Upload folder using huggingface_hub (part 178)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +42 -0
- actions/locomanipulation/LM11/session_016/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM11/session_016/raw/mocap/Body0.trc +3 -0
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- actions/locomanipulation/LM11/session_016/raw/sensors/robocap_mag_middle.db +3 -0
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- actions/locomanipulation/LM11/session_016/raw/sensors/robowrist_imu_right.db +0 -0
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- actions/locomanipulation/LM11/session_016/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM11/session_016/scene/infer.json +36 -0
- actions/locomanipulation/LM11/session_016/scene/views.npz +3 -0
- actions/locomanipulation/LM11/session_016/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM11/session_016/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM11/session_016/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM11/session_016/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM11/session_016/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM11/session_016/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM11/session_016/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM11/session_016/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM11/session_016/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM11/session_016/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM11/session_016/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM11/session_016/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM11/session_016/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM11/session_016/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM11/session_017/cameras/poses.npz +3 -0
- actions/locomanipulation/LM11/session_017/meta.json +523 -0
- actions/locomanipulation/LM11/session_017/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM11/session_017/motions/markers.npz +3 -0
- actions/locomanipulation/LM11/session_017/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM11/session_017/motions/smplx.npz +3 -0
- actions/locomanipulation/LM11/session_017/raw/audio.wav +3 -0
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- actions/locomanipulation/LM11/session_017/raw/mocap/Body0.bvh +0 -0
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- actions/locomanipulation/LM11/session_017/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM11/session_017/scene/infer.json +36 -0
- actions/locomanipulation/LM11/session_017/scene/views.npz +3 -0
.gitattributes
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| 1 |
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{
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| 2 |
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"session": "EgoMotionActions/20260921/LM11/20260921_092101_session168",
|
| 4 |
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"session_id": "20260921_092101_session168",
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| 5 |
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"primitive": "LM11",
|
| 6 |
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"batch": "20260921",
|
| 7 |
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"participant": "zhangxinxin",
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| 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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"first_solved_frame": 0,
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"duration_s": 139.025,
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| 21 |
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"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 22 |
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},
|
| 23 |
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"alignment": {
|
| 24 |
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"reference_imu": "imu_head_right",
|
| 25 |
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"model": "offset (median of windows)",
|
| 26 |
