Release update 2026-11-05: new sessions, instructions, annotations (part 42)
Browse files- actions/locomanipulation/LM15/session_049/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM15/session_049/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM15/session_049/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM15/session_049/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM15/session_049/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM15/session_049/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM15/session_049/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM15/session_049/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM15/session_049/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM15/session_049/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM15/session_049/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM15/session_050/cameras/poses.npz +3 -0
- actions/locomanipulation/LM15/session_050/meta.json +526 -0
- actions/locomanipulation/LM15/session_050/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM15/session_050/motions/markers.npz +3 -0
- actions/locomanipulation/LM15/session_050/motions/object_markers.npz +3 -0
- actions/locomanipulation/LM15/session_050/motions/objects.json +42 -0
- actions/locomanipulation/LM15/session_050/motions/objects.npz +3 -0
- actions/locomanipulation/LM15/session_050/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM15/session_050/motions/smplx.npz +3 -0
actions/locomanipulation/LM15/session_049/sensors/wrist_mag.npz
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actions/locomanipulation/LM15/session_049/videos/frame_timestamps.npz
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actions/locomanipulation/LM15/session_049/videos/head_left.mp4
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actions/locomanipulation/LM15/session_049/videos/head_left_eye.mp4
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actions/locomanipulation/LM15/session_049/videos/head_left_front.mp4
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actions/locomanipulation/LM15/session_049/videos/head_right.mp4
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actions/locomanipulation/LM15/session_049/videos/head_right_eye.mp4
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actions/locomanipulation/LM15/session_049/videos/head_right_front.mp4
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actions/locomanipulation/LM15/session_049/videos/third_person.mp4
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actions/locomanipulation/LM15/session_049/videos/wrist_left.mp4
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actions/locomanipulation/LM15/session_049/videos/wrist_right.mp4
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actions/locomanipulation/LM15/session_050/cameras/poses.npz
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actions/locomanipulation/LM15/session_050/meta.json
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|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261028/LM15/20261028_052656_session66",
|
| 4 |
+
"session_id": "20261028_052656_session66",
|
| 5 |
+
"primitive": "LM15",
|
| 6 |
+
"batch": "20261028",
|
| 7 |
+
"participant": "wangmengli",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
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"device_ids": {
|
| 10 |
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"main": "c9205ac6e17d2d5c",
|
| 11 |
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"left": "cc5681142208e29a",
|
| 12 |
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"right": "a85418f7d807dff9"
|
| 13 |
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},
|
| 14 |
+
"generated_at_utc": "2026-10-30T07:23:06.692375+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 |
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"mocap_rate_fix": null,
|
| 20 |
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"first_solved_frame": 0,
|
| 21 |
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"duration_s": 146.15833333333333,
|
| 22 |
+
"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 23 |
+
},
|
| 24 |
+
"alignment": {
|
| 25 |
+
"reference_imu": "imu_head_right",
|
| 26 |
+
"model": "offset (median of windows)",
|
| 27 |
+
"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 28 |
+
"offset_s": -0.093852,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.095,
|
| 31 |
+
"peak_corr": 0.9471,
|
| 32 |
+
"reference_imu_first_sample_s": 13417.442802401,
|
| 33 |
+
"windows": {
|
| 34 |
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"n_windows": 13,
|
| 35 |
+
"window_corr_median": 0.9735644975356049,
|
| 36 |
+
"drift_ppm": -361.0909889181149,
|
| 37 |
+
"drift_se_ppm": 218.84609798632863,
|
| 38 |
+
"drift_ms_over_take": -52.77344803038249,
|
| 39 |
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"lag_scatter_ms": 27.15808654708876,
|
| 40 |
+
"lag_range_ms": 116.76747203419815
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"units": {
|
| 44 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
+
"y_up_to_z_up": [
|
| 46 |
+
[
|
| 47 |
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1.0,
|
| 48 |
+
0.0,
|
| 49 |
+
0.0
|
| 50 |
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],
|
| 51 |
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[
|
| 52 |
+
0.0,
|
| 53 |
+
0.0,
|
| 54 |
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-1.0
|
| 55 |
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],
|
| 56 |
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[
|
| 57 |
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0.0,
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| 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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},
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| 67 |
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"calibration": {
|
| 68 |
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"device": "c9205ac6e17d2d5c",
|
| 69 |
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"status": "ok",
|
| 70 |
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"date": "2026-10-21"
|
| 71 |
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},
|
| 72 |
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"streams": {
|
| 73 |
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"sensors": {
|
| 74 |
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"imu_head_right": {
|
| 75 |
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| 76 |
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| 77 |
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"t_start": -0.10075072387464129,
|
| 78 |
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"t_end": 146.35698524112465
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| 79 |
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},
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| 80 |
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"imu_head_left": {
|
| 81 |
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"n_acc": 29549,
|
| 82 |
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"n_gyro": 29543,
|
| 83 |
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"t_start": 0.009708692124134222,
|
| 84 |
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|
| 85 |
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},
|
| 86 |
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"imu_wrist_right": {
|
| 87 |
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"n_acc": 28991,
|
| 88 |
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"n_gyro": 28990,
|
| 89 |
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"t_start": -0.8577946818759457,
|
| 90 |
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"t_end": 145.54821138812528
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| 91 |
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},
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| 92 |
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"imu_wrist_left": {
|
| 93 |
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"n_acc": 28901,
|
| 94 |
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"n_gyro": 28915,
|
| 95 |
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"t_start": -0.7667998348743068,
|
| 96 |
