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- .gitattributes +70 -0
- actions/locomotion_primitives/L01/session_005/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/L01/session_005/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/L01/session_005/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/L01/session_005/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/L01/session_005/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/L01/session_005/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomotion_primitives/L01/session_005/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomotion_primitives/L01/session_005/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomotion_primitives/L01/session_005/scene/infer.json +36 -0
- actions/locomotion_primitives/L01/session_005/scene/views.npz +3 -0
- actions/locomotion_primitives/L01/session_005/sensors/head_imu.npz +3 -0
- actions/locomotion_primitives/L01/session_005/sensors/head_mag.npz +3 -0
- actions/locomotion_primitives/L01/session_005/sensors/wrist_imu.npz +3 -0
- actions/locomotion_primitives/L01/session_005/sensors/wrist_mag.npz +3 -0
- actions/locomotion_primitives/L01/session_005/videos/frame_timestamps.npz +3 -0
- actions/locomotion_primitives/L01/session_005/videos/head_left.mp4 +3 -0
- actions/locomotion_primitives/L01/session_005/videos/head_left_eye.mp4 +3 -0
- actions/locomotion_primitives/L01/session_005/videos/head_left_front.mp4 +3 -0
- actions/locomotion_primitives/L01/session_005/videos/head_right.mp4 +3 -0
- actions/locomotion_primitives/L01/session_005/videos/head_right_eye.mp4 +3 -0
- actions/locomotion_primitives/L01/session_005/videos/head_right_front.mp4 +3 -0
- actions/locomotion_primitives/L01/session_005/videos/third_person.mp4 +3 -0
- actions/locomotion_primitives/L01/session_005/videos/wrist_left.mp4 +3 -0
- actions/locomotion_primitives/L01/session_005/videos/wrist_right.mp4 +3 -0
- actions/locomotion_primitives/L01/session_006/cameras/poses.npz +3 -0
- actions/locomotion_primitives/L01/session_006/meta.json +523 -0
- actions/locomotion_primitives/L01/session_006/motions/head_rig.npz +3 -0
- actions/locomotion_primitives/L01/session_006/motions/markers.npz +3 -0
- actions/locomotion_primitives/L01/session_006/motions/skeleton.npz +3 -0
- actions/locomotion_primitives/L01/session_006/motions/smplx.npz +3 -0
- actions/locomotion_primitives/L01/session_006/raw/manifest.json +222 -0
- actions/locomotion_primitives/L01/session_006/raw/mocap/Body0.bvh +3 -0
- actions/locomotion_primitives/L01/session_006/raw/mocap/Body0.csv +3 -0
- actions/locomotion_primitives/L01/session_006/raw/mocap/Body0.trc +3 -0
- actions/locomotion_primitives/L01/session_006/raw/mocap/Tracker0.csv +0 -0
- actions/locomotion_primitives/L01/session_006/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/L01/session_006/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/L01/session_006/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/L01/session_006/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/L01/session_006/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/L01/session_006/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomotion_primitives/L01/session_006/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomotion_primitives/L01/session_006/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomotion_primitives/L01/session_006/scene/infer.json +36 -0
- actions/locomotion_primitives/L01/session_006/scene/views.npz +3 -0
- actions/locomotion_primitives/L01/session_006/sensors/head_imu.npz +3 -0
- actions/locomotion_primitives/L01/session_006/sensors/head_mag.npz +3 -0
- actions/locomotion_primitives/L01/session_006/sensors/wrist_imu.npz +3 -0
- actions/locomotion_primitives/L01/session_006/sensors/wrist_mag.npz +3 -0
.gitattributes
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actions/locomotion_primitives/L01/session_005/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_005/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_005/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_005/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_005/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_005/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_005/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_005/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_005/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_005/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_005/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_006/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_006/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_006/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_006/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_006/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_006/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_006/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_006/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_007/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_007/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_007/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_007/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_007/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_007/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_007/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_007/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_007/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_007/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_008/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_008/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_008/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_008/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_008/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_008/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_008/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_008/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_008/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_008/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_009/