Upload folder using huggingface_hub (part 839)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +40 -0
- actions/locomotion_primitives/P31/session_077/videos/head_right_front.mp4 +3 -0
- actions/locomotion_primitives/P31/session_077/videos/third_person.mp4 +3 -0
- actions/locomotion_primitives/P31/session_077/videos/wrist_left.mp4 +3 -0
- actions/locomotion_primitives/P31/session_077/videos/wrist_right.mp4 +3 -0
- actions/locomotion_primitives/P31/session_078/cameras/poses.npz +3 -0
- actions/locomotion_primitives/P31/session_078/meta.json +534 -0
- actions/locomotion_primitives/P31/session_078/motions/head_rig.npz +3 -0
- actions/locomotion_primitives/P31/session_078/motions/markers.npz +3 -0
- actions/locomotion_primitives/P31/session_078/motions/skeleton.npz +3 -0
- actions/locomotion_primitives/P31/session_078/motions/smplx.npz +3 -0
- actions/locomotion_primitives/P31/session_078/raw/audio.wav +3 -0
- actions/locomotion_primitives/P31/session_078/raw/manifest.json +233 -0
- actions/locomotion_primitives/P31/session_078/raw/mocap/Body0.bvh +0 -0
- actions/locomotion_primitives/P31/session_078/raw/mocap/Body0.csv +3 -0
- actions/locomotion_primitives/P31/session_078/raw/mocap/Body0.trc +3 -0
- actions/locomotion_primitives/P31/session_078/raw/mocap/Tracker0.csv +0 -0
- actions/locomotion_primitives/P31/session_078/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/P31/session_078/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/P31/session_078/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/P31/session_078/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/P31/session_078/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/P31/session_078/raw/sensors/robowrist_imu_right.db +0 -0
- actions/locomotion_primitives/P31/session_078/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomotion_primitives/P31/session_078/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomotion_primitives/P31/session_078/scene/infer.json +36 -0
- actions/locomotion_primitives/P31/session_078/scene/views.npz +3 -0
- actions/locomotion_primitives/P31/session_078/sensors/head_imu.npz +3 -0
- actions/locomotion_primitives/P31/session_078/sensors/head_mag.npz +3 -0
- actions/locomotion_primitives/P31/session_078/sensors/wrist_imu.npz +3 -0
- actions/locomotion_primitives/P31/session_078/sensors/wrist_mag.npz +3 -0
- actions/locomotion_primitives/P31/session_078/videos/frame_timestamps.npz +3 -0
- actions/locomotion_primitives/P31/session_078/videos/head_left.mp4 +3 -0
- actions/locomotion_primitives/P31/session_078/videos/head_left_eye.mp4 +3 -0
- actions/locomotion_primitives/P31/session_078/videos/head_left_front.mp4 +3 -0
- actions/locomotion_primitives/P31/session_078/videos/head_right.mp4 +3 -0
- actions/locomotion_primitives/P31/session_078/videos/head_right_eye.mp4 +3 -0
- actions/locomotion_primitives/P31/session_078/videos/head_right_front.mp4 +3 -0
- actions/locomotion_primitives/P31/session_078/videos/third_person.mp4 +3 -0
- actions/locomotion_primitives/P31/session_078/videos/wrist_left.mp4 +3 -0
- actions/locomotion_primitives/P31/session_078/videos/wrist_right.mp4 +3 -0
- actions/locomotion_primitives/P31/session_079/cameras/poses.npz +3 -0
- actions/locomotion_primitives/P31/session_079/meta.json +535 -0
- actions/locomotion_primitives/P31/session_079/motions/head_rig.npz +3 -0
- actions/locomotion_primitives/P31/session_079/motions/markers.npz +3 -0
