Upload folder using huggingface_hub (part 288)
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- .gitattributes +45 -0
- actions/locomanipulation/LM26/session_017/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM26/session_017/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM26/session_017/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM26/session_017/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM26/session_017/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM26/session_017/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM26/session_017/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM26/session_017/scene/infer.json +36 -0
- actions/locomanipulation/LM26/session_017/scene/views.npz +3 -0
- actions/locomanipulation/LM26/session_017/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM26/session_017/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM26/session_017/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM26/session_017/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM26/session_017/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM26/session_017/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM26/session_017/videos/head_left_eye.mp4 +3 -0
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- actions/locomanipulation/LM26/session_017/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM26/session_017/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM26/session_017/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM26/session_017/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM26/session_017/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM26/session_017/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM26/session_018/cameras/poses.npz +3 -0
- actions/locomanipulation/LM26/session_018/meta.json +533 -0
- actions/locomanipulation/LM26/session_018/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM26/session_018/motions/markers.npz +3 -0
- actions/locomanipulation/LM26/session_018/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM26/session_018/motions/smplx.npz +3 -0
- actions/locomanipulation/LM26/session_018/raw/audio.wav +3 -0
- actions/locomanipulation/LM26/session_018/raw/manifest.json +245 -0
- actions/locomanipulation/LM26/session_018/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM26/session_018/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM26/session_018/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM26/session_018/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM26/session_018/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM26/session_018/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM26/session_018/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM26/session_018/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM26/session_018/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM26/session_018/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM26/session_018/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM26/session_018/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM26/session_018/scene/infer.json +36 -0
- actions/locomanipulation/LM26/session_018/scene/views.npz +3 -0
- actions/locomanipulation/LM26/session_018/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM26/session_018/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM26/session_018/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM26/session_018/sensors/wrist_mag.npz +3 -0
.gitattributes
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| 1 |
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{
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| 2 |
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| 3 |
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"session": "EgoMotionActions/20260923/LM26/20260923_011033_session193",
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| 4 |
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"session_id": "20260923_011033_session193",
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| 5 |
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"primitive": "LM26",
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"batch": "20260923",
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"participant": "zhangxinxin",
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|
| 16 |
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|
| 17 |
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"definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
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| 21 |
