Upload folder using huggingface_hub (part 119)
Browse files- actions/human_human_locomanipulation/HH08/session_008/cameras/poses.npz +2 -2
- actions/human_human_locomanipulation/HH08/session_008/meta.json +164 -185
- actions/human_human_locomanipulation/HH08/session_008/motions/head_rig.npz +2 -2
- actions/human_human_locomanipulation/HH08/session_008/motions/markers.npz +2 -2
- actions/human_human_locomanipulation/HH08/session_008/motions/markers_body1.npz +2 -2
- actions/human_human_locomanipulation/HH08/session_008/motions/skeleton.npz +2 -2
- actions/human_human_locomanipulation/HH08/session_008/motions/skeleton_body1.npz +2 -2
- actions/human_human_locomanipulation/HH08/session_008/motions/smplx.npz +2 -2
- actions/human_human_locomanipulation/HH08/session_008/raw/audio.wav +2 -2
- actions/human_human_locomanipulation/HH08/session_008/raw/manifest.json +111 -111
- actions/human_human_locomanipulation/HH08/session_008/raw/mocap/Body0.bvh +0 -0
- actions/human_human_locomanipulation/HH08/session_008/raw/mocap/Body0.csv +2 -2
- actions/human_human_locomanipulation/HH08/session_008/raw/mocap/Body0.trc +2 -2
- actions/human_human_locomanipulation/HH08/session_008/raw/mocap/Body1.bvh +0 -0
- actions/human_human_locomanipulation/HH08/session_008/raw/mocap/Body1.csv +2 -2
- actions/human_human_locomanipulation/HH08/session_008/raw/mocap/Body1.trc +2 -2
- actions/human_human_locomanipulation/HH08/session_008/raw/mocap/Tracker0.csv +0 -0
- actions/human_human_locomanipulation/HH08/session_008/raw/mocap/Tracker0.trc +0 -0
- actions/human_human_locomanipulation/HH08/session_008/raw/sensors/robocap_imu_left.db +2 -2
- actions/human_human_locomanipulation/HH08/session_008/raw/sensors/robocap_imu_right.db +2 -2
actions/human_human_locomanipulation/HH08/session_008/cameras/poses.npz
CHANGED
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actions/human_human_locomanipulation/HH08/session_008/meta.json
CHANGED
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@@ -1,7 +1,7 @@
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| 1 |
{
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"schema_version": 1,
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"session": "EgoMotionActions/20261024/HH08/
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| 4 |
-
"session_id": "
|
| 5 |
"primitive": "HH08",
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"batch": "20261024",
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"participant": "daihaoxiang",
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|
@@ -11,33 +11,33 @@
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"left": "cc5681142208e29a",
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| 12 |
"right": "a85418f7d807dff9"
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"generated_at_utc": "2026-10-26T05:02:
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"generated_by": "scripts/sync_dataset.py",
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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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"alignment": {
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"reference_imu": "imu_head_right",
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"model": "offset (median of windows)",
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"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
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"units": {
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@@ -72,216 +72,216 @@
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"frames":
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"timing": "pts (gap undecided)",
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"file": "robocap_segment1_video_right_eye.mp4",
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"file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
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"clock": "device",
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"calibrated": false
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},
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"third_person": {
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"file": "mocap/mocap-HH08-
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"frames":
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"fps": 30.0,
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"clock": "nokov (frame index)",
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"t_end":
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"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
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"definition": "c9205ac6e17d2d5c/20261024-afternoon/labels-053142/session-
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"file": "derived/rig_tracker_provider/rig_tracker.json",
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"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
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"generated_at_utc": "2026-10-26T10:26:12.
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"generated_by": "scripts/canonicalise_dataset.py",
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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)",
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"R_canon_nokov": [
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|
@@ -333,25 +333,15 @@
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"plane_status": "ok",
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|
@@ -363,7 +353,7 @@
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"smplx": {
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"generated_at_utc": "2026-10-26T16:48:
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"gender": "male",
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@@ -378,148 +368,137 @@
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"RUArmHigh 13mm",
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"
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"shape_source": "participant median",
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| 442 |
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|
| 474 |
"markers_on_forearm": [
|
| 475 |
"LForearm",
|
| 476 |
"LWristIn",
|
| 477 |
"LWristOut"
|
| 478 |
]
|
| 479 |
},
|
| 480 |
-
"frames_used":
|
| 481 |
},
|
| 482 |
"right": {
|
| 483 |
"status": "corrected",
|
| 484 |
-
"Q_deg":
|
| 485 |
"Q_rotvec": [
|
| 486 |
-
|
| 487 |
-
-0.
