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- .gitattributes +54 -0
- actions/locomanipulation/LM86/session_016/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM86/session_016/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM86/session_016/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM86/session_016/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM86/session_016/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM86/session_016/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM86/session_016/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM86/session_016/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM86/session_016/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM86/session_016/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM86/session_016/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM86/session_016/scene/infer.json +36 -0
- actions/locomanipulation/LM86/session_016/scene/views.npz +3 -0
- actions/locomanipulation/LM86/session_016/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM86/session_016/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM86/session_016/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM86/session_016/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM86/session_016/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM86/session_016/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM86/session_016/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM86/session_016/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM86/session_016/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM86/session_016/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM86/session_016/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM86/session_016/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM86/session_016/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM86/session_016/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM86/session_017/cameras/poses.npz +3 -0
- actions/locomanipulation/LM86/session_017/meta.json +533 -0
- actions/locomanipulation/LM86/session_017/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM86/session_017/motions/markers.npz +3 -0
- actions/locomanipulation/LM86/session_017/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM86/session_017/motions/smplx.npz +3 -0
- actions/locomanipulation/LM86/session_017/raw/audio.wav +3 -0
- actions/locomanipulation/LM86/session_017/raw/manifest.json +245 -0
- actions/locomanipulation/LM86/session_017/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM86/session_017/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM86/session_017/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM86/session_017/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM86/session_017/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM86/session_017/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM86/session_017/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM86/session_017/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM86/session_017/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM86/session_017/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM86/session_017/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM86/session_017/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM86/session_017/scene/infer.json +36 -0
- actions/locomanipulation/LM86/session_017/scene/views.npz +3 -0
.gitattributes
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| 1 |
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{
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|
| 14 |
+
"generated_at_utc": "2026-10-14T13:02:25.335730+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": {
|
| 20 |
+
"declared_hz": 90.0,
|
| 21 |
+
"used_hz": 120.0,
|
| 22 |
+
"alignment_smoothing_sigma_frames": 3.0,
|
| 23 |
+
"peak_corr_at_declared_rate": 0.0917,
|
| 24 |
+
"note": "Nokov header rate wrong (captured at 120 Hz); marker noise elevated in this block, smooth before differentiating; prefer training split only"
|
| 25 |
+
},
|
| 26 |
+
"first_solved_frame": 0,
|
| 27 |
+
"duration_s": 124.025,
|
| 28 |
+
"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 29 |
+
},
|
| 30 |
+
"alignment": {
|
| 31 |
+
"reference_imu": "imu_head_right",
|
| 32 |
+
"model": "offset (median of windows)",
|
| 33 |
+
"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 34 |
+
"offset_s": -1.178124,
|
| 35 |
+
"rate": 0.0,
|
| 36 |
+
"global_lag_s": -1.18,
|
| 37 |
+
"peak_corr": 0.7235,
|
| 38 |
+
"reference_imu_first_sample_s": 28435.418759337,
|
| 39 |
+
"windows": {
|
| 40 |
+
"n_windows": 11,
|
| 41 |
+
"window_corr_median": 0.7445484859458802,
|
| 42 |
+
"drift_ppm": 42.199389298028585,
|
| 43 |
+
"drift_se_ppm": 80.41371879307397,
|
| 44 |
+
"drift_ms_over_take": 5.233427596110512,
|
| 45 |
+
"lag_scatter_ms": 7.628715195311999,
|
| 46 |
+
"lag_range_ms": 23.591631008852197
|
| 47 |
+
}
|
| 48 |
+
},
|
| 49 |
+
"units": {
|
| 50 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 51 |
+
"y_up_to_z_up": [
|
| 52 |
+
[
|
| 53 |
+
1.0,
|
| 54 |
+
0.0,
|
| 55 |
+
0.0
|
| 56 |
+
],
|
| 57 |
+
[
|
| 58 |
+
0.0,
|
| 59 |
+
0.0,
|
| 60 |
+
-1.0
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
0.0,
|
| 64 |
+
1.0,
|
| 65 |
+
0.0
|
| 66 |
+
]
|
| 67 |
+
],
|
| 68 |
+
"acc": "m/s^2 (8192 LSB/g)",
|
| 69 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 70 |
+
"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 71 |
+
"quaternions": "xyzw, Nokov global"
|
| 72 |
+
},
|
| 73 |
+
"calibration": {
|
| 74 |
+
"device": "e17c9efadb69e7b1",
|
| 75 |
+
"status": "ok",
|
| 76 |
+
"date": "2026-09-08"
|
| 77 |
+
},
|
| 78 |
+
"streams": {
|
| 79 |
+
"sensors": {
|
| 80 |
+
"imu_head_right": {
|
| 81 |
+
"n_acc": 25266,
|
| 82 |
+
"n_gyro": 25261,
|
| 83 |
+
"t_start": -1.1851064896429466,
|
| 84 |
+
"t_end": 124.7777600893576
