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- .gitattributes +47 -0
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- actions/locomanipulation/LM86/session_022/scene/infer.json +36 -0
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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/20261016/LM86/20261016_024127_session35",
|
| 4 |
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"session_id": "20261016_024127_session35",
|
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"primitive": "LM86",
|
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"batch": "20261016",
|
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"participant_source": "manifest",
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"right": "c84bc808cb6b47af"
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| 15 |
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"generated_by": "scripts/sync_dataset.py",
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| 16 |
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"time_base": {
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| 17 |
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"definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
|
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"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 23 |
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| 24 |
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"alignment": {
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| 25 |
+
"reference_imu": "imu_head_right",
|
| 26 |
+
"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 |
+
"offset_s": -0.088083,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.9807,
|
| 32 |
+
"reference_imu_first_sample_s": 7861.52246591,
|
| 33 |
+
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|
| 34 |
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"n_windows": 11,
|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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"lag_range_ms": 3.8296407412767577
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"units": {
|
| 44 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
+
"y_up_to_z_up": [
|
| 46 |
+
[
|
| 47 |
+
1.0,
|
| 48 |
+
0.0,
|
| 49 |
+
0.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
0.0,
|
| 53 |
+
0.0,
|
| 54 |
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-1.0
|
| 55 |
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],
|
| 56 |
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[
|
| 57 |
+
0.0,
|
| 58 |
+
1.0,
|
| 59 |
+
0.0
|
| 60 |
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]
|
| 61 |
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],
|
| 62 |
+
"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 |
+
"quaternions": "xyzw, Nokov global"
|
| 66 |
+
},
|
| 67 |
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"calibration": {
|
| 68 |
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"device": "e3296774a321bb51",
|
| 69 |
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"status": "ok",
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| 70 |
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"date": "2026-10-21"
|
| 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": {
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| 74 |
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| 75 |
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| 76 |
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| 77 |
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| 78 |
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| 79 |
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},
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| 80 |
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| 81 |
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| 82 |
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|
| 83 |
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"t_start": 0.008998117434365849,
|
| 84 |
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| 85 |
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},
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| 86 |
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|
| 87 |
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"n_acc": 25454,
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| 88 |
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| 89 |
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"t_start": -0.937198239565824,
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| 90 |
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| 91 |
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},
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| 92 |
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| 93 |
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"n_acc": 25663,
|
| 94 |
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| 95 |
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|
| 96 |
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| 97 |
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},
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| 98 |
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| 99 |
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"n": 12728,
|
| 100 |
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|
| 101 |
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|
| 102 |
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},
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| 103 |
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| 104 |
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"n": 12662,
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| 105 |
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"t_start": -0.9189329845656364,
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| 106 |
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| 107 |
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},
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| 108 |
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| 109 |
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"n": 12661,
|
| 110 |
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|
| 111 |
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| 112 |
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}
|
| 113 |
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},
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| 114 |
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| 115 |
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|
| 116 |
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"fps": 30.0,
|
| 117 |
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| 118 |
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| 119 |
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| 120 |
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| 121 |
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| 122 |
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"file": "robocap_segment1_video_left.mp4",
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| 123 |
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| 124 |
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|
| 125 |
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|
| 126 |
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"calibrated": true
|
| 127 |
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},
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| 128 |
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| 129 |