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"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 27 |
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"offset_s": -1.170941,
|
| 28 |
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"rate": 0.0,
|
| 29 |
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"global_lag_s": -1.17,
|
| 30 |
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"peak_corr": 0.9943,
|
| 31 |
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|
| 32 |
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"windows": {
|
| 33 |
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"n_windows": 12,
|
| 34 |
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"window_corr_median": 0.9976855722865214,
|
| 35 |
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"drift_ppm": -33.23422843401316,
|
| 36 |
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"drift_se_ppm": 18.670825316295453,
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"drift_ms_over_take": -4.620111656135063,
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"lag_scatter_ms": 2.038172377253732,
|
| 39 |
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"lag_range_ms": 8.985223409363696
|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"units": {
|
| 43 |
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"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 44 |
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"y_up_to_z_up": [
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| 45 |
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[
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| 46 |
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[
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| 56 |
+
0.0,
|
| 57 |
+
1.0,
|
| 58 |
+
0.0
|
| 59 |
+
]
|
| 60 |
+
],
|
| 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 |
+
"calibration": {
|
| 67 |
+
"device": "e17c9efadb69e7b1",
|
| 68 |
+
"status": "ok",
|
| 69 |
+
"date": "2026-09-08"
|
| 70 |
+
},
|
| 71 |
+
"streams": {
|
| 72 |
+
"sensors": {
|
| 73 |
+
"imu_head_right": {
|
| 74 |
+
"n_acc": 28274,
|
| 75 |
+
"n_gyro": 28268,
|
| 76 |
+
"t_start": -1.182938037697408,
|
| 77 |
+
"t_end": 139.77600837430253
|
| 78 |
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},
|
| 79 |
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"imu_head_left": {
|
| 80 |
+
"n_acc": 28223,
|
| 81 |
+
"n_gyro": 28218,
|
| 82 |
+
"t_start": -1.0736722856953058,
|
| 83 |
+
"t_end": 139.94544052930468
|
| 84 |
+
},
|
| 85 |
+
"imu_wrist_left": {
|
| 86 |
+
"n_acc": 27387,
|
| 87 |
+
"n_gyro": 27388,
|
| 88 |
+
"t_start": 0.22531740030278868,
|
| 89 |
+
"t_end": 135.48948602030322
|
| 90 |
+
},
|
| 91 |
+
"mag_head": {
|
| 92 |
+
"n": 14111,
|
| 93 |
+
"t_start": -0.9902131626975681,
|
| 94 |
+
"t_end": 140.10982182130573
|
| 95 |
+
},
|
| 96 |
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"mag_wrist_right": {
|
| 97 |
+
"n": 13529,
|
| 98 |
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"t_start": 0.19558547830563455,
|
| 99 |
+
"t_end": 135.47586678730403
|
| 100 |
+
},
|
| 101 |
+
"mag_wrist_left": {
|
| 102 |
+
"n": 13526,
|
| 103 |
+
"t_start": 0.23904517030421246,
|
| 104 |
+
"t_end": 135.48892400230505
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"videos": {
|
| 108 |
+
"left": {
|
| 109 |
+
"fps": 30.0,
|
| 110 |
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"start_device_s": 32572.462006,
|
| 111 |
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"frames": 4170,
|
| 112 |
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"pts_gaps": 0,
|
| 113 |
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"timing": "pts",
|
| 114 |
+
"timeshift_cam_imu_s": 0.0023423887986386703,
|
| 115 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 116 |
+
"t_start": 0.03977515410331378,
|
| 117 |
+
"t_end": 139.00629715410213,
|
| 118 |
+
"clock": "device",
|
| 119 |
+
"calibrated": true
|
| 120 |
+
},
|
| 121 |
+
"right": {
|
| 122 |
+
"fps": 30.0,
|
| 123 |
+
"start_device_s": 32572.461943,
|
| 124 |
+
"frames": 4170,
|
| 125 |
+
"pts_gaps": 0,
|
| 126 |
+
"timing": "pts",
|
| 127 |
+
"timeshift_cam_imu_s": 0.0019489646456461974,