|
| 85 |
+
},
|
| 86 |
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"imu_head_left": {
|
| 87 |
+
"n_acc": 25222,
|
| 88 |
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"n_gyro": 25216,
|
| 89 |
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"t_start": -1.077028322644053,
|
| 90 |
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"t_end": 124.94735090735847
|
| 91 |
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},
|
| 92 |
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"imu_wrist_right": {
|
| 93 |
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"n_acc": 24509,
|
| 94 |
+
"n_gyro": 24520,
|
| 95 |
+
"t_start": 0.35868516235567083,
|
| 96 |
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|
| 97 |
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},
|
| 98 |
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"imu_wrist_left": {
|
| 99 |
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"n_acc": 23949,
|
| 100 |
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"n_gyro": 23961,
|
| 101 |
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"t_start": 0.24423098735567916,
|
| 102 |
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|
| 103 |
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},
|
| 104 |
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"mag_head": {
|
| 105 |
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"n": 12612,
|
| 106 |
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"t_start": -0.9927114476442671,
|
| 107 |
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|
| 108 |
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},
|
| 109 |
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|
| 110 |
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"n": 12112,
|
| 111 |
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"t_start": 0.3768602383577513,
|
| 112 |
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|
| 113 |
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},
|
| 114 |
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|
| 115 |
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"n": 12123,
|
| 116 |
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"t_start": 0.2632021083561835,
|
| 117 |
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|
| 118 |
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}
|
| 119 |
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},
|
| 120 |
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"videos": {
|
| 121 |
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"left": {
|
| 122 |
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"fps": 30.0,
|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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"timing": "pts",
|
| 127 |
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"timeshift_cam_imu_s": 0.0023423887986386703,
|
| 128 |
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"file": "robocap_segment1_video_left.mp4",
|
| 129 |
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"t_start": 0.03638246615517571,
|
| 130 |
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"t_end": 124.00304946615577,
|
| 131 |
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"clock": "device",
|
| 132 |
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"calibrated": true
|
| 133 |
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},
|
| 134 |
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"right": {
|
| 135 |
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"fps": 30.0,
|
| 136 |
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"start_device_s": 28436.630867,
|
| 137 |
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"frames": 3720,
|
| 138 |
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"pts_gaps": 0,
|
| 139 |
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"timing": "pts",
|
| 140 |
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"timeshift_cam_imu_s": 0.0019489646456461974,
|
| 141 |
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"file": "robocap_segment1_video_right.mp4",
|
| 142 |
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"t_start": 0.035933042004019144,
|
| 143 |
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"t_end": 124.00260004200462,
|
| 144 |
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"clock": "device",
|
| 145 |
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"calibrated": true
|
| 146 |
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},
|
| 147 |
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"left_front": {
|
| 148 |
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"fps": 30.0,
|
| 149 |
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"start_device_s": 28436.630904,
|
| 150 |
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"frames": 3720,
|
| 151 |
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"pts_gaps": 0,
|
| 152 |
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"timing": "pts",
|
| 153 |
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"timeshift_cam_imu_s": 0.0018171232386612972,
|
| 154 |
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"file": "robocap_segment1_video_left_front.mp4",
|
| 155 |
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"t_start": 0.03583820059864817,
|
| 156 |
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"t_end": 124.00250520059924,
|
| 157 |
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"clock": "device",
|
| 158 |
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"calibrated": true
|
| 159 |
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},
|
| 160 |
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"right_front": {
|
| 161 |
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"fps": 30.0,
|
| 162 |
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"start_device_s": 28436.63094,
