Upload folder using huggingface_hub (part 54)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +33 -0
- actions/human_human_locomanipulation/HH01/session_002/raw/mocap/Body2.csv +3 -0
- actions/human_human_locomanipulation/HH01/session_002/raw/mocap/Body2.trc +3 -0
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- actions/human_human_locomanipulation/HH01/session_002/raw/sensors/robowrist_mag_right.db +3 -0
- actions/human_human_locomanipulation/HH01/session_002/scene/infer.json +36 -0
- actions/human_human_locomanipulation/HH01/session_002/scene/views.npz +3 -0
- actions/human_human_locomanipulation/HH01/session_002/sensors/head_imu.npz +3 -0
- actions/human_human_locomanipulation/HH01/session_002/sensors/head_mag.npz +3 -0
- actions/human_human_locomanipulation/HH01/session_002/sensors/wrist_imu.npz +3 -0
- actions/human_human_locomanipulation/HH01/session_002/sensors/wrist_mag.npz +3 -0
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- actions/human_human_locomanipulation/HH01/session_002/videos/third_person.mp4 +3 -0
- actions/human_human_locomanipulation/HH01/session_002/videos/wrist_left.mp4 +3 -0
- actions/human_human_locomanipulation/HH01/session_002/videos/wrist_right.mp4 +3 -0
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- actions/human_human_locomanipulation/HH01/session_003/raw/mocap/Tracker0.csv +0 -0
.gitattributes
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actions/human_human_locomanipulation/HH01/session_002/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/human_human_locomanipulation/HH01/session_002/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/human_human_locomanipulation/HH01/session_002/raw/mocap/Body1.csv filter=lfs diff=lfs merge=lfs -text
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actions/human_human_locomanipulation/HH01/session_002/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261020/HH01/20261020_073957_session15",
|
| 4 |
+
"session_id": "20261020_073957_session15",
|
| 5 |
+
"primitive": "HH01",
|
| 6 |
+
"batch": "20261020",
|
| 7 |
+
"participant": "lvaoshan",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
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"device_ids": {
|
| 10 |
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"main": "c9205ac6e17d2d5c",
|
| 11 |
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"left": null,
|
| 12 |
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"right": "a85418f7d807dff9"
|
| 13 |
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},
|
| 14 |
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"generated_at_utc": "2026-10-22T16:12:18.722444+00:00",
|
| 15 |
+
"generated_by": "scripts/sync_dataset.py",
|
| 16 |
+
"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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"mocap_rate_fix": null,
|
| 20 |
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"first_solved_frame": 0,
|
| 21 |
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"duration_s": 108.825,
|
| 22 |
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"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 |
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"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": -0.080336,
|
| 29 |
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"rate": 0.0,
|
| 30 |
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"global_lag_s": -0.08,
|
| 31 |
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"peak_corr": 0.993,
|
| 32 |
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"reference_imu_first_sample_s": 5790.373321154,
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| 33 |
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"windows": {
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| 34 |
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"n_windows": 9,
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| 35 |
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"window_corr_median": 0.9940393419512233,
|
| 36 |
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"drift_ppm": -31.57458568765331,
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| 37 |
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"drift_se_ppm": 23.137344544661975,
|
| 38 |
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"drift_ms_over_take": -3.435841165911474,
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| 39 |
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"lag_scatter_ms": 1.5805815360279674,
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| 40 |
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"lag_range_ms": 6.012435524464288
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| 41 |
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}
|
| 42 |
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},
|
| 43 |
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"units": {
|
| 44 |
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"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
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"y_up_to_z_up": [
|
| 46 |
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[
|
| 47 |
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1.0,
|
| 48 |
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0.0,
|
| 49 |
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0.0
|
| 50 |
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],
|
| 51 |
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[
|
| 52 |
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0.0,
|
| 53 |
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0.0,
|
| 54 |
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-1.0
|
| 55 |
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],
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| 56 |
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[
|
| 57 |
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0.0,
|
| 58 |
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1.0,
|
| 59 |
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0.0
|
| 60 |
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]
|
| 61 |
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],
|
| 62 |
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"acc": "m/s^2 (8192 LSB/g)",
|
| 63 |
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"gyro": "rad/s (65.536 LSB/dps)",
|
| 64 |
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"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 65 |
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"quaternions": "xyzw, Nokov global"
|
| 66 |
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},
|
| 67 |
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"calibration": {
|
| 68 |
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"device": "c9205ac6e17d2d5c",
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| 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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},
|
| 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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"imu_head_right": {
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| 75 |
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"n_acc": 22149,
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| 76 |
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"n_gyro": 22144,
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"t_start": -0.09176304527157246,
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| 78 |
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"t_end": 109.00544746572884
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| 79 |
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},
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| 80 |
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"imu_head_left": {
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| 81 |
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"n_acc": 22016,
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| 82 |
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"n_gyro": 22010,
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| 83 |
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"t_start": 0.018847559728574728,
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| 84 |
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| 85 |
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},
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| 86 |
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"imu_wrist_right": {
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"n_acc": 21475,
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"n_gyro": 21487,
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| 89 |
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"t_start": -0.7652345642711492,
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| 91 |
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},
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"mag_head": {
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"n": 10924,
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"t_start": 0.10995943472859888,
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"n": 10844,
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}
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| 106 |
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| 109 |
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"timing": "pts",
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| 110 |
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| 111 |
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"file": "robocap_segment1_video_left.mp4",
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| 113 |
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| 115 |
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| 116 |
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| 129 |
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},
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| 131 |
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"start_device_s": 5790.491351,
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| 134 |
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"file": "robocap_segment1_video_left_front.mp4",
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"file": "robocap_segment1_video_right_front.mp4",