|
| 128 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 129 |
+
"t_start": 0.03931872994978747,
|
| 130 |
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"t_end": 139.00588572994928,
|
| 131 |
+
"clock": "device",
|
| 132 |
+
"calibrated": true
|
| 133 |
+
},
|
| 134 |
+
"left_front": {
|
| 135 |
+
"fps": 30.0,
|
| 136 |
+
"start_device_s": 32572.461989,
|
| 137 |
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"frames": 4170,
|
| 138 |
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"pts_gaps": 0,
|
| 139 |
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"timing": "pts",
|
| 140 |
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"timeshift_cam_imu_s": 0.0018171232386612972,
|
| 141 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 142 |
+
"t_start": 0.03923288854382534,
|
| 143 |
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|
| 144 |
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"clock": "device",
|
| 145 |
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"calibrated": true
|
| 146 |
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},
|
| 147 |
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"right_front": {
|
| 148 |
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"fps": 30.0,
|
| 149 |
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"start_device_s": 32572.462024,
|
| 150 |
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"frames": 4170,
|
| 151 |
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"pts_gaps": 0,
|
| 152 |
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"timing": "pts",
|
| 153 |
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"timeshift_cam_imu_s": 0.0017295646474508202,
|
| 154 |
+
"file": "robocap_segment1_video_right_front.mp4",
|
| 155 |
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"t_start": 0.03918032995095544,
|
| 156 |
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"t_end": 139.00570232994977,
|
| 157 |
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"clock": "device",
|
| 158 |
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"calibrated": true
|
| 159 |
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},
|
| 160 |
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"left_eye": {
|
| 161 |
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"fps": 30.0,
|
| 162 |
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"start_device_s": 32572.461968,
|
| 163 |
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"frames": 4170,
|
| 164 |
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|
| 165 |
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"timing": "pts",
|
| 166 |
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"timeshift_cam_imu_s": 0.001668932298833096,
|
| 167 |
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"file": "robocap_segment1_video_left_eye.mp4",
|
| 168 |
+
"t_start": 0.03906369760186479,
|
| 169 |
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"t_end": 139.00560769760085,
|
| 170 |
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"clock": "device",
|
| 171 |
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"calibrated": true
|
| 172 |
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},
|
| 173 |
+
"right_eye": {
|
| 174 |
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"fps": 30.0,
|
| 175 |
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"start_device_s": 32572.461916,
|
| 176 |
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"frames": 4170,
|
| 177 |
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"pts_gaps": 0,
|
| 178 |
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"timing": "pts",
|
| 179 |
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"timeshift_cam_imu_s": 0.0017169377622902274,
|
| 180 |
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"file": "robocap_segment1_video_right_eye.mp4",
|
| 181 |
+
"t_start": 0.039059703064754814,
|
| 182 |
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"t_end": 139.00563770306434,
|
| 183 |
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"clock": "device",
|
| 184 |