- actions/locomotion_primitives/P31/session_079/motions/skeleton.npz +3 -0
- actions/locomotion_primitives/P31/session_079/motions/smplx.npz +3 -0
- actions/locomotion_primitives/P31/session_079/raw/audio.wav +3 -0
- actions/locomotion_primitives/P31/session_079/raw/manifest.json +233 -0
- actions/locomotion_primitives/P31/session_079/raw/mocap/Body0.bvh +0 -0
.gitattributes
CHANGED
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@@ -33297,3 +33297,43 @@ actions/locomotion_primitives/P31/session_077/raw/sensors/robocap_mag_middle.db
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actions/locomotion_primitives/P31/session_077/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_077/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_077/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_077/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_077/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_077/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_078/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_078/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_078/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_078/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_078/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_078/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_079/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_079/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_079/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_079/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_079/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_079/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_079/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_080/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_080/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_080/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_080/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_080/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_080/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_080/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_080/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_081/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_081/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_081/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_081/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_081/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_081/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_081/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_081/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_082/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_082/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_082/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_082/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_082/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_082/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_082/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_082/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P31/session_077/videos/head_right_front.mp4
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@@ -0,0 +1,3 @@
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size 64673769
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actions/locomotion_primitives/P31/session_077/videos/third_person.mp4
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@@ -0,0 +1,3 @@
