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- .gitattributes +1 -0
- actions/locomotion_primitives/P21/session_019/motions/markers.npz +2 -2
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@@ -315,7 +330,7 @@
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|
| 384 |
"marker_height_mm": 11.0,
|
| 385 |
"markers_on_surface": 52,
|
| 386 |
-
"surface_rmse_mm_median": 11.
|
| 387 |
},
|
| 388 |
"shape_source": "participant median",
|
| 389 |
"wrist_correction": {
|
| 390 |
"left": {
|
| 391 |
"status": "corrected",
|
| 392 |
-
"Q_deg":
|
| 393 |
"Q_rotvec": [
|
| 394 |
-
-2.
|
| 395 |
-
0.
|
| 396 |
-
0.
|
| 397 |
],
|
| 398 |
-
"in_out_sign":
|
| 399 |
-
"wrist_bend_deg_median":
|
| 400 |
-
"opposite_sign_bend_deg":
|
| 401 |
-
"in_out_convention": "pinky side =
|
| 402 |
-
"marker_frame_spread_deg":
|
| 403 |
"hand_vs_marker_frame_deg": {
|
| 404 |
-
"before":
|
| 405 |
-
"after":
|
| 406 |
},
|
| 407 |
"markers_on_wrist": [
|
| 408 |
"LWristOut",
|
|
@@ -410,15 +425,15 @@
|
|
| 410 |
"LHandOut"
|
| 411 |
],
|
| 412 |
"forearm_twist": {
|
| 413 |
-
"twist_moved_deg":
|
| 414 |
"wrist_twist_deg_after": {
|
| 415 |
-
"median": 0.
|
| 416 |
"iqr": [
|
| 417 |
-
-1.
|
| 418 |
-
1.
|
| 419 |
]
|
| 420 |
},
|
| 421 |
-
"wrist_total_deg_median_after":
|
| 422 |
"markers_on_forearm": [
|
| 423 |
"LElbow",
|
| 424 |
"LElbowIn",
|
|
@@ -426,39 +441,39 @@
|
|
| 426 |
"LWristIn"
|
| 427 |
]
|
| 428 |
},
|
| 429 |
-
"frames_used":
|
| 430 |
},
|
| 431 |
"right": {
|
| 432 |
"status": "corrected",
|
| 433 |
-
"Q_deg":
|
| 434 |
"Q_rotvec": [
|
| 435 |
-
0.
|
| 436 |
-
0.
|
| 437 |
-
|
| 438 |
],
|
| 439 |
"in_out_sign": 1,
|
| 440 |
-
"wrist_bend_deg_median":
|
| 441 |
-
"opposite_sign_bend_deg":
|
| 442 |
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 443 |
-
"marker_frame_spread_deg": 0.
|
| 444 |
"hand_vs_marker_frame_deg": {
|
| 445 |
-
"before":
|
| 446 |
-
"after": 0.
|
| 447 |
},
|
| 448 |
"markers_on_wrist": [
|
| 449 |
"RHandIn",
|
| 450 |
"RHandOut"
|
| 451 |
],
|
| 452 |
"forearm_twist": {
|
| 453 |
-
"twist_moved_deg":
|
| 454 |
"wrist_twist_deg_after": {
|
| 455 |
-
"median":
|
| 456 |
"iqr": [
|
| 457 |
-
-1.
|
| 458 |
-
|
| 459 |
]
|
| 460 |
},
|
| 461 |
-
"wrist_total_deg_median_after":
|
| 462 |
"markers_on_forearm": [
|
| 463 |
"RElbowIn",
|
| 464 |
"RForearm",
|
|
@@ -466,56 +481,56 @@
|
|
| 466 |
"RWristOut"
|
| 467 |
]
|
| 468 |
},
|
| 469 |
-
"frames_used":
|
| 470 |
},
|
| 471 |
-
"generated_at_utc": "2026-10-
|
| 472 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 473 |
}
|
| 474 |
},
|
| 475 |
"rig_tracker": {
|
| 476 |
-
"definition": "e17c9efadb69e7b1/20260930-morning/labels-035142/session-
|
| 477 |
"R_tracker0_imu0": [
|
| 478 |
[
|
| 479 |
-
-0.
|
| 480 |
-
0.
|
| 481 |
-
-0.
|
| 482 |
],
|
| 483 |
[
|
| 484 |
-
0.
|
| 485 |
-
-0.
|
| 486 |
-
-0.
|
| 487 |
],
|
| 488 |
[
|
| 489 |
-
-0.
|
| 490 |
-
-0.
|
| 491 |
-
-0.
|
| 492 |
]
|
| 493 |
],
|
| 494 |
"p_tracker0_imu0_m": [
|
| 495 |
-
0.
