 383 |
+
"LKneeIn 13mm",
|
| 384 |
+
"RKneeIn 11mm",
|
| 385 |
+
"RShin 9mm",
|
| 386 |
+
"LThigh 9mm"
|
| 387 |
+
],
|
| 388 |
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"valid_fraction": 0.9997,
|
| 389 |
+
"qc": {
|
| 390 |
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"lowest_vertex_mm": {
|
| 391 |
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"median": 2.4,
|
| 392 |
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"p5": -5.2
|
| 393 |
+
},
|
| 394 |
+
"frames_checked": 596,
|
| 395 |
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"stature_mm": 1593.9
|
| 396 |
+
},
|
| 397 |
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"surface_term": {
|
| 398 |
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"weight": 1.0,
|
| 399 |
+
"marker_height_mm": 11.0,
|
| 400 |
+
"markers_on_surface": 52,
|
| 401 |
+
"surface_rmse_mm_median": 12.28
|
| 402 |
+
},
|
| 403 |
+
"shape_source": "participant median",
|
| 404 |
+
"wrist_correction": {
|
| 405 |
+
"left": {
|
| 406 |
+
"status": "corrected",
|
| 407 |
+
"Q_deg": 163.54,
|
| 408 |
+
"Q_rotvec": [
|
| 409 |
+
2.77251,
|
| 410 |
+
-0.24715,
|
| 411 |
+
-0.63214
|
| 412 |
+
],
|
| 413 |
+
"in_out_sign": -1,
|
| 414 |
+
"wrist_bend_deg_median": 137.0,
|
| 415 |
+
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