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| 163 |
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"frames": 3720,
|
| 164 |
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"pts_gaps": 0,
|
| 165 |
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"timing": "pts",
|
| 166 |
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"timeshift_cam_imu_s": 0.0017295646474508202,
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| 167 |
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"file": "robocap_segment1_video_right_front.mp4",
|
| 168 |
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"t_start": 0.03578664200247883,
|
| 169 |
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"t_end": 124.00246464200316,
|
| 170 |
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"clock": "device",
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| 171 |
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"calibrated": true
|
| 172 |
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},
|
| 173 |
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"left_eye": {
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| 174 |
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"fps": 30.0,
|
| 175 |
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"start_device_s": 28436.630884,
|
| 176 |
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"frames": 3720,
|
| 177 |
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|
| 178 |
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"timing": "pts",
|
| 179 |
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|
| 180 |
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"file": "robocap_segment1_video_left_eye.mp4",
|
| 181 |
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"t_start": 0.03567000965338818,
|
| 182 |
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|
| 183 |
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"clock": "device",
|
| 184 |
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"calibrated": true
|
| 185 |
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},
|
| 186 |
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"right_eye": {
|
| 187 |
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"fps": 30.0,
|
| 188 |
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"start_device_s": 28436.630847,
|
| 189 |
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"frames": 3720,
|
| 190 |
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"pts_gaps": 0,
|
| 191 |
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"timing": "pts",
|
| 192 |
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"timeshift_cam_imu_s": 0.0017169377622902274,
|
| 193 |
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"file": "robocap_segment1_video_right_eye.mp4",
|
| 194 |
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"t_start": 0.03568101511771826,
|
| 195 |
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|
| 196 |
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|
| 197 |
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"calibrated": true
|
| 198 |
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},
|
| 199 |
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"wrist_left": {
|
| 200 |
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"fps": 30.0,
|
| 201 |
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"start_device_s": 28436.834458,
|
| 202 |
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"frames": 3637,
|
| 203 |
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"pts_gaps": 0,
|
| 204 |
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"timing": "pts",
|
| 205 |
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"timeshift_cam_imu_s": null,
|
| 206 |
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"file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
|
| 207 |
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"t_start": 0.23757507735788974,
|
| 208 |
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"t_end": 121.43711907735704,
|
| 209 |
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|
| 210 |
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"calibrated": false
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| 211 |
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},
|
| 212 |
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"wrist_right": {
|
| 213 |
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"fps": 30.0,
|
| 214 |
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"start_device_s": 28436.98646,
|
| 215 |
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"frames": 3632,
|
| 216 |
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"pts_gaps": 0,
|
| 217 |
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"timing": "pts",
|
| 218 |
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|
| 219 |
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"file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
|
| 220 |
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"t_start": 0.3895770773567915,
|
| 221 |
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|
| 222 |
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"clock": "device",
|
| 223 |
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"calibrated": false
|
| 224 |
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},
|
| 225 |
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"third_person": {
|
| 226 |
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"file": "mocap/mocap-LM86-S02-liujiaxin-01p1-1.mp4",
|
| 227 |
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"frames": 3721,
|
| 228 |
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"fps": 30.0,
|
| 229 |
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"clock": "nokov (frame index)",
|
| 230 |
