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- .gitattributes +49 -0
- actions/locomanipulation/LM40/session_003/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM40/session_003/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM40/session_003/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM40/session_003/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM40/session_003/raw/sensors/robowrist_imu_right.db +0 -0
- actions/locomanipulation/LM40/session_003/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM40/session_003/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM40/session_003/scene/infer.json +36 -0
- actions/locomanipulation/LM40/session_003/scene/views.npz +3 -0
- actions/locomanipulation/LM40/session_003/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM40/session_003/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM40/session_003/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM40/session_003/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM40/session_003/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM40/session_003/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM40/session_003/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM40/session_003/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM40/session_003/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM40/session_003/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM40/session_003/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM40/session_003/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM40/session_003/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM40/session_003/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM40/session_004/cameras/poses.npz +3 -0
- actions/locomanipulation/LM40/session_004/meta.json +518 -0
- actions/locomanipulation/LM40/session_004/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM40/session_004/motions/markers.npz +3 -0
- actions/locomanipulation/LM40/session_004/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM40/session_004/motions/smplx.npz +3 -0
- actions/locomanipulation/LM40/session_004/raw/audio.wav +3 -0
- actions/locomanipulation/LM40/session_004/raw/manifest.json +245 -0
- actions/locomanipulation/LM40/session_004/raw/mocap/Body0.bvh +0 -0
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- actions/locomanipulation/LM40/session_004/raw/mocap/Tracker0.csv +0 -0
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- actions/locomanipulation/LM40/session_004/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM40/session_004/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM40/session_004/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM40/session_004/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM40/session_004/raw/sensors/robowrist_imu_right.db +0 -0
- actions/locomanipulation/LM40/session_004/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM40/session_004/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM40/session_004/scene/infer.json +36 -0
- actions/locomanipulation/LM40/session_004/scene/views.npz +3 -0
- actions/locomanipulation/LM40/session_004/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM40/session_004/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM40/session_004/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM40/session_004/sensors/wrist_mag.npz +3 -0
.gitattributes
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actions/locomanipulation/LM40/session_002/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM40/session_003/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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| 1 |
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{
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| 2 |
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"schema_version": 1,
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| 3 |
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"session": "EgoMotionActions/20260916/LM40/20260916_080319_session126",
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| 4 |
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"session_id": "20260916_080319_session126",
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| 5 |
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"primitive": "LM40",
|
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"batch": "20260916",
|
| 7 |
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"participant": "mahui",
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"participant_source": "manifest",
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"device_ids": {
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"main": "e17c9efadb69e7b1",
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"left": "452031d7af00ef6f",
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"right": "6ee5ee4472fe2ad7"
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"generated_at_utc": "2026-10-14T11:10:31.314849+00:00",
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| 15 |
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"generated_by": "scripts/sync_dataset.py",
|
| 16 |
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"time_base": {
|
| 17 |
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"definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
|
| 18 |
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"mocap_rate_hz": 120.0,
|
| 19 |
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"first_solved_frame": 0,
|
| 20 |
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"duration_s": 129.025,
|
| 21 |
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"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 22 |
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},
|
| 23 |
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"alignment": {
|
| 24 |
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"reference_imu": "imu_head_right",
|
| 25 |
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"model": "offset (median of windows)",
|
| 26 |
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"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 27 |
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"offset_s": -1.174373,
|
| 28 |
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"rate": 0.0,
|
| 29 |
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"global_lag_s": -1.175,
|
| 30 |
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"peak_corr": 0.9747,
|
| 31 |
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"reference_imu_first_sample_s": 27944.084060275,
|
| 32 |
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"windows": {
|
| 33 |
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"n_windows": 11,