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_009/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_009/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_009/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_009/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_009/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_009/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_010/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_010/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_010/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_010/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_010/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_010/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_010/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_010/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_010/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_010/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L02/session_001/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L02/session_001/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L02/session_001/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L02/session_001/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L02/session_001/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L02/session_001/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L02/session_001/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L02/session_001/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L02/session_001/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L02/session_002/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L02/session_002/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L02/session_002/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/L01/session_005/raw/mocap/Tracker0.trc
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actions/locomotion_primitives/L01/session_005/raw/sensors/robocap_imu_left.db
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actions/locomotion_primitives/L01/session_005/raw/sensors/robocap_imu_right.db
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actions/locomotion_primitives/L01/session_005/raw/sensors/robocap_mag_middle.db
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actions/locomotion_primitives/L01/session_005/raw/sensors/robowrist_imu_left.db
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actions/locomotion_primitives/L01/session_005/raw/sensors/robowrist_imu_right.db
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actions/locomotion_primitives/L01/session_005/raw/sensors/robowrist_mag_left.db
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actions/locomotion_primitives/L01/session_005/raw/sensors/robowrist_mag_right.db
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actions/locomotion_primitives/L01/session_005/scene/infer.json
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20260902/L01/20260902_014225_session4",
|
| 4 |
+
"session_id": "20260902_014225_session4",
|
| 5 |
+
"primitive": "L01",
|
| 6 |
+
"batch": "20260902",
|
| 7 |
+
"participant": "wangyang",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "850a0e6aafa85fdf",
|
| 11 |
+
"left": "cc5681142208e29a",
|
| 12 |
+
"right": "60a6f081bbe60b0d"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-14T10:54:16.916945+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 |
+
"first_solved_frame": 0,
|
| 20 |
+
"duration_s": 194.025,
|
| 21 |
+
"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 22 |
+
},
|
| 23 |
+
"alignment": {
|
| 24 |
+
"reference_imu": "imu_head_right",
|
| 25 |
+
"model": "offset (median of windows)",
|
| 26 |
+
"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 27 |
+
"offset_s": -1.169992,
|
| 28 |
+
"rate": 0.0,
|
| 29 |
+
"global_lag_s": -1.17,
|
| 30 |
+
"peak_corr": 0.9859,
|
| 31 |
+
"reference_imu_first_sample_s": 638.987089947,
|
| 32 |
+
"windows": {
|
| 33 |
+
"n_windows": 18,
|
| 34 |
+
"window_corr_median": 0.9911900033037857,
|
| 35 |
+
"drift_ppm": -17.415926090759243,
|
| 36 |
+
"drift_se_ppm": 9.47812201234876,
|
| 37 |
+
"drift_ms_over_take": -3.3789799270421397,
|
| 38 |
+
"lag_scatter_ms": 1.9669482078439287,
|
| 39 |
+
"lag_range_ms": 9.764513279077125
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"units": {
|
| 43 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 44 |
+
"y_up_to_z_up": [
|
| 45 |
+
[
|
| 46 |
+
1.0,
|
| 47 |
+
0.0,
|
| 48 |
+
0.0
|
| 49 |
+
],
|
| 50 |
+
[
|
| 51 |
+
0.0,
|
| 52 |
+
0.0,
|
| 53 |
+
-1.0
|
| 54 |
+
],
|
| 55 |
+
[
|
| 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 |
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"calibration": {
|
| 67 |
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"device": "850a0e6aafa85fdf",
|
| 68 |
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"status": "ok",
|
| 69 |
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"date": "2026-08-27"
|
| 70 |
+
},
|
| 71 |
+
"streams": {
|
| 72 |
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"sensors": {
|
| 73 |
+
"imu_head_right": {
|
| 74 |
+
"n_acc": 39579,
|
| 75 |
+
"n_gyro": 39573,
|
| 76 |
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"t_start": -1.1769215043623666,
|
| 77 |
+
"t_end": 194.66923981163765
|
| 78 |
+
},
|
| 79 |
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"imu_head_left": {
|
| 80 |
+
"n_acc": 39565,
|
| 81 |
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"n_gyro": 39561,
|
| 82 |
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"t_start": -1.0695738533624257,
|
| 83 |
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"t_end": 194.83823632763765
|
| 84 |
+
},
|
| 85 |
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"imu_wrist_right": {
|
| 86 |
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"n_acc": 38776,
|
| 87 |
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"n_gyro": 38786,
|
| 88 |
+
"t_start": 0.2393606476376413,
|
| 89 |
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"t_end": 191.86158849563762
|
| 90 |
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},
|
| 91 |
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"imu_wrist_left": {
