Upload folder using huggingface_hub (part 741)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +61 -0
- actions/locomotion_primitives/P21/session_004/raw/mocap/Body0.csv +3 -0
- actions/locomotion_primitives/P21/session_004/raw/mocap/Body0.trc +3 -0
- actions/locomotion_primitives/P21/session_004/raw/mocap/Tracker0.csv +0 -0
- actions/locomotion_primitives/P21/session_004/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/P21/session_004/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/P21/session_004/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/P21/session_004/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/P21/session_004/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/P21/session_004/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomotion_primitives/P21/session_004/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomotion_primitives/P21/session_004/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomotion_primitives/P21/session_004/scene/infer.json +36 -0
- actions/locomotion_primitives/P21/session_004/scene/views.npz +3 -0
- actions/locomotion_primitives/P21/session_004/sensors/head_imu.npz +3 -0
- actions/locomotion_primitives/P21/session_004/sensors/head_mag.npz +3 -0
- actions/locomotion_primitives/P21/session_004/sensors/wrist_imu.npz +3 -0
- actions/locomotion_primitives/P21/session_004/sensors/wrist_mag.npz +3 -0
- actions/locomotion_primitives/P21/session_004/videos/frame_timestamps.npz +3 -0
- actions/locomotion_primitives/P21/session_004/videos/head_left.mp4 +3 -0
- actions/locomotion_primitives/P21/session_004/videos/head_left_eye.mp4 +3 -0
- actions/locomotion_primitives/P21/session_004/videos/head_left_front.mp4 +3 -0
- actions/locomotion_primitives/P21/session_004/videos/head_right.mp4 +3 -0
- actions/locomotion_primitives/P21/session_004/videos/head_right_eye.mp4 +3 -0
- actions/locomotion_primitives/P21/session_004/videos/head_right_front.mp4 +3 -0
- actions/locomotion_primitives/P21/session_004/videos/third_person.mp4 +3 -0
- actions/locomotion_primitives/P21/session_004/videos/wrist_left.mp4 +3 -0
- actions/locomotion_primitives/P21/session_004/videos/wrist_right.mp4 +3 -0
- actions/locomotion_primitives/P21/session_005/cameras/poses.npz +3 -0
- actions/locomotion_primitives/P21/session_005/meta.json +540 -0
- actions/locomotion_primitives/P21/session_005/motions/head_rig.npz +3 -0
- actions/locomotion_primitives/P21/session_005/motions/markers.npz +3 -0
- actions/locomotion_primitives/P21/session_005/motions/skeleton.npz +3 -0
- actions/locomotion_primitives/P21/session_005/motions/smplx.npz +3 -0
- actions/locomotion_primitives/P21/session_005/raw/manifest.json +222 -0
- actions/locomotion_primitives/P21/session_005/raw/mocap/Body0.bvh +0 -0
- actions/locomotion_primitives/P21/session_005/raw/mocap/Body0.csv +3 -0
- actions/locomotion_primitives/P21/session_005/raw/mocap/Body0.trc +3 -0
- actions/locomotion_primitives/P21/session_005/raw/mocap/Tracker0.csv +0 -0
- actions/locomotion_primitives/P21/session_005/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/P21/session_005/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/P21/session_005/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/P21/session_005/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/P21/session_005/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/P21/session_005/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomotion_primitives/P21/session_005/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomotion_primitives/P21/session_005/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomotion_primitives/P21/session_005/scene/infer.json +36 -0
- actions/locomotion_primitives/P21/session_005/scene/views.npz +3 -0
- actions/locomotion_primitives/P21/session_005/sensors/head_imu.npz +3 -0
.gitattributes
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actions/locomotion_primitives/P21/session_003/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_003/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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| 30049 |
actions/locomotion_primitives/P21/session_003/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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| 30050 |