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| 166 |
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"corr": 0.888,
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},
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"corr": 0.888,
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| 172 |
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}
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},
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| 175 |
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"file": "robocap_segment1_video_left_eye.mp4",
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| 180 |
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| 182 |
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| 183 |
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| 185 |
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"file": "robocap_segment1_video_right_eye.mp4",
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| 190 |
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"calibrated": true
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| 193 |
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| 196 |
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| 199 |
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"file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
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"t_start": -0.7709201582713189,
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| 205 |
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"calibrated": false
|
| 206 |
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},
|
| 207 |
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"third_person": {
|
| 208 |
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"file": "mocap/mocap-HH01-S01-lvaoshan-02p1-1.mp4",
|
| 209 |
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"frames": 3265,
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| 210 |
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"fps": 30.0,
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| 211 |
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"clock": "nokov (frame index)",
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| 212 |
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|
| 213 |
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"t_end": 108.8
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| 214 |
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}
|
| 215 |
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},
|
| 216 |
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"mocap_body1": {
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| 217 |
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"file": "mocap_body1.npz",
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| 218 |
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"frames": 13060,
|
| 219 |
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"solved_fraction": 1.0,
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| 220 |
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"note": "second person (no ego cameras), Body1 of the same take, same time base as mocap.npz"
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| 221 |
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}
|
| 222 |
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},
|
| 223 |
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"flags": [],
|
| 224 |
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"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
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| 225 |
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"rig_tracker": {
|
| 226 |
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"definition": "c9205ac6e17d2d5c/20261020-afternoon/labels-145230/session-1c9599c57b4ef1dc",
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| 227 |
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"R_tracker0_imu0": [
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],
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| 241 |
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]
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],
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|
| 252 |
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"status": "ok",
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| 253 |
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|
| 254 |
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"gyro_deg": 1.892
|
| 255 |
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},
|
| 256 |
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"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 257 |
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"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 258 |
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},
|
| 259 |
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"canonical": {
|
| 260 |
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"generated_at_utc": "2026-10-26T10:24:16.987960+00:00",
|
| 261 |
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"generated_by": "scripts/canonicalise_dataset.py",
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| 262 |
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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)",
|
| 263 |
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"R_canon_nokov": [
|
| 264 |
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[
|
| 265 |
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|
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],
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|
| 281 |
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| 282 |
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| 283 |
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|
| 285 |
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],
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[
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|
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| 304 |
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| 305 |
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]
|
| 306 |
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],
|
| 307 |
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"block": "20261020-afternoon",
|
| 308 |
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"block_assignment": "trc",
|
| 309 |
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"tilt_removed_deg": 0.398776794692196,
|
| 310 |
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"plane_status": "ok",
|
| 311 |
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"floor": {
|
| 312 |
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"sole_marker_p1_mm": 35.0,
|
| 313 |
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"headtop_p95_mm": 1694.8
|
| 314 |
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},
|
| 315 |
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"gravity_check": {
|
| 316 |
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"static_samples": 3541,
|
| 317 |
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"g_world_mean_m_s2": [
|
| 318 |
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0.1162,
|
| 319 |
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0.3386,
|
| 320 |
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|
| 321 |
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],
|
| 322 |
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"tilt_from_z_deg": 2.096,
|
| 323 |
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|
| 324 |
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"magnitude_m_s2": 9.787
|
| 325 |
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},
|
| 326 |
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"rig_tracker_definition": "c9205ac6e17d2d5c/20261020-afternoon/labels-145230/session-1c9599c57b4ef1dc",
|
| 327 |
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"rig_check": {
|
| 328 |
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"status": "ok",
|
| 329 |
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"dropped_marker": null,
|
| 330 |
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"gyro_deg": 1.892
|
| 331 |
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},
|
| 332 |
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"camera_pose_source": "provider T_tracker0_cam",
|
| 333 |
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"files": [
|
| 334 |
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"mocap_zup.npz",
|
| 335 |
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"tracker0_zup.npz",
|
| 336 |
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"rig_zup.npz",
|
| 337 |
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"cameras_zup.npz",
|
| 338 |
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"mocap_body1_zup.npz"
|
| 339 |
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]
|
| 340 |
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},
|
| 341 |
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"smplx": {
|
| 342 |
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"generated_at_utc": "2026-10-23T07:08:19.381618+00:00",
|
| 343 |
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"generated_by": "scripts/fit_smplx_dataset.py",
|
| 344 |
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"file": "smplx.npz",
|
| 345 |
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"gender": "female",
|
| 346 |
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"n_betas": 16,
|
| 347 |
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"betas_source": "participant median (derived/smplx/participants.json)",
|
| 348 |
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 349 |
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 350 |
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"hands": {
|
| 351 |
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"observed": false,
|
| 352 |
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"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 353 |
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"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 354 |
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