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- .gitattributes +51 -0
- actions/locomanipulation/LM13/session_018/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM13/session_018/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM13/session_018/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM13/session_018/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM13/session_018/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM13/session_018/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM13/session_018/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM13/session_018/scene/infer.json +36 -0
- actions/locomanipulation/LM13/session_018/scene/views.npz +3 -0
- actions/locomanipulation/LM13/session_018/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM13/session_018/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM13/session_018/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM13/session_018/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM13/session_018/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM13/session_018/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM13/session_018/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM13/session_018/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM13/session_018/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM13/session_018/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM13/session_018/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM13/session_018/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM13/session_018/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM13/session_018/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM13/session_019/cameras/poses.npz +3 -0
- actions/locomanipulation/LM13/session_019/meta.json +532 -0
- actions/locomanipulation/LM13/session_019/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM13/session_019/motions/markers.npz +3 -0
- actions/locomanipulation/LM13/session_019/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM13/session_019/motions/smplx.npz +3 -0
- actions/locomanipulation/LM13/session_019/raw/audio.wav +3 -0
- actions/locomanipulation/LM13/session_019/raw/manifest.json +243 -0
- actions/locomanipulation/LM13/session_019/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM13/session_019/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM13/session_019/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM13/session_019/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM13/session_019/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM13/session_019/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM13/session_019/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM13/session_019/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM13/session_019/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM13/session_019/raw/sensors/robowrist_imu_right.db +0 -0
- actions/locomanipulation/LM13/session_019/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM13/session_019/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM13/session_019/scene/infer.json +36 -0
- actions/locomanipulation/LM13/session_019/scene/views.npz +3 -0
- actions/locomanipulation/LM13/session_019/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM13/session_019/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM13/session_019/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM13/session_019/sensors/wrist_mag.npz +3 -0
.gitattributes
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actions/locomanipulation/LM13/session_017/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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| 1 |
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{
|
| 2 |
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"schema_version": 1,
|
| 3 |
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"session": "EgoMotionActions/20261009/LM13/20261009_074928_session60",
|
| 4 |
+
"session_id": "20261009_074928_session60",
|
| 5 |
+
"primitive": "LM13",
|
| 6 |
+
"batch": "20261009",
|
| 7 |
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"participant": "wangzhixin",
|
| 8 |
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"participant_source": "manifest",
|
| 9 |
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"device_ids": {
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| 10 |
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"main": "e17c9efadb69e7b1",
|
| 11 |
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"left": "452031d7af00ef6f",
|
| 12 |
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"right": "6ee5ee4472fe2ad7"
|
| 13 |
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},
|
| 14 |
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"generated_at_utc": "2026-10-14T11:35:40.005882+00:00",
|
| 15 |
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"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 |
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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": 134.025,
|
| 21 |
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"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": -1.168911,
|
| 28 |
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"rate": 0.0,
|
| 29 |
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"global_lag_s": -1.17,
|
| 30 |
+
"peak_corr": 0.9808,
|
| 31 |
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"reference_imu_first_sample_s": 14470.090803914,
|
| 32 |
+
"windows": {
|
| 33 |
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"n_windows": 11,
|
| 34 |
+
"window_corr_median": 0.9985626626754138,
|
| 35 |
+
"drift_ppm": 1.4261388945419486,
|
| 36 |
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"drift_se_ppm": 2.6579310120337647,
|
| 37 |
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"drift_ms_over_take": 0.19112638085019684,
|
| 38 |
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"lag_scatter_ms": 0.25215347584869313,
|
| 39 |
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|
| 40 |
+
}
|
| 41 |
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},
|
| 42 |
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"units": {
|
| 43 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 44 |
+
"y_up_to_z_up": [
|
| 45 |
+
[
|
| 46 |
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1.0,
|
| 47 |
+
0.0,
|
| 48 |
+
0.0
|
| 49 |
+
],
|
| 50 |
+
[
|
| 51 |
+
0.0,
|
| 52 |
+
0.0,
|
| 53 |
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-1.0
|
| 54 |
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],
|
| 55 |
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[
|
| 56 |
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0.0,
|
| 57 |
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1.0,
|
| 58 |
+
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 |
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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 |
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"streams": {
|
| 72 |
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"sensors": {
|
| 73 |
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"imu_head_right": {
|
| 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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| 80 |
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| 81 |
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|
| 82 |
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| 83 |
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| 86 |
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| 87 |
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| 88 |
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| 90 |
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|