actions/locomotion_primitives/P21/session_003/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_003/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_004/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_004/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_004/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_004/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_004/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_004/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_004/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_004/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_004/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_005/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_005/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_005/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_005/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_005/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_005/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_005/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_005/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_005/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_006/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_006/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_006/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_006/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_006/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_006/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_006/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_007/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_007/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_007/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_007/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_007/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_007/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_007/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_007/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_007/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_008/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_008/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_008/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_008/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_008/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_008/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_008/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_008/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_008/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_009/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_009/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_009/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_009/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_009/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_009/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_009/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_009/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_009/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_010/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_010/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_010/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_010/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_010/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P21/session_004/raw/mocap/Body0.csv
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actions/locomotion_primitives/P21/session_004/raw/mocap/Body0.trc
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actions/locomotion_primitives/P21/session_004/raw/mocap/Tracker0.csv
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actions/locomotion_primitives/P21/session_004/raw/mocap/Tracker0.trc
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actions/locomotion_primitives/P21/session_004/raw/sensors/robocap_imu_left.db
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actions/locomotion_primitives/P21/session_004/raw/sensors/robocap_mag_middle.db
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actions/locomotion_primitives/P21/session_004/raw/sensors/robowrist_mag_left.db
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actions/locomotion_primitives/P21/session_004/raw/sensors/robowrist_mag_right.db
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actions/locomotion_primitives/P21/session_004/scene/infer.json
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20260903/P21/20260903_063811_session17",
|
| 4 |
+
"session_id": "20260903_063811_session17",
