Upload folder using huggingface_hub (part 210)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +36 -0
- actions/locomanipulation/LM15/session_044/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM15/session_044/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM15/session_044/raw/mocap/Body0.trc +3 -0
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- actions/locomanipulation/LM15/session_044/raw/mocap/Tracker0.trc +0 -0
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- actions/locomanipulation/LM15/session_044/raw/sensors/robocap_imu_right.db +3 -0
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- actions/locomanipulation/LM15/session_044/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM15/session_044/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM15/session_044/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM15/session_044/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM15/session_044/scene/infer.json +36 -0
- actions/locomanipulation/LM15/session_044/scene/views.npz +3 -0
- actions/locomanipulation/LM15/session_044/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM15/session_044/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM15/session_044/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM15/session_044/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM15/session_044/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM15/session_044/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM15/session_044/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM15/session_044/videos/head_left_front.mp4 +3 -0
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- actions/locomanipulation/LM15/session_045/cameras/poses.npz +3 -0
- actions/locomanipulation/LM15/session_045/meta.json +529 -0
- actions/locomanipulation/LM15/session_045/motions/head_rig.npz +3 -0
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- actions/locomanipulation/LM15/session_045/raw/mocap/Body0.csv +3 -0
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- actions/locomanipulation/LM15/session_045/raw/sensors/robowrist_mag_left.db +3 -0
.gitattributes
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actions/locomanipulation/LM15/session_043/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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| 1 |
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{
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| 2 |
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"schema_version": 1,
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| 3 |
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"session": "EgoMotionActions/20261017/LM15/20261017_041731_session56",
|
| 4 |
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"session_id": "20261017_041731_session56",
|
| 5 |
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"primitive": "LM15",
|
| 6 |
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"batch": "20261017",
|
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"participant": "huruoxuan",
|
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"participant_source": "manifest",
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"device_ids": {
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"main": "c9205ac6e17d2d5c",
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"left": "452031d7af00ef6f",
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"right": "a85418f7d807dff9"
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},
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"generated_at_utc": "2026-10-22T15:54:40.380020+00:00",
|
| 15 |
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"generated_by": "scripts/sync_dataset.py",
|
| 16 |
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"time_base": {
|
| 17 |
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"definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
|
| 18 |
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"mocap_rate_hz": 120.0,
|
| 19 |
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"mocap_rate_fix": null,
|
| 20 |
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"first_solved_frame": 0,
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| 21 |
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"duration_s": 124.925,
|
| 22 |
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"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 23 |
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},
|
| 24 |
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"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 |
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"offset_s": -0.089586,
|
| 29 |
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"rate": 0.0,
|
| 30 |
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"global_lag_s": -0.09,
|
| 31 |
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"peak_corr": 0.9752,
|
| 32 |
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"reference_imu_first_sample_s": 13109.282473966,
|
| 33 |
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"windows": {
|
| 34 |
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"n_windows": 11,
|
| 35 |
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"window_corr_median": 0.9883118899784894,
|
| 36 |
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"drift_ppm": -492.109730208255,
|
| 37 |
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"drift_se_ppm": 275.76862120044916,
|
| 38 |
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"drift_ms_over_take": -61.472707131847855,
|
| 39 |
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"lag_scatter_ms": 26.161708505928495,
|
| 40 |
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"lag_range_ms": 107.05806329416073
|
| 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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[
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| 47 |