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"t_start": 0.0,
|
| 231 |
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"t_end": 124.0
|
| 232 |
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}
|
| 233 |
+
}
|
| 234 |
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},
|
| 235 |
+
"flags": [
|
| 236 |
+
"mocap rate corrected 90 -> 120 Hz (header wrong); alignment on smoothed Tracker0"
|
| 237 |
+
],
|
| 238 |
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"sanity": {
|
| 239 |
+
"status": {
|
| 240 |
+
"structure": "WARN",
|
| 241 |
+
"markers": "WARN",
|
| 242 |
+
"timing": "FAIL"
|
| 243 |
+
},
|
| 244 |
+
"verdict": "NOT_READY",
|
| 245 |
+
"issues": [
|
| 246 |
+
"FAIL T_CORR",
|
| 247 |
+
"WARN M_BODY_ID",
|
| 248 |
+
"WARN M_RATE",
|
| 249 |
+
"WARN M_SPIKES",
|
| 250 |
+
"WARN M_TRACKER",
|
| 251 |
+
"WARN M_TRACKER_LABELS",
|
| 252 |
+
"WARN S_MOCAP_TS",
|
| 253 |
+
"WARN S_PARTICIPANT",
|
| 254 |
+
"WARN S_REPORT_TIMING",
|
| 255 |
+
"WARN T_LAG_OUTLIER",
|
| 256 |
+
"WARN T_MOCAP_TS"
|
| 257 |
+
]
|
| 258 |
+
},
|
| 259 |
+
"canonical": {
|
| 260 |
+
"generated_at_utc": "2026-10-14T13:43:14.394621+00:00",
|
| 261 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 262 |
+
"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 |
+
"R_canon_nokov": [
|
| 264 |
+
[
|
| 265 |
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1.0,
|
| 266 |
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0.0,
|
| 267 |
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0.0
|
| 268 |
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],
|
| 269 |
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[
|
| 270 |
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0.0,
|
| 271 |
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0.0,
|
| 272 |
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-1.0
|
| 273 |
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],
|
| 274 |
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[
|
| 275 |
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0.0,
|
| 276 |
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1.0,
|
| 277 |
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0.0
|
| 278 |
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]
|
| 279 |
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],
|
| 280 |
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"scale_nokov_to_canon": 0.001,
|
| 281 |
+
"T_canon_nokov_mm": [
|
| 282 |
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[
|
| 283 |
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0.001,
|
| 284 |
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0.0,
|
| 285 |
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0.0,
|
| 286 |
+
0.0
|
| 287 |
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],
|
| 288 |
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[
|
| 289 |
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0.0,
|
| 290 |
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0.0,
|
| 291 |
+
-0.001,
|
| 292 |
+
0.0
|
| 293 |
+
],
|
| 294 |
+
[
|
| 295 |
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0.0,
|
| 296 |
+
0.001,
|
| 297 |
+
0.0,
|
| 298 |
+
0.0
|
| 299 |
+
],
|
| 300 |
+
[
|
| 301 |
+
0.0,
|
| 302 |
+
0.0,
|
| 303 |
+
0.0,
|
| 304 |
+
1.0
|
| 305 |
+
]
|
| 306 |
+
],
|
| 307 |
+
"block": "20260924-afternoon",
|
| 308 |
+
"block_assignment": "trc",
|
| 309 |
+
"tilt_removed_deg": null,
|
| 310 |
+
"plane_status": "contacts span only 0.85 m",
|
| 311 |
+
"floor": {
|
| 312 |
+
"sole_marker_p1_mm": -6.8,
|
| 313 |
+
"headtop_p95_mm": 1637.4
|
| 314 |
+
},
|
| 315 |
+
"gravity_check": {
|
| 316 |
+
"static_samples": 901,
|
| 317 |
+
"g_world_mean_m_s2": [
|
| 318 |
+
-0.1482,
|
| 319 |
+
0.1023,
|
| 320 |
+
9.7845
|
| 321 |
+
],
|
| 322 |
+
"tilt_from_z_deg": 1.054,
|
| 323 |
+
"tilt_from_z_deg_before_levelling": 1.054,
|
| 324 |
+
"magnitude_m_s2": 9.7861
|
| 325 |
+
},
|
| 326 |
+
"rig_tracker_definition": "e17c9efadb69e7b1/20260924-afternoon/labels-035142/session-b913cfa2f5a7d01f",
|
| 327 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 328 |
+
"files": [
|
| 329 |
+
"mocap_zup.npz",
|
| 330 |
+
"tracker0_zup.npz",
|
| 331 |
+
"rig_zup.npz",
|
| 332 |
+
"cameras_zup.npz"
|
| 333 |
+
]
|
| 334 |
+
},
|
| 335 |
+
"smplx": {
|
| 336 |
+
"generated_at_utc": "2026-10-15T01:37:27.957807+00:00",
|
| 337 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 338 |
+
"file": "smplx.npz",
|
| 339 |
+
"gender": "female",
|
| 340 |
+
"n_betas": 16,
|
| 341 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 342 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 343 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 344 |
+
"hands": {
|
| 345 |
+
"observed": false,
|
| 346 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 347 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 348 |
+
"hand_marker_offsets_m": {
|
| 349 |
+
"left": {
|
| 350 |
+
"LHandIn": [
|
| 351 |
+
0.06051883473992348,
|
| 352 |
+
0.008192724548280239,
|
| 353 |
+
0.02692631259560585
|
| 354 |
+
],
|
| 355 |
+
"LHandOut": [
|
| 356 |
+
0.044504426419734955,
|
| 357 |
+
0.03159619867801666,
|
| 358 |
+
-0.020446201786398888
|
| 359 |
+
]
|
| 360 |
+
},
|
| 361 |
+
"right": {
|
| 362 |
+
"RHandIn": [
|
| 363 |
+
-0.06113661825656891,
|
| 364 |
+
-0.02983461320400238,
|
| 365 |
+
0.015295807272195816
|
| 366 |
+
],
|
| 367 |
+
"RHandOut": [
|
| 368 |
+
-0.0517447404563427,
|
| 369 |
+
0.03019469976425171,
|
| 370 |
+
0.00658096419647336
|
| 371 |
+
]
|
| 372 |
+
}
|
| 373 |
+
}
|
| 374 |
+
},
|
| 375 |
+
"marker_rmse_mm": {
|
| 376 |
+
"median_frame": 4.62,
|
| 377 |
+
"p95_frame": 9.44
|
| 378 |
+
},
|
| 379 |
+
"worst_markers": [
|
| 380 |
+
"RForearm 10mm",
|
| 381 |
+
"RWristIn 10mm",
|
| 382 |
+
"RElbowIn 9mm",
|
| 383 |
+
"WaistRFront 9mm",
|
| 384 |
+
"RElbow 9mm"
|
| 385 |
+
],
|
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