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"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 22 |
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},
|
| 23 |
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"alignment": {
|
| 24 |
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"reference_imu": "imu_head_right",
|
| 25 |
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"model": "offset (median of windows)",
|
| 26 |
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"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 27 |
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"offset_s": -1.186603,
|
| 28 |
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"rate": 0.0,
|
| 29 |
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"global_lag_s": -1.185,
|
| 30 |
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"peak_corr": 0.9916,
|
| 31 |
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"reference_imu_first_sample_s": 3357.670661161,
|
| 32 |
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"windows": {
|
| 33 |
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"n_windows": 10,
|
| 34 |
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"window_corr_median": 0.9988525365782064,
|
| 35 |
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"drift_ppm": 2.0513262359423283,
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| 36 |
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"drift_se_ppm": 2.257353204046311,
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"drift_ms_over_take": 0.24414201084773615,
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"lag_scatter_ms": 0.18338824122500266,
|
| 39 |
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"lag_range_ms": 0.6797253700789874
|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"units": {
|
| 43 |
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"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 44 |
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"y_up_to_z_up": [
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| 45 |
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[
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| 46 |
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| 59 |
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]
|
| 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 |
+
"calibration": {
|
| 67 |
+
"device": "e17c9efadb69e7b1",
|
| 68 |
+
"status": "ok",
|
| 69 |
+
"date": "2026-09-08"
|
| 70 |
+
},
|
| 71 |
+
"streams": {
|
| 72 |
+
"sensors": {
|
| 73 |
+
"imu_head_right": {
|
| 74 |
+
"n_acc": 24265,
|
| 75 |
+
"n_gyro": 24259,
|
| 76 |
+
"t_start": -1.1935834248080497,
|
| 77 |
+
"t_end": 119.7838161791918
|
| 78 |
+
},
|
| 79 |
+
"imu_head_left": {
|
| 80 |
+
"n_acc": 24220,
|
| 81 |
+
"n_gyro": 24215,
|
| 82 |
+
"t_start": -1.0760129648080252,
|
| 83 |
+
"t_end": 119.94758485319184
|
| 84 |
+
},
|
| 85 |
+
"imu_wrist_right": {
|
| 86 |
+
"n_acc": 23354,
|
| 87 |
+
"n_gyro": 23353,
|
| 88 |
+
"t_start": 0.266135732192059,
|
| 89 |
+
"t_end": 115.68166094519196
|
| 90 |
+
},
|
| 91 |
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"imu_wrist_left": {
|
| 92 |
+
"n_acc": 22792,
|
| 93 |
+
"n_gyro": 22803,
|
| 94 |
+
"t_start": 0.2910597591920563,
|
| 95 |
+
"t_end": 115.68117975319169
|
| 96 |
+
},
|
| 97 |
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"mag_head": {
|
| 98 |
+
"n": 12111,
|
| 99 |
+
"t_start": -0.9910642578080584,
|
| 100 |
+
"t_end": 120.10893396619198
|
| 101 |
+
},
|
| 102 |
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"mag_wrist_right": {
|
| 103 |
+
"n": 11541,
|
| 104 |
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"t_start": 0.28451898919170016,
|
| 105 |
+
"t_end": 115.68457461519196
|
| 106 |
+
},
|
| 107 |
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"mag_wrist_left": {
|
| 108 |
+
"n": 11526,
|
| 109 |
+
"t_start": 0.3152482601920823,
|
| 110 |
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"t_end": 115.6650923251917
|
| 111 |
+
}
|
| 112 |
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},
|
| 113 |
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"videos": {
|
| 114 |
+
"left": {
|
| 115 |
+
"fps": 30.0,
|
| 116 |
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"start_device_s": 3358.894704,
|
| 117 |
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"frames": 3570,
|
| 118 |
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"pts_gaps": 0,
|
| 119 |
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"timing": "pts",