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actions/locomotion_primitives/P31/session_077/videos/wrist_left.mp4
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actions/locomotion_primitives/P31/session_077/videos/wrist_right.mp4
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actions/locomotion_primitives/P31/session_078/cameras/poses.npz
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actions/locomotion_primitives/P31/session_078/meta.json
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@@ -0,0 +1,534 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20260928/P31/20260928_094650_session61",
|
| 4 |
+
"session_id": "20260928_094650_session61",
|
| 5 |
+
"primitive": "P31",
|
| 6 |
+
"batch": "20260928",
|
| 7 |
+
"participant": "fengyixuan",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e17c9efadb69e7b1",
|
| 11 |
+
"left": "452031d7af00ef6f",
|
| 12 |
+
"right": "6ee5ee4472fe2ad7"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-14T11:29:27.574147+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": 139.025,
|
| 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": -1.178868,
|
| 28 |
+
"rate": 0.0,
|
| 29 |
+
"global_lag_s": -1.18,
|
| 30 |
+
"peak_corr": 0.9597,
|
| 31 |
+
"reference_imu_first_sample_s": 16242.230694145,
|
| 32 |
+
"windows": {
|
| 33 |
+
"n_windows": 11,
|
| 34 |
+
"window_corr_median": 0.9911651879033241,
|
| 35 |
+
"drift_ppm": 4.59911628508322,
|
| 36 |
+
"drift_se_ppm": 2.3636232327064057,
|
| 37 |
+
"drift_ms_over_take": 0.6393538155646523,
|
| 38 |
+
"lag_scatter_ms": 0.224232988375273,
|
| 39 |
+
"lag_range_ms": 1.0399937723593045
|
| 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 |
+
"calibration": {
|
| 67 |
+
"device": "e17c9efadb69e7b1",
|
| 68 |
+
"status": "ok",
|
| 69 |
+
"date": "2026-09-08"
|
| 70 |
+
},
|
| 71 |
+
"streams": {
|
| 72 |
+
"sensors": {
|
| 73 |
+
"imu_head_right": {
|
| 74 |
+
"n_acc": 28276,
|
| 75 |
+
"n_gyro": 28270,
|
| 76 |
+
"t_start": -1.1858513264871167,
|
| 77 |
+
"t_end": 139.78148248551207
|
| 78 |
+
},
|
| 79 |
+
"imu_head_left": {
|
| 80 |
+
"n_acc": 28225,
|
| 81 |
+
"n_gyro": 28219,
|
| 82 |
+
"t_start": -1.0745550944886222,
|
| 83 |
+
"t_end": 139.953189920512
|
| 84 |
+
},
|
| 85 |
+
"imu_wrist_left": {
|
| 86 |
+
"n_acc": 27309,
|
| 87 |
+
"n_gyro": 27322,
|
| 88 |
+
"t_start": 0.34098616751163857,
|
| 89 |
+
"t_end": 135.21341036851283
|
| 90 |
+
},
|
| 91 |
+
"mag_head": {
|
| 92 |
+
"n": 14112,
|
| 93 |
+
"t_start": -0.989607992487598,
|
| 94 |
+
"t_end": 140.12038661651223
|
| 95 |
+
},
|
| 96 |
+
"mag_wrist_right": {
|
| 97 |
+
"n": 13512,
|
| 98 |
+
"t_start": 0.1052402085113695,
|
| 99 |
+
"t_end": 135.21504925451137
|
| 100 |
+
},
|
| 101 |
+
"mag_wrist_left": {
|
| 102 |
+
"n": 13486,
|
| 103 |
+
"t_start": 0.3489204895120761,
|
| 104 |
+
"t_end": 135.1987121395121
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"videos": {
|
| 108 |
+
"left": {
|
| 109 |
+
"fps": 30.0,
|
| 110 |
+
"start_device_s": 16243.446973,
|
| 111 |
+
"frames": 4170,
|
| 112 |
+
"pts_gaps": 0,
|
| 113 |
+
"timing": "pts",
|
| 114 |
+
"timeshift_cam_imu_s": 0.0023423887986386703,
|
| 115 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 116 |
+
"t_start": 0.03975361030990965,
|
| 117 |
+
"t_end": 139.0063096103093,
|
| 118 |
+
"clock": "device",
|
| 119 |
+
"calibrated": true
|
| 120 |
+
},
|
| 121 |
+
"right": {
|
| 122 |
+
"fps": 30.0,
|
| 123 |