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| 97 |
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},
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| 99 |
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"n": 14661,
|
| 100 |
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| 101 |
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|
| 102 |
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},
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"n": 14631,
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| 105 |
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},
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| 111 |
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}
|
| 113 |
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},
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| 119 |
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| 120 |
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"timing": "pts",
|
| 121 |
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"timeshift_cam_imu_s": 0.0026284356473863946,
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| 122 |
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"file": "robocap_segment1_video_left.mp4",
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| 123 |
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| 124 |
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| 125 |
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"clock": "device",
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| 126 |
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"calibrated": true
|
| 127 |
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},
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| 128 |
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"right": {
|
| 129 |
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"fps": 30.0,
|
| 130 |
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"start_device_s": 13417.574419,
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| 131 |
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| 132 |
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| 133 |
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"timing": "pts",
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| 134 |
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|
| 135 |
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"file": "robocap_segment1_video_right.mp4",
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| 136 |
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"t_start": 0.04018261874169443,
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| 137 |
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| 138 |
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"clock": "device",
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| 139 |
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"calibrated": true
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| 140 |
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},
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| 141 |
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"left_front": {
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| 142 |
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"fps": 30.0,
|
| 143 |
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| 144 |
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"frames": 4384,
|
| 145 |
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"pts_gaps": 0,
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| 146 |
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"timing": "pts",
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| 147 |
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"timeshift_cam_imu_s": 0.002458947067077895,
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| 148 |
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"file": "robocap_segment1_video_left_front.mp4",
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| 149 |
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"t_start": 0.040237451191372064,
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| 150 |
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| 151 |
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"clock": "device",
|
| 152 |
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"calibrated": true
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| 153 |
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},
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| 154 |
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"right_front": {
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| 155 |
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"fps": 30.0,
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| 156 |
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| 157 |
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"frames": 4384,
|
| 158 |
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"pts_gaps": 0,
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| 159 |
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"timing": "pts",
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| 160 |
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"timeshift_cam_imu_s": 0.0021420814739499558,
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| 161 |
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"file": "robocap_segment1_video_right_front.mp4",
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| 162 |
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"t_start": 0.039934585599424144,
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| 163 |
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| 164 |
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"clock": "device",
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| 165 |
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"calibrated": true
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| 166 |
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},
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| 167 |
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"left_eye": {
|
| 168 |
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"fps": 30.0,
|
| 169 |
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"start_device_s": 13417.574426,
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| 170 |
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"frames": 4384,
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| 171 |
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| 172 |
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"timing": "pts",
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| 173 |
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"timeshift_cam_imu_s": 0.002801984596191448,
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| 174 |
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"file": "robocap_segment1_video_left_eye.mp4",
|
| 175 |
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| 176 |
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| 178 |
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| 179 |
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},
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"right_eye": {
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| 181 |
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"fps": 30.0,
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| 182 |
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"start_device_s": 13417.574406,
|
| 183 |
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"frames": 4384,
|
| 184 |
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"pts_gaps": 0,
|
| 185 |
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"timing": "pts",
|
| 186 |
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"timeshift_cam_imu_s": 0.002930366888236734,
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| 187 |
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"file": "robocap_segment1_video_right_eye.mp4",
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| 188 |
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"t_start": 0.04068187101346016,
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| 189 |
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| 190 |
