Upload folder using huggingface_hub (part 743)
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- .gitattributes +64 -0
- actions/locomotion_primitives/P21/session_019/raw/mocap/Body0.csv +3 -0
- actions/locomotion_primitives/P21/session_019/raw/mocap/Body0.trc +3 -0
- actions/locomotion_primitives/P21/session_019/raw/mocap/Tracker0.csv +0 -0
- actions/locomotion_primitives/P21/session_019/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/P21/session_019/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/P21/session_019/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/P21/session_019/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/P21/session_019/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/P21/session_019/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomotion_primitives/P21/session_019/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomotion_primitives/P21/session_019/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomotion_primitives/P21/session_019/scene/infer.json +36 -0
- actions/locomotion_primitives/P21/session_019/scene/views.npz +3 -0
- actions/locomotion_primitives/P21/session_019/sensors/head_imu.npz +3 -0
- actions/locomotion_primitives/P21/session_019/sensors/head_mag.npz +3 -0
- actions/locomotion_primitives/P21/session_019/sensors/wrist_imu.npz +3 -0
- actions/locomotion_primitives/P21/session_019/sensors/wrist_mag.npz +3 -0
- actions/locomotion_primitives/P21/session_019/videos/frame_timestamps.npz +3 -0
- actions/locomotion_primitives/P21/session_019/videos/head_left.mp4 +3 -0
- actions/locomotion_primitives/P21/session_019/videos/head_left_eye.mp4 +3 -0
- actions/locomotion_primitives/P21/session_019/videos/head_left_front.mp4 +3 -0
- actions/locomotion_primitives/P21/session_019/videos/head_right.mp4 +3 -0
- actions/locomotion_primitives/P21/session_019/videos/head_right_eye.mp4 +3 -0
- actions/locomotion_primitives/P21/session_019/videos/head_right_front.mp4 +3 -0
- actions/locomotion_primitives/P21/session_019/videos/third_person.mp4 +3 -0
- actions/locomotion_primitives/P21/session_019/videos/wrist_left.mp4 +3 -0
- actions/locomotion_primitives/P21/session_019/videos/wrist_right.mp4 +3 -0
- actions/locomotion_primitives/P21/session_020/cameras/poses.npz +3 -0
- actions/locomotion_primitives/P21/session_020/meta.json +521 -0
- actions/locomotion_primitives/P21/session_020/motions/head_rig.npz +3 -0
- actions/locomotion_primitives/P21/session_020/motions/markers.npz +3 -0
- actions/locomotion_primitives/P21/session_020/motions/skeleton.npz +3 -0
- actions/locomotion_primitives/P21/session_020/motions/smplx.npz +3 -0
- actions/locomotion_primitives/P21/session_020/raw/audio.wav +3 -0
- actions/locomotion_primitives/P21/session_020/raw/manifest.json +233 -0
- actions/locomotion_primitives/P21/session_020/raw/mocap/Body0.bvh +0 -0
- actions/locomotion_primitives/P21/session_020/raw/mocap/Body0.csv +3 -0
- actions/locomotion_primitives/P21/session_020/raw/mocap/Body0.trc +3 -0
- actions/locomotion_primitives/P21/session_020/raw/mocap/Tracker0.csv +0 -0
- actions/locomotion_primitives/P21/session_020/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/P21/session_020/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/P21/session_020/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/P21/session_020/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/P21/session_020/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/P21/session_020/raw/sensors/robowrist_imu_right.db +0 -0
- actions/locomotion_primitives/P21/session_020/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomotion_primitives/P21/session_020/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomotion_primitives/P21/session_020/scene/infer.json +36 -0
- actions/locomotion_primitives/P21/session_020/scene/views.npz +3 -0
.gitattributes
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actions/locomotion_primitives/P21/session_018/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_018/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_018/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_019/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_019/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_019/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_019/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_019/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_019/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_019/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_019/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_020/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_019/raw/mocap/Body0.csv
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actions/locomotion_primitives/P21/session_019/raw/mocap/Tracker0.csv
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actions/locomotion_primitives/P21/session_019/raw/mocap/Tracker0.trc
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actions/locomotion_primitives/P21/session_019/raw/sensors/robocap_imu_left.db
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actions/locomotion_primitives/P21/session_019/raw/sensors/robowrist_mag_right.db
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actions/locomotion_primitives/P21/session_019/scene/infer.json