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| 48 |
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|
| 62 |
+
"acc": "m/s^2 (8192 LSB/g)",
|
| 63 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 64 |
+
"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 65 |
+
"quaternions": "xyzw, Nokov global"
|
| 66 |
+
},
|
| 67 |
+
"calibration": {
|
| 68 |
+
"device": "c9205ac6e17d2d5c",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 25423,
|
| 76 |
+
"n_gyro": 25417,
|
| 77 |
+
"t_start": -0.10101481312092123,
|
| 78 |
+
"t_end": 125.12974497787938
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 25266,
|
| 82 |
+
"n_gyro": 25261,
|
| 83 |
+
"t_start": 0.007166129878830779,
|
| 84 |
+
"t_end": 125.28801779387861
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 24780,
|
| 88 |
+
"n_gyro": 24791,
|
| 89 |
+
"t_start": -0.9122407301202407,
|
| 90 |
+
"t_end": 124.23669932087971
|
| 91 |
+
},
|
| 92 |
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"imu_wrist_left": {
|
| 93 |
+
"n_acc": 25327,
|
| 94 |
+
"n_gyro": 25327,
|
| 95 |
+
"t_start": -0.8611958881211399,
|
| 96 |
+
"t_end": 124.22945986087863
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 12537,
|
| 100 |
+
"t_start": 0.08820564787850113,
|
| 101 |
+
"t_end": 125.4481951668785
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 12513,
|
| 105 |
+
"t_start": -0.8882762721205586,
|
| 106 |
+
"t_end": 124.23131341887886
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 12508,
|
| 110 |
+
"t_start": -0.84337585612054,
|
| 111 |
+
"t_end": 124.22569027287857
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 13109.408852,
|
| 118 |
+
"frames": 3747,
|
| 119 |
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"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.039420793527758596,
|
| 124 |
+
"t_end": 124.90613179352833,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 13109.408834,
|
| 131 |
+
"frames": 3747,
|
| 132 |
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"pts_gaps": 0,
|
| 133 |
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"timing": "pts",
|
| 134 |
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"timeshift_cam_imu_s": 0.0024181146161434135,
|
| 135 |
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"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.03919247249534916,
|
| 137 |
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"t_end": 124.90588147249575,
|
| 138 |
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"clock": "device",
|
| 139 |
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"calibrated": true
|
| 140 |
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},
|
| 141 |
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"left_front": {
|
| 142 |
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"fps": 30.0,
|
| 143 |
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"start_device_s": 13109.408846,
|
| 144 |
+
"frames": 3747,
|
| 145 |
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"pts_gaps": 0,
|
| 146 |
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"timing": "pts",
|
| 147 |
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"timeshift_cam_imu_s": 0.002458947067077895,
|
| 148 |
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"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
+
"t_start": 0.03924530494616871,
|
| 150 |
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"t_end": 124.90594530494666,
|
| 151 |
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"clock": "device",
|
| 152 |
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"calibrated": true
|
| 153 |
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},
|
| 154 |
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"right_front": {
|
| 155 |
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"fps": 30.0,
|
| 156 |
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"start_device_s": 13109.408858,
|
| 157 |
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|
| 158 |
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| 159 |
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"timing": "pts",
|
| 160 |
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"timeshift_cam_imu_s": 0.0021420814739499558,
|
| 161 |
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"file": "robocap_segment1_video_right_front.mp4",
|
| 162 |
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"t_start": 0.038940439353543715,
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| 163 |
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|
| 164 |
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"clock": "device",
|
| 165 |
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"calibrated": true
|
| 166 |
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},
|
| 167 |
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"left_eye": {
|
| 168 |
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"fps": 60.0,
|
| 169 |
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"start_device_s": 13109.40884,
|
| 170 |
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"frames": 3583,
|
| 171 |
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"pts_gaps": 3582,
|
| 172 |
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"timing": "pts (gap undecided)",
|
| 173 |
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|
| 174 |
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"gap_test": {
|
| 175 |
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"pts": {
|
| 176 |
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"offset_ms": -5.6,
|
| 177 |
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"corr": 0.556,
|
| 178 |
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"err_ms": 8.4
|
| 179 |
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},
|
| 180 |
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"nominal": {
|
| 181 |