|
| 496 |
-
-0.
|
| 497 |
-
-0.
|
| 498 |
],
|
| 499 |
"rig_check": {
|
| 500 |
-
"gyro_samples":
|
| 501 |
"gyro_max_deg": 2.5,
|
| 502 |
"status": "ok",
|
| 503 |
"dropped_marker": null,
|
| 504 |
-
"gyro_deg": 1.
|
| 505 |
},
|
| 506 |
"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 507 |
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 508 |
},
|
| 509 |
"rig_calibration_repair": {
|
| 510 |
"version": 2,
|
| 511 |
-
"applied_at_utc": "2026-10-18T19:07:52.
|
| 512 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 513 |
-
"remaining_gyro_frame_deg": 1.
|
| 514 |
},
|
| 515 |
"release": {
|
| 516 |
"release_path": "actions/locomotion_primitives/P21/session_020",
|
| 517 |
"family": "locomotion_primitives",
|
| 518 |
"primitive": "P21",
|
| 519 |
-
"source_session": "20260930/P21/
|
| 520 |
}
|
| 521 |
}
|
|
|
|
| 1 |
{
|
| 2 |
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20260930/P21/20260930_041532_session21",
|
| 4 |
+
"session_id": "20260930_041532_session21",
|
| 5 |
"primitive": "P21",
|
| 6 |
"batch": "20260930",
|
| 7 |
"participant": "fengyixuan",
|
|
|
|
| 11 |
"left": "452031d7af00ef6f",
|
| 12 |
"right": "6ee5ee4472fe2ad7"
|
| 13 |
},
|
| 14 |
+
"generated_at_utc": "2026-10-14T11:33:13.396499+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": 94.025,
|
| 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": -1.179289,
|
| 28 |
"rate": 0.0,
|
| 29 |
+
"global_lag_s": -1.18,
|
| 30 |
+
"peak_corr": 0.9852,
|
| 31 |
+
"reference_imu_first_sample_s": 3709.060339687,
|
| 32 |
"windows": {
|
| 33 |
+
"n_windows": 7,
|
| 34 |
+
"window_corr_median": 0.9983193891756877,
|
| 35 |
+
"drift_ppm": -9.151577318574592,
|
| 36 |
+
"drift_se_ppm": 6.338915175624025,
|
| 37 |
+
"drift_ms_over_take": -0.8604007942346545,
|
| 38 |
+
"lag_scatter_ms": 0.2834849047260067,
|
| 39 |
+
"lag_range_ms": 1.1093468497018755
|
| 40 |
}
|
| 41 |
},
|
| 42 |
"units": {
|
|
|
|
| 71 |
"streams": {
|
| 72 |
"sensors": {
|
| 73 |
"imu_head_right": {
|
| 74 |
+
"n_acc": 19249,
|
| 75 |
+
"n_gyro": 19244,
|
| 76 |
+
"t_start": -1.1862698061701662,
|
| 77 |
+
"t_end": 94.77753683683007
|
| 78 |
},
|
| 79 |
"imu_head_left": {
|
| 80 |
+
"n_acc": 19218,
|
| 81 |
+
"n_gyro": 19211,
|
| 82 |
+
"t_start": -1.077372889170128,
|
| 83 |
+
"t_end": 94.94644124682993
|
| 84 |
},
|
| 85 |
"imu_wrist_left": {
|
| 86 |
+
"n_acc": 18202,
|
| 87 |
+
"n_gyro": 18215,
|
| 88 |
+
"t_start": 0.2237782658301699,
|
| 89 |
+
"t_end": 90.11769610182985
|
| 90 |
},
|
| 91 |
"mag_head": {
|
| 92 |
+
"n": 9611,
|
| 93 |
+
"t_start": -0.9903825561697699,
|
| 94 |
+
"t_end": 95.10962215682987
|
| 95 |
},
|
| 96 |
"mag_wrist_right": {
|
| 97 |
+
"n": 8990,
|
| 98 |
+
"t_start": 0.2226486068300988,
|
| 99 |
+
"t_end": 90.11152517682997
|
| 100 |
},
|
| 101 |
"mag_wrist_left": {
|
| 102 |
+
"n": 8989,
|
| 103 |
+
"t_start": 0.23651454583006903,
|
| 104 |
+
"t_end": 90.11611327083013
|
| 105 |
}
|
| 106 |
},
|
| 107 |
"videos": {
|
| 108 |
"left": {
|
| 109 |
"fps": 30.0,
|
| 110 |
+
"start_device_s": 3710.276887,
|
| 111 |
+