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|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20260930/P21/20260930_041333_session20",
|
| 4 |
+
"session_id": "20260930_041333_session20",
|
| 5 |
+
"primitive": "P21",
|
| 6 |
+
"batch": "20260930",
|
| 7 |
+
"participant": "fengyixuan",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e17c9efadb69e7b1",
|
| 11 |
+
"left": "452031d7af00ef6f",
|
| 12 |
+
"right": "6ee5ee4472fe2ad7"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-14T11:32:54.813483+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": 99.025,
|
| 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": -1.172438,
|
| 28 |
+
"rate": 0.0,
|
| 29 |
+
"global_lag_s": -1.17,
|
| 30 |
+
"peak_corr": 0.9925,
|
| 31 |
+
"reference_imu_first_sample_s": 3590.035998215,
|
| 32 |
+
"windows": {
|
| 33 |
+
"n_windows": 8,
|
| 34 |
+
"window_corr_median": 0.998499397303237,
|
| 35 |
+
"drift_ppm": 7.363253700040089,
|
| 36 |
+
"drift_se_ppm": 4.363566202254914,
|
| 37 |
+
"drift_ms_over_take": 0.7290848371989695,
|
| 38 |
+
"lag_scatter_ms": 0.24490454570016318,
|
| 39 |
+
"lag_range_ms": 1.025233927997471
|
| 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": 20251,
|
| 75 |
+
"n_gyro": 20245,
|
| 76 |
+
"t_start": -1.1840054885801838,
|
| 77 |
+
"t_end": 99.77702783341964
|
| 78 |
+
},
|
| 79 |
+
"imu_head_left": {
|
| 80 |
+
"n_acc": 20218,
|
| 81 |
+
"n_gyro": 20212,
|
| 82 |
+
"t_start": -1.0770292855800254,
|
| 83 |
+
"t_end": 99.94443834241973
|
| 84 |
+
},
|
| 85 |
+
"imu_wrist_left": {
|
| 86 |
+
"n_acc": 19736,
|
| 87 |
+
"n_gyro": 19736,
|
| 88 |
+
"t_start": 0.22739060441971004,
|
| 89 |
+
"t_end": 97.69918415241999
|
| 90 |
+
},
|
| 91 |
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"mag_head": {
|
| 92 |
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"n": 10111,
|
| 93 |
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"t_start": -0.9907210765800447,
|
| 94 |
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"t_end": 100.10927742941975
|
| 95 |
+
},
|
| 96 |
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"mag_wrist_right": {
|
| 97 |
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"n": 9752,
|
| 98 |
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"t_start": 0.18290293741982522,
|
| 99 |
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"t_end": 97.69360910241993
|
| 100 |
+
},
|
| 101 |
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"mag_wrist_left": {
|
| 102 |
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"n": 9748,
|
| 103 |
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"t_start": 0.2375324994199981,
|
| 104 |
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"t_end": 97.7072715294198
|
| 105 |
+
}
|
| 106 |
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},
|
| 107 |
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"videos": {
|
| 108 |
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"left": {
|
| 109 |
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"fps": 30.0,
|
| 110 |
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"start_device_s": 3591.245702,
|
| 111 |
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"frames": 2970,
|
| 112 |
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"pts_gaps": 0,
|
| 113 |
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"timing": "pts",
|
| 114 |
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"timeshift_cam_imu_s": 0.0023423887986386703,
|
| 115 |
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"file": "robocap_segment1_video_left.mp4",
|
| 116 |
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"t_start": 0.039608351218688664,
|
| 117 |
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"t_end": 99.00616435121854,
|
| 118 |
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"clock": "device",
|
| 119 |
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"calibrated": true
|
| 120 |
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},
|
| 121 |
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"right": {
|
| 122 |
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"fps": 30.0,
|
| 123 |
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"start_device_s": 3591.245644,
|
| 124 |
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"frames": 2970,
|
| 125 |
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"pts_gaps": 0,
|
| 126 |
+
"timing": "pts",
|
| 127 |
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"timeshift_cam_imu_s": 0.0019489646456461974,
|
| 128 |
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"file": "robocap_segment1_video_right.mp4",
|
| 129 |
+
"t_start": 0.03915692706549079,
|
| 130 |
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"t_end": 99.00572392706543,
|
| 131 |
+
"clock": "device",
|
| 132 |
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"calibrated": true
|
| 133 |
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},
|
| 134 |
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"left_front": {
|
| 135 |
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"fps": 30.0,
|
| 136 |
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"start_device_s": 3591.245677,
