Upload folder using huggingface_hub (part 65)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +29 -0
- actions/human_human_locomanipulation/HH06/session_001/raw/mocap/Tracker0.trc +0 -0
- actions/human_human_locomanipulation/HH06/session_001/raw/sensors/robocap_imu_left.db +3 -0
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- actions/human_human_locomanipulation/HH06/session_001/scene/infer.json +36 -0
- actions/human_human_locomanipulation/HH06/session_001/scene/views.npz +3 -0
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- actions/human_human_locomanipulation/HH06/session_002/cameras/poses.npz +3 -0
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.gitattributes
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actions/human_human_locomanipulation/HH06/session_001/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/human_human_locomanipulation/HH06/session_001/raw/mocap/Body1.csv filter=lfs diff=lfs merge=lfs -text
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261020/HH06/20261020_073707_session14",
|
| 4 |
+
"session_id": "20261020_073707_session14",
|
| 5 |
+
"primitive": "HH06",
|
| 6 |
+
"batch": "20261020",
|
| 7 |
+
"participant": "lvaoshan",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
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"main": "c9205ac6e17d2d5c",
|
| 11 |
+
"left": null,
|
| 12 |
+
"right": "a85418f7d807dff9"
|
| 13 |
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},
|
| 14 |
+
"generated_at_utc": "2026-10-22T16:12:46.479649+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": 130.925,
|
| 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": -0.069636,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.07,
|
| 31 |
+
"peak_corr": 0.9926,
|
| 32 |
+
"reference_imu_first_sample_s": 5620.081614313,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 12,
|
| 35 |
+
"window_corr_median": 0.9932171315572338,
|
| 36 |
+
"drift_ppm": -110.87266230290223,
|
| 37 |
+
"drift_se_ppm": 58.610214875991986,
|
| 38 |
+
"drift_ms_over_take": -14.515079373154949,
|
| 39 |
+
"lag_scatter_ms": 6.3980953686547934,
|
| 40 |
+
"lag_range_ms": 27.5456548118565
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"units": {
|
| 44 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
+
"y_up_to_z_up": [
|
| 46 |
+
[
|
| 47 |
+
1.0,
|
| 48 |
+
0.0,
|
| 49 |
+
0.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
0.0,
|
| 53 |
+
0.0,
|
| 54 |
+
-1.0
|
| 55 |
+
],
|
| 56 |
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[
|
| 57 |
+
0.0,
|
| 58 |
+
1.0,
|
| 59 |
+
0.0
|
| 60 |
+
]
|
| 61 |
+
],
|
| 62 |
+
"acc": "m/s^2 (8192 LSB/g)",
|
| 63 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 64 |
+
"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 65 |
+
"quaternions": "xyzw, Nokov global"
|
| 66 |
+
},
|
| 67 |
+
"calibration": {
|
| 68 |
+
"device": "c9205ac6e17d2d5c",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 26639,
|
| 76 |
+
"n_gyro": 26633,
|
| 77 |
+
"t_start": -0.08564927213163362,
|
| 78 |
+
"t_end": 131.1285156318688
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 26472,
|
| 82 |
+
"n_gyro": 26465,
|
| 83 |
+
"t_start": 0.03912272786848728,
|
| 84 |
+
"t_end": 131.29245821486867
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 25868,
|
| 88 |
+
"n_gyro": 25867,
|
| 89 |
+
"t_start": -0.917487815130955,
|
| 90 |
+
"t_end": 129.71742090286872
|
| 91 |
+
},
|
| 92 |
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"mag_head": {
|
| 93 |
+
"n": 13133,
|
| 94 |
+
"t_start": 0.12925522786892354,
|
| 95 |
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"t_end": 131.4492552898689
|
| 96 |
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},
|
| 97 |
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|
| 98 |
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"n": 13062,
|
| 99 |
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"t_start": -0.899191685131229,
|
| 100 |
+
"t_end": 129.71112962086838
|
| 101 |
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}
|
| 102 |
+
},
|
| 103 |
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"videos": {
|
| 104 |
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"left": {
|
| 105 |
+
"fps": 30.0,
|
| 106 |
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"start_device_s": 5620.188349,
|
| 107 |
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"frames": 3927,
|
| 108 |
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|
| 109 |
+
"timing": "pts",
|
| 110 |
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"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 111 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 112 |
+
"t_start": 0.03972735951603493,
|
| 113 |
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"t_end": 130.90632735951633,
|
| 114 |
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"clock": "device",
|
| 115 |
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"calibrated": true
|
| 116 |
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},
|
| 117 |
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"right": {
|
| 118 |
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"fps": 30.0,
|
| 119 |
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"start_device_s": 5620.188319,
|
| 120 |
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"frames": 3927,
|
| 121 |
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"pts_gaps": 0,
|
| 122 |
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"timing": "pts",
|
| 123 |
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|
| 124 |
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"file": "robocap_segment1_video_right.mp4",
|
| 125 |
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"t_start": 0.039487038485020026,
|
| 126 |
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"t_end": 130.9060980384854,
|
| 127 |
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"clock": "device",
|
| 128 |
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"calibrated": true
|
| 129 |
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},
|
| 130 |
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"left_front": {