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"calibrated": true
|
| 185 |
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},
|
| 186 |
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"wrist_left": {
|
| 187 |
+
"fps": 30.0,
|
| 188 |
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"start_device_s": 32572.636562,
|
| 189 |
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"frames": 4058,
|
| 190 |
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"pts_gaps": 0,
|
| 191 |
+
"timing": "pts",
|
| 192 |
+
"timeshift_cam_imu_s": null,
|
| 193 |
+
"file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
|
| 194 |
+
"t_start": 0.211988765303591,
|
| 195 |
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"t_end": 135.44519176530338,
|
| 196 |
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"clock": "device",
|
| 197 |
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"calibrated": false
|
| 198 |
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},
|
| 199 |
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"wrist_right": {
|
| 200 |
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"fps": 30.0,
|
| 201 |
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"start_device_s": 32572.735243,
|
| 202 |
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"frames": 4055,
|
| 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_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
|
| 207 |
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"t_start": 0.31066976530307855,
|
| 208 |
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|
| 209 |
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"clock": "device",
|
| 210 |
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"calibrated": false
|
| 211 |
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},
|
| 212 |
+
"third_person": {
|
| 213 |
+
"file": "mocap/mocap-LM11-S03-zhangxinxin-01p1-1.mp4",
|
| 214 |
+
"frames": 4171,
|
| 215 |
+
"fps": 30.0,
|
| 216 |
+
"clock": "nokov (frame index)",
|
| 217 |
+
"t_start": 0.0,
|
| 218 |
+
"t_end": 139.0
|
| 219 |
+
}
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"flags": [
|
| 223 |
+
"wrist_right_imu empty"
|
| 224 |
+
],
|
| 225 |
+
"sanity": {
|
| 226 |
+
"status": {
|
| 227 |
+
"structure": "FAIL",
|
| 228 |
+
"markers": "WARN",
|
| 229 |
+
"timing": "WARN"
|
| 230 |
+
},
|
| 231 |
+
"verdict": "READY_WITH_WARNINGS",
|
| 232 |
+
"issues": [
|
| 233 |
+
"FAIL S_DB_EMPTY",
|
| 234 |
+
"FAIL S_REPORT_EMPTY",
|
| 235 |
+
"WARN M_BODY_ID",
|
| 236 |
+
"WARN M_SPIKES",
|
| 237 |
+
"WARN M_TRACKER_LABELS",
|
| 238 |
+
"WARN S_INDEX_STALE",
|
| 239 |
+
"WARN S_PARTICIPANT",
|
| 240 |
+
"WARN S_REPORT_TIMING",
|
| 241 |
+
"WARN T_EMPTY"
|
| 242 |
+
]
|
| 243 |
+
},
|
| 244 |
+
"canonical": {
|
| 245 |
+
"generated_at_utc": "2026-10-14T12:21:07.241061+00:00",
|
| 246 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 247 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 248 |
+
"R_canon_nokov": [
|
| 249 |
+
[
|
| 250 |
+
0.9999883331,
|
| 251 |
+
-0.0048304539,
|
| 252 |
+
-2.10161e-05
|
| 253 |
+
],
|
| 254 |
+
[
|
| 255 |
+
2.10161e-05,
|
| 256 |
+
0.0087013021,
|
| 257 |
+
-0.9999621427
|
| 258 |
+
],
|
| 259 |
+
[
|
| 260 |
+
0.0048304539,
|
| 261 |
+
0.9999504758,
|
| 262 |
+
0.0087013021
|
| 263 |
+
]
|
| 264 |
+
],
|
| 265 |
+
"scale_nokov_to_canon": 0.001,
|
| 266 |
+
"T_canon_nokov_mm": [
|
| 267 |
+
[
|
| 268 |
+
0.000999988333,
|
| 269 |
+
-4.830454e-06,
|
| 270 |
+
-2.1016e-08,
|
| 271 |
+
0.0
|
| 272 |
+
],
|
| 273 |
+
[
|
| 274 |
+
2.1016e-08,
|
| 275 |
+
8.701302e-06,
|
| 276 |
+
-0.000999962143,
|
| 277 |
+
0.0
|
| 278 |
+
],
|
| 279 |
+
[
|
| 280 |
+
4.830454e-06,
|
| 281 |
+
0.000999950476,
|
| 282 |
+
8.701302e-06,
|
| 283 |
+
0.0
|
| 284 |
+
],
|
| 285 |
+
[
|
| 286 |
+
0.0,
|
| 287 |
+
0.0,
|
| 288 |
+
0.0,
|
| 289 |
+
1.0
|
| 290 |
+
]
|
| 291 |
+
],
|
| 292 |
+
"block": "20260921-afternoon",
|
| 293 |
+
"block_assignment": "trc",
|
| 294 |
+
"tilt_removed_deg": 0.57022748706666,
|
| 295 |
+
"plane_status": "ok",
|
| 296 |
+
"floor": {
|
| 297 |
+
"sole_marker_p1_mm": 42.3,
|
| 298 |
+
"headtop_p95_mm": 1629.4