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"clock": "device",
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| 191 |
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"calibrated": true
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| 192 |
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},
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| 193 |
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"wrist_left": {
|
| 194 |
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"fps": 30.0,
|
| 195 |
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| 196 |
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"frames": 4389,
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| 197 |
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|
| 198 |
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"timing": "pts",
|
| 199 |
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|
| 200 |
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"file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
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| 201 |
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"t_start": -0.7710034958754632,
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| 202 |
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| 203 |
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| 204 |
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| 205 |
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},
|
| 206 |
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"wrist_right": {
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| 207 |
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"fps": 30.0,
|
| 208 |
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| 209 |
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| 210 |
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| 211 |
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| 212 |
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| 213 |
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| 214 |
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"pts": {
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| 215 |
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|
| 216 |
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| 217 |
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|
| 218 |
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},
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| 219 |
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"nominal": {
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| 220 |
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|
| 221 |
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"corr": 0.544,
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| 222 |
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|
| 223 |
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}
|
| 224 |
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},
|
| 225 |
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"file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
|
| 226 |
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"t_start": -0.8005014958753391,
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| 227 |
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| 229 |
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"calibrated": false
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| 230 |
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},
|
| 231 |
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"third_person": {
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| 232 |
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"file": "mocap/mocap-LM15-S08-wangmengli-01p1-1.mp4",
|
| 233 |
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"frames": 4385,
|
| 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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| 238 |
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}
|
| 239 |
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}
|
| 240 |
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},
|
| 241 |
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"flags": [],
|
| 242 |
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"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
|
| 243 |
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"rig_tracker": {
|
| 244 |
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"definition": "c9205ac6e17d2d5c/20261028-morning/labels-053142/session-cb93616027e9614d",
|
| 245 |
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"R_tracker0_imu0": [
|
| 246 |
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[
|
| 247 |
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-0.65802251,
|
| 248 |
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0.21866974,
|
| 249 |
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| 250 |
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],
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| 251 |
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[
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| 252 |
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0.74441576,
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| 253 |
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0.04484775,
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| 254 |
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| 255 |
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],
|
| 256 |
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[
|
| 257 |
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-0.11336469,
|
| 258 |
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-0.97476778,
|
| 259 |
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-0.19229203
|
| 260 |
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]
|
| 261 |
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],
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| 262 |
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"p_tracker0_imu0_m": [
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| 263 |
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| 264 |
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| 265 |
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| 266 |
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],
|
| 267 |
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"rig_check": {
|
| 268 |
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"gyro_samples": 2869,
|
| 269 |
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"gyro_max_deg": 2.5,
|
| 270 |
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"status": "ok",
|
| 271 |
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"dropped_marker": null,
|
| 272 |
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"gyro_deg": 2.403
|
| 273 |
+
},
|
| 274 |
+
"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 275 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 276 |
+
},
|
| 277 |
+
"canonical": {
|
| 278 |
+
"generated_at_utc": "2026-10-30T18:45:30.498492+00:00",
|
| 279 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 280 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 281 |
+
"R_canon_nokov": [
|
| 282 |
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[
|
| 283 |
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0.9999999999,
|
| 284 |
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-1.6484e-05,
|
| 285 |
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1.4e-08
|
| 286 |
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],
|
| 287 |
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[
|
| 288 |
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-1.4e-08,
|
| 289 |
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-0.0016934171,
|
| 290 |
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-0.9999985662
|
| 291 |
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],
|
| 292 |
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[
|
| 293 |
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1.6484e-05,
|
| 294 |
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0.999998566,
|
| 295 |
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-0.0016934171
|
| 296 |
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]
|
| 297 |