| 92 |
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"n": 13610,
|
| 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": 12888,
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| 98 |
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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": 12867,
|
| 103 |
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|
| 104 |
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| 105 |
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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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| 112 |
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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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|
| 120 |
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},
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| 121 |
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| 122 |
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|
| 123 |
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| 124 |
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| 125 |
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| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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| 130 |
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|
| 131 |
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"corr": 0.934,
|
| 132 |
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"err_ms": 2.7
|
| 133 |
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},
|
| 134 |
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"nominal": {
|
| 135 |
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|
| 136 |
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|
| 137 |
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"err_ms": 30.6
|
| 138 |
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}
|
| 139 |
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},
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| 140 |
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"file": "robocap_segment1_video_right.mp4",
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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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},
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| 146 |
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| 147 |
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| 148 |
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| 149 |
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| 151 |
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| 152 |
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"file": "robocap_segment1_video_left_front.mp4",
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| 154 |
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| 155 |
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| 158 |
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| 160 |
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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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| 166 |
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"file": "robocap_segment1_video_right_front.mp4",
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| 167 |
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| 168 |
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| 171 |
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},
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| 172 |
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| 173 |
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| 174 |
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| 175 |
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| 177 |
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| 178 |
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| 179 |
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"file": "robocap_segment1_video_left_eye.mp4",
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| 180 |
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| 181 |
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| 182 |
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| 183 |
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|
| 184 |
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},
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| 185 |
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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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| 192 |
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"file": "robocap_segment1_video_right_eye.mp4",
|
| 193 |
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| 194 |
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| 197 |
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},
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| 199 |
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|
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| 201 |
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| 203 |
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| 204 |
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| 205 |
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"file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
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| 206 |
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| 210 |
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},
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| 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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| 218 |
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"file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
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| 219 |
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| 222 |
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|
| 223 |
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},
|
| 224 |
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"third_person": {
|
| 225 |
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"file": "mocap/mocap-LM13-S01-wangzhixin-01p1-1.mp4",
|
| 226 |
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|
| 227 |
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|
| 228 |
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"clock": "nokov (frame index)",
|
| 229 |
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|
| 230 |
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|
| 231 |
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}
|
| 232 |
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}
|
| 233 |
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},
|
| 234 |
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"flags": [
|
| 235 |
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"wrist_right_imu empty"
|
| 236 |
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],
|
| 237 |
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"sanity": {
|
| 238 |
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"status": {
|
| 239 |
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"structure": "FAIL",
|
| 240 |
+
"markers": "WARN",
|
| 241 |
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"timing": "WARN"
|
| 242 |
+
},
|
| 243 |
+
"verdict": "READY_WITH_WARNINGS",
|
| 244 |
+
"issues": [
|
| 245 |
+
"FAIL S_DB_EMPTY",
|
| 246 |
+
"FAIL S_REPORT_EMPTY",
|
| 247 |
+
"WARN M_BODY_ID",
|
| 248 |
+
"WARN M_SPIKES",
|
| 249 |
+
"WARN M_TRACKER_LABELS",
|
| 250 |
+
"WARN S_REPORT_TIMING",
|
| 251 |
+
"WARN T_EMPTY",
|
| 252 |
+