|
| 488 |
-
0.
|
| 489 |
],
|
| 490 |
"in_out_sign": 1,
|
| 491 |
-
"wrist_bend_deg_median":
|
| 492 |
-
"opposite_sign_bend_deg":
|
| 493 |
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 494 |
-
"marker_frame_spread_deg":
|
| 495 |
"hand_vs_marker_frame_deg": {
|
| 496 |
-
"before":
|
| 497 |
-
"after":
|
| 498 |
},
|
| 499 |
"markers_on_wrist": [
|
| 500 |
-
"RWristIn",
|
| 501 |
-
"RWristOut",
|
| 502 |
"RHandIn",
|
| 503 |
"RHandOut"
|
| 504 |
],
|
| 505 |
"forearm_twist": {
|
| 506 |
-
"twist_moved_deg":
|
| 507 |
"wrist_twist_deg_after": {
|
| 508 |
-
"median":
|
| 509 |
"iqr": [
|
| 510 |
-1.5,
|
| 511 |
-
1.
|
| 512 |
]
|
| 513 |
},
|
| 514 |
-
"wrist_total_deg_median_after":
|
| 515 |
"markers_on_forearm": [
|
| 516 |
-
"
|
| 517 |
-
"
|
|
|
|
| 518 |
]
|
| 519 |
},
|
| 520 |
-
"frames_used":
|
| 521 |
},
|
| 522 |
-
"generated_at_utc": "2026-10-
|
| 523 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 524 |
}
|
| 525 |
},
|
|
@@ -527,6 +506,6 @@
|
|
| 527 |
"release_path": "actions/human_human_locomanipulation/HH08/session_008",
|
| 528 |
"family": "human_human_locomanipulation",
|
| 529 |
"primitive": "HH08",
|
| 530 |
-
"source_session": "20261024/HH08/
|
| 531 |
}
|
| 532 |
}
|
|
|
|
| 1 |
{
|
| 2 |
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261024/HH08/20261024_072016_session5",
|
| 4 |
+
"session_id": "20261024_072016_session5",
|
| 5 |
"primitive": "HH08",
|
| 6 |
"batch": "20261024",
|
| 7 |
"participant": "daihaoxiang",
|
|
|
|
| 11 |
"left": "cc5681142208e29a",
|
| 12 |
"right": "a85418f7d807dff9"
|
| 13 |
},
|
| 14 |
+
"generated_at_utc": "2026-10-26T05:02:38.585092+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 |
"mocap_rate_fix": null,
|
| 20 |
"first_solved_frame": 0,
|
| 21 |
+
"duration_s": 119.925,
|
| 22 |
"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 23 |
},
|
| 24 |
"alignment": {
|
| 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": -0.093868,
|
| 29 |
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.095,
|
| 31 |
+
"peak_corr": 0.9754,
|
| 32 |
+
"reference_imu_first_sample_s": 2182.985985566,
|
| 33 |
"windows": {
|
| 34 |
+
"n_windows": 10,
|
| 35 |
+
"window_corr_median": 0.9778477767069822,
|
| 36 |
+
"drift_ppm": 7.1991648206465575,
|
| 37 |
+
"drift_se_ppm": 3.326939720697698,
|
| 38 |
+
"drift_ms_over_take": 0.8632998480758663,
|
| 39 |
+
"lag_scatter_ms": 0.2702818606085693,
|
| 40 |
+
"lag_range_ms": 1.0159565600811604
|
| 41 |
}
|
| 42 |
},
|
| 43 |
"units": {
|
|
|
|
| 72 |
"streams": {
|
| 73 |
"sensors": {
|
| 74 |
"imu_head_right": {
|
| 75 |
+
"n_acc": 24408,
|
| 76 |
+
"n_gyro": 24402,
|
| 77 |
+
"t_start": -0.10076306654311237,
|
| 78 |
+
"t_end": 120.1265950944571
|
| 79 |
},
|
| 80 |
"imu_head_left": {
|
| 81 |
+
"n_acc": 24259,
|
| 82 |
+
"n_gyro": 24254,
|
| 83 |
+
"t_start": 0.005074109456910364,
|
| 84 |
+
"t_end": 120.28860847245686
|
| 85 |
},
|
| 86 |
