Upload folder using huggingface_hub (part 259)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +59 -0
- actions/locomanipulation/LM22/session_017/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM22/session_017/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM22/session_017/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM22/session_017/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM22/session_017/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM22/session_017/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM22/session_017/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM22/session_017/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM22/session_017/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM22/session_017/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM22/session_017/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM22/session_017/scene/infer.json +36 -0
- actions/locomanipulation/LM22/session_017/scene/views.npz +3 -0
- actions/locomanipulation/LM22/session_017/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM22/session_017/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM22/session_017/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM22/session_017/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM22/session_017/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM22/session_017/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM22/session_017/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM22/session_017/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM22/session_017/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM22/session_017/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM22/session_017/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM22/session_017/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM22/session_017/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM22/session_017/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM22/session_018/cameras/poses.npz +3 -0
- actions/locomanipulation/LM22/session_018/meta.json +520 -0
- actions/locomanipulation/LM22/session_018/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM22/session_018/motions/markers.npz +3 -0
- actions/locomanipulation/LM22/session_018/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM22/session_018/motions/smplx.npz +3 -0
- actions/locomanipulation/LM22/session_018/raw/audio.wav +3 -0
- actions/locomanipulation/LM22/session_018/raw/manifest.json +248 -0
- actions/locomanipulation/LM22/session_018/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM22/session_018/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM22/session_018/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM22/session_018/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM22/session_018/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM22/session_018/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM22/session_018/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM22/session_018/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM22/session_018/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM22/session_018/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM22/session_018/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM22/session_018/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM22/session_018/scene/infer.json +36 -0
- actions/locomanipulation/LM22/session_018/scene/views.npz +3 -0
.gitattributes
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actions/locomanipulation/LM22/session_016/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM22/session_016/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM22/session_016/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM22/session_017/raw/mocap/Tracker0.trc
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{
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"primitive": "LM22",
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| 6 |
+
"batch": "20260922",
|
| 7 |
+
"participant": "wangyang",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e17c9efadb69e7b1",
|
| 11 |
+
"left": "cc5681142208e29a",
|
| 12 |
+
"right": "60a6f081bbe60b0d"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-14T11:21:48.201954+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": -1.170707,
|
| 28 |
+
"rate": 0.0,
|
| 29 |
+
"global_lag_s": -1.17,
|
| 30 |
+
"peak_corr": 0.9899,
|
| 31 |
+
"reference_imu_first_sample_s": 767.65089596,
|
| 32 |
+
"windows": {
|
| 33 |
+
"n_windows": 8,
|
| 34 |
+
"window_corr_median": 0.996173273417008,
|
| 35 |
+
"drift_ppm": -106.25590982007172,
|
| 36 |
+
"drift_se_ppm": 52.080666714146346,
|
| 37 |
+
"drift_ms_over_take": -10.521106004017435,
|
| 38 |
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"lag_scatter_ms": 2.923020169786461,
|
| 39 |
+
"lag_range_ms": 12.243594170876726
|
| 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 |
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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 |
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"calibration": {
|
| 67 |
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"device": "e17c9efadb69e7b1",
|
| 68 |
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"status": "ok",
|
| 69 |
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"date": "2026-09-08"
|
| 70 |
+
},
|
| 71 |
+
"streams": {
|
| 72 |
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"sensors": {
|
| 73 |
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"imu_head_right": {
|
| 74 |
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"n_acc": 20251,
|
| 75 |
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"n_gyro": 20244,
|
| 76 |
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"t_start": -1.1826717034915766,
|
| 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": 20216,
|
| 81 |
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"n_gyro": 20210,
|
| 82 |
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"t_start": -1.0692706884915544,
|
| 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": 19494,
|
| 87 |
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|
| 88 |
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"t_start": 0.23908206550844335,
|
| 89 |
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|
| 90 |
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},
|
| 91 |
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|
| 92 |
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"n_acc": 19012,
|
| 93 |
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|
| 94 |
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"t_start": 0.2864939275084333,
|
| 95 |
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|
| 96 |
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},
|
| 97 |
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|
| 98 |
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"n": 10110,
|
| 99 |
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"t_start": -0.9897270904915678,
|
| 100 |
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|
| 101 |
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},
|
| 102 |
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|
| 103 |
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"n": 9633,
|
| 104 |
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"t_start": 0.25241857750846686,
|
| 105 |
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|
| 106 |
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},
|
| 107 |
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|
| 108 |
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"n": 9625,
|
| 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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"videos": {
|
| 114 |
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"left": {
|
| 115 |
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"fps": 30.0,