|
| 92 |
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"n_acc": 37843,
|
| 93 |
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"n_gyro": 37855,
|
| 94 |
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"t_start": 0.2802312326376346,
|
| 95 |
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"t_end": 191.86306479663764
|
| 96 |
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},
|
| 97 |
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"mag_head": {
|
| 98 |
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"n": 19601,
|
| 99 |
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"t_start": -0.9879726293624294,
|
| 100 |
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"t_end": 195.01203633863767
|
| 101 |
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},
|
| 102 |
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"mag_wrist_right": {
|
| 103 |
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"n": 19161,
|
| 104 |
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"t_start": 0.2596959156375811,
|
| 105 |
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"t_end": 191.85912794363762
|
| 106 |
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},
|
| 107 |
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"mag_wrist_left": {
|
| 108 |
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"n": 19156,
|
| 109 |
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"t_start": 0.2944457726376464,
|
| 110 |
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"t_end": 191.84456369463757
|
| 111 |
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}
|
| 112 |
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},
|
| 113 |
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"videos": {
|
| 114 |
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"left": {
|
| 115 |
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"fps": 30.0,
|
| 116 |
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"start_device_s": 640.194109,
|
| 117 |
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"frames": 5820,
|
| 118 |
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"pts_gaps": 0,
|
| 119 |
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"timing": "pts",
|
| 120 |
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"timeshift_cam_imu_s": 0.0021483410603724603,
|
| 121 |
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"file": "robocap_segment1_video_left.mp4",
|
| 122 |
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"t_start": 0.03917524069795997,
|
| 123 |
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"t_end": 194.005708240698,
|
| 124 |
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"clock": "device",
|
| 125 |
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"calibrated": true
|
| 126 |
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},
|
| 127 |
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"right": {
|
| 128 |
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"fps": 30.0,
|
| 129 |
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"start_device_s": 640.194053,
|
| 130 |
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"frames": 5820,
|
| 131 |
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"pts_gaps": 0,
|
| 132 |
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"timing": "pts",
|
| 133 |
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"timeshift_cam_imu_s": 0.002270132116606671,
|
| 134 |
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"file": "robocap_segment1_video_right.mp4",
|
| 135 |
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"t_start": 0.039241031754232214,
|
| 136 |
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"t_end": 194.0058080317543,
|
| 137 |
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"clock": "device",
|
| 138 |
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"calibrated": true
|
| 139 |
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},
|
| 140 |
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"left_front": {
|
| 141 |
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"fps": 30.0,
|
| 142 |
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"start_device_s": 640.194093,
|
| 143 |
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"frames": 5820,
|
| 144 |
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"pts_gaps": 0,
|
| 145 |
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"timing": "pts",
|
| 146 |
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"timeshift_cam_imu_s": 0.0020725870268354075,
|
| 147 |
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"file": "robocap_segment1_video_left_front.mp4",
|
| 148 |
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"t_start": 0.0390834866644405,
|
| 149 |
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"t_end": 194.00562748666445,
|
| 150 |
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"clock": "device",
|
| 151 |
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"calibrated": true
|
| 152 |
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},
|
| 153 |
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"right_front": {
|
| 154 |
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"fps": 30.0,
|
| 155 |
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"start_device_s": 640.194122,
|
| 156 |
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"frames": 5820,
|
| 157 |
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|
| 158 |
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"timing": "pts",
|
| 159 |
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|
| 160 |
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"file": "robocap_segment1_video_right_front.mp4",
|
| 161 |
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"t_start": 0.03908372468773047,
|
| 162 |
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"t_end": 194.00561672468777,
|
| 163 |
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"clock": "device",
|
| 164 |
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"calibrated": true
|
| 165 |
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},