+
"start_device_s": 16243.446908,
|
| 124 |
+
"frames": 4169,
|
| 125 |
+
"pts_gaps": 1,
|
| 126 |
+
"timing": "pts",
|
| 127 |
+
"timeshift_cam_imu_s": 0.0019489646456461974,
|
| 128 |
+
"gap_test": {
|
| 129 |
+
"pts": {
|
| 130 |
+
"offset_ms": -3.9,
|
| 131 |
+
"corr": 0.768,
|
| 132 |
+
"err_ms": 5.9
|
| 133 |
+
},
|
| 134 |
+
"nominal": {
|
| 135 |
+
"offset_ms": 29.3,
|
| 136 |
+
"corr": 0.768,
|
| 137 |
+
"err_ms": 27.4
|
| 138 |
+
}
|
| 139 |
+
},
|
| 140 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 141 |
+
"t_start": 0.03929518615752525,
|
| 142 |
+
"t_end": 139.005862186157,
|
| 143 |
+
"clock": "device",
|
| 144 |
+
"calibrated": true
|
| 145 |
+
},
|
| 146 |
+
"left_front": {
|
| 147 |
+
"fps": 30.0,
|
| 148 |
+
"start_device_s": 16243.446954,
|
| 149 |
+
"frames": 4170,
|
| 150 |
+
"pts_gaps": 0,
|
| 151 |
+
"timing": "pts",
|
| 152 |
+
"timeshift_cam_imu_s": 0.0018171232386612972,
|
| 153 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 154 |
+
"t_start": 0.039209344749744135,
|
| 155 |
+
"t_end": 139.00576534474914,
|
| 156 |
+
"clock": "device",
|
| 157 |
+
"calibrated": true
|
| 158 |
+
},
|
| 159 |
+
"right_front": {
|
| 160 |
+
"fps": 30.0,
|
| 161 |
+
"start_device_s": 16243.446995,
|
| 162 |
+
"frames": 4170,
|
| 163 |
+
"pts_gaps": 0,
|
| 164 |
+
"timing": "pts",
|
| 165 |
+
"timeshift_cam_imu_s": 0.0017295646474508202,
|
| 166 |
+
"file": "robocap_segment1_video_right_front.mp4",
|
| 167 |
+
"t_start": 0.03916278615890545,
|
| 168 |
+
"t_end": 139.0057067861597,
|
| 169 |
+
"clock": "device",
|
| 170 |
+
"calibrated": true
|
| 171 |
+
},
|
| 172 |
+
"left_eye": {
|
| 173 |
+
"fps": 30.0,
|
| 174 |
+
"start_device_s": 16243.446928,
|
| 175 |
+
"frames": 4170,
|
| 176 |
+
"pts_gaps": 0,
|
| 177 |
+
"timing": "pts",
|
| 178 |
+
"timeshift_cam_imu_s": 0.001668932298833096,
|
| 179 |
+
"file": "robocap_segment1_video_left_eye.mp4",
|
| 180 |
+
"t_start": 0.039035153809728884,
|
| 181 |
+
"t_end": 139.0056021538092,
|
| 182 |
+
"clock": "device",
|
| 183 |
+
"calibrated": true
|
| 184 |
+
},
|
| 185 |
+
"right_eye": {
|
| 186 |
+
"fps": 30.0,
|
| 187 |
+
"start_device_s": 16243.446882,
|
| 188 |
+
"frames": 4170,
|
| 189 |
+
"pts_gaps": 0,
|
| 190 |
+
"timing": "pts",
|
| 191 |
+
"timeshift_cam_imu_s": 0.0017169377622902274,
|
| 192 |
+
"file": "robocap_segment1_video_right_eye.mp4",
|
| 193 |
+
"t_start": 0.039037159274650124,
|
| 194 |
+
"t_end": 139.0056151592742,
|
| 195 |
+
"clock": "device",
|
| 196 |
+
"calibrated": true
|
| 197 |
+
},
|
| 198 |
+
"wrist_left": {
|
| 199 |
+
"fps": 30.0,
|
| 200 |
+
"start_device_s": 16243.746922,
|
| 201 |
+
"frames": 4046,
|
| 202 |
+
"pts_gaps": 0,
|
| 203 |
+
"timing": "pts",
|
| 204 |
+
"timeshift_cam_imu_s": null,
|
| 205 |
+
"file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
|
| 206 |
+
"t_start": 0.3373602215122642,
|
| 207 |
+
"t_end": 135.17049822151222,
|
| 208 |
+
"clock": "device",
|
| 209 |
+
"calibrated": false
|
| 210 |
+
},
|
| 211 |
+
"wrist_right": {
|
| 212 |
+
"fps": 30.0,
|
| 213 |
+
"start_device_s": 16243.62958,
|
| 214 |
+
"frames": 4049,
|
| 215 |
+
"pts_gaps": 0,
|
| 216 |
+
"timing": "pts",
|
| 217 |
+
"timeshift_cam_imu_s": null,
|
| 218 |
+
"file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
|
| 219 |
+
"t_start": 0.2200182215127111,
|
| 220 |
+
"t_end": 135.15315622151303,
|
| 221 |
+
"clock": "device",
|
| 222 |
+
"calibrated": false
|
| 223 |
+
},
|
| 224 |
+
"third_person": {
