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- .gitattributes +11 -0
- actions/locomanipulation/LM04/session_006/cameras/poses.npz +3 -0
- actions/locomanipulation/LM04/session_006/meta.json +498 -0
- actions/locomanipulation/LM04/session_006/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM04/session_006/motions/markers.npz +3 -0
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- actions/locomanipulation/LM04/session_006/motions/smplx.npz +3 -0
- actions/locomanipulation/LM04/session_006/raw/audio.wav +3 -0
- actions/locomanipulation/LM04/session_006/raw/manifest.json +261 -0
- actions/locomanipulation/LM04/session_006/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM04/session_006/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM04/session_006/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM04/session_006/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM04/session_006/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM04/session_006/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM04/session_006/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM04/session_006/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM04/session_006/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM04/session_006/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM04/session_006/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM04/session_006/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM04/session_006/scene/infer.json +36 -0
- actions/locomanipulation/LM04/session_006/scene/views.npz +3 -0
- actions/locomanipulation/LM04/session_006/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM04/session_006/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM04/session_006/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM04/session_006/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM04/session_006/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM04/session_006/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM04/session_006/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM04/session_006/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM04/session_006/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM04/session_006/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM04/session_006/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM04/session_006/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM04/session_006/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM04/session_006/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM04/session_007/cameras/poses.npz +3 -0
- actions/locomanipulation/LM04/session_007/meta.json +507 -0
- actions/locomanipulation/LM04/session_007/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM04/session_007/motions/markers.npz +3 -0
- actions/locomanipulation/LM04/session_007/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM04/session_007/motions/smplx.npz +3 -0
- actions/locomanipulation/LM04/session_007/raw/audio.wav +3 -0
- actions/locomanipulation/LM04/session_007/raw/manifest.json +418 -0
- actions/locomanipulation/LM04/session_007/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM04/session_007/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM04/session_007/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM04/session_007/raw/mocap/HighRack.csv +0 -0
- actions/locomanipulation/LM04/session_007/raw/mocap/HighRack.trc +0 -0
.gitattributes
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actions/locomanipulation/LM04/session_005/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM04/session_005/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM04/session_005/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM04/session_005/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM04/session_006/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM04/session_006/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM04/session_006/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM04/session_006/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM04/session_006/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM04/session_006/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM04/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM04/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM04/session_007/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM04/session_007/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM04/session_006/cameras/poses.npz
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size 1267469
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actions/locomanipulation/LM04/session_006/meta.json
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| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261010/LM04/20261010_041841_session55",
|
| 4 |
+
"session_id": "20261010_041841_session55",
|
| 5 |
+
"primitive": "LM04",
|
| 6 |
+
"batch": "20261010",
|
| 7 |
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"participant": "gaoziyue",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
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"main": "e17c9efadb69e7b1",
|
| 11 |
+
"left": "cc5681142208e29a",
|
| 12 |
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"right": "60a6f081bbe60b0d"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-21T05:28:40.361380+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": null,
|
| 20 |
+
"first_solved_frame": 0,
|
| 21 |
+
"duration_s": 144.025,
|
| 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": -1.171521,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -1.17,
|
| 31 |
+
"peak_corr": 0.9855,
|
| 32 |
+
"reference_imu_first_sample_s": 14038.250794376,
|
| 33 |
+
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| 34 |
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| 35 |
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| 36 |
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| 41 |
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}
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| 42 |
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| 43 |
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|
| 44 |
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"mocap": "millimetres, Nokov world, Y-up (unchanged)",
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| 45 |
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"y_up_to_z_up": [
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| 46 |
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[
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| 47 |
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1.0,
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| 48 |
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0.0,
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| 49 |
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0.0
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| 50 |
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],
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| 51 |
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[
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| 52 |
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0.0,
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| 53 |
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0.0,
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| 54 |
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-1.0
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| 55 |
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],
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| 56 |
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[
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| 57 |
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0.0,
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| 58 |
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1.0,
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| 59 |
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0.0
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| 60 |
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]
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| 61 |
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],
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| 62 |
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"acc": "m/s^2 (8192 LSB/g)",
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| 63 |
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| 64 |
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"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
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| 65 |
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| 66 |
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},
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| 68 |
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"status": "ok",
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}
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| 228 |
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| 229 |
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| 230 |
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| 231 |
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| 232 |
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"definition": "e17c9efadb69e7b1/20261010-morning/labels-035142/session-3bd1f8e6f2bd47dc",
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| 258 |
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| 260 |
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| 261 |
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},
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| 262 |
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"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 263 |
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"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
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| 264 |
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},
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| 265 |
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| 266 |
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"generated_at_utc": "2026-10-21T06:55:25.403716+00:00",
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| 267 |
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"generated_by": "scripts/canonicalise_dataset.py",
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| 268 |
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"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