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 23664,
|
| 88 |
+
"n_gyro": 23664,
|
| 89 |
+
"t_start": -0.8145220115429938,
|
| 90 |
+
"t_end": 118.67993054445695
|
| 91 |
},
|
| 92 |
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 23592,
|
| 94 |
+
"n_gyro": 23603,
|
| 95 |
+
"t_start": -0.7370055645428865,
|
| 96 |
+
"t_end": 118.68908511345715
|
| 97 |
},
|
| 98 |
"mag_head": {
|
| 99 |
+
"n": 12038,
|
| 100 |
+
"t_start": 0.08358951645685112,
|
| 101 |
+
"t_end": 120.45359144845678
|
| 102 |
},
|
| 103 |
"mag_wrist_right": {
|
| 104 |
+
"n": 11949,
|
| 105 |
+
"t_start": -0.8057073505429061,
|
| 106 |
+
"t_end": 118.67435156945702
|
| 107 |
},
|
| 108 |
"mag_wrist_left": {
|
| 109 |
+
"n": 11941,
|
| 110 |
+
"t_start": -0.7184409975430016,
|
| 111 |
+
"t_end": 118.68164488645697
|
| 112 |
}
|
| 113 |
},
|
| 114 |
"videos": {
|
| 115 |
"left": {
|
| 116 |
"fps": 30.0,
|
| 117 |
+
"start_device_s": 2183.116941,
|
| 118 |
+
"frames": 3597,
|
| 119 |
"pts_gaps": 0,
|
| 120 |
"timing": "pts",
|
| 121 |
"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.039716205104451646,
|
| 124 |
+
"t_end": 119.90639420510432,
|
| 125 |
"clock": "device",
|
| 126 |
"calibrated": true
|
| 127 |
},
|
| 128 |
"right": {
|
| 129 |
"fps": 30.0,
|
| 130 |
+
"start_device_s": 2183.116925,
|
| 131 |
+
"frames": 3597,
|
| 132 |
"pts_gaps": 0,
|
| 133 |
"timing": "pts",
|
| 134 |
"timeshift_cam_imu_s": 0.0024181146161434135,
|
| 135 |
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.03948988407271928,
|
| 137 |
+
"t_end": 119.9061568840725,
|
| 138 |
"clock": "device",
|
| 139 |
"calibrated": true
|
| 140 |
},
|
| 141 |
"left_front": {
|
| 142 |
"fps": 30.0,
|
| 143 |
+
"start_device_s": 2183.116936,
|
| 144 |
+
"frames": 3597,
|
| 145 |
"pts_gaps": 0,
|
| 146 |
"timing": "pts",
|
| 147 |
"timeshift_cam_imu_s": 0.002458947067077895,
|
| 148 |
"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
+
"t_start": 0.03954171652410979,
|
| 150 |
+
"t_end": 119.90620871652389,
|
| 151 |
"clock": "device",
|
| 152 |
"calibrated": true
|
| 153 |
},
|
| 154 |
"right_front": {
|
| 155 |
"fps": 30.0,
|
| 156 |
+
"start_device_s": 2183.116947,
|
| 157 |
+
"frames": 3597,
|
| 158 |
"pts_gaps": 0,
|
| 159 |
"timing": "pts",
|
| 160 |
"timeshift_cam_imu_s": 0.0021420814739499558,
|
| 161 |
"file": "robocap_segment1_video_right_front.mp4",
|
| 162 |
+
"t_start": 0.03923585093114626,
|
| 163 |
+
"t_end": 119.90591385093101,
|
| 164 |
"clock": "device",
|
| 165 |
"calibrated": true
|
| 166 |
},
|
| 167 |
"left_eye": {
|
| 168 |
"fps": 60.0,
|
| 169 |
+
"start_device_s": 2183.116931,
|
| 170 |
+
"frames": 3512,
|
| 171 |
+
"pts_gaps": 3511,
|
| 172 |
"timing": "pts (gap undecided)",
|
| 173 |
"timeshift_cam_imu_s": 0.002801984596191448,
|
| 174 |
"gap_test": {
|
| 175 |
"pts": {
|
| 176 |
+
"offset_ms": -0.7,
|
| 177 |
+
"corr": 0.882,
|
| 178 |
+
"err_ms": 3.5
|
| 179 |
},
|
| 180 |
"nominal": {