|
| 225 |
+
"file": "mocap/mocap-P31-S11-fengyixuan-01p1-1.mp4",
|
| 226 |
+
"frames": 4171,
|
| 227 |
+
"fps": 30.0,
|
| 228 |
+
"clock": "nokov (frame index)",
|
| 229 |
+
"t_start": 0.0,
|
| 230 |
+
"t_end": 139.0
|
| 231 |
+
}
|
| 232 |
+
}
|
| 233 |
+
},
|
| 234 |
+
"flags": [
|
| 235 |
+
"wrist_right_imu empty"
|
| 236 |
+
],
|
| 237 |
+
"sanity": {
|
| 238 |
+
"status": {
|
| 239 |
+
"structure": "FAIL",
|
| 240 |
+
"markers": "WARN",
|
| 241 |
+
"timing": "WARN"
|
| 242 |
+
},
|
| 243 |
+
"verdict": "READY_WITH_WARNINGS",
|
| 244 |
+
"issues": [
|
| 245 |
+
"FAIL S_DB_EMPTY",
|
| 246 |
+
"FAIL S_REPORT_EMPTY",
|
| 247 |
+
"WARN M_SPIKES",
|
| 248 |
+
"WARN M_TRACKER_LABELS",
|
| 249 |
+
"WARN S_REPORT_TIMING",
|
| 250 |
+
"WARN T_EMPTY",
|
| 251 |
+
"WARN T_IMU_PAIR",
|
| 252 |
+
"WARN T_PTS",
|
| 253 |
+
"WARN T_RIG_TRACKER"
|
| 254 |
+
]
|
| 255 |
+
},
|
| 256 |
+
"canonical": {
|
| 257 |
+
"generated_at_utc": "2026-10-14T12:22:14.803847+00:00",
|
| 258 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 259 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 260 |
+
"R_canon_nokov": [
|
| 261 |
+
[
|
| 262 |
+
0.9993627135,
|
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|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20260928/P31/20260928_094921_session62",
|
| 4 |
+
"session_id": "20260928_094921_session62",
|
| 5 |
+
"primitive": "P31",
|
| 6 |
+
"batch": "20260928",
|
| 7 |
+
"participant": "fengyixuan",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e17c9efadb69e7b1",
|
| 11 |
+
"left": "452031d7af00ef6f",
|
| 12 |
+
"right": "6ee5ee4472fe2ad7"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-14T11:29:28.808226+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": 129.025,
|
| 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": -1.174836,
|
| 28 |
+
"rate": 0.0,
|
| 29 |
+
"global_lag_s": -1.175,
|
| 30 |
+
"peak_corr": 0.9719,
|
| 31 |
+
"reference_imu_first_sample_s": 16392.911103394,
|
| 32 |
+
"windows": {
|
| 33 |
+
"n_windows": 10,
|
| 34 |
+
"window_corr_median": 0.9904461190646301,
|
| 35 |
+
"drift_ppm": 0.8380616324197032,
|
| 36 |
+
"drift_se_ppm": 2.165346444353498,
|
| 37 |
+
"drift_ms_over_take": 0.10812391827601539,
|
| 38 |
+
"lag_scatter_ms": 0.1759135767326974,
|
| 39 |
+
"lag_range_ms": 0.540176998820252
|
| 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 |
+
"calibration": {
|
| 67 |
+
"device": "e17c9efadb69e7b1",
|
| 68 |
+
"status": "ok",
|
| 69 |
+
"date": "2026-09-08"
|
| 70 |
+
},
|
| 71 |
+
"streams": {
|
| 72 |
+
"sensors": {
|
| 73 |
+
"imu_head_right": {
|
| 74 |
+
"n_acc": 26265,
|
| 75 |
+
"n_gyro": 26258,
|
| 76 |
+
"t_start": -1.1868175615145196,
|
| 77 |
+
"t_end": 129.75510889248656
|
| 78 |
+
},
|
| 79 |
+
"imu_head_left": {
|
| 80 |
+
"n_acc": 26218,
|
| 81 |
+
"n_gyro": 26212,
|
| 82 |
+
"t_start": -1.079864103516204,
|
| 83 |
+
"t_end": 129.9201619334872
|
| 84 |
+
},
|
| 85 |
+
"imu_wrist_left": {
|
| 86 |
+
"n_acc": 25817,
|
| 87 |
+
"n_gyro": 25828,
|
| 88 |
+
"t_start": 0.24679044048573595,
|
| 89 |
+
"t_end": 127.75114855148607
|
| 90 |
+
},
|
| 91 |
+
"mag_head": {
|
| 92 |
+
"n": 13108,
|
| 93 |
+
"t_start": -0.9915386455158772,
|
| 94 |
+
"t_end": 130.07845262548474
|
| 95 |
+
},
|
| 96 |
+
"mag_wrist_right": {
|
| 97 |
+
"n": 12770,
|
| 98 |
+
"t_start": 0.058894977484694744,
|
| 99 |
+
"t_end": 127.74847243848674
|
| 100 |
+
},
|
| 101 |
+
"mag_wrist_left": {
|
| 102 |
+
"n": 12749,