|
| 34 |
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"window_corr_median": 0.9696188792263222,
|
| 35 |
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"drift_ppm": -2.599558253374131,
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| 36 |
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"drift_se_ppm": 22.2880505865319,
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| 37 |
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"drift_ms_over_take": -0.3353863406561526,
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| 38 |
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"lag_scatter_ms": 2.1144301337547766,
|
| 39 |
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"lag_range_ms": 8.35536571536899
|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"units": {
|
| 43 |
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"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 44 |
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"y_up_to_z_up": [
|
| 45 |
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[
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| 46 |
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1.0,
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| 47 |
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0.0,
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| 48 |
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],
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[
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0.0,
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],
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[
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1.0,
|
| 58 |
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0.0
|
| 59 |
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]
|
| 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 |
+
"calibration": {
|
| 67 |
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"device": "e17c9efadb69e7b1",
|
| 68 |
+
"status": "ok",
|
| 69 |
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"date": "2026-09-08"
|
| 70 |
+
},
|
| 71 |
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"streams": {
|
| 72 |
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"sensors": {
|
| 73 |
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"imu_head_right": {
|
| 74 |
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"n_acc": 26248,
|
| 75 |
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| 76 |
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| 77 |
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| 78 |
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},
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| 79 |
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|
| 80 |
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"n_acc": 26200,
|
| 81 |
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|
| 82 |
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"t_start": -1.0718936416807658,
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| 83 |
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| 84 |
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},
|
| 85 |
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"imu_wrist_left": {
|
| 86 |
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"n_acc": 25832,
|
| 87 |
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"n_gyro": 25843,
|
| 88 |
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"t_start": 0.2854945843217471,
|
| 89 |
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|
| 90 |
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},
|
| 91 |
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|
| 92 |
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"n": 13101,
|
| 93 |
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|
| 94 |
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| 95 |
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| 96 |
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| 97 |
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"n": 12772,
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| 99 |
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| 100 |
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| 101 |
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|
| 102 |
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"n": 12758,
|
| 103 |
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| 104 |
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| 105 |
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}
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| 106 |
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| 107 |
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|
| 108 |
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| 109 |
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| 110 |
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| 111 |
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| 113 |
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| 114 |
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| 115 |
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"file": "robocap_segment1_video_left.mp4",
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| 116 |
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| 117 |
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| 118 |
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| 119 |
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"calibrated": true
|
| 120 |
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},
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| 123 |
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| 124 |
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| 125 |
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| 126 |
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"timing": "pts",
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| 127 |
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| 128 |
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"file": "robocap_segment1_video_right.mp4",
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| 129 |
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| 130 |
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| 131 |
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|
| 132 |
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|
| 133 |
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},
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| 134 |
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"left_front": {
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| 135 |