|
| 181 |
+
"offset_ms": -150.0,
|
| 182 |
+
"corr": 0.012,
|
| 183 |
+
"err_ms": 152.8
|
| 184 |
}
|
| 185 |
},
|
| 186 |
"file": "robocap_segment1_video_left_eye.mp4",
|
| 187 |
+
"t_start": 0.039879754053327915,
|
| 188 |
+
"t_end": 119.92320175405347,
|
| 189 |
"clock": "device",
|
| 190 |
"calibrated": true
|
| 191 |
},
|
| 192 |
"right_eye": {
|
| 193 |
"fps": 30.0,
|
| 194 |
+
"start_device_s": 2183.116916,
|
| 195 |
+
"frames": 3597,
|
| 196 |
"pts_gaps": 0,
|
| 197 |
"timing": "pts",
|
| 198 |
"timeshift_cam_imu_s": 0.002930366888236734,
|
| 199 |
"file": "robocap_segment1_video_right_eye.mp4",
|
| 200 |
+
"t_start": 0.0399931363453844,
|
| 201 |
+
"t_end": 119.90666013634562,
|
| 202 |
"clock": "device",
|
| 203 |
"calibrated": true
|
| 204 |
},
|
| 205 |
"wrist_left": {
|
| 206 |
"fps": 30.0,
|
| 207 |
+
"start_device_s": 2182.397914,
|
| 208 |
+
"frames": 3580,
|
| 209 |
"pts_gaps": 0,
|
| 210 |
"timing": "pts",
|
| 211 |
"timeshift_cam_imu_s": null,
|
| 212 |
"file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
|
| 213 |
+
"t_start": -0.6819392305428836,
|
| 214 |
+
"t_end": 118.61812576945702,
|
| 215 |
"clock": "device",
|
| 216 |
"calibrated": false
|
| 217 |
},
|
| 218 |
"wrist_right": {
|
| 219 |
"fps": 30.0,
|
| 220 |
+
"start_device_s": 2182.261599,
|
| 221 |
+
"frames": 3584,
|
| 222 |
"pts_gaps": 0,
|
| 223 |
"timing": "pts",
|
| 224 |
"timeshift_cam_imu_s": null,
|
| 225 |
"file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
|
| 226 |
+
"t_start": -0.8182542305430788,
|
| 227 |
+
"t_end": 118.61514376945705,
|
| 228 |
"clock": "device",
|
| 229 |
"calibrated": false
|
| 230 |
},
|
| 231 |
"third_person": {
|
| 232 |
+
"file": "mocap/mocap-HH08-S02-daihaoxiang-01p1-1.mp4",
|
| 233 |
+
"frames": 3598,
|
| 234 |
"fps": 30.0,
|
| 235 |
"clock": "nokov (frame index)",
|
| 236 |
"t_start": 0.0,
|
| 237 |
+
"t_end": 119.9
|
| 238 |
}
|
| 239 |
},
|
| 240 |
"mocap_body1": {
|
| 241 |
"file": "mocap_body1.npz",
|
| 242 |
+
"frames": 14392,
|
| 243 |
+
"solved_fraction": 1.0,
|
| 244 |
"note": "second person (no ego cameras), Body1 of the same take, same time base as mocap.npz"
|
| 245 |
}
|
| 246 |
},
|
| 247 |
"flags": [],
|
| 248 |
"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
|
| 249 |
"rig_tracker": {
|
| 250 |
+
"definition": "c9205ac6e17d2d5c/20261024-afternoon/labels-053142/session-29e61f9f18396442",
|
| 251 |
"R_tracker0_imu0": [
|
| 252 |
[
|
| 253 |
+
-0.64854786,
|
| 254 |
+
0.05142513,
|
| 255 |
+
-0.75943475
|
| 256 |
],
|
| 257 |
[
|
| 258 |
+
0.75759544,
|
| 259 |
+
-0.05302072,
|
| 260 |
+
-0.65056741
|
| 261 |
],
|
| 262 |
[
|
| 263 |
+
-0.07372129,
|
| 264 |
+
-0.9972684,
|
| 265 |
+
-0.00457296
|
| 266 |
]
|
| 267 |
],
|
| 268 |
"p_tracker0_imu0_m": [
|
| 269 |
+
-0.179942123128324,
|
| 270 |
+
-0.007884816797130045,
|
| 271 |
+
-0.00139142356582534
|
| 272 |
],
|
| 273 |
"rig_check": {
|
| 274 |
+