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| 269 |
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| 270 |
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[
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]
|
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],
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|
| 287 |
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| 288 |
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[
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],
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[
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1.13808e-07,
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1.5242741e-05,
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| 304 |
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],
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0.0,
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0.0,
|
| 310 |
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1.0
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| 311 |
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]
|
| 312 |
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],
|
| 313 |
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"block": "20261010-morning",
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| 314 |
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|
| 315 |
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|
| 318 |
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|
| 319 |
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|
| 320 |
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},
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|
| 323 |
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|
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0.1276,
|
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0.036,
|
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|
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|
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|
| 330 |
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| 331 |
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},
|
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| 333 |
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"camera_pose_source": "provider T_tracker0_cam",
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| 334 |
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"files": [
|
| 335 |
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"mocap_zup.npz",
|
| 336 |
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"tracker0_zup.npz",
|
| 337 |
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"rig_zup.npz",
|
| 338 |
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"cameras_zup.npz"
|
| 339 |
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]
|
| 340 |
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},
|
| 341 |
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"smplx": {
|
| 342 |
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"generated_at_utc": "2026-10-22T21:23:26.982429+00:00",
|
| 343 |
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"generated_by": "scripts/fit_smplx_dataset.py",
|
| 344 |
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"file": "smplx.npz",
|
| 345 |
+
"gender": "female",
|
| 346 |
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"n_betas": 16,
|
| 347 |
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"betas_source": "participant median (derived/smplx/participants.json)",
|
| 348 |
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 349 |
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 350 |
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"hands": {
|
| 351 |
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"observed": false,
|
| 352 |
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"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 353 |
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"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 354 |
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"hand_marker_offsets_m": {
|
| 355 |
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"left": {
|
| 356 |
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"LHandIn": [
|
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|
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0.014130108058452606,
|
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|
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|
| 379 |
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}
|
| 380 |
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},
|
| 381 |
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|
| 382 |
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"median_frame": 7.38,
|
| 383 |
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"p95_frame": 12.38
|
| 384 |
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},
|
| 385 |
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"worst_markers": [
|
| 386 |
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"LElbowIn 20mm",
|
| 387 |
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"LElbow 18mm",
|
| 388 |
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"WaistRSide 18mm",
|
| 389 |
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"WaistRFront 14mm",
|
| 390 |
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"LThigh 14mm"
|
| 391 |
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],
|
| 392 |
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"valid_fraction": 1.0,
|
| 393 |
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|
| 394 |
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|
| 395 |
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|
| 396 |
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"p5": 5.3
|
| 397 |
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},
|
| 398 |
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|
| 399 |
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|
| 400 |
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},
|
| 401 |
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|
| 402 |
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|
| 403 |
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|
| 404 |
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|
| 405 |
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|
| 406 |
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},
|
| 407 |
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"shape_source": "participant median",
|
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| 1 |
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{
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| 2 |
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"schema_version": 1,
|
| 3 |
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"session": "EgoMotionActions/20261023/LM04/20261023_054308_session70",
|
| 4 |
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"session_id": "20261023_054308_session70",
|
| 5 |
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"primitive": "LM04",
|
| 6 |
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"batch": "20261023",
|
| 7 |
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"participant": "wangyang",
|
| 8 |
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"participant_source": "manifest",
|
| 9 |
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"device_ids": {
|
| 10 |
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"main": "c9205ac6e17d2d5c",
|
| 11 |
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"left": "452031d7af00ef6f",
|
| 12 |
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"right": "60a6f081bbe60b0d"
|
| 13 |
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},
|
| 14 |
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"generated_at_utc": "2026-10-26T04:58:17.608537+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,
|
| 21 |
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"duration_s": 123.025,
|
| 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": -0.093863,
|
| 29 |
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"rate": 0.0,
|
| 30 |
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"global_lag_s": -0.095,
|
| 31 |
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"peak_corr": 0.978,
|
| 32 |
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"reference_imu_first_sample_s": 19301.931904439,
|
| 33 |
+
"windows": {
|
| 34 |
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"n_windows": 11,
|
| 35 |
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"window_corr_median": 0.9869543479100513,
|
| 36 |
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"drift_ppm": -490.1196013588812,
|
| 37 |
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"drift_se_ppm": 289.55324571152516,
|
| 38 |
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"drift_ms_over_take": -60.292879627165036,
|
| 39 |
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"lag_scatter_ms": 27.469432810284047,
|
| 40 |
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"lag_range_ms": 110.56088146176693
|
| 41 |
+
}
|
| 42 |
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},
|
| 43 |
+
"units": {
|
| 44 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
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"y_up_to_z_up": [
|
| 46 |
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[
|
| 47 |
+
1.0,
|
| 48 |
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0.0,
|
| 49 |
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0.0
|
| 50 |
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],
|
| 51 |
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[
|
| 52 |
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0.0,
|
| 53 |
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0.0,
|
| 54 |
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-1.0
|
| 55 |
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],
|
| 56 |
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[
|
| 57 |
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0.0,
|
| 58 |
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1.0,
|
| 59 |
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0.0
|
| 60 |
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]
|
| 61 |
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],
|
| 62 |
+
"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",
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| 69 |
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{
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