|
| 166 |
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"left_eye": {
|
| 167 |
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"fps": 30.0,
|
| 168 |
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"start_device_s": 640.194076,
|
| 169 |
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"frames": 5820,
|
| 170 |
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"pts_gaps": 0,
|
| 171 |
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"timing": "pts",
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| 172 |
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|
| 173 |
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"file": "robocap_segment1_video_left_eye.mp4",
|
| 174 |
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"t_start": 0.038459739109003355,
|
| 175 |
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"t_end": 194.00501573910898,
|
| 176 |
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"clock": "device",
|
| 177 |
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"calibrated": true
|
| 178 |
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},
|
| 179 |
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"right_eye": {
|
| 180 |
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"fps": 30.0,
|
| 181 |
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"start_device_s": 640.194026,
|
| 182 |
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"frames": 5820,
|
| 183 |
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"pts_gaps": 0,
|
| 184 |
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"timing": "pts",
|
| 185 |
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"timeshift_cam_imu_s": 0.00141129548433604,
|
| 186 |
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"file": "robocap_segment1_video_right_eye.mp4",
|
| 187 |
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"t_start": 0.038355195121953845,
|
| 188 |
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"t_end": 194.004933195122,
|
| 189 |
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"clock": "device",
|
| 190 |
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"calibrated": true
|
| 191 |
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},
|
| 192 |
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"wrist_left": {
|
| 193 |
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"fps": 30.0,
|
| 194 |
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"start_device_s": 640.437105,
|
| 195 |
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"frames": 5747,
|
| 196 |
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"pts_gaps": 0,
|
| 197 |
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"timing": "pts",
|
| 198 |
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"timeshift_cam_imu_s": null,
|
| 199 |
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"file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
|
| 200 |
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"t_start": 0.28002289963758864,
|
| 201 |
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"t_end": 191.81348689963758,
|
| 202 |
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"clock": "device",
|
| 203 |
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"calibrated": false
|
| 204 |
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},
|
| 205 |
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"wrist_right": {
|
| 206 |
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"fps": 30.0,
|
| 207 |
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"start_device_s": 640.438775,
|
| 208 |
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"frames": 5747,
|
| 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_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
|
| 213 |
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"t_start": 0.2816928996375787,
|
| 214 |
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"t_end": 191.81443989963756,
|
| 215 |
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"clock": "device",
|
| 216 |
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"calibrated": false
|
| 217 |
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},
|
| 218 |
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"third_person": {
|
| 219 |
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"file": "mocap/mocap-L01-S03-wangyang-10p1-1.mp4",
|
| 220 |
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"frames": 5821,
|
| 221 |
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"fps": 30.0,
|
| 222 |
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"clock": "nokov (frame index)",
|
| 223 |
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"t_start": 0.0,
|
| 224 |
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"t_end": 194.0
|
| 225 |
+
}
|
| 226 |
+
}
|
| 227 |
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},
|
| 228 |
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"flags": [],
|
| 229 |
+
"sanity": {
|
| 230 |
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"status": {
|
| 231 |
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"structure": "WARN",
|
| 232 |
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"markers": "WARN",
|
| 233 |
+
"timing": "WARN"
|
| 234 |
+
},
|
| 235 |
+
"verdict": "READY_WITH_WARNINGS",
|
| 236 |
+
"issues": [
|
| 237 |
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"WARN M_SPIKES",
|
| 238 |
+
"WARN M_TRACKER_LABELS",
|
| 239 |
+
"WARN S_INDEX",
|
| 240 |
+
"WARN S_PARTICIPANT",
|
| 241 |
+
"WARN T_UNITS"
|
| 242 |
+
]
|
| 243 |
+
},
|
| 244 |
+
"canonical": {
|
| 245 |
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"generated_at_utc": "2026-10-24T05:10:16.874104+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 |
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[
|
| 250 |
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0.9999899566,
|
| 251 |
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-0.004481827,
|
| 252 |
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-2.0287e-06
|
| 253 |
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],
|
| 254 |