"frames": 2820,
|
| 112 |
"pts_gaps": 0,
|
| 113 |
"timing": "pts",
|
| 114 |
"timeshift_cam_imu_s": 0.0023423887986386703,
|
| 115 |
"file": "robocap_segment1_video_left.mp4",
|
| 116 |
+
"t_start": 0.039600565628753026,
|
| 117 |
+
"t_end": 94.00625656562882,
|
| 118 |
"clock": "device",
|
| 119 |
"calibrated": true
|
| 120 |
},
|
| 121 |
"right": {
|
| 122 |
"fps": 30.0,
|
| 123 |
+
"start_device_s": 3710.276834,
|
| 124 |
+
"frames": 2820,
|
| 125 |
"pts_gaps": 0,
|
| 126 |
"timing": "pts",
|
| 127 |
"timeshift_cam_imu_s": 0.0019489646456461974,
|
| 128 |
"file": "robocap_segment1_video_right.mp4",
|
| 129 |
+
"t_start": 0.03915414147542884,
|
| 130 |
+
"t_end": 94.0058101414755,
|
| 131 |
"clock": "device",
|
| 132 |
"calibrated": true
|
| 133 |
},
|
| 134 |
"left_front": {
|
| 135 |
"fps": 30.0,
|
| 136 |
+
"start_device_s": 3710.276873,
|
| 137 |
+
"frames": 2820,
|
| 138 |
"pts_gaps": 0,
|
| 139 |
"timing": "pts",
|
| 140 |
"timeshift_cam_imu_s": 0.0018171232386612972,
|
| 141 |
"file": "robocap_segment1_video_left_front.mp4",
|
| 142 |
+
"t_start": 0.0390613000684612,
|
| 143 |
+
"t_end": 94.00571730006853,
|
| 144 |
"clock": "device",
|
| 145 |
"calibrated": true
|
| 146 |
},
|
| 147 |
"right_front": {
|
| 148 |
"fps": 30.0,
|
| 149 |
+
"start_device_s": 3710.276906,
|
| 150 |
+
"frames": 2820,
|
| 151 |
"pts_gaps": 0,
|
| 152 |
"timing": "pts",
|
| 153 |
"timeshift_cam_imu_s": 0.0017295646474508202,
|
| 154 |
"file": "robocap_segment1_video_right_front.mp4",
|
| 155 |
+
"t_start": 0.039006741477642715,
|
| 156 |
+
"t_end": 94.00565074147774,
|
| 157 |
"clock": "device",
|
| 158 |
"calibrated": true
|
| 159 |
},
|
| 160 |
"left_eye": {
|
| 161 |
"fps": 30.0,
|
| 162 |
+
"start_device_s": 3710.276854,
|
| 163 |
+
"frames": 2818,
|
| 164 |
+
"pts_gaps": 2,
|
| 165 |
"timing": "pts",
|
| 166 |
"timeshift_cam_imu_s": 0.001668932298833096,
|
| 167 |
+
"gap_test": {
|
| 168 |
+
"pts": {
|
| 169 |
+
"offset_ms": -10.0,
|
| 170 |
+
"corr": 0.839,
|
| 171 |
+
"err_ms": 11.7
|
| 172 |
+
},
|
| 173 |
+
"nominal": {
|
| 174 |
+
"offset_ms": 56.6,
|
| 175 |
+
"corr": 0.839,
|
| 176 |
+
"err_ms": 54.9
|
| 177 |
+
}
|
| 178 |
+
},
|
| 179 |
"file": "robocap_segment1_video_left_eye.mp4",
|
| 180 |
+
"t_start": 0.03889410912899671,
|
| 181 |
+
"t_end": 94.00555010912906,
|
| 182 |
"clock": "device",
|
| 183 |
"calibrated": true
|
| 184 |
},
|
| 185 |
"right_eye": {
|
| 186 |
"fps": 30.0,
|
| 187 |
+
"start_device_s": 3710.27681,
|
| 188 |
+
"frames": 2820,
|
| 189 |
"pts_gaps": 0,
|
| 190 |
"timing": "pts",
|
| 191 |
"timeshift_cam_imu_s": 0.0017169377622902274,
|
| 192 |
"file": "robocap_segment1_video_right_eye.mp4",
|
| 193 |
+
"t_start": 0.03889811459232129,
|
| 194 |
+
"t_end": 94.00556511459247,
|
| 195 |
"clock": "device",
|
| 196 |
"calibrated": true
|
| 197 |
},
|
| 198 |
"wrist_left": {
|
| 199 |
"fps": 30.0,
|
| 200 |
+
"start_device_s": 3710.449453,
|
| 201 |
+
"frames": 2696,
|
| 202 |
"pts_gaps": 0,
|
| 203 |
"timing": "pts",
|
| 204 |
"timeshift_cam_imu_s": null,
|
| 205 |