|
| 131 |
+
"fps": 30.0,
|
| 132 |
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"start_device_s": 5620.18834,
|
| 133 |
+
"frames": 3927,
|
| 134 |
+
"pts_gaps": 0,
|
| 135 |
+
"timing": "pts",
|
| 136 |
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"timeshift_cam_imu_s": 0.002458947067077895,
|
| 137 |
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"file": "robocap_segment1_video_left_front.mp4",
|
| 138 |
+
"t_start": 0.03954887093524842,
|
| 139 |
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"t_end": 130.90614887093554,
|
| 140 |
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"clock": "device",
|
| 141 |
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"calibrated": true
|
| 142 |
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},
|
| 143 |
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"right_front": {
|
| 144 |
+
"fps": 30.0,
|
| 145 |
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"start_device_s": 5620.188359,
|
| 146 |
+
"frames": 3927,
|
| 147 |
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"pts_gaps": 0,
|
| 148 |
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"timing": "pts",
|
| 149 |
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"timeshift_cam_imu_s": 0.0021420814739499558,
|
| 150 |
+
"file": "robocap_segment1_video_right_front.mp4",
|
| 151 |
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"t_start": 0.039251005342264694,
|
| 152 |
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"t_end": 130.90585100534256,
|
| 153 |
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"clock": "device",
|
| 154 |
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"calibrated": true
|
| 155 |
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},
|
| 156 |
+
"left_eye": {
|
| 157 |
+
"fps": 30.0,
|
| 158 |
+
"start_device_s": 5620.188329,
|
| 159 |
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"frames": 3926,
|
| 160 |
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"pts_gaps": 1,
|
| 161 |
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"timing": "nominal",
|
| 162 |
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"timeshift_cam_imu_s": 0.002801984596191448,
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| 163 |
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| 164 |
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"pts": {
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| 165 |
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"offset_ms": -24.5,
|
| 166 |
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"corr": 0.887,
|
| 167 |
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"err_ms": 27.3
|
| 168 |
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},
|
| 169 |
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"nominal": {
|
| 170 |
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|
| 171 |
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"corr": 0.887,
|
| 172 |
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"err_ms": 22.7
|
| 173 |
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}
|
| 174 |
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},
|
| 175 |
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"file": "robocap_segment1_video_left_eye.mp4",
|
| 176 |
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"t_start": 0.03988090846425432,
|
| 177 |
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| 178 |
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|
| 179 |
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"calibrated": true
|
| 180 |
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},
|
| 181 |
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"right_eye": {
|
| 182 |
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"fps": 30.0,
|
| 183 |
+
"start_device_s": 5620.188304,
|
| 184 |
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"frames": 3927,
|
| 185 |
+
"pts_gaps": 0,
|
| 186 |
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"timing": "pts",
|
| 187 |
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"timeshift_cam_imu_s": 0.002930366888236734,
|
| 188 |
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"file": "robocap_segment1_video_right_eye.mp4",
|
| 189 |
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"t_start": 0.039984290757018176,
|
| 190 |
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"t_end": 130.9065952907574,
|
| 191 |
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"clock": "device",
|
| 192 |
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"calibrated": true
|
| 193 |
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},
|
| 194 |
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"wrist_right": {
|
| 195 |
+
"fps": 30.0,
|
| 196 |
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"start_device_s": 5619.265321,
|
| 197 |
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"frames": 3917,
|
| 198 |
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"pts_gaps": 0,
|
| 199 |
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"timing": "pts",
|
| 200 |
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"timeshift_cam_imu_s": null,
|
| 201 |
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"file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
|
| 202 |
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"t_start": -0.8859290761313624,
|
| 203 |
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|
| 204 |
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"clock": "device",
|
| 205 |
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"calibrated": false
|
| 206 |
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},
|
| 207 |
+
"third_person": {
|
| 208 |
+
"file": "mocap/mocap-HH06-S01-lvaoshan-02p1-1.mp4",
|
| 209 |
+
"frames": 3928,
|
| 210 |
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"fps": 30.0,
|
| 211 |
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"clock": "nokov (frame index)",
|
| 212 |
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|
| 213 |
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"t_end": 130.9
|
| 214 |