|
| 120 |
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"timeshift_cam_imu_s": 0.0023423887986386703,
|
| 121 |
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"file": "robocap_segment1_video_left.mp4",
|
| 122 |
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"t_start": 0.039782613990472226,
|
| 123 |
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"t_end": 119.00648261399041,
|
| 124 |
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"clock": "device",
|
| 125 |
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"calibrated": true
|
| 126 |
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},
|
| 127 |
+
"right": {
|
| 128 |
+
"fps": 30.0,
|
| 129 |
+
"start_device_s": 3358.894648,
|
| 130 |
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"frames": 3570,
|
| 131 |
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"pts_gaps": 0,
|
| 132 |
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"timing": "pts",
|
| 133 |
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"timeshift_cam_imu_s": 0.0019489646456461974,
|
| 134 |
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"file": "robocap_segment1_video_right.mp4",
|
| 135 |
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"t_start": 0.039333189837496674,
|
| 136 |
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"t_end": 119.00603318983744,
|
| 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": 3358.894685,
|
| 143 |
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"frames": 3570,
|
| 144 |
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"pts_gaps": 0,
|
| 145 |
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"timing": "pts",
|
| 146 |
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"timeshift_cam_imu_s": 0.0018171232386612972,
|
| 147 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 148 |
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"t_start": 0.03923834843076146,
|
| 149 |
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|
| 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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| 156 |
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| 157 |
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| 158 |
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"timing": "pts",
|
| 159 |
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"timeshift_cam_imu_s": 0.0017295646474508202,
|
| 160 |
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"file": "robocap_segment1_video_right_front.mp4",
|
| 161 |
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"t_start": 0.03918778983947813,
|
| 162 |
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| 163 |
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"clock": "device",
|
| 164 |
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"calibrated": true
|
| 165 |
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},
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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": 3358.894668,
|
| 169 |
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"frames": 3570,
|
| 170 |
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"pts_gaps": 0,
|
| 171 |
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"timing": "pts",
|
| 172 |
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"timeshift_cam_imu_s": 0.001668932298833096,
|
| 173 |
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"file": "robocap_segment1_video_left_eye.mp4",
|
| 174 |
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"t_start": 0.0390731574906098,
|
| 175 |
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"t_end": 119.00577315749055,
|
| 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": 3358.894618,
|
| 182 |
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"frames": 3570,
|
| 183 |
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|
| 184 |
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"timing": "pts",
|
| 185 |
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"timeshift_cam_imu_s": 0.0017169377622902274,
|
| 186 |
+
"file": "robocap_segment1_video_right_eye.mp4",
|
| 187 |
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"t_start": 0.0390711629541769,
|
| 188 |
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"t_end": 119.0057821629542,
|
| 189 |
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"clock": "device",
|
| 190 |
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"calibrated": true
|
| 191 |
+
},
|
| 192 |
+
"wrist_left": {
|
| 193 |