"gyro_samples": 5072,
|
| 275 |
"gyro_max_deg": 2.5,
|
| 276 |
"status": "ok",
|
| 277 |
"dropped_marker": null,
|
| 278 |
+
"gyro_deg": 2.306
|
| 279 |
},
|
| 280 |
"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 281 |
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 282 |
},
|
| 283 |
"canonical": {
|
| 284 |
+
"generated_at_utc": "2026-10-26T10:26:12.542335+00:00",
|
| 285 |
"generated_by": "scripts/canonicalise_dataset.py",
|
| 286 |
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 287 |
"R_canon_nokov": [
|
|
|
|
| 333 |
"tilt_removed_deg": 0.2622972247140124,
|
| 334 |
"plane_status": "ok",
|
| 335 |
"floor": {
|
| 336 |
+
"sole_marker_p1_mm": 25.5,
|
| 337 |
+
"headtop_p95_mm": 1777.6
|
| 338 |
},
|
| 339 |
+
"gravity_check": null,
|
| 340 |
+
"rig_tracker_definition": "c9205ac6e17d2d5c/20261024-afternoon/labels-053142/session-29e61f9f18396442",
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 341 |
"rig_check": {
|
| 342 |
"status": "ok",
|
| 343 |
"dropped_marker": null,
|
| 344 |
+
"gyro_deg": 2.306
|
| 345 |
},
|
| 346 |
"camera_pose_source": "provider T_tracker0_cam",
|
| 347 |
"files": [
|
|
|
|
| 353 |
]
|
| 354 |
},
|
| 355 |
"smplx": {
|
| 356 |
+
"generated_at_utc": "2026-10-26T16:48:44.407271+00:00",
|
| 357 |
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 358 |
"file": "smplx.npz",
|
| 359 |
"gender": "male",
|
|
|
|
| 368 |
"hand_marker_offsets_m": {
|
| 369 |
"left": {
|
| 370 |
"LHandIn": [
|
| 371 |
+
0.007540169171988964,
|
| 372 |
+
-0.006414840463548899,
|
| 373 |
+
0.043478988111019135
|
| 374 |
],
|
| 375 |
"LHandOut": [
|
| 376 |
+
0.03373021259903908,
|
| 377 |
+
0.02516629360616207,
|
| 378 |
+
0.03166456148028374
|
| 379 |
]
|
| 380 |
},
|
| 381 |
"right": {
|
| 382 |
"RHandIn": [
|
| 383 |
+
-0.07852327078580856,
|
| 384 |
+
0.006033590063452721,
|
| 385 |
+
0.02781979739665985
|
| 386 |
],
|
| 387 |
"RHandOut": [
|
| 388 |
+
-0.0644773617386818,
|
| 389 |
+
0.029913805425167084,
|
| 390 |
+
-0.0054198275320231915
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 391 |
]
|
| 392 |
}
|
| 393 |
}
|
| 394 |
},
|
| 395 |
"marker_rmse_mm": {
|
| 396 |
+
"median_frame": 3.83,
|
| 397 |
+
"p95_frame": 5.56
|
| 398 |
},
|
| 399 |
"worst_markers": [
|
|
|
|
|
|
|
| 400 |
"RKneeIn 11mm",
|
| 401 |
"LKneeIn 10mm",
|
| 402 |
+
"RHeel 7mm",
|
| 403 |
+
"RElbowIn 7mm",
|
| 404 |
+
"LHeel 7mm"
|
| 405 |
],
|
| 406 |
+
"valid_fraction": 1.0,
|
| 407 |
"qc": {
|
| 408 |
"lowest_vertex_mm": {
|
| 409 |
+
"median": 16.6,
|
| 410 |
+
"p5": 9.2
|
| 411 |
},
|
| 412 |
+
"frames_checked": 480,
|
| 413 |
"stature_mm": 1770.9
|
| 414 |
},
|
| 415 |
"surface_term": {
|
| 416 |
"weight": 1.0,
|
| 417 |
"marker_height_mm": 11.0,
|
| 418 |
"markers_on_surface": 52,
|
| 419 |
+
"surface_rmse_mm_median": 12.94
|
| 420 |
},
|
| 421 |
"shape_source": "participant median",
|
| 422 |
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