|
| 116 |
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"start_device_s": 768.858592,
|
| 117 |
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| 118 |
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|
| 119 |
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"timing": "pts",
|
| 120 |
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|
| 121 |
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"file": "robocap_segment1_video_left.mp4",
|
| 122 |
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"t_start": 0.0393311833071146,
|
| 123 |
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"t_end": 99.00604218330714,
|
| 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": 768.858535,
|
| 130 |
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"frames": 2970,
|
| 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,
|
| 134 |
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"file": "robocap_segment1_video_right.mp4",
|
| 135 |
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"t_start": 0.03888075915402789,
|
| 136 |
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|
| 137 |
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"clock": "device",
|
| 138 |
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"calibrated": true
|
| 139 |
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},
|
| 140 |
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"left_front": {
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| 141 |
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"fps": 30.0,
|
| 142 |
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"start_device_s": 768.858575,
|
| 143 |
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| 144 |
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|
| 145 |
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"timing": "pts",
|
| 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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"t_start": 0.03878891774705773,
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| 149 |
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|
| 150 |
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"clock": "device",
|
| 151 |
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| 152 |
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},
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| 153 |
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| 154 |
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|
| 155 |
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"start_device_s": 768.858612,
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| 156 |
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| 157 |
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| 158 |
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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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| 166 |
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| 167 |
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"fps": 30.0,
|
| 168 |
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| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 173 |
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"file": "robocap_segment1_video_left_eye.mp4",
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| 174 |
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"t_start": 0.0386207268072547,
|
| 175 |
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| 176 |
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|
| 177 |
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"calibrated": true
|
| 178 |
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},
|
| 179 |
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"right_eye": {
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| 180 |
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|
| 181 |
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"start_device_s": 768.858508,
|
| 182 |
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|
| 183 |
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"pts_gaps": 0,
|
| 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": 0.03862173227070054,
|
| 188 |
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| 189 |
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| 190 |
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| 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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"start_device_s": 769.092262,
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| 195 |
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|
| 196 |
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|
| 197 |
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|
| 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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"t_start": 0.27065879450843733,
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| 201 |
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| 202 |
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| 203 |
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| 204 |
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},
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| 205 |
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| 206 |
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|
| 207 |
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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",
|
| 213 |
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| 214 |
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|
| 215 |
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|
| 216 |
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"calibrated": false
|
| 217 |
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},
|
| 218 |
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"third_person": {
|
| 219 |
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"file": "mocap/mocap-LM22-S02-wangyang-01p1-1.mp4",
|
| 220 |
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"frames": 2971,
|
| 221 |
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"fps": 30.0,
|
| 222 |
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"clock": "nokov (frame index)",
|
| 223 |
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"t_start": 0.0,
|
| 224 |
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"t_end": 99.0
|
| 225 |
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}
|
| 226 |
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}
|
| 227 |
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},
|
| 228 |
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"flags": [],
|
| 229 |
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"sanity": {
|
| 230 |
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"status": {
|
| 231 |
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"structure": "PASS",
|
| 232 |
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"markers": "WARN",
|
| 233 |
+
"timing": "WARN"
|
| 234 |
+
},
|
| 235 |
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"verdict": "READY_WITH_WARNINGS",
|
| 236 |
+
"issues": [
|
| 237 |
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"WARN M_BODY_ID",
|
| 238 |
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"WARN M_SPIKES",
|
| 239 |
+
"WARN M_TRACKER_LABELS",
|
| 240 |
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"WARN T_UNITS"
|
| 241 |
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]
|
| 242 |
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},
|
| 243 |
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"canonical": {
|
| 244 |
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"generated_at_utc": "2026-10-14T12:21:23.911135+00:00",
|
| 245 |
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"generated_by": "scripts/canonicalise_dataset.py",