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"fps": 30.0,
|
| 194 |
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"start_device_s": 3359.159216,
|
| 195 |
+
"frames": 3458,
|
| 196 |
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"pts_gaps": 1,
|
| 197 |
+
"timing": "pts",
|
| 198 |
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"timeshift_cam_imu_s": null,
|
| 199 |
+
"gap_test": {
|
| 200 |
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"pts": {
|
| 201 |
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"offset_ms": 19.0,
|
| 202 |
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"corr": 0.651,
|
| 203 |
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"err_ms": 19.0
|
| 204 |
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},
|
| 205 |
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"nominal": {
|
| 206 |
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"offset_ms": 85.5,
|
| 207 |
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"corr": 0.651,
|
| 208 |
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"err_ms": 85.5
|
| 209 |
+
}
|
| 210 |
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},
|
| 211 |
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"file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
|
| 212 |
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"t_start": 0.30195222519191556,
|
| 213 |
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"t_end": 115.60182222519174,
|
| 214 |
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|
| 215 |
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"calibrated": false
|
| 216 |
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},
|
| 217 |
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"wrist_right": {
|
| 218 |
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"fps": 30.0,
|
| 219 |
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"start_device_s": 3359.125276,
|
| 220 |
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|
| 221 |
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|
| 222 |
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"timing": "pts",
|
| 223 |
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"timeshift_cam_imu_s": null,
|
| 224 |
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"file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
|
| 225 |
+
"t_start": 0.2680122251921133,
|
| 226 |
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|
| 227 |
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"clock": "device",
|
| 228 |
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"calibrated": false
|
| 229 |
+
},
|
| 230 |
+
"third_person": {
|
| 231 |
+
"file": "mocap/mocap-LM26-S03-zhangxinxin-01p1-1.mp4",
|
| 232 |
+
"frames": 3571,
|
| 233 |
+
"fps": 30.0,
|
| 234 |
+
"clock": "nokov (frame index)",
|
| 235 |
+
"t_start": 0.0,
|
| 236 |
+
"t_end": 119.0
|
| 237 |
+
}
|
| 238 |
+
}
|
| 239 |
+
},
|
| 240 |
+
"flags": [],
|
| 241 |
+
"sanity": {
|
| 242 |
+
"status": {
|
| 243 |
+
"structure": "WARN",
|
| 244 |
+
"markers": "WARN",
|
| 245 |
+
"timing": "WARN"
|
| 246 |
+
},
|
| 247 |
+
"verdict": "READY_WITH_WARNINGS",
|
| 248 |
+
"issues": [
|
| 249 |
+
"WARN M_BODY_ID",
|
| 250 |
+
"WARN M_SPIKES",
|
| 251 |
+
"WARN M_TRACKER_LABELS",
|
| 252 |
+
"WARN S_PARTICIPANT",
|
| 253 |
+
"WARN S_REPORT_TIMING",
|
| 254 |
+
"WARN T_GAP",
|
| 255 |
+
"WARN T_PTS",
|
| 256 |
+
"WARN T_UNITS"
|
| 257 |
+
]
|
| 258 |
+
},
|
| 259 |
+
"canonical": {
|
| 260 |
+
"generated_at_utc": "2026-10-14T12:21:42.524137+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 |
+
[
|
| 265 |
+
0.999971398,
|
| 266 |
+
-0.0075631784,
|
| 267 |
+
-3.95322e-05
|
| 268 |
+
],
|
| 269 |
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[
|
| 270 |
+
3.95322e-05,
|
| 271 |
+
0.0104534224,
|
| 272 |
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-0.9999453607
|
| 273 |
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],
|
| 274 |
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[
|
| 275 |
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0.0075631784,
|
| 276 |
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0.9999167587,
|
| 277 |
+
0.0104534224
|
| 278 |
+
]
|
| 279 |
+
],
|
| 280 |
+
"scale_nokov_to_canon": 0.001,
|
| 281 |
+
"T_canon_nokov_mm": [
|
| 282 |
+
[
|
| 283 |
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0.000999971398,
|
| 284 |
+
-7.563178e-06,
|
| 285 |
+
-3.9532e-08,
|
| 286 |
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0.0
|
| 287 |
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],