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[
|
| 255 |
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2.0287e-06,
|
| 256 |
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0.0009052792,
|
| 257 |
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-0.9999995902
|
| 258 |
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],
|
| 259 |
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[
|
| 260 |
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0.004481827,
|
| 261 |
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0.9999895468,
|
| 262 |
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0.0009052792
|
| 263 |
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]
|
| 264 |
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],
|
| 265 |
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"scale_nokov_to_canon": 0.001,
|
| 266 |
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"T_canon_nokov_mm": [
|
| 267 |
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[
|
| 268 |
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0.000999989957,
|
| 269 |
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-4.481827e-06,
|
| 270 |
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-2.029e-09,
|
| 271 |
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0.0
|
| 272 |
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],
|
| 273 |
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[
|
| 274 |
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2.029e-09,
|
| 275 |
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9.05279e-07,
|
| 276 |
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-0.00099999959,
|
| 277 |
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0.0
|
| 278 |
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],
|
| 279 |
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[
|
| 280 |
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4.481827e-06,
|
| 281 |
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0.000999989547,
|
| 282 |
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9.05279e-07,
|
| 283 |
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0.0
|
| 284 |
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],
|
| 285 |
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[
|
| 286 |
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0.0,
|
| 287 |
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0.0,
|
| 288 |
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0.0,
|
| 289 |
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1.0
|
| 290 |
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]
|
| 291 |
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],
|
| 292 |
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"block": "20260902-morning",
|
| 293 |
+
"block_assignment": "trc",
|
| 294 |
+
"tilt_removed_deg": 0.2619767614165878,
|
| 295 |
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"plane_status": "ok",
|
| 296 |
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"floor": {
|
| 297 |
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"sole_marker_p1_mm": 30.5,
|
| 298 |
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"headtop_p95_mm": 1757.6
|
| 299 |
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},
|
| 300 |
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"gravity_check": {
|
| 301 |
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"static_samples": 1909,
|
| 302 |
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"g_world_mean_m_s2": [
|
| 303 |
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-0.0403,
|
| 304 |
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-0.0434,
|
| 305 |
+
9.8223
|
| 306 |
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],
|
| 307 |
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"tilt_from_z_deg": 0.345,
|
| 308 |
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"tilt_from_z_deg_before_levelling": 0.306,
|
| 309 |
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"magnitude_m_s2": 9.8225
|
| 310 |
+
},
|
| 311 |
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"rig_tracker_definition": "850a0e6aafa85fdf/20260902-morning/labels-035142/session-ea1fbae8cffe06d7",
|
| 312 |
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"rig_check": {
|
| 313 |
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"status": "video_solve",
|
| 314 |
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"dropped_marker": null,
|
| 315 |
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"gyro_deg": 0.997
|
| 316 |
+
},
|
| 317 |
+
"camera_pose_source": "T_tracker0_imu0 @ inv(T_cam_imu)",
|
| 318 |
+
"files": [
|
| 319 |
+
"mocap_zup.npz",
|
| 320 |
+
"tracker0_zup.npz",
|
| 321 |
+
"rig_zup.npz",
|
| 322 |
+
"cameras_zup.npz"
|
| 323 |
+
]
|
| 324 |
+
},
|
| 325 |
+
"smplx": {
|
| 326 |
+
"generated_at_utc": "2026-10-15T00:08:54.543666+00:00",
|
| 327 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 328 |
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"file": "smplx.npz",
|
| 329 |
+
"gender": "male",
|
| 330 |
+
"n_betas": 16,
|
| 331 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 332 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 333 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 334 |
+
"hands": {
|
| 335 |
+
"observed": false,
|
| 336 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 337 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 338 |
+
"hand_marker_offsets_m": {
|
| 339 |
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"left": {
|
| 340 |
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"LHandIn": [
|
| 341 |
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0.08237125724554062,
|
| 342 |
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0.008705763146281242,
|
| 343 |
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0.030878888443112373
|
| 344 |
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],
|
| 345 |
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"LHandOut": [
|
| 346 |
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0.06683184206485748,
|
| 347 |
+
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