|
| 246 |
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"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 247 |
+
"R_canon_nokov": [
|
| 248 |
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[
|
| 249 |
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0.9999891338,
|
| 250 |
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-0.0046617433,
|
| 251 |
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-2.23966e-05
|
| 252 |
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],
|
| 253 |
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[
|
| 254 |
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2.23966e-05,
|
| 255 |
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0.0096084269,
|
| 256 |
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-0.9999538377
|
| 257 |
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],
|
| 258 |
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[
|
| 259 |
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0.0046617433,
|
| 260 |
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0.9999429715,
|
| 261 |
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0.0096084269
|
| 262 |
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]
|
| 263 |
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],
|
| 264 |
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"scale_nokov_to_canon": 0.001,
|
| 265 |
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"T_canon_nokov_mm": [
|
| 266 |
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[
|
| 267 |
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0.000999989134,
|
| 268 |
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-4.661743e-06,
|
| 269 |
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-2.2397e-08,
|
| 270 |
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0.0
|
| 271 |
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],
|
| 272 |
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[
|
| 273 |
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2.2397e-08,
|
| 274 |
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9.608427e-06,
|
| 275 |
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-0.000999953838,
|
| 276 |
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0.0
|
| 277 |
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],
|
| 278 |
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[
|
| 279 |
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4.661743e-06,
|
| 280 |
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0.000999942972,
|
| 281 |
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9.608427e-06,
|
| 282 |
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0.0
|
| 283 |
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],
|
| 284 |
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[
|
| 285 |
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0.0,
|
| 286 |
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0.0,
|
| 287 |
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0.0,
|
| 288 |
+
1.0
|
| 289 |
+
]
|
| 290 |
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],
|
| 291 |
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"block": "20260922-morning",
|
| 292 |
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"block_assignment": "trc",
|
| 293 |
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"tilt_removed_deg": 0.6119072705165756,
|
| 294 |
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"plane_status": "ok",
|
| 295 |
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"floor": {
|
| 296 |
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"sole_marker_p1_mm": 52.3,
|
| 297 |
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"headtop_p95_mm": 1774.9
|
| 298 |
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},
|
| 299 |
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"gravity_check": {
|
| 300 |
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"static_samples": 2697,
|
| 301 |
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"g_world_mean_m_s2": [
|
| 302 |
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-0.0223,
|
| 303 |
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0.1399,
|
| 304 |
+
9.7493
|
| 305 |
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],
|
| 306 |
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"tilt_from_z_deg": 0.833,
|
| 307 |
+
"tilt_from_z_deg_before_levelling": 0.304,
|
| 308 |
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"magnitude_m_s2": 9.7504
|
| 309 |
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},
|
| 310 |
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"rig_tracker_definition": "e17c9efadb69e7b1/20260922-morning/labels-352410/session-592d140cdb426f1f",
|
| 311 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 312 |
+
"files": [
|
| 313 |
+
"mocap_zup.npz",
|
| 314 |
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"tracker0_zup.npz",
|
| 315 |
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"rig_zup.npz",
|
| 316 |
+
"cameras_zup.npz"
|
| 317 |
+
]
|
| 318 |
+
},
|
| 319 |
+
"smplx": {
|
| 320 |
+
"generated_at_utc": "2026-10-15T10:12:44.847796+00:00",
|
| 321 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 322 |
+
"file": "smplx.npz",
|
| 323 |
+
"gender": "male",
|
| 324 |
+
"n_betas": 16,
|
| 325 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 326 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 327 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 328 |
+
"hands": {
|
| 329 |
+
"observed": false,
|
| 330 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 331 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 332 |
+
"hand_marker_offsets_m": {
|
| 333 |
+
"left": {
|
| 334 |
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"LHandIn": [
|
| 335 |
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0.07636797428131104,
|
| 336 |
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0.020727718248963356,
|
| 337 |
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-0.015137830749154091
|
| 338 |
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],
|
| 339 |
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"LHandOut": [
|
| 340 |
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0.0746406838297844,
|
| 341 |
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-0.021431179717183113,
|
| 342 |
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0.013226191513240337
|
| 343 |
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]
|
| 344 |
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},
|
| 345 |
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"right": {
|
| 346 |
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"RHandIn": [
|
| 347 |
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-0.045251186937093735,
|
| 348 |
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0.00634929770603776,
|
| 349 |
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0.042033176869153976
|
| 350 |
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],
|
| 351 |
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"RHandOut": [
|
| 352 |
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-0.05877034738659859,
|
| 353 |
+
0.028045402839779854,
|
| 354 |
+
-0.004105191677808762
|
| 355 |
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],
|
| 356 |
+
"RWristOut": [
|
| 357 |
+
0.02368951588869095,
|
| 358 |
+
0.03502372279763222,
|
| 359 |
+
-0.014424843713641167
|
| 360 |
+
]
|
| 361 |
+
}
|
| 362 |
+
}
|
| 363 |
+
},
|
| 364 |
+
"marker_rmse_mm": {
|
| 365 |
+
"median_frame": 5.91,
|
| 366 |
+
"p95_frame": 13.24
|
| 367 |
+
},
|
| 368 |
+
"worst_markers": [
|
| 369 |
+
"CLAV 15mm",
|
| 370 |
+
"WaistLSide 12mm",
|
| 371 |
+
"WaistRFront 12mm",
|
| 372 |
+
"STRN 11mm",
|
| 373 |
+
"LKneeIn 11mm"
|
| 374 |
+
],
|
| 375 |
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