"file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
|
| 206 |
+
"t_start": 0.20982417683018917,
|
| 207 |
+
"t_end": 90.04276717683008,
|
| 208 |
"clock": "device",
|
| 209 |
"calibrated": false
|
| 210 |
},
|
| 211 |
"wrist_right": {
|
| 212 |
"fps": 30.0,
|
| 213 |
+
"start_device_s": 3710.576688,
|
| 214 |
+
"frames": 2693,
|
| 215 |
"pts_gaps": 0,
|
| 216 |
"timing": "pts",
|
| 217 |
"timeshift_cam_imu_s": null,
|
| 218 |
"file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
|
| 219 |
+
"t_start": 0.337059176830117,
|
| 220 |
+
"t_end": 90.06928617683009,
|
| 221 |
"clock": "device",
|
| 222 |
"calibrated": false
|
| 223 |
},
|
| 224 |
"third_person": {
|
| 225 |
+
"file": "mocap/mocap-P21-S02-fengyixuan-05p1-1.mp4",
|
| 226 |
+
"frames": 2821,
|
| 227 |
"fps": 30.0,
|
| 228 |
"clock": "nokov (frame index)",
|
| 229 |
"t_start": 0.0,
|
| 230 |
+
"t_end": 94.0
|
| 231 |
}
|
| 232 |
}
|
| 233 |
},
|
|
|
|
| 247 |
"WARN M_FLOOR_SHIFT",
|
| 248 |
"WARN M_SPIKES",
|
| 249 |
"WARN M_TRACKER_LABELS",
|
| 250 |
+
"WARN S_REPORT_TIMING",
|
| 251 |
+
"WARN T_EMPTY",
|
| 252 |
+
"WARN T_FRAMES",
|
| 253 |
+
"WARN T_PTS"
|
| 254 |
]
|
| 255 |
},
|
| 256 |
"canonical": {
|
| 257 |
+
"generated_at_utc": "2026-10-14T12:22:42.204779+00:00",
|
| 258 |
"generated_by": "scripts/canonicalise_dataset.py",
|
| 259 |
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 260 |
"R_canon_nokov": [
|
|
|
|
| 306 |
"tilt_removed_deg": 2.1364522823366174,
|
| 307 |
"plane_status": "ok",
|
| 308 |
"floor": {
|
| 309 |
+
"sole_marker_p1_mm": 29.5,
|
| 310 |
+
"headtop_p95_mm": 1631.9
|
| 311 |
},
|
| 312 |
"gravity_check": {
|
| 313 |
+
"static_samples": 2172,
|
| 314 |
"g_world_mean_m_s2": [
|
| 315 |
+
0.2601,
|
| 316 |
+
-0.2359,
|
| 317 |
+
9.7384
|
| 318 |
],
|
| 319 |
+
"tilt_from_z_deg": 2.065,
|
| 320 |
+
"tilt_from_z_deg_before_levelling": 4.138,
|
| 321 |
+
"magnitude_m_s2": 9.7448
|
| 322 |
},
|
| 323 |
+
"rig_tracker_definition": "e17c9efadb69e7b1/20260930-morning/labels-035142/session-f0b02400a4b1fa5c",
|
| 324 |
"camera_pose_source": "provider T_tracker0_cam",
|
| 325 |
"files": [
|
| 326 |
"mocap_zup.npz",
|
|
|
|
| 330 |
]
|
| 331 |
},
|
| 332 |
"smplx": {
|
| 333 |
+
"generated_at_utc": "2026-10-15T06:52:55.950245+00:00",
|
| 334 |
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 335 |
"file": "smplx.npz",
|
| 336 |
"gender": "female",
|
|
|
|
| 345 |
"hand_marker_offsets_m": {
|
| 346 |
"left": {
|
| 347 |
"LHandIn": [
|
| 348 |
+
0.10296088457107544,
|
| 349 |
+
0.006198755465447903,
|
| 350 |
+
0.023801790550351143
|
| 351 |
],
|
| 352 |
"LHandOut": [
|
| 353 |
+
0.0885818600654602,
|
| 354 |
+
0.010385975241661072,
|
| 355 |
+
-0.02305266633629799
|
| 356 |
],
|
| 357 |
"LWristOut": [
|
| 358 |
+
0.019563131034374237,
|
| 359 |
+
0.018006527796387672,
|
| 360 |
+
-0.025026651099324226
|
| 361 |
]
|
| 362 |
},
|
| 363 |
"right": {
|
| 364 |
"RHandIn": [
|
| 365 |
+
-0.06615924835205078,
|
| 366 |
+
0.012937159277498722,
|
| 367 |
+
0.028864653781056404
|
| 368 |
],
|
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