|
| 103 |
+
"t_start": 0.2724404004857457,
|
| 104 |
+
"t_end": 127.7521401294853
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"videos": {
|
| 108 |
+
"left": {
|
| 109 |
+
"fps": 30.0,
|
| 110 |
+
"start_device_s": 16394.123409,
|
| 111 |
+
"frames": 3870,
|
| 112 |
+
"pts_gaps": 0,
|
| 113 |
+
"timing": "pts",
|
| 114 |
+
"timeshift_cam_imu_s": 0.0023423887986386703,
|
| 115 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 116 |
+
"t_start": 0.03981163628307294,
|
| 117 |
+
"t_end": 129.00650063628385,
|
| 118 |
+
"clock": "device",
|
| 119 |
+
"calibrated": true
|
| 120 |
+
},
|
| 121 |
+
"right": {
|
| 122 |
+
"fps": 30.0,
|
| 123 |
+
"start_device_s": 16394.123355,
|
| 124 |
+
"frames": 3869,
|
| 125 |
+
"pts_gaps": 1,
|
| 126 |
+
"timing": "pts",
|
| 127 |
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"timeshift_cam_imu_s": 0.0019489646456461974,
|
| 128 |
+
"gap_test": {
|
| 129 |
+
"pts": {
|
| 130 |
+
"offset_ms": -8.0,
|
| 131 |
+
"corr": 0.816,
|
| 132 |
+
"err_ms": 9.9
|
| 133 |
+
},
|
| 134 |
+
"nominal": {
|
| 135 |
+
"offset_ms": 25.3,
|
| 136 |
+
"corr": 0.816,
|
| 137 |
+
"err_ms": 23.3
|
| 138 |
+
}
|
| 139 |
+
},
|
| 140 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 141 |
+
"t_start": 0.039364212132593446,
|
| 142 |
+
"t_end": 129.00604221213328,
|
| 143 |
+
"clock": "device",
|
| 144 |
+
"calibrated": true
|
| 145 |
+
},
|
| 146 |
+
"left_front": {
|
| 147 |
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"fps": 30.0,
|
| 148 |
+
"start_device_s": 16394.123393,
|
| 149 |
+
"frames": 3870,
|
| 150 |
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"pts_gaps": 0,
|
| 151 |
+
"timing": "pts",
|
| 152 |
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"timeshift_cam_imu_s": 0.0018171232386612972,
|
| 153 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 154 |
+
"t_start": 0.03927037072756101,
|
| 155 |
+
"t_end": 129.00595937072833,
|
| 156 |
+
"clock": "device",
|
| 157 |
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"calibrated": true
|
| 158 |
+
},
|
| 159 |
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"right_front": {
|
| 160 |
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"fps": 30.0,
|
| 161 |
+
"start_device_s": 16394.123426,
|
| 162 |
+
"frames": 3870,
|
| 163 |
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"pts_gaps": 0,
|
| 164 |
+
"timing": "pts",
|
| 165 |
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"timeshift_cam_imu_s": 0.0017295646474508202,
|
| 166 |
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"file": "robocap_segment1_video_right_front.mp4",
|
| 167 |
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"t_start": 0.03921581213037606,
|
| 168 |
+
"t_end": 129.00590481213115,
|
| 169 |
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"clock": "device",
|
| 170 |
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"calibrated": true
|
| 171 |
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},
|
| 172 |
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"left_eye": {
|
| 173 |
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"fps": 30.0,
|
| 174 |
+
"start_device_s": 16394.123378,
|
| 175 |
+
"frames": 3870,
|
| 176 |
+
"pts_gaps": 0,
|
| 177 |
+
"timing": "pts",
|
| 178 |
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"timeshift_cam_imu_s": 0.001668932298833096,
|
| 179 |
+
"file": "robocap_segment1_video_left_eye.mp4",
|
| 180 |
+