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"offset_ms": -126.3,
|
| 182 |
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"corr": 0.158,
|
| 183 |
+
"err_ms": 129.2
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
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"file": "robocap_segment1_video_left_eye.mp4",
|
| 187 |
+
"t_start": 0.0395823424750483,
|
| 188 |
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|
| 189 |
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"clock": "device",
|
| 190 |
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"calibrated": true
|
| 191 |
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},
|
| 192 |
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"right_eye": {
|
| 193 |
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"fps": 30.0,
|
| 194 |
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"start_device_s": 13109.408826,
|
| 195 |
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"frames": 3747,
|
| 196 |
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|
| 197 |
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"timing": "pts",
|
| 198 |
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|
| 199 |
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"file": "robocap_segment1_video_right_eye.mp4",
|
| 200 |
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"t_start": 0.03969672476880756,
|
| 201 |
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"t_end": 124.90637472476912,
|
| 202 |
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"clock": "device",
|
| 203 |
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"calibrated": true
|
| 204 |
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},
|
| 205 |
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"wrist_left": {
|
| 206 |
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"fps": 30.0,
|
| 207 |
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"start_device_s": 13108.507577,
|
| 208 |
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"frames": 3752,
|
| 209 |
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"pts_gaps": 0,
|
| 210 |
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"timing": "pts",
|
| 211 |
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"timeshift_cam_imu_s": null,
|
| 212 |
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"file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
|
| 213 |
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"t_start": -0.8644826421205585,
|
| 214 |
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"t_end": 124.16793935787966,
|
| 215 |
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|
| 216 |
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"calibrated": false
|
| 217 |
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},
|
| 218 |
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"wrist_right": {
|
| 219 |
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|
| 220 |
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"start_device_s": 13108.471885,
|
| 221 |
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"frames": 3754,
|
| 222 |
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"pts_gaps": 0,
|
| 223 |
+
"timing": "pts",
|
| 224 |
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"timeshift_cam_imu_s": null,
|
| 225 |
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"file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
|
| 226 |
+
"t_start": -0.9001746421200301,
|
| 227 |
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|
| 228 |
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"clock": "device",
|
| 229 |
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"calibrated": false
|
| 230 |
+
},
|
| 231 |
+
"third_person": {
|
| 232 |
+
"file": "mocap/mocap-LM15-S04-huruoxuan-01p1-1.mp4",
|
| 233 |
+
"frames": 3748,
|
| 234 |
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"fps": 30.0,
|
| 235 |
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"clock": "nokov (frame index)",
|
| 236 |
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|
| 237 |
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"t_end": 124.9
|
| 238 |
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}
|
| 239 |
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}
|
| 240 |
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},
|
| 241 |
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"flags": [],
|
| 242 |
+
"sanity": {
|
| 243 |
+
"status": {
|
| 244 |
+
"structure": "WARN",
|
| 245 |
+
"markers": "WARN",
|
| 246 |
+
"timing": "WARN"
|
| 247 |
+
},
|
| 248 |
+
"verdict": "READY_WITH_WARNINGS",
|
| 249 |
+
"issues": [
|
| 250 |
+
"WARN M_SPIKES",
|
| 251 |
+
"WARN M_TRACKER_GEOM",
|
| 252 |
+
"WARN S_CALIB",
|
| 253 |
+
"WARN S_REPORT_TIMING",
|
| 254 |
+
"WARN S_VIDEO_FPS",
|
| 255 |
+
"WARN T_FRAMES",
|
| 256 |
+
"WARN T_LAG_OUTLIER",
|
| 257 |
+
"WARN T_LAG_SCATTER",
|
| 258 |
+
"WARN T_PTS",
|
| 259 |
+
"WARN T_UNITS"
|
| 260 |
+
]
|
| 261 |
+
},
|
| 262 |
+
"rig_tracker": {
|
| 263 |
+
"definition": "c9205ac6e17d2d5c/20261017-morning/labels-325410/session-4ade99a33a4917e4",
|
| 264 |
+
"R_tracker0_imu0": [
|
| 265 |
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[
|
| 266 |
+
-0.63367279,
|
| 267 |
+
-0.07931776,
|
| 268 |
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-0.7695242
|
| 269 |
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],
|
| 270 |
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[
|
| 271 |
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0.74411504,
|
| 272 |
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0.20952024,
|
| 273 |
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-0.63434539
|
| 274 |
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],
|
| 275 |
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[
|
| 276 |
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0.21154575,
|
| 277 |
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-0.97458194,