"WARN T_PTS"
|
| 253 |
+
]
|
| 254 |
+
},
|
| 255 |
+
"canonical": {
|
| 256 |
+
"generated_at_utc": "2026-10-14T12:23:01.217701+00:00",
|
| 257 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 258 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 259 |
+
"R_canon_nokov": [
|
| 260 |
+
[
|
| 261 |
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0.9999224264,
|
| 262 |
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-0.0124552848,
|
| 263 |
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-8.4556e-05
|
| 264 |
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],
|
| 265 |
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[
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| 266 |
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8.4556e-05,
|
| 267 |
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0.0135763823,
|
| 268 |
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-0.9999078331
|
| 269 |
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],
|
| 270 |
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[
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|
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0.9998302595,
|
| 273 |
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0.0135763823
|
| 274 |
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]
|
| 275 |
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],
|
| 276 |
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"scale_nokov_to_canon": 0.001,
|
| 277 |
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"T_canon_nokov_mm": [
|
| 278 |
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[
|
| 279 |
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0.000999922426,
|
| 280 |
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-1.2455285e-05,
|
| 281 |
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-8.4556e-08,
|
| 282 |
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0.0
|
| 283 |
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],
|
| 284 |
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[
|
| 285 |
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8.4556e-08,
|
| 286 |
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1.3576382e-05,
|
| 287 |
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-0.000999907833,
|
| 288 |
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0.0
|
| 289 |
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],
|
| 290 |
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[
|
| 291 |
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1.2455285e-05,
|
| 292 |
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0.000999830259,
|
| 293 |
+
1.3576382e-05,
|
| 294 |
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0.0
|
| 295 |
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],
|
| 296 |
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[
|
| 297 |
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0.0,
|
| 298 |
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0.0,
|
| 299 |
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0.0,
|
| 300 |
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1.0
|
| 301 |
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]
|
| 302 |
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],
|
| 303 |
+
"block": "20261009-afternoon",
|
| 304 |
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"block_assignment": "trc",
|
| 305 |
+
"tilt_removed_deg": 1.0556903911986237,
|
| 306 |
+
"plane_status": "ok",
|
| 307 |
+
"floor": {
|
| 308 |
+
"sole_marker_p1_mm": 52.2,
|
| 309 |
+
"headtop_p95_mm": 1570.9
|
| 310 |
+
},
|
| 311 |
+
"gravity_check": {
|
| 312 |
+
"static_samples": 7281,
|
| 313 |
+
"g_world_mean_m_s2": [
|
| 314 |
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0.0176,
|
| 315 |
+
-0.0112,
|
| 316 |
+
9.7869
|
| 317 |
+
],
|
| 318 |
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"tilt_from_z_deg": 0.122,
|
| 319 |
+
"tilt_from_z_deg_before_levelling": 1.174,
|
| 320 |
+
"magnitude_m_s2": 9.787
|
| 321 |
+
},
|
| 322 |
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"rig_tracker_definition": "e17c9efadb69e7b1/20261009-afternoon/labels-045231/session-475947f4460a308c",
|
| 323 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 324 |
+
"files": [
|
| 325 |
+
"mocap_zup.npz",
|
| 326 |
+
"tracker0_zup.npz",
|
| 327 |
+
"rig_zup.npz",
|
| 328 |
+
"cameras_zup.npz"
|
| 329 |
+
]
|
| 330 |
+
},
|
| 331 |
+
"smplx": {
|
| 332 |
+
"generated_at_utc": "2026-10-15T08:44:19.847600+00:00",
|
| 333 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 334 |
+
"file": "smplx.npz",
|
| 335 |
+
"gender": "female",
|
| 336 |
+
"n_betas": 16,
|
| 337 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 338 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 339 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 340 |
+
"hands": {
|
| 341 |
+
"observed": false,
|
| 342 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 343 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 344 |
+
"hand_marker_offsets_m": {
|
| 345 |
+
"left": {
|
| 346 |
+
"LHandIn": [
|
| 347 |
+
0.07076464593410492,
|
| 348 |
+
0.015236451290547848,
|
| 349 |
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-0.010858585126698017
|
| 350 |
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],
|
| 351 |
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"LHandOut": [
|
| 352 |
+
0.07226592302322388,
|
| 353 |
+
-0.03644475340843201,
|
| 354 |
+
-0.015209116041660309
|
| 355 |
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],
|
| 356 |
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"LWristOut": [
|
| 357 |
+
0.00542428158223629,
|
| 358 |
+
-0.03156653046607971,
|
| 359 |
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-0.028485823422670364
|
| 360 |
+
]
|
| 361 |
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},
|
| 362 |
+
"right": {
|
| 363 |
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"RHandIn": [
|
| 364 |
+
-0.039361488074064255,
|
| 365 |
+
0.011442157439887524,
|
| 366 |
+
0.026564529165625572
|
| 367 |
+
],
|
| 368 |
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"RHandOut": [
|
| 369 |
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-0.04967838525772095,
|
| 370 |
+
0.007191483862698078,
|
| 371 |
+
-0.029770899564027786
|
| 372 |
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]
|
| 373 |
+
}
|
| 374 |
+
}
|
| 375 |
+
},
|
| 376 |
+
"marker_rmse_mm": {
|
| 377 |
+
"median_frame": 3.49,
|
| 378 |
+
"p95_frame": 6.44
|
| 379 |
+
},
|
| 380 |
+
"worst_markers": [
|
| 381 |
+
"LKneeIn 12mm",
|
| 382 |
+
"LThigh 9mm",
|
| 383 |
+
"RKneeIn 9mm",
|
| 384 |
+
"WaistLFront 8mm",
|
| 385 |
+
"WaistRFront 7mm"
|
| 386 |
+
],
|
| 387 |
+
"valid_fraction": 0.9995,
|
| 388 |
+
"qc": {
|
| 389 |
+
"lowest_vertex_mm": {
|
| 390 |
+
"median": 1.6,
|
| 391 |
+
"p5": -4.2
|
| 392 |
+
},
|
| 393 |
+
"frames_checked": 536,
|
| 394 |
+
"stature_mm": 1582.0
|
| 395 |
+
},
|
| 396 |
+
"surface_term": {
|
| 397 |
+
"weight": 1.0,
|
| 398 |
+
"marker_height_mm": 11.0,
|
| 399 |
+
"markers_on_surface": 52,
|
| 400 |
+
"surface_rmse_mm_median": 10.05
|
| 401 |
+
},
|
| 402 |
+
"shape_source": "participant median",
|
| 403 |
+
"wrist_correction": {
|
| 404 |
+
"left": {
|
| 405 |
+
"status": "corrected",
|
| 406 |
+
"Q_deg": 100.96,
|
| 407 |
+
"Q_rotvec": [
|
| 408 |
+
1.73516,
|
| 409 |
+
-0.25539,
|
| 410 |
+
-0.17019
|
| 411 |
+
],
|
| 412 |
+
"in_out_sign": -1,
|
| 413 |
+
"wrist_bend_deg_median": 81.9,
|
| 414 |
+
"opposite_sign_bend_deg": 99.3,
|
| 415 |
+
"in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
|
| 416 |
+
"marker_frame_spread_deg": 0.64,
|
| 417 |
+
"hand_vs_marker_frame_deg": {
|
| 418 |
+
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