|
| 5 |
+
"primitive": "P21",
|
| 6 |
+
"batch": "20260903",
|
| 7 |
+
"participant": "wangyang",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "850a0e6aafa85fdf",
|
| 11 |
+
"left": "cc5681142208e29a",
|
| 12 |
+
"right": "60a6f081bbe60b0d"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-14T13:00:31.472185+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": {
|
| 20 |
+
"declared_hz": 90.0,
|
| 21 |
+
"used_hz": 120.0,
|
| 22 |
+
"alignment_smoothing_sigma_frames": 3.0,
|
| 23 |
+
"peak_corr_at_declared_rate": 0.1175,
|
| 24 |
+
"note": "Nokov header rate wrong (captured at 120 Hz); marker noise elevated in this block, smooth before differentiating; prefer training split only"
|
| 25 |
+
},
|
| 26 |
+
"first_solved_frame": 0,
|
| 27 |
+
"duration_s": 129.025,
|
| 28 |
+
"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 29 |
+
},
|
| 30 |
+
"alignment": {
|
| 31 |
+
"reference_imu": "imu_head_right",
|
| 32 |
+
"model": "offset (median of windows)",
|
| 33 |
+
"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 34 |
+
"offset_s": -1.170193,
|
| 35 |
+
"rate": 0.0,
|
| 36 |
+
"global_lag_s": -1.17,
|
| 37 |
+
"peak_corr": 0.9339,
|
| 38 |
+
"reference_imu_first_sample_s": 3603.973067178,
|
| 39 |
+
"windows": {
|
| 40 |
+
"n_windows": 11,
|
| 41 |
+
"window_corr_median": 0.9427460924554442,
|
| 42 |
+
"drift_ppm": 36.149761024779586,
|
| 43 |
+
"drift_se_ppm": 24.060838728499416,
|
| 44 |
+
"drift_ms_over_take": 4.663921668213647,
|
| 45 |
+
"lag_scatter_ms": 2.282611583881436,
|
| 46 |
+
"lag_range_ms": 8.339222638592325
|
| 47 |
+
}
|
| 48 |
+
},
|
| 49 |
+
"units": {
|
| 50 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 51 |
+
"y_up_to_z_up": [
|
| 52 |
+
[
|
| 53 |
+
1.0,
|
| 54 |
+
0.0,
|
| 55 |
+
0.0
|
| 56 |
+
],
|
| 57 |
+
[
|
| 58 |
+
0.0,
|
| 59 |
+
0.0,
|
| 60 |
+
-1.0
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
0.0,
|
| 64 |
+
1.0,
|
| 65 |
+
0.0
|
| 66 |
+
]
|
| 67 |
+
],
|
| 68 |
+
"acc": "m/s^2 (8192 LSB/g)",
|
| 69 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 70 |
+
"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 71 |
+
"quaternions": "xyzw, Nokov global"
|
| 72 |
+
},
|
| 73 |
+
"calibration": {
|
| 74 |
+
"device": "850a0e6aafa85fdf",
|
| 75 |
+
"status": "ok",
|
| 76 |
+
"date": "2026-08-27"
|
| 77 |
+
},
|
| 78 |
+
"streams": {
|
| 79 |
+
"sensors": {
|
| 80 |
+
"imu_head_right": {
|
| 81 |
+
"n_acc": 26466,
|
| 82 |
+
"n_gyro": 26458,
|
| 83 |
+
"t_start": -1.1869849158873802,
|
| 84 |
+
"t_end": 129.76543111911278
|
| 85 |
+
},
|
| 86 |
+
"imu_head_left": {
|
| 87 |
+
"n_acc": 26459,
|
| 88 |
+
"n_gyro": 26452,
|
| 89 |
+
"t_start": -1.072680040887364,
|
| 90 |
+
"t_end": 129.93238644711263
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_right": {
|
| 93 |
+
"n_acc": 25090,
|
| 94 |
+
"n_gyro": 25090,
|
| 95 |
+
"t_start": 0.477306451112425,
|
| 96 |
+
"t_end": 124.46958064911279
|
| 97 |
+
},
|
| 98 |
+
"imu_wrist_left": {
|
| 99 |
+
"n_acc": 24530,
|
| 100 |
+
"n_gyro": 24541,
|
| 101 |
+
"t_start": 0.2944844331124006,
|
| 102 |
+
"t_end": 124.48005959711246
|
| 103 |
+
},
|
| 104 |
+
"mag_head": {
|
| 105 |
+
"n": 13109,
|
| 106 |
+
"t_start": -0.9864374158872959,
|
| 107 |
+
"t_end": 130.09366802111262
|
| 108 |
+
},
|
| 109 |
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"mag_wrist_right": {
|
| 110 |
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"n": 12399,
|
| 111 |
+
"t_start": 0.4874444121124799,
|
| 112 |
+
"t_end": 124.46698881911253
|
| 113 |
+
},
|
| 114 |
+
"mag_wrist_left": {
|
| 115 |
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"n": 12418,
|
| 116 |
+
"t_start": 0.3088163811126907,
|
| 117 |
+
"t_end": 124.47835642511255
|
| 118 |
+
}
|
| 119 |
+
},
|
| 120 |
+
"videos": {
|
| 121 |
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"left": {
|
| 122 |
+
"fps": 30.0,
|
| 123 |
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"start_device_s": 3605.181688,
|
| 124 |
+
"frames": 3870,
|
| 125 |
+
"pts_gaps": 0,
|
| 126 |
+
"timing": "pts",
|
| 127 |
+
"timeshift_cam_imu_s": 0.0021483410603724603,
|
| 128 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 129 |
+
"t_start": 0.0405761241732836,
|
| 130 |
+
"t_end": 129.00720912417327,
|
| 131 |
+
"clock": "device",
|
| 132 |
+
"calibrated": true
|
| 133 |
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},
|
| 134 |
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"right": {
|
| 135 |
+