|
| 137 |
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"frames": 2970,
|
| 138 |
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"pts_gaps": 0,
|
| 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 |
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"t_start": 0.039058085658310926,
|
| 143 |
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"t_end": 99.00562508565825,
|
| 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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"fps": 30.0,
|
| 149 |
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"start_device_s": 3591.245724,
|
| 150 |
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"frames": 2970,
|
| 151 |
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"pts_gaps": 0,
|
| 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": 0.03901752706722972,
|
| 156 |
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"t_end": 99.00556152706712,
|
| 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": 3591.245661,
|
| 163 |
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"frames": 2970,
|
| 164 |
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|
| 165 |
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"timing": "pts",
|
| 166 |
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"timeshift_cam_imu_s": 0.001668932298833096,
|
| 167 |
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"file": "robocap_segment1_video_left_eye.mp4",
|
| 168 |
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"t_start": 0.0388938947184978,
|
| 169 |
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"t_end": 99.00546089471844,
|
| 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": 3591.245614,
|
| 176 |
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"frames": 2970,
|
| 177 |
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"pts_gaps": 0,
|
| 178 |
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"timing": "pts",
|
| 179 |
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"timeshift_cam_imu_s": 0.0017169377622902274,
|
| 180 |
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"file": "robocap_segment1_video_right_eye.mp4",
|
| 181 |
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"t_start": 0.03889490018217101,
|
| 182 |
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"t_end": 99.0054729001822,
|
| 183 |
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"clock": "device",
|
| 184 |
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"calibrated": true
|
| 185 |
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},
|
| 186 |
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"wrist_left": {
|
| 187 |
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"fps": 30.0,
|
| 188 |
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"start_device_s": 3591.432592,
|
| 189 |
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"frames": 2924,
|
| 190 |
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"pts_gaps": 0,
|
| 191 |
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"timing": "pts",
|
| 192 |
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"timeshift_cam_imu_s": null,
|
| 193 |
+
"file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
|
| 194 |
+
"t_start": 0.22415596241988522,
|
| 195 |
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"t_end": 97.65722896242004,
|
| 196 |
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"clock": "device",
|
| 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": 3591.51292,
|
| 202 |
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"frames": 2921,
|
| 203 |
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"pts_gaps": 0,
|
| 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": 0.30448396241989384,
|
| 208 |
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"t_end": 97.63846796241977,
|
| 209 |
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"clock": "device",
|
| 210 |
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"calibrated": false
|
| 211 |
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},
|
| 212 |
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"third_person": {
|
| 213 |
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"file": "mocap/mocap-P21-S01-fengyixuan-05p2-1.mp4",
|
| 214 |
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"frames": 2971,
|
| 215 |
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"fps": 30.0,
|
| 216 |
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"clock": "nokov (frame index)",
|
| 217 |
+
"t_start": 0.0,
|
| 218 |
+
"t_end": 99.0
|
| 219 |
+
}
|
| 220 |
+
}
|
| 221 |
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},
|
| 222 |
+
"flags": [
|
| 223 |
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"wrist_right_imu empty"
|
| 224 |
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],
|
| 225 |
+
"sanity": {
|
| 226 |
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"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_FLOOR_SHIFT",
|
| 236 |
+
"WARN M_SPIKES",
|
| 237 |
+
"WARN M_TRACKER_LABELS",
|
| 238 |
+
"WARN T_EMPTY"
|
| 239 |
+
]
|
| 240 |
+
},
|
| 241 |
+
"canonical": {
|
| 242 |
+
"generated_at_utc": "2026-10-14T12:22:42.202442+00:00",