"t_start": 0.039107179783993695,
|
| 181 |
+
"t_end": 129.00578517978468,
|
| 182 |
+
"clock": "device",
|
| 183 |
+
"calibrated": true
|
| 184 |
+
},
|
| 185 |
+
"right_eye": {
|
| 186 |
+
"fps": 30.0,
|
| 187 |
+
"start_device_s": 16394.123325,
|
| 188 |
+
"frames": 3870,
|
| 189 |
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"pts_gaps": 0,
|
| 190 |
+
"timing": "pts",
|
| 191 |
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"timeshift_cam_imu_s": 0.0017169377622902274,
|
| 192 |
+
"file": "robocap_segment1_video_right_eye.mp4",
|
| 193 |
+
"t_start": 0.039102185246545185,
|
| 194 |
+
"t_end": 129.00578018524723,
|
| 195 |
+
"clock": "device",
|
| 196 |
+
"calibrated": true
|
| 197 |
+
},
|
| 198 |
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"wrist_left": {
|
| 199 |
+
"fps": 30.0,
|
| 200 |
+
"start_device_s": 16394.344252,
|
| 201 |
+
"frames": 3825,
|
| 202 |
+
"pts_gaps": 0,
|
| 203 |
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"timing": "pts",
|
| 204 |
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"timeshift_cam_imu_s": null,
|
| 205 |
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"file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
|
| 206 |
+
"t_start": 0.25831224748438,
|
| 207 |
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"t_end": 127.72465324748376,
|
| 208 |
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"clock": "device",
|
| 209 |
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"calibrated": false
|
| 210 |
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},
|
| 211 |
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"wrist_right": {
|
| 212 |
+
"fps": 30.0,
|
| 213 |
+
"start_device_s": 16394.261135,
|
| 214 |
+
"frames": 3827,
|
| 215 |
+
"pts_gaps": 0,
|
| 216 |
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"timing": "pts",
|
| 217 |
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"timeshift_cam_imu_s": null,
|
| 218 |
+
"file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
|
| 219 |
+
"t_start": 0.17519524748606963,
|
| 220 |
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"t_end": 127.70807324748787,
|
| 221 |
+
"clock": "device",
|
| 222 |
+
"calibrated": false
|
| 223 |
+
},
|
| 224 |
+
"third_person": {
|
| 225 |
+
"file": "mocap/mocap-P31-S12-fengyixuan-01p1-1.mp4",
|
| 226 |
+
"frames": 3871,
|
| 227 |
+
"fps": 30.0,
|
| 228 |
+
"clock": "nokov (frame index)",
|
| 229 |
+
"t_start": 0.0,
|
| 230 |
+
"t_end": 129.0
|
| 231 |
+
}
|
| 232 |
+
}
|
| 233 |
+
},
|
| 234 |
+
"flags": [
|
| 235 |
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"wrist_right_imu empty"
|
| 236 |
+
],
|
| 237 |
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"sanity": {
|
| 238 |
+
"status": {
|
| 239 |
+
"structure": "FAIL",
|
| 240 |
+
"markers": "WARN",
|
| 241 |
+
"timing": "WARN"
|
| 242 |
+
},
|
| 243 |
+
"verdict": "READY_WITH_WARNINGS",
|
| 244 |
+
"issues": [
|
| 245 |
+
"FAIL S_DB_EMPTY",
|
| 246 |
+
"FAIL S_REPORT_EMPTY",
|
| 247 |
+
"WARN M_LATERAL",
|
| 248 |
+
"WARN M_SPIKES",
|
| 249 |
+
"WARN M_TRACKER_LABELS",
|
| 250 |
+
"WARN S_REPORT_TIMING",
|
| 251 |
+
"WARN T_EMPTY",
|
| 252 |
+
"WARN T_IMU_PAIR",
|
| 253 |
+
"WARN T_PTS",
|
| 254 |
+
"WARN T_RIG_TRACKER"
|
| 255 |
+
]
|
| 256 |
+
},
|
| 257 |
+
"canonical": {
|
| 258 |
+
"generated_at_utc": "2026-10-14T12:22:14.860414+00:00",
|
| 259 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 260 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 261 |