"fps": 30.0,
|
| 136 |
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"start_device_s": 3605.181626,
|
| 137 |
+
"frames": 3870,
|
| 138 |
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"pts_gaps": 0,
|
| 139 |
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"timing": "pts",
|
| 140 |
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"timeshift_cam_imu_s": 0.002270132116606671,
|
| 141 |
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"file": "robocap_segment1_video_right.mp4",
|
| 142 |
+
"t_start": 0.04063591522945731,
|
| 143 |
+
"t_end": 129.0072919152295,
|
| 144 |
+
"clock": "device",
|
| 145 |
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"calibrated": true
|
| 146 |
+
},
|
| 147 |
+
"left_front": {
|
| 148 |
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"fps": 30.0,
|
| 149 |
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"start_device_s": 3605.181671,
|
| 150 |
+
"frames": 3870,
|
| 151 |
+
"pts_gaps": 0,
|
| 152 |
+
"timing": "pts",
|
| 153 |
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"timeshift_cam_imu_s": 0.0020725870268354075,
|
| 154 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 155 |
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"t_start": 0.04048337013919823,
|
| 156 |
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"t_end": 129.00712737013927,
|
| 157 |
+
"clock": "device",
|
| 158 |
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"calibrated": true
|
| 159 |
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},
|
| 160 |
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"right_front": {
|
| 161 |
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"fps": 30.0,
|
| 162 |
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"start_device_s": 3605.181704,
|
| 163 |
+
"frames": 3870,
|
| 164 |
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"pts_gaps": 0,
|
| 165 |
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"timing": "pts",
|
| 166 |
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"timeshift_cam_imu_s": 0.002043825050164052,
|
| 167 |
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"file": "robocap_segment1_video_right_front.mp4",
|
| 168 |
+
"t_start": 0.04048760816304653,
|
| 169 |
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"t_end": 129.00712060816304,
|
| 170 |
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"clock": "device",
|
| 171 |
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"calibrated": true
|
| 172 |
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},
|
| 173 |
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"left_eye": {
|
| 174 |
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"fps": 30.0,
|
| 175 |
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"start_device_s": 3605.181651,
|
| 176 |
+
"frames": 3870,
|
| 177 |
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"pts_gaps": 0,
|
| 178 |
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"timing": "pts",
|
| 179 |
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"timeshift_cam_imu_s": 0.001465839471423729,
|
| 180 |
+
"file": "robocap_segment1_video_left_eye.mp4",
|
| 181 |
+
"t_start": 0.03985662258410971,
|
| 182 |
+
"t_end": 129.00650062258418,
|
| 183 |
+
"clock": "device",
|
| 184 |
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"calibrated": true
|
| 185 |
+
},
|
| 186 |
+
"right_eye": {
|
| 187 |
+
"fps": 30.0,
|
| 188 |
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"start_device_s": 3605.181602,
|
| 189 |
+
"frames": 3870,
|
| 190 |
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"pts_gaps": 0,
|
| 191 |
+
"timing": "pts",
|
| 192 |
+
"timeshift_cam_imu_s": 0.00141129548433604,
|
| 193 |
+
"file": "robocap_segment1_video_right_eye.mp4",
|
| 194 |
+
"t_start": 0.03975307859728505,
|
| 195 |
+
"t_end": 129.00642007859742,
|
| 196 |
+
"clock": "device",
|
| 197 |
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"calibrated": true
|
| 198 |
+
},
|
| 199 |
+
"wrist_left": {
|
| 200 |
+
"fps": 30.0,
|
| 201 |
+
"start_device_s": 3605.428238,
|
| 202 |
+
"frames": 3725,
|
| 203 |
+
"pts_gaps": 0,
|
| 204 |
+
"timing": "pts",
|
| 205 |
+
"timeshift_cam_imu_s": null,
|
| 206 |
+
"file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
|
| 207 |
+
"t_start": 0.2849777831125795,
|
| 208 |
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"t_end": 124.41785578311247,
|
| 209 |
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"clock": "device",