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|
| 136 |
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"start_device_s": 27945.295445,
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| 137 |
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| 140 |
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| 141 |
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"file": "robocap_segment1_video_left_front.mp4",
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| 142 |
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| 143 |
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| 146 |
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| 153 |
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"file": "robocap_segment1_video_right_front.mp4",
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| 155 |
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| 156 |
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| 159 |
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},
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| 162 |
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| 165 |
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| 167 |
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"file": "robocap_segment1_video_left_eye.mp4",
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| 168 |
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| 169 |
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| 171 |
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| 172 |
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},
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|
| 175 |
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| 176 |
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| 177 |
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| 178 |
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"timing": "pts",
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| 179 |
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|
| 180 |
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"file": "robocap_segment1_video_right_eye.mp4",
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| 181 |
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| 182 |
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| 183 |
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|
| 184 |
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|
| 185 |
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},
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| 186 |
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| 187 |
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|
| 188 |
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| 189 |
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| 190 |
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|
| 191 |
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"timing": "pts",
|
| 192 |
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| 193 |
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"file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
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| 194 |
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"t_start": 0.3228212433212654,
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| 195 |
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| 198 |
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},
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| 201 |
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| 203 |
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| 204 |
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| 206 |
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"file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
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| 207 |
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| 210 |
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| 211 |
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},
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| 212 |
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"third_person": {
|
| 213 |
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"file": "mocap/mocap-LM40-S01-mahui-01p1-1.mp4",
|
| 214 |
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"frames": 3871,
|
| 215 |
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| 216 |
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"clock": "nokov (frame index)",
|
| 217 |
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|
| 218 |
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| 219 |
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}
|
| 220 |
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}
|
| 221 |
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},
|
| 222 |
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"flags": [
|
| 223 |
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"wrist_right_imu empty"
|
| 224 |
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],
|
| 225 |
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"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_TRACKER_LABELS",
|
| 236 |
+
"WARN S_INDEX_STALE",
|
| 237 |
+
"WARN S_MOCAP_TS",
|
| 238 |
+
"WARN S_PARTICIPANT",
|
| 239 |
+
"WARN S_VIDEO_FPS",
|
| 240 |
+
"WARN T_EMPTY",
|
| 241 |
+
"WARN T_MOCAP_TS",
|
| 242 |
+
"WARN T_UNITS"
|
| 243 |
+
]
|
| 244 |
+
},
|
| 245 |
+
"canonical": {
|
| 246 |
+
"generated_at_utc": "2026-10-14T12:19:56.647226+00:00",
|
| 247 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 248 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 249 |
+
"R_canon_nokov": [
|
| 250 |
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[
|
| 251 |
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|
| 252 |
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-0.0142079306,
|
| 253 |
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-5.73921e-05
|
| 254 |
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],
|
| 255 |
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[
|
| 256 |
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5.73921e-05,
|
| 257 |
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0.0080783497,
|
| 258 |
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-0.999967368
|
| 259 |
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],
|
| 260 |
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[
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| 261 |
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|
| 262 |
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0.9998664286,
|
| 263 |
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0.0080783497
|