|
| 243 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 244 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 245 |
+
"R_canon_nokov": [
|
| 246 |
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[
|
| 247 |
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0.9994048793,
|
| 248 |
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-0.0344938786,
|
| 249 |
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-0.0002439521
|
| 250 |
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],
|
| 251 |
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[
|
| 252 |
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0.0002439521,
|
| 253 |
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0.0141397467,
|
| 254 |
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-0.999899999
|
| 255 |
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],
|
| 256 |
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[
|
| 257 |
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0.0344938786,
|
| 258 |
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0.9993048784,
|
| 259 |
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0.0141397467
|
| 260 |
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]
|
| 261 |
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],
|
| 262 |
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"scale_nokov_to_canon": 0.001,
|
| 263 |
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"T_canon_nokov_mm": [
|
| 264 |
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[
|
| 265 |
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0.000999404879,
|
| 266 |
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-3.4493879e-05,
|
| 267 |
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-2.43952e-07,
|
| 268 |
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0.0
|
| 269 |
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],
|
| 270 |
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[
|
| 271 |
+
2.43952e-07,
|
| 272 |
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1.4139747e-05,
|
| 273 |
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-0.000999899999,
|
| 274 |
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0.0
|
| 275 |
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],
|
| 276 |
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[
|
| 277 |
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3.4493879e-05,
|
| 278 |
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0.000999304878,
|
| 279 |
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1.4139747e-05,
|
| 280 |
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0.0
|
| 281 |
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],
|
| 282 |
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[
|
| 283 |
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0.0,
|
| 284 |
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0.0,
|
| 285 |
+
0.0,
|
| 286 |
+
1.0
|
| 287 |
+
]
|
| 288 |
+
],
|
| 289 |
+
"block": "20260930-morning",
|
| 290 |
+
"block_assignment": "trc",
|
| 291 |
+
"tilt_removed_deg": 2.1364522823366174,
|
| 292 |
+
"plane_status": "ok",
|
| 293 |
+
"floor": {
|
| 294 |
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"sole_marker_p1_mm": 28.4,
|
| 295 |
+
"headtop_p95_mm": 1631.3
|
| 296 |
+
},
|
| 297 |
+
"gravity_check": {
|
| 298 |
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"static_samples": 1629,
|
| 299 |
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"g_world_mean_m_s2": [
|
| 300 |
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0.2758,
|
| 301 |
+
-0.1853,
|
| 302 |
+
9.7297
|
| 303 |
+
],
|
| 304 |
+
"tilt_from_z_deg": 1.956,
|
| 305 |
+
"tilt_from_z_deg_before_levelling": 4.072,
|
| 306 |
+
"magnitude_m_s2": 9.7354
|
| 307 |
+
},
|
| 308 |
+
"rig_tracker_definition": "e17c9efadb69e7b1/20260930-morning/labels-035142/session-e303d874e550578c",
|
| 309 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 310 |
+
"files": [
|
| 311 |
+
"mocap_zup.npz",
|
| 312 |
+
"tracker0_zup.npz",
|
| 313 |
+
"rig_zup.npz",
|
| 314 |
+
"cameras_zup.npz"
|
| 315 |
+
]
|
| 316 |
+
},
|
| 317 |
+
"smplx": {
|
| 318 |
+
"generated_at_utc": "2026-10-15T06:52:08.638152+00:00",
|
| 319 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 320 |
+
"file": "smplx.npz",
|
| 321 |
+
"gender": "female",
|
| 322 |
+
"n_betas": 16,
|
| 323 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 324 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 325 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 326 |
+
"hands": {
|
| 327 |
+
"observed": false,
|
| 328 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 329 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 330 |
+
"hand_marker_offsets_m": {
|
| 331 |
+
"left": {
|
| 332 |
+
"LHandIn": [
|
| 333 |
+
0.10055822879076004,
|
| 334 |
+
0.005618052091449499,
|
| 335 |
+
0.02247360162436962
|
| 336 |
+
],
|
| 337 |
+
"LHandOut": [
|
| 338 |
+
0.08534595370292664,
|
| 339 |
+
0.010674796998500824,
|
| 340 |
+
-0.024030165746808052
|
| 341 |
+
],
|
| 342 |
+
"LWristOut": [
|
| 343 |
+
0.015871316194534302,
|
| 344 |
+
0.018423274159431458,
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