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"fps": 30.0,
|
| 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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"file": "robocap_segment1_video_right.mp4",
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| 136 |
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| 137 |
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| 138 |
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"clock": "device",
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| 139 |
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| 140 |
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},
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| 141 |
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| 142 |
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|
| 143 |
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| 144 |
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| 145 |
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| 146 |
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| 147 |
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| 148 |
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"file": "robocap_segment1_video_left_front.mp4",
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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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},
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| 154 |
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| 155 |
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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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| 161 |
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"file": "robocap_segment1_video_right_front.mp4",
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| 162 |
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| 163 |
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| 164 |
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| 165 |
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| 166 |
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},
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| 167 |
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| 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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| 174 |
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| 175 |
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| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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},
|
| 180 |
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"nominal": {
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| 181 |
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|
| 182 |
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|
| 183 |
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"err_ms": 73.7
|
| 184 |
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}
|
| 185 |
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},
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| 186 |
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"file": "robocap_segment1_video_left_eye.mp4",
|
| 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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},
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| 192 |
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| 193 |
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|
| 194 |
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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": "robocap_segment1_video_right_eye.mp4",
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| 200 |
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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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"start_device_s": 7860.696677,
|
| 208 |
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|
| 209 |
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|
| 210 |
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"timing": "pts",
|
| 211 |
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|
| 212 |
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"file": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4",
|
| 213 |
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| 214 |
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| 215 |
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| 216 |
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| 217 |
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},
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| 218 |
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| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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"file": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4",
|
| 226 |
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"t_start": -0.9097739155657298,
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| 227 |
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| 228 |
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|
| 229 |
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"calibrated": false
|
| 230 |
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},
|
| 231 |
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"third_person": {
|
| 232 |
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"file": "mocap/mocap-LM86-S03-lvaoshan-01p1-1.mp4",
|
| 233 |
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"frames": 3805,
|
| 234 |
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"fps": 30.0,
|
| 235 |
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"clock": "nokov (frame index)",
|
| 236 |
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|
| 237 |
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| 238 |
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}
|
| 239 |
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}
|
| 240 |
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},
|
| 241 |
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"flags": [],
|
| 242 |
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"sanity": {
|
| 243 |
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"status": {
|
| 244 |
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"structure": "WARN",
|
| 245 |
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"markers": "WARN",
|
| 246 |
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"timing": "WARN"
|
| 247 |
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},
|
| 248 |
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"verdict": "READY_WITH_WARNINGS",
|
| 249 |
+
"issues": [
|
| 250 |
+
"WARN M_SPIKES",
|
| 251 |
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"WARN M_TRACKER_GEOM",
|
| 252 |
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"WARN S_CALIB",
|
| 253 |
+
"WARN S_MOCAP_TS",
|
| 254 |
+
"WARN S_REPORT_TIMING",
|
| 255 |
+
"WARN T_LAG_OUTLIER",
|
| 256 |
+
"WARN T_MOCAP_TS",
|
| 257 |
+
"WARN T_PTS"
|
| 258 |
+
]
|
| 259 |
+
},
|
| 260 |
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"rig_tracker": {
|
| 261 |
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"definition": "e3296774a321bb51/20261016-morning/labels-503142/session-2a627ab51cdd60e7",
|
| 262 |
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"R_tracker0_imu0": [
|
| 263 |
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[
|
| 264 |
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-0.68013638,