|
| 210 |
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"calibrated": false
|
| 211 |
+
},
|
| 212 |
+
"wrist_right": {
|
| 213 |
+
"fps": 30.0,
|
| 214 |
+
"start_device_s": 3606.44938,
|
| 215 |
+
"frames": 3694,
|
| 216 |
+
"pts_gaps": 0,
|
| 217 |
+
"timing": "pts",
|
| 218 |
+
"timeshift_cam_imu_s": null,
|
| 219 |
+
"file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
|
| 220 |
+
"t_start": 1.3061197831126339,
|
| 221 |
+
"t_end": 124.40566378311279,
|
| 222 |
+
"clock": "device",
|
| 223 |
+
"calibrated": false
|
| 224 |
+
},
|
| 225 |
+
"third_person": {
|
| 226 |
+
"file": "mocap/mocap-P21-S02-wangyang-05p1-1.mp4",
|
| 227 |
+
"frames": 3871,
|
| 228 |
+
"fps": 30.0,
|
| 229 |
+
"clock": "nokov (frame index)",
|
| 230 |
+
"t_start": 0.0,
|
| 231 |
+
"t_end": 129.0
|
| 232 |
+
}
|
| 233 |
+
}
|
| 234 |
+
},
|
| 235 |
+
"flags": [
|
| 236 |
+
"mocap rate corrected 90 -> 120 Hz (header wrong); alignment on smoothed Tracker0"
|
| 237 |
+
],
|
| 238 |
+
"sanity": {
|
| 239 |
+
"status": {
|
| 240 |
+
"structure": "WARN",
|
| 241 |
+
"markers": "WARN",
|
| 242 |
+
"timing": "FAIL"
|
| 243 |
+
},
|
| 244 |
+
"verdict": "NOT_READY",
|
| 245 |
+
"issues": [
|
| 246 |
+
"FAIL T_CORR",
|
| 247 |
+
"WARN M_BODY_ID",
|
| 248 |
+
"WARN M_FLOOR_SHIFT",
|
| 249 |
+
"WARN M_RATE",
|
| 250 |
+
"WARN M_SPIKES",
|
| 251 |
+
"WARN M_TRACKER",
|
| 252 |
+
"WARN M_TRACKER_LABELS",
|
| 253 |
+
"WARN S_INDEX",
|
| 254 |
+
"WARN S_MOCAP_TS",
|
| 255 |
+
"WARN S_PARTICIPANT",
|
| 256 |
+
"WARN S_REPORT_TIMING",
|
| 257 |
+
"WARN T_LAG_OUTLIER",
|
| 258 |
+
"WARN T_MOCAP_TS",
|
| 259 |
+
"WARN T_UNITS"
|
| 260 |
+
]
|
| 261 |
+
},
|
| 262 |
+
"canonical": {
|
| 263 |
+
"generated_at_utc": "2026-10-24T05:10:28.905543+00:00",
|
| 264 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 265 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 266 |
+
"R_canon_nokov": [
|
| 267 |
+
[
|
| 268 |
+
0.9999774391,
|
| 269 |
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0.0067172159,
|
| 270 |
+
1.78557e-05
|
| 271 |
+
],
|
| 272 |
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[
|
| 273 |
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-1.78557e-05,
|
| 274 |
+
0.0053163105,
|
| 275 |
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-0.9999858682
|
| 276 |
+
],
|
| 277 |
+
[
|
| 278 |
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-0.0067172159,
|
| 279 |
+
0.9999633073,
|
| 280 |
+
0.0053163105
|
| 281 |
+
]
|
| 282 |
+
],
|
| 283 |
+
"scale_nokov_to_canon": 0.001,
|
| 284 |
+
"T_canon_nokov_mm": [
|
| 285 |
+
[
|
| 286 |
+
0.000999977439,
|
| 287 |
+
6.717216e-06,
|
| 288 |
+
1.7856e-08,
|
| 289 |
+
0.0
|
| 290 |
+
],
|
| 291 |
+
[
|
| 292 |
+
-1.7856e-08,
|
| 293 |
+
5.31631e-06,
|
| 294 |
+
-0.000999985868,
|
| 295 |
+
0.0
|
| 296 |
+
],
|
| 297 |
+
[
|
| 298 |
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-6.717216e-06,
|
| 299 |
+
0.000999963307,
|
| 300 |
+
5.31631e-06,
|
| 301 |
+
0.0
|
| 302 |
+
],
|
| 303 |
+
[
|
| 304 |
+
0.0,
|
| 305 |
+
0.0,
|
| 306 |
+
0.0,
|
| 307 |
+
1.0
|
| 308 |
+
]
|
| 309 |
+
],
|
| 310 |
+
"block": "20230903-afternoon",
|
| 311 |
+
"block_assignment": "trc",
|
| 312 |
+
"tilt_removed_deg": 0.4908277065541819,
|
| 313 |
+
"plane_status": "ok",
|
| 314 |
+
"floor": {
|
| 315 |
+
"sole_marker_p1_mm": 33.4,
|
| 316 |
+
"headtop_p95_mm": 1758.6
|
| 317 |
+
},
|
| 318 |
+
"gravity_check": {
|
| 319 |
+
"static_samples": 2029,
|
| 320 |
+
"g_world_mean_m_s2": [
|
| 321 |
+
0.0074,
|
| 322 |
+
-0.0174,
|
| 323 |
+
9.778
|
| 324 |
+
],
|
| 325 |
+
"tilt_from_z_deg": 0.111,
|
| 326 |
+
"tilt_from_z_deg_before_levelling": 0.531,
|
| 327 |
+
"magnitude_m_s2": 9.778
|
| 328 |
+
},
|
| 329 |
+
"rig_tracker_definition": "850a0e6aafa85fdf/20230903-afternoon/labels-302145/session-57b0c9787779cc60",
|
| 330 |
+
"rig_check": {
|
| 331 |
+
"status": "video_solve",
|
| 332 |
+
"dropped_marker": null,
|
| 333 |
+
"gyro_deg": 0.894
|
| 334 |
+
},
|
| 335 |
+
"camera_pose_source": "T_tracker0_imu0 @ inv(T_cam_imu)",
|
| 336 |
+
"files": [
|
| 337 |
+
"mocap_zup.npz",
|
| 338 |
+
"tracker0_zup.npz",
|
| 339 |
+
"rig_zup.npz",
|
| 340 |
+
"cameras_zup.npz"
|
| 341 |
+
]
|
| 342 |
+
},
|
| 343 |
+
"rig_tracker": {
|
| 344 |
+
"definition": "850a0e6aafa85fdf/20230903-afternoon/labels-302145/session-57b0c9787779cc60",
|
| 345 |
+
"R_tracker0_imu0": [
|
| 346 |
+
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