|
| 278 |
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-0.07374573
|
| 279 |
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]
|
| 280 |
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],
|
| 281 |
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"p_tracker0_imu0_m": [
|
| 282 |
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0.015403231027904285,
|
| 283 |
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-0.006741008133437288,
|
| 284 |
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-0.016158832621992084
|
| 285 |
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],
|
| 286 |
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"rig_check": {
|
| 287 |
+
"gyro_samples": 3797,
|
| 288 |
+
"gyro_max_deg": 2.5,
|
| 289 |
+
"status": "ok",
|
| 290 |
+
"dropped_marker": null,
|
| 291 |
+
"gyro_deg": 1.727
|
| 292 |
+
},
|
| 293 |
+
"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 294 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 295 |
+
},
|
| 296 |
+
"canonical": {
|
| 297 |
+
"generated_at_utc": "2026-10-22T17:38:03.823229+00:00",
|
| 298 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 299 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 300 |
+
"R_canon_nokov": [
|
| 301 |
+
[
|
| 302 |
+
0.9999941336,
|
| 303 |
+
-0.0034252867,
|
| 304 |
+
-1.38614e-05
|
| 305 |
+
],
|
| 306 |
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[
|
| 307 |
+
1.38614e-05,
|
| 308 |
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0.0080934184,
|
| 309 |
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-0.9999672477
|
| 310 |
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],
|
| 311 |
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[
|
| 312 |
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0.0034252867,
|
| 313 |
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0.9999613812,
|
| 314 |
+
0.0080934184
|
| 315 |
+
]
|
| 316 |
+
],
|
| 317 |
+
"scale_nokov_to_canon": 0.001,
|
| 318 |
+
"T_canon_nokov_mm": [
|
| 319 |
+
[
|
| 320 |
+
0.000999994134,
|
| 321 |
+
-3.425287e-06,
|
| 322 |
+
-1.3861e-08,
|
| 323 |
+
0.0
|
| 324 |
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],
|
| 325 |
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[
|
| 326 |
+
1.3861e-08,
|
| 327 |
+
8.093418e-06,
|
| 328 |
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-0.000999967248,
|
| 329 |
+
0.0
|
| 330 |
+
],
|
| 331 |
+
[
|
| 332 |
+
3.425287e-06,
|
| 333 |
+
0.000999961381,
|
| 334 |
+
8.093418e-06,
|
| 335 |
+
0.0
|
| 336 |
+
],
|
| 337 |
+
[
|
| 338 |
+
0.0,
|
| 339 |
+
0.0,
|
| 340 |
+
0.0,
|
| 341 |
+
1.0
|
| 342 |
+
]
|
| 343 |
+
],
|
| 344 |
+
"block": "20261017-morning",
|
| 345 |
+
"block_assignment": "trc",
|
| 346 |
+
"tilt_removed_deg": 0.5035448256779972,
|
| 347 |
+
"plane_status": "ok",
|
| 348 |
+
"floor": {
|
| 349 |
+
"sole_marker_p1_mm": 19.9,
|
| 350 |
+
"headtop_p95_mm": 1606.4
|
| 351 |
+
},
|
| 352 |
+
"gravity_check": {
|
| 353 |
+
"static_samples": 2892,
|
| 354 |
+
"g_world_mean_m_s2": [
|
| 355 |
+
-0.0462,
|
| 356 |
+
0.0242,
|
| 357 |
+
9.7308
|
| 358 |
+
],
|
| 359 |
+
"tilt_from_z_deg": 0.307,
|
| 360 |
+
"tilt_from_z_deg_before_levelling": 0.33,
|
| 361 |
+
"magnitude_m_s2": 9.7309
|
| 362 |
+
},
|
| 363 |
+
"rig_tracker_definition": "c9205ac6e17d2d5c/20261017-morning/labels-325410/session-4ade99a33a4917e4",
|
| 364 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 365 |
+
"files": [
|
| 366 |
+
"mocap_zup.npz",
|
| 367 |
+
"tracker0_zup.npz",
|
| 368 |
+
"rig_zup.npz",
|
| 369 |
+
"cameras_zup.npz"
|
| 370 |
+
]
|
| 371 |
+
},
|
| 372 |
+
"smplx": {
|
| 373 |
+
"generated_at_utc": "2026-10-23T03:09:30.795314+00:00",
|
| 374 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 375 |
+
"file": "smplx.npz",
|
| 376 |
+
"gender": "female",
|
| 377 |
+
"n_betas": 16,
|
| 378 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 379 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 380 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 381 |
+
"hands": {
|
| 382 |
+
"observed": false,
|
| 383 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 384 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 385 |
+
"hand_marker_offsets_m": {
|
| 386 |
+
"left": {
|
| 387 |
+
"LHandIn": [
|
| 388 |
+
0.06604157388210297,
|
| 389 |
+
0.033162921667099,
|
| 390 |
+
0.0019530946156010032
|
| 391 |
+
],
|
| 392 |
+
"LHandOut": [
|
| 393 |
+
0.05543947219848633,
|
| 394 |
+
0.002868123585358262,
|
| 395 |
+
-0.034370578825473785
|
| 396 |
+
]
|
| 397 |
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},
|
| 398 |
+
"right": {
|
| 399 |
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"RHandIn": [
|
| 400 |
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-0.04988161101937294,
|
| 401 |
+
0.020262880250811577,
|
| 402 |
+
-0.00206830445677042
|
| 403 |
+
],
|
| 404 |
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"RHandOut": [
|
| 405 |
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-0.04331713169813156,
|
| 406 |
+
-0.03143987059593201,
|
| 407 |
+
-0.032739050686359406
|
| 408 |
+
]
|
| 409 |
+
}
|
| 410 |
+
}
|
| 411 |
+
},
|
| 412 |
+
"marker_rmse_mm": {
|
| 413 |
+
"median_frame": 6.23,
|
| 414 |
+
"p95_frame": 12.44
|
| 415 |
+
},
|
| 416 |
+
"worst_markers": [
|
| 417 |
+
"LElbowIn 21mm",
|
| 418 |
+
"LElbow 20mm",
|
| 419 |
+
"LKneeIn 15mm",
|
| 420 |
+
"LShin 13mm",
|
| 421 |
+
"RElbow 12mm"
|
| 422 |
+
],
|
| 423 |
+
"valid_fraction": 0.9995,
|
| 424 |
+
"qc": {
|
| 425 |
+
"lowest_vertex_mm": {
|
| 426 |
+
"median": 14.7,
|
| 427 |
+
"p5": 4.7
|
| 428 |
+
},
|
| 429 |
+
"frames_checked": 500,
|
| 430 |
+
"stature_mm": 1572.8
|
| 431 |
+
},
|
| 432 |
+
"surface_term": {
|
| 433 |
+
"weight": 1.0,
|
| 434 |
+
"marker_height_mm": 11.0,
|
| 435 |
+
"markers_on_surface": 52,
|
| 436 |
+
"surface_rmse_mm_median": 13.81
|
| 437 |
+
},
|
| 438 |
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