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}
|
| 215 |
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},
|
| 216 |
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"mocap_body1": {
|
| 217 |
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"file": "mocap_body1.npz",
|
| 218 |
+
"frames": 15712,
|
| 219 |
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"solved_fraction": 0.9996,
|
| 220 |
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"note": "second person (no ego cameras), Body1 of the same take, same time base as mocap.npz"
|
| 221 |
+
}
|
| 222 |
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},
|
| 223 |
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"flags": [],
|
| 224 |
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"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
|
| 225 |
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"rig_tracker": {
|
| 226 |
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"definition": "c9205ac6e17d2d5c/20261020-afternoon/labels-145230/session-f937c43cfc50e131",
|
| 227 |
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"R_tracker0_imu0": [
|
| 228 |
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[
|
| 229 |
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-0.62267028,
|
| 230 |
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0.11210976,
|
| 231 |
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|
| 232 |
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],
|
| 233 |
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[
|
| 234 |
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0.77037997,
|
| 235 |
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|
| 236 |
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|
| 237 |
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],
|
| 238 |
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[
|
| 239 |
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-0.13710005,
|
| 240 |
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-0.99000454,
|
| 241 |
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-0.03308454
|
| 242 |
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]
|
| 243 |
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],
|
| 244 |
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"p_tracker0_imu0_m": [
|
| 245 |
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-0.17952549892310662,
|
| 246 |
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-0.003525989335977555,
|
| 247 |
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|
| 248 |
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],
|
| 249 |
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"rig_check": {
|
| 250 |
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"gyro_samples": 7160,
|
| 251 |
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"gyro_max_deg": 2.5,
|
| 252 |
+
"status": "ok",
|
| 253 |
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"dropped_marker": null,
|
| 254 |
+
"gyro_deg": 1.975
|
| 255 |
+
},
|
| 256 |
+
"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 257 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 258 |
+
},
|
| 259 |
+
"canonical": {
|
| 260 |
+
"generated_at_utc": "2026-10-26T10:24:19.603601+00:00",
|
| 261 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 262 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 263 |
+
"R_canon_nokov": [
|
| 264 |
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[
|
| 265 |
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0.9999961192,
|
| 266 |
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0.002785949,
|
| 267 |
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8.8845e-06
|
| 268 |
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],
|
| 269 |
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[
|
| 270 |
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|
| 271 |
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0.0063779982,
|
| 272 |
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|
| 273 |
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],
|
| 274 |
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[
|
| 275 |
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-0.002785949,
|
| 276 |
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0.9999757795,
|
| 277 |
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0.0063779982
|
| 278 |
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]
|
| 279 |
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],
|
| 280 |
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"scale_nokov_to_canon": 0.001,
|
| 281 |
+
"T_canon_nokov_mm": [
|
| 282 |
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[
|
| 283 |
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0.000999996119,
|
| 284 |
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2.785949e-06,
|
| 285 |
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8.884e-09,
|
| 286 |
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0.0
|
| 287 |
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],
|
| 288 |
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[
|
| 289 |
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-8.884e-09,
|
| 290 |
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6.377998e-06,
|
| 291 |
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-0.00099997966,
|
| 292 |
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0.0
|
| 293 |
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],
|
| 294 |
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[
|
| 295 |
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-2.785949e-06,
|
| 296 |
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0.00099997578,
|
| 297 |
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6.377998e-06,
|
| 298 |
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0.0
|
| 299 |
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],
|
| 300 |
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[
|
| 301 |
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0.0,
|
| 302 |
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0.0,
|
| 303 |