|
| 299 |
+
},
|
| 300 |
+
"gravity_check": {
|
| 301 |
+
"static_samples": 4806,
|
| 302 |
+
"g_world_mean_m_s2": [
|
| 303 |
+
0.0514,
|
| 304 |
+
-0.0091,
|
| 305 |
+
9.7501
|
| 306 |
+
],
|
| 307 |
+
"tilt_from_z_deg": 0.307,
|
| 308 |
+
"tilt_from_z_deg_before_levelling": 0.8,
|
| 309 |
+
"magnitude_m_s2": 9.7502
|
| 310 |
+
},
|
| 311 |
+
"rig_tracker_definition": "e17c9efadb69e7b1/20260921-afternoon/labels-530412/session-32ef4635f9728e58",
|
| 312 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 313 |
+
"files": [
|
| 314 |
+
"mocap_zup.npz",
|
| 315 |
+
"tracker0_zup.npz",
|
| 316 |
+
"rig_zup.npz",
|
| 317 |
+
"cameras_zup.npz"
|
| 318 |
+
]
|
| 319 |
+
},
|
| 320 |
+
"smplx": {
|
| 321 |
+
"generated_at_utc": "2026-10-15T08:28:46.129151+00:00",
|
| 322 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 323 |
+
"file": "smplx.npz",
|
| 324 |
+
"gender": "female",
|
| 325 |
+
"n_betas": 16,
|
| 326 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 327 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 328 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 329 |
+
"hands": {
|
| 330 |
+
"observed": false,
|
| 331 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 332 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 333 |
+
"hand_marker_offsets_m": {
|
| 334 |
+
"left": {
|
| 335 |
+
"LHandIn": [
|
| 336 |
+
0.06124461069703102,
|
| 337 |
+
0.00966885406523943,
|
| 338 |
+
0.03498057648539543
|
| 339 |
+
],
|
| 340 |
+
"LHandOut": [
|
| 341 |
+
0.07144469022750854,
|
| 342 |
+
0.013855759985744953,
|
| 343 |
+
-0.019298885017633438
|
| 344 |
+
],
|
| 345 |
+
"LWristOut": [
|
| 346 |
+
0.0026168469339609146,
|
| 347 |
+
0.02938145212829113,
|
| 348 |
+
-0.020425258204340935
|
| 349 |
+
]
|
| 350 |
+
},
|
| 351 |
+
"right": {
|
| 352 |
+
"RHandIn": [
|
| 353 |
+
-0.08071458339691162,
|
| 354 |
+
0.008845293894410133,
|
| 355 |
+
0.028768986463546753
|
| 356 |
+
],
|
| 357 |
+
"RHandOut": [
|
| 358 |
+
-0.06656406819820404,
|
| 359 |
+
0.02178308181464672,
|
| 360 |
+
-0.014561443589627743
|
| 361 |
+
]
|
| 362 |
+
}
|
| 363 |
+
}
|
| 364 |
+
},
|
| 365 |
+
"marker_rmse_mm": {
|
| 366 |
+
"median_frame": 3.94,
|
| 367 |
+
"p95_frame": 12.29
|
| 368 |
+
},
|
| 369 |
+
"worst_markers": [
|
| 370 |
+
"STRN 26mm",
|
| 371 |
+
"RKneeIn 14mm",
|
| 372 |
+
"LKnee 10mm",
|
| 373 |
+
"LKneeIn 9mm",
|
| 374 |
+
"RKnee 8mm"
|
| 375 |
+
],
|
| 376 |
+
"valid_fraction": 1.0,
|
| 377 |
+
"qc": {
|
| 378 |
+
"lowest_vertex_mm": {
|
| 379 |
+
"median": 9.7,
|
| 380 |
+
"p5": 1.5
|
| 381 |
+
},
|
| 382 |
+
"frames_checked": 557,
|
| 383 |
+
"stature_mm": 1627.7
|
| 384 |
+
},
|
| 385 |
+
"surface_term": {
|
| 386 |
+
"weight": 1.0,
|
| 387 |
+
"marker_height_mm": 11.0,
|
| 388 |
+
"markers_on_surface": 52,
|
| 389 |
+
"surface_rmse_mm_median": 11.23
|
| 390 |
+
},
|
| 391 |
+
"shape_source": "participant median",
|
| 392 |
+
"wrist_correction": {
|
| 393 |
+
"left": {
|
| 394 |
+
"status": "corrected",
|
| 395 |
+
"Q_deg": 170.06,
|
| 396 |
+
"Q_rotvec": [
|
| 397 |
+
-2.96224,
|
| 398 |
+
0.0984,
|
| 399 |
+
0.15838
|
| 400 |
+
],
|
| 401 |
+
"in_out_sign": -1,
|
| 402 |
+
"wrist_bend_deg_median": 153.4,
|
| 403 |
+
"opposite_sign_bend_deg": 37.4,
|
| 404 |
+
"in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
|
| 405 |
+
"marker_frame_spread_deg": 0.66,
|
| 406 |
+
"hand_vs_marker_frame_deg": {
|
| 407 |
+
"before": 170.2,
|
| 408 |
+
"after": 0.66
|
| 409 |
+
},
|
| 410 |
+
"markers_on_wrist": [
|
| 411 |
+
"LWristOut",
|
| 412 |
+
"LHandIn",
|
| 413 |
+
"LHandOut"
|
| 414 |
+
],
|
| 415 |
+
"forearm_twist": {
|
| 416 |
+
"twist_moved_deg": -152.78,
|
| 417 |
+
"wrist_twist_deg_after": {
|
| 418 |
+
"median": -0.0,
|
| 419 |
+
"iqr": [
|
| 420 |
+
-1.3,
|
| 421 |
+
1.6
|
| 422 |
+
]
|
| 423 |
+
},
|
| 424 |
+
"wrist_total_deg_median_after": 20.4,
|
| 425 |
+
"markers_on_forearm": [
|
| 426 |
+
"LElbowIn",
|
| 427 |
+
"LForearm",
|
| 428 |
+
"LWristIn"
|
| 429 |
+
]
|
| 430 |
+
},
|
| 431 |
+
"frames_used": 1500
|
| 432 |
+
},
|
| 433 |
+
"right": {
|
| 434 |
+
"status": "corrected",
|
| 435 |
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