+
"R_canon_nokov": [
|
| 262 |
+
[
|
| 263 |
+
0.9993627135,
|
| 264 |
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-0.0356944519,
|
| 265 |
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-0.0002702207
|
| 266 |
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],
|
| 267 |
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[
|
| 268 |
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0.0002702207,
|
| 269 |
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0.0151350739,
|
| 270 |
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-0.9998854217
|
| 271 |
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],
|
| 272 |
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[
|
| 273 |
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0.0356944519,
|
| 274 |
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0.9992481352,
|
| 275 |
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0.0151350739
|
| 276 |
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]
|
| 277 |
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],
|
| 278 |
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"scale_nokov_to_canon": 0.001,
|
| 279 |
+
"T_canon_nokov_mm": [
|
| 280 |
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[
|
| 281 |
+
0.000999362713,
|
| 282 |
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-3.5694452e-05,
|
| 283 |
+
-2.70221e-07,
|
| 284 |
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0.0
|
| 285 |
+
],
|
| 286 |
+
[
|
| 287 |
+
2.70221e-07,
|
| 288 |
+
1.5135074e-05,
|
| 289 |
+
-0.000999885422,
|
| 290 |
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0.0
|
| 291 |
+
],
|
| 292 |
+
[
|
| 293 |
+
3.5694452e-05,
|
| 294 |
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0.000999248135,
|
| 295 |
+
1.5135074e-05,
|
| 296 |
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0.0
|
| 297 |
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],
|
| 298 |
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[
|
| 299 |
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0.0,
|
| 300 |
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0.0,
|
| 301 |
+
0.0,
|
| 302 |
+
1.0
|
| 303 |
+
]
|
| 304 |
+
],
|
| 305 |
+
"block": "20260928-afternoon",
|
| 306 |
+
"block_assignment": "trc",
|
| 307 |
+
"tilt_removed_deg": 2.221952293556642,
|
| 308 |
+
"plane_status": "ok",
|
| 309 |
+
"floor": {
|
| 310 |
+
"sole_marker_p1_mm": 39.3,
|
| 311 |
+
"headtop_p95_mm": 1649.9
|
| 312 |
+
},
|
| 313 |
+
"gravity_check": {
|
| 314 |
+
"static_samples": 685,
|
| 315 |
+
"g_world_mean_m_s2": [
|
| 316 |
+
0.1578,
|
| 317 |
+
-0.2519,
|
| 318 |
+
9.7658
|
| 319 |
+
],
|
| 320 |
+
"tilt_from_z_deg": 1.743,
|
| 321 |
+
"tilt_from_z_deg_before_levelling": 3.785,
|
| 322 |
+
"magnitude_m_s2": 9.7704
|
| 323 |
+
},
|
| 324 |
+
"rig_tracker_definition": "e17c9efadb69e7b1/20260928-afternoon/labels-035142/session-e5f68763d0a2cd32",
|
| 325 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 326 |
+
"files": [
|
| 327 |
+
"mocap_zup.npz",
|
| 328 |
+
"tracker0_zup.npz",
|
| 329 |
+
"rig_zup.npz",
|
| 330 |
+
"cameras_zup.npz"
|
| 331 |
+
]
|
| 332 |
+
},
|
| 333 |
+
"smplx": {
|
| 334 |
+
"generated_at_utc": "2026-10-15T03:48:30.370224+00:00",
|
| 335 |
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actions/locomotion_primitives/P31/session_079/raw/mocap/Body0.bvh
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