|
| 288 |
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[
|
| 289 |
+
3.9532e-08,
|
| 290 |
+
1.0453422e-05,
|
| 291 |
+
-0.000999945361,
|
| 292 |
+
0.0
|
| 293 |
+
],
|
| 294 |
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[
|
| 295 |
+
7.563178e-06,
|
| 296 |
+
0.000999916759,
|
| 297 |
+
1.0453422e-05,
|
| 298 |
+
0.0
|
| 299 |
+
],
|
| 300 |
+
[
|
| 301 |
+
0.0,
|
| 302 |
+
0.0,
|
| 303 |
+
0.0,
|
| 304 |
+
1.0
|
| 305 |
+
]
|
| 306 |
+
],
|
| 307 |
+
"block": "20260923-morning",
|
| 308 |
+
"block_assignment": "trc",
|
| 309 |
+
"tilt_removed_deg": 0.7392819725535851,
|
| 310 |
+
"plane_status": "contacts span only 0.43 m",
|
| 311 |
+
"floor": {
|
| 312 |
+
"sole_marker_p1_mm": 32.9,
|
| 313 |
+
"headtop_p95_mm": 1634.5
|
| 314 |
+
},
|
| 315 |
+
"gravity_check": {
|
| 316 |
+
"static_samples": 2252,
|
| 317 |
+
"g_world_mean_m_s2": [
|
| 318 |
+
0.0587,
|
| 319 |
+
-0.0629,
|
| 320 |
+
9.7826
|
| 321 |
+
],
|
| 322 |
+
"tilt_from_z_deg": 0.504,
|
| 323 |
+
"tilt_from_z_deg_before_levelling": 1.241,
|
| 324 |
+
"magnitude_m_s2": 9.7829
|
| 325 |
+
},
|
| 326 |
+
"rig_tracker_definition": "e17c9efadb69e7b1/20260923-morning/labels-352410/session-cbbb68e0dea7639c",
|
| 327 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 328 |
+
"files": [
|
| 329 |
+
"mocap_zup.npz",
|
| 330 |
+
"tracker0_zup.npz",
|
| 331 |
+
"rig_zup.npz",
|
| 332 |
+
"cameras_zup.npz"
|
| 333 |
+
]
|
| 334 |
+
},
|
| 335 |
+
"smplx": {
|
| 336 |
+
"generated_at_utc": "2026-10-14T23:34:35.076681+00:00",
|
| 337 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 338 |
+
"file": "smplx.npz",
|
| 339 |
+
"gender": "female",
|
| 340 |
+
"n_betas": 16,
|
| 341 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 342 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 343 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 344 |
+
"hands": {
|
| 345 |
+
"observed": false,
|
| 346 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 347 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 348 |
+
"hand_marker_offsets_m": {
|
| 349 |
+
"left": {
|
| 350 |
+
"LHandIn": [
|
| 351 |
+
0.019959669560194016,
|
| 352 |
+
0.01859123446047306,
|
| 353 |
+
0.024431003257632256
|
| 354 |
+
],
|
| 355 |
+
"LHandOut": [
|
| 356 |
+
0.031623631715774536,
|
| 357 |
+
0.012472203001379967,
|
| 358 |
+
-0.018112018704414368
|
| 359 |
+
]
|
| 360 |
+
},
|
| 361 |
+
"right": {
|
| 362 |
+
"RHandIn": [
|
| 363 |
+
-0.045976605266332626,
|
| 364 |
+
0.02869899570941925,
|
| 365 |
+
0.029524169862270355
|
| 366 |
+
],
|
| 367 |
+
"RHandOut": [
|
| 368 |
+
-0.06537333875894547,
|
| 369 |
+
0.0078110904432833195,
|
| 370 |
+
-0.020314257591962814
|
| 371 |
+
]
|
| 372 |
+
}
|
| 373 |
+
}
|
| 374 |
+
},
|
| 375 |
+
"marker_rmse_mm": {
|
| 376 |
+
"median_frame": 3.75,
|
| 377 |
+
"p95_frame": 6.44
|
| 378 |
+
},
|
| 379 |
+
"worst_markers": [
|
| 380 |
+
"RKneeIn 12mm",
|
| 381 |
+
"LKneeIn 8mm",
|
| 382 |
+
"RThigh 7mm",
|
| 383 |
+
"RHeel 7mm",
|
| 384 |
+
"LShin 6mm"
|
| 385 |
+
],
|
| 386 |
+
"valid_fraction": 1.0,
|
| 387 |
+
"qc": {
|
| 388 |
+
"lowest_vertex_mm": {
|
| 389 |
+
"median": 3.4,
|
| 390 |
+
"p5": -1.8
|
| 391 |
+
},
|
| 392 |
+
"frames_checked": 477,
|
| 393 |
+
"stature_mm": 1627.7
|
| 394 |
+
},
|
| 395 |
+
"surface_term": {
|
| 396 |
+
"weight": 1.0,
|
| 397 |
+
"marker_height_mm": 11.0,
|
| 398 |
+
"markers_on_surface": 52,
|
| 399 |
+
"surface_rmse_mm_median": 11.36
|
| 400 |
+
},
|
| 401 |
+
"shape_source": "participant median",
|
| 402 |
+
"wrist_correction": {
|
| 403 |
+
"left": {
|
| 404 |
+
"status": "corrected",
|
| 405 |
+
"Q_deg": 177.12,
|
| 406 |
+
"Q_rotvec": [
|
| 407 |
+
3.091,
|
| 408 |
+
-0.02653,
|
| 409 |
+
-0.04109
|
| 410 |
+
],
|
| 411 |
+
"in_out_sign": -1,
|
| 412 |
+
"wrist_bend_deg_median": 158.6,
|
| 413 |
+
"opposite_sign_bend_deg": 33.5,
|
| 414 |
+
"in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
|
| 415 |
+
"marker_frame_spread_deg": 1.59,
|
| 416 |
+
"hand_vs_marker_frame_deg": {
|
| 417 |
+
"before": 176.97,
|
| 418 |
+
"after": 1.59
|
| 419 |
+
},
|
| 420 |
+
"markers_on_wrist": [
|
| 421 |
+
"LHandIn",
|
| 422 |
+
"LHandOut"
|
| 423 |
+
],
|
| 424 |
+
"forearm_twist": {
|
| 425 |
+
"twist_moved_deg": 158.38,
|
| 426 |
+
"wrist_twist_deg_after": {
|
| 427 |
+
"median": -0.0,
|
| 428 |
+
"iqr": [
|
| 429 |
+
-3.0,
|
| 430 |
+
1.5
|
| 431 |
+
]
|
| 432 |
+
},
|
| 433 |
+
"wrist_total_deg_median_after": 18.6,
|
| 434 |
+
"markers_on_forearm": [
|
| 435 |
+
"LElbowIn",
|
| 436 |
+
"LForearm",
|
| 437 |
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