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| 265 |
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0.09080275,
|
| 266 |
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| 267 |
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],
|
| 268 |
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[
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| 269 |
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0.73041855,
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| 271 |
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| 272 |
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],
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| 273 |
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[
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| 274 |
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-0.06247604,
|
| 275 |
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|
| 276 |
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-0.06589598
|
| 277 |
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]
|
| 278 |
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],
|
| 279 |
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"p_tracker0_imu0_m": [
|
| 280 |
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-0.17414964696005422,
|
| 281 |
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-0.02603614040544176,
|
| 282 |
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-0.002490952154414822
|
| 283 |
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],
|
| 284 |
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"rig_check": {
|
| 285 |
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"gyro_samples": 4454,
|
| 286 |
+
"gyro_max_deg": 2.5,
|
| 287 |
+
"status": "dropped_marker",
|
| 288 |
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"dropped_marker": 0,
|
| 289 |
+
"gyro_deg": 2.369
|
| 290 |
+
},
|
| 291 |
+
"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 292 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 293 |
+
},
|
| 294 |
+
"canonical": {
|
| 295 |
+
"generated_at_utc": "2026-10-24T05:11:35.926459+00:00",
|
| 296 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 297 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 298 |
+
"R_canon_nokov": [
|
| 299 |
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[
|
| 300 |
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0.9999620674,
|
| 301 |
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-0.0087099262,
|
| 302 |
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-2.93787e-05
|
| 303 |
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],
|
| 304 |
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[
|
| 305 |
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2.93787e-05,
|
| 306 |
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0.0067458153,
|
| 307 |
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-0.9999772463
|
| 308 |
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],
|
| 309 |
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[
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| 310 |
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0.0087099262,
|
| 311 |
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0.9999393137,
|
| 312 |
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0.0067458153
|
| 313 |
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]
|
| 314 |
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],
|
| 315 |
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"scale_nokov_to_canon": 0.001,
|
| 316 |
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"T_canon_nokov_mm": [
|
| 317 |
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[
|
| 318 |
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0.000999962067,
|
| 319 |
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-8.709926e-06,
|
| 320 |
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-2.9379e-08,
|
| 321 |
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0.0
|
| 322 |
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],
|
| 323 |
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[
|
| 324 |
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2.9379e-08,
|
| 325 |
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6.745815e-06,
|
| 326 |
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-0.000999977246,
|
| 327 |
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0.0
|
| 328 |
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],
|
| 329 |
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[
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| 330 |
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8.709926e-06,
|
| 331 |
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0.000999939314,
|
| 332 |
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6.745815e-06,
|
| 333 |
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0.0
|
| 334 |
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],
|
| 335 |
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[
|
| 336 |
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0.0,
|
| 337 |
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0.0,
|
| 338 |
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0.0,
|
| 339 |
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1.0
|
| 340 |
+
]
|
| 341 |
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],
|
| 342 |
+
"block": "20261016-morning",
|
| 343 |
+
"block_assignment": "trc",
|
| 344 |
+
"tilt_removed_deg": 0.6312261989440553,
|
| 345 |
+
"plane_status": "ok",
|
| 346 |
+
"floor": {
|
| 347 |
+
"sole_marker_p1_mm": 19.5,
|
| 348 |
+
"headtop_p95_mm": 1705.9
|
| 349 |
+
},
|
| 350 |
+
"gravity_check": {
|
| 351 |
+
"static_samples": 3544,
|
| 352 |
+
"g_world_mean_m_s2": [
|
| 353 |
+
0.1501,
|
| 354 |
+
-0.1363,
|
| 355 |
+
9.728
|
| 356 |
+
],
|
| 357 |
+
"tilt_from_z_deg": 1.194,
|
| 358 |
+
"tilt_from_z_deg_before_levelling": 1.824,
|
| 359 |
+
"magnitude_m_s2": 9.7301
|
| 360 |
+
},
|
| 361 |
+
"rig_tracker_definition": "e3296774a321bb51/20261016-morning/labels-503142/session-2a627ab51cdd60e7",
|
| 362 |
+
"rig_check": {
|
| 363 |
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"status": "dropped_marker",
|
| 364 |
+
"dropped_marker": 0,
|
| 365 |
+
"gyro_deg": 2.369
|
| 366 |
+
},
|
| 367 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 368 |
+
"files": [
|
| 369 |
+
"mocap_zup.npz",
|
| 370 |
+
"tracker0_zup.npz",
|
| 371 |
+
"rig_zup.npz",
|
| 372 |
+
"cameras_zup.npz"
|
| 373 |
+
]
|
| 374 |
+
},
|
| 375 |
+
"smplx": {
|
| 376 |
+
"generated_at_utc": "2026-10-23T01:52:42.160033+00:00",
|
| 377 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 378 |
+
"file": "smplx.npz",
|
| 379 |
+
"gender": "female",
|
| 380 |
+
"n_betas": 16,
|
| 381 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 382 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 383 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 384 |
+
"hands": {
|
| 385 |
+
"observed": false,
|
| 386 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 387 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 388 |
+
"hand_marker_offsets_m": {
|
| 389 |
+
"left": {
|
| 390 |
+
"LHandIn": [
|
| 391 |
+
0.07912258803844452,
|
| 392 |
+
0.006885400041937828,
|
| 393 |
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0.028218572959303856
|
| 394 |
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],
|
| 395 |
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"LHandOut": [
|
| 396 |
+
0.06882485747337341,
|
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