| 264 |
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]
|
| 265 |
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],
|
| 266 |
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"scale_nokov_to_canon": 0.001,
|
| 267 |
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"T_canon_nokov_mm": [
|
| 268 |
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[
|
| 269 |
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0.000999899061,
|
| 270 |
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-1.4207931e-05,
|
| 271 |
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-5.7392e-08,
|
| 272 |
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0.0
|
| 273 |
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],
|
| 274 |
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[
|
| 275 |
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5.7392e-08,
|
| 276 |
+
8.07835e-06,
|
| 277 |
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-0.000999967368,
|
| 278 |
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0.0
|
| 279 |
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],
|
| 280 |
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[
|
| 281 |
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1.4207931e-05,
|
| 282 |
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0.000999866429,
|
| 283 |
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8.07835e-06,
|
| 284 |
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0.0
|
| 285 |
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],
|
| 286 |
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[
|
| 287 |
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0.0,
|
| 288 |
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0.0,
|
| 289 |
+
0.0,
|
| 290 |
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1.0
|
| 291 |
+
]
|
| 292 |
+
],
|
| 293 |
+
"block": "20260916-afternoon",
|
| 294 |
+
"block_assignment": "trc",
|
| 295 |
+
"tilt_removed_deg": 0.936481618044118,
|
| 296 |
+
"plane_status": "ok",
|
| 297 |
+
"floor": {
|
| 298 |
+
"sole_marker_p1_mm": 40.9,
|
| 299 |
+
"headtop_p95_mm": 1646.4
|
| 300 |
+
},
|
| 301 |
+
"gravity_check": {
|
| 302 |
+
"static_samples": 2314,
|
| 303 |
+
"g_world_mean_m_s2": [
|
| 304 |
+
-0.0479,
|
| 305 |
+
0.0444,
|
| 306 |
+
9.7462
|
| 307 |
+
],
|
| 308 |
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"tilt_from_z_deg": 0.384,
|
| 309 |
+
"tilt_from_z_deg_before_levelling": 0.57,
|
| 310 |
+
"magnitude_m_s2": 9.7465
|
| 311 |
+
},
|
| 312 |
+
"rig_tracker_definition": "e17c9efadb69e7b1/20260916-afternoon/labels-015324/session-da9e5bbd07717233",
|
| 313 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 314 |
+
"files": [
|
| 315 |
+
"mocap_zup.npz",
|
| 316 |
+
"tracker0_zup.npz",
|
| 317 |
+
"rig_zup.npz",
|
| 318 |
+
"cameras_zup.npz"
|
| 319 |
+
]
|
| 320 |
+
},
|
| 321 |
+
"smplx": {
|
| 322 |
+
"generated_at_utc": "2026-10-15T01:09:20.238173+00:00",
|
| 323 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 324 |
+
"file": "smplx.npz",
|
| 325 |
+
"gender": "female",
|
| 326 |
+
"n_betas": 16,
|
| 327 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 328 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 329 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 330 |
+
"hands": {
|
| 331 |
+
"observed": false,
|
| 332 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 333 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 334 |
+
"hand_marker_offsets_m": {
|
| 335 |
+
"left": {
|
| 336 |
+
"LHandIn": [
|
| 337 |
+
0.07031004130840302,
|
| 338 |
+
0.013293834403157234,
|
| 339 |
+
-0.049051154404878616
|
| 340 |
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],
|
| 341 |
+
"LHandOut": [
|
| 342 |
+
0.06237109750509262,
|
| 343 |
+
-0.03689894452691078,
|
| 344 |
+
-0.04364216700196266
|
| 345 |
+
]
|
| 346 |
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},
|
| 347 |
+
"right": {
|
| 348 |
+
"RHandIn": [
|
| 349 |
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-0.0417589470744133,
|
| 350 |
+
-0.005793663207441568,
|
| 351 |
+
-0.04109451174736023
|
| 352 |
+
],
|
| 353 |
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"RHandOut": [
|
| 354 |
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-0.053385984152555466,
|
| 355 |
+
-0.03277362138032913,
|
| 356 |
+
0.004808827303349972
|
| 357 |
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]
|
| 358 |
+
}
|
| 359 |
+
}
|
| 360 |
+
},
|
| 361 |
+
"marker_rmse_mm": {
|
| 362 |
+
"median_frame": 6.04,
|
| 363 |
+
"p95_frame": 10.78
|
| 364 |
+
},
|
| 365 |
+
"worst_markers": [
|
| 366 |
+
"LKneeIn 17mm",
|
| 367 |
+
"RKneeIn 14mm",
|
| 368 |
+
"LHeel 11mm",
|
| 369 |
+
"RShin 10mm",
|
| 370 |
+
"LUArmHigh 10mm"
|
| 371 |
+
],
|
| 372 |
+
"valid_fraction": 0.9995,
|
| 373 |
+
"qc": {
|
| 374 |
+
"lowest_vertex_mm": {
|
| 375 |
+
"median": 1.2,
|
| 376 |
+
"p5": -4.1
|
| 377 |
+
},
|
| 378 |
+
"frames_checked": 516,
|
| 379 |
+
"stature_mm": 1631.4
|
| 380 |
+
},
|
| 381 |
+
"surface_term": {
|
| 382 |
+
"weight": 1.0,
|
| 383 |
+
"marker_height_mm": 11.0,
|
| 384 |
+
"markers_on_surface": 52,
|
| 385 |
+
"surface_rmse_mm_median": 13.26
|
| 386 |
+
},
|
| 387 |
+
"shape_source": "participant median",
|
| 388 |
+
"wrist_correction": {
|
| 389 |
+
"left": {
|
| 390 |
+
"status": "corrected",
|
| 391 |
+
"Q_deg": 92.75,
|
| 392 |
+
"Q_rotvec": [
|
| 393 |
+
1.50188,
|
| 394 |
+
-0.21134,
|
| 395 |
+
-0.56585
|
| 396 |
+
],
|
| 397 |
+
"in_out_sign": -1,
|
| 398 |
+
"wrist_bend_deg_median": 74.1,
|
| 399 |
+
"opposite_sign_bend_deg": 119.6,
|
| 400 |
+
"in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
|
| 401 |
+
"marker_frame_spread_deg": 3.77,
|
| 402 |
+
"hand_vs_marker_frame_deg": {
|
| 403 |
+
"before": 92.16,
|
| 404 |
+
"after": 3.77
|
| 405 |
+
},
|
| 406 |
+
"markers_on_wrist": [
|
| 407 |
+
"LHandIn",
|
| 408 |
+
"LHandOut"
|
| 409 |
+
],
|
| 410 |
+
"forearm_twist": {
|
| 411 |
+
"twist_moved_deg": 59.73,
|
| 412 |
+
"wrist_twist_deg_after": {
|
| 413 |
+
"median": -0.0,
|
| 414 |
+
"iqr": [
|
| 415 |
+
-7.5,
|
| 416 |
+
8.2
|
| 417 |
+
]
|
| 418 |
+
},
|
| 419 |
+
"wrist_total_deg_median_after": 38.3,
|
| 420 |
+
"markers_on_forearm": [
|
| 421 |
+
"LElbowIn",
|
| 422 |
+
"LForearm",
|
| 423 |
+
"LWristIn",
|
| 424 |
+
"LWristOut"
|
| 425 |
+
]
|
| 426 |
+
},
|
| 427 |
+
"frames_used": 1500
|
| 428 |
+
},
|
| 429 |
+
"right": {
|
| 430 |
+
"status": "corrected",
|
| 431 |
+
"Q_deg": 145.76,
|
| 432 |
+
"Q_rotvec": [
|
| 433 |
+
-2.37371,
|
| 434 |
+
-0.48455,
|
| 435 |
+
-0.77612
|
| 436 |
+
],
|
| 437 |
+
"in_out_sign": 1,
|
| 438 |
+
"wrist_bend_deg_median": 151.2,
|
| 439 |
+
"opposite_sign_bend_deg": 32.2,
|
| 440 |
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