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],
|
| 298 |
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"scale_nokov_to_canon": 0.001,
|
| 299 |
+
"T_canon_nokov_mm": [
|
| 300 |
+
[
|
| 301 |
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0.001,
|
| 302 |
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-1.6484e-08,
|
| 303 |
+
1.4e-11,
|
| 304 |
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0.0
|
| 305 |
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],
|
| 306 |
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[
|
| 307 |
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-1.4e-11,
|
| 308 |
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-1.693417e-06,
|
| 309 |
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-0.000999998566,
|
| 310 |
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0.0
|
| 311 |
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],
|
| 312 |
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[
|
| 313 |
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1.6484e-08,
|
| 314 |
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0.000999998566,
|
| 315 |
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-1.693417e-06,
|
| 316 |
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0.0
|
| 317 |
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],
|
| 318 |
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[
|
| 319 |
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0.0,
|
| 320 |
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0.0,
|
| 321 |
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0.0,
|
| 322 |
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1.0
|
| 323 |
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]
|
| 324 |
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],
|
| 325 |
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"block": "20261028-morning",
|
| 326 |
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"block_assignment": "trc",
|
| 327 |
+
"tilt_removed_deg": 0.09703029591991919,
|
| 328 |
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"plane_status": "ok",
|
| 329 |
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"floor": {
|
| 330 |
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"sole_marker_p1_mm": 42.1,
|
| 331 |
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"headtop_p95_mm": 1643.0
|
| 332 |
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},
|
| 333 |
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"gravity_check": {
|
| 334 |
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"static_samples": 5368,
|
| 335 |
+
"g_world_mean_m_s2": [
|
| 336 |
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-0.1024,
|
| 337 |
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0.0454,
|
| 338 |
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9.7745
|
| 339 |
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],
|
| 340 |
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"tilt_from_z_deg": 0.657,
|
| 341 |
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"tilt_from_z_deg_before_levelling": 0.701,
|
| 342 |
+
"magnitude_m_s2": 9.7752
|
| 343 |
+
},
|
| 344 |
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"rig_tracker_definition": "c9205ac6e17d2d5c/20261028-morning/labels-053142/session-cb93616027e9614d",
|
| 345 |
+
"rig_check": {
|
| 346 |
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"status": "ok",
|
| 347 |
+
"dropped_marker": null,
|
| 348 |
+
"gyro_deg": 2.403
|
| 349 |
+
},
|
| 350 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 351 |
+
"files": [
|
| 352 |
+
"mocap_zup.npz",
|
| 353 |
+
"tracker0_zup.npz",
|
| 354 |
+
"rig_zup.npz",
|
| 355 |
+
"cameras_zup.npz"
|
| 356 |
+
]
|
| 357 |
+
},
|
| 358 |
+
"smplx": {
|
| 359 |
+
"generated_at_utc": "2026-11-02T15:33:24.149034+00:00",
|
| 360 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 361 |
+
"file": "smplx.npz",
|
| 362 |
+
"gender": "female",
|
| 363 |
+
"n_betas": 16,
|
| 364 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 365 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 366 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 367 |
+
"hands": {
|
| 368 |
+
"observed": false,
|
| 369 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 370 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 371 |
+
"hand_marker_offsets_m": {
|
| 372 |
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"left": {
|
| 373 |
+
"LHandIn": [
|
| 374 |
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0.08104478567838669,
|
| 375 |
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0.026638098061084747,
|
| 376 |
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-0.006135920528322458
|
| 377 |
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],
|
| 378 |
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"LHandOut": [
|
| 379 |
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0.08137299120426178,
|
| 380 |
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-0.016351288184523582,
|
| 381 |
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-0.034878022968769073
|
| 382 |
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]
|
| 383 |
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},
|
| 384 |
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"right": {
|
| 385 |
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"RHandIn": [
|
| 386 |
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-0.06475424021482468,
|
| 387 |
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0.013450230471789837,
|
| 388 |
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0.014762667939066887
|
| 389 |
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],
|
| 390 |
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"RHandOut": [
|
| 391 |
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-0.06097348406910896,
|
| 392 |
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0.013676798902451992,
|
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|
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|
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|
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|
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|
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|
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"LForearm 26mm",
|
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"LElbow 19mm",
|
| 406 |
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"LKneeIn 10mm",
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"LKnee 10mm"
|
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|
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"task": {
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"primitive": "LM15",
|
| 516 |
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"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
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},
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"objects": [
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{
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"name": "BigBox",
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"object_type": "BigBox",
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{
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|
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|
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|
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"held_by": "from mocap hands",
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"instances": [
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{
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|
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|
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|
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|
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|
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"declared": [
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"BigBox0"
|
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{
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"name": "BigBox",
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"object": "BigBox",
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|
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