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0.0,
|
| 304 |
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1.0
|
| 305 |
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]
|
| 306 |
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],
|
| 307 |
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"block": "20261020-afternoon",
|
| 308 |
+
"block_assignment": "trc",
|
| 309 |
+
"tilt_removed_deg": 0.398776794692196,
|
| 310 |
+
"plane_status": "ok",
|
| 311 |
+
"floor": {
|
| 312 |
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"sole_marker_p1_mm": 30.8,
|
| 313 |
+
"headtop_p95_mm": 1691.3
|
| 314 |
+
},
|
| 315 |
+
"gravity_check": {
|
| 316 |
+
"static_samples": 6196,
|
| 317 |
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"g_world_mean_m_s2": [
|
| 318 |
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-0.1496,
|
| 319 |
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-0.1906,
|
| 320 |
+
9.7775
|
| 321 |
+
],
|
| 322 |
+
"tilt_from_z_deg": 1.42,
|
| 323 |
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"tilt_from_z_deg_before_levelling": 1.808,
|
| 324 |
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"magnitude_m_s2": 9.7805
|
| 325 |
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},
|
| 326 |
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|
| 327 |
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"rig_check": {
|
| 328 |
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"status": "ok",
|
| 329 |
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"dropped_marker": null,
|
| 330 |
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"gyro_deg": 1.975
|
| 331 |
+
},
|
| 332 |
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"camera_pose_source": "provider T_tracker0_cam",
|
| 333 |
+
"files": [
|
| 334 |
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"mocap_zup.npz",
|
| 335 |
+
"tracker0_zup.npz",
|
| 336 |
+
"rig_zup.npz",
|
| 337 |
+
"cameras_zup.npz",
|
| 338 |
+
"mocap_body1_zup.npz"
|
| 339 |
+
]
|
| 340 |
+
},
|
| 341 |
+
"smplx": {
|
| 342 |
+
"generated_at_utc": "2026-10-23T07:14:34.154980+00:00",
|
| 343 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 344 |
+
"file": "smplx.npz",
|
| 345 |
+
"gender": "female",
|
| 346 |
+
"n_betas": 16,
|
| 347 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 348 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 349 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 350 |
+
"hands": {
|
| 351 |
+
"observed": false,
|
| 352 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 353 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 354 |
+
"hand_marker_offsets_m": {
|
| 355 |
+
"left": {
|
| 356 |
+
"LHandIn": [
|
| 357 |
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0.08192432671785355,
|
| 358 |
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0.018887313082814217,
|
| 359 |
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0.01602516509592533
|
| 360 |
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],
|
| 361 |
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"LHandOut": [
|
| 362 |
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0.07587320357561111,
|
| 363 |
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0.0027839019894599915,
|
| 364 |
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-0.023103168234229088
|
| 365 |
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]
|
| 366 |
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},
|
| 367 |
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"right": {
|
| 368 |
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"RHandIn": [
|
| 369 |
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-0.06793488562107086,
|
| 370 |
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|
| 371 |
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0.03585701063275337
|
| 372 |
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],
|
| 373 |
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|
| 374 |
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-0.07198905199766159,
|
| 375 |
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|
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|
| 377 |
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],
|
| 378 |
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|
| 379 |
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0.006078261416405439,
|
| 380 |
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0.030626339837908745,
|
| 381 |
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0.009690600447356701
|
| 382 |
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]
|
| 383 |
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}
|
| 384 |
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}
|
| 385 |
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},
|
| 386 |
+
"marker_rmse_mm": {
|
| 387 |
+
"median_frame": 5.07,
|
| 388 |
+
"p95_frame": 14.81
|
| 389 |
+
},
|
| 390 |
+
"worst_markers": [
|
| 391 |
+
"LShin 16mm",
|
| 392 |
+
"CLAV 16mm",
|
| 393 |
+
"STRN 15mm",
|
| 394 |
+
"RElbowIn 10mm",
|
| 395 |
+
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| 1 |
+
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| 2 |
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| 3 |
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| 4 |
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|
| 5 |
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| 6 |
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| 7 |
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| 8 |
+
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
+
"LittleBox6",
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| 20 |
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|
| 21 |
+
],
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| 22 |
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|
| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 48 |
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| 49 |
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| 50 |
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| 51 |
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