Upload folder using huggingface_hub (part 1016)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +43 -0
- actions/static_manipulation/SM36/session_006/raw/sensors/robocap_imu_left.db +3 -0
- actions/static_manipulation/SM36/session_006/raw/sensors/robocap_imu_right.db +3 -0
- actions/static_manipulation/SM36/session_006/raw/sensors/robocap_mag_middle.db +3 -0
- actions/static_manipulation/SM36/session_006/raw/sensors/robowrist_imu_left.db +3 -0
- actions/static_manipulation/SM36/session_006/raw/sensors/robowrist_imu_right.db +3 -0
- actions/static_manipulation/SM36/session_006/raw/sensors/robowrist_mag_left.db +3 -0
- actions/static_manipulation/SM36/session_006/raw/sensors/robowrist_mag_right.db +3 -0
- actions/static_manipulation/SM36/session_006/scene/infer.json +36 -0
- actions/static_manipulation/SM36/session_006/scene/views.npz +3 -0
- actions/static_manipulation/SM36/session_006/sensors/head_imu.npz +3 -0
- actions/static_manipulation/SM36/session_006/sensors/head_mag.npz +3 -0
- actions/static_manipulation/SM36/session_006/sensors/wrist_imu.npz +3 -0
- actions/static_manipulation/SM36/session_006/sensors/wrist_mag.npz +3 -0
- actions/static_manipulation/SM36/session_006/videos/frame_timestamps.npz +3 -0
- actions/static_manipulation/SM36/session_006/videos/head_left.mp4 +3 -0
- actions/static_manipulation/SM36/session_006/videos/head_left_eye.mp4 +3 -0
- actions/static_manipulation/SM36/session_006/videos/head_left_front.mp4 +3 -0
- actions/static_manipulation/SM36/session_006/videos/head_right.mp4 +3 -0
- actions/static_manipulation/SM36/session_006/videos/head_right_eye.mp4 +3 -0
- actions/static_manipulation/SM36/session_006/videos/head_right_front.mp4 +3 -0
- actions/static_manipulation/SM36/session_006/videos/third_person.mp4 +3 -0
- actions/static_manipulation/SM36/session_006/videos/wrist_left.mp4 +3 -0
- actions/static_manipulation/SM36/session_006/videos/wrist_right.mp4 +3 -0
- actions/static_manipulation/SM37/session_001/cameras/poses.npz +3 -0
- actions/static_manipulation/SM37/session_001/meta.json +526 -0
- actions/static_manipulation/SM37/session_001/motions/head_rig.npz +3 -0
- actions/static_manipulation/SM37/session_001/motions/markers.npz +3 -0
- actions/static_manipulation/SM37/session_001/motions/skeleton.npz +3 -0
- actions/static_manipulation/SM37/session_001/motions/smplx.npz +3 -0
- actions/static_manipulation/SM37/session_001/raw/audio.wav +3 -0
- actions/static_manipulation/SM37/session_001/raw/manifest.json +230 -0
- actions/static_manipulation/SM37/session_001/raw/mocap/Body0.bvh +3 -0
- actions/static_manipulation/SM37/session_001/raw/mocap/Body0.csv +3 -0
- actions/static_manipulation/SM37/session_001/raw/mocap/Body0.trc +3 -0
- actions/static_manipulation/SM37/session_001/raw/mocap/Tracker0.csv +0 -0
- actions/static_manipulation/SM37/session_001/raw/mocap/Tracker0.trc +0 -0
- actions/static_manipulation/SM37/session_001/raw/sensors/robocap_imu_left.db +3 -0
- actions/static_manipulation/SM37/session_001/raw/sensors/robocap_imu_right.db +3 -0
- actions/static_manipulation/SM37/session_001/raw/sensors/robocap_mag_middle.db +3 -0
- actions/static_manipulation/SM37/session_001/raw/sensors/robowrist_imu_left.db +3 -0
- actions/static_manipulation/SM37/session_001/raw/sensors/robowrist_imu_right.db +0 -0
- actions/static_manipulation/SM37/session_001/raw/sensors/robowrist_mag_left.db +3 -0
- actions/static_manipulation/SM37/session_001/raw/sensors/robowrist_mag_right.db +3 -0
- actions/static_manipulation/SM37/session_001/scene/infer.json +36 -0
- actions/static_manipulation/SM37/session_001/scene/views.npz +3 -0
- actions/static_manipulation/SM37/session_001/sensors/head_imu.npz +3 -0
- actions/static_manipulation/SM37/session_001/sensors/head_mag.npz +3 -0
- actions/static_manipulation/SM37/session_001/sensors/wrist_imu.npz +3 -0
- actions/static_manipulation/SM37/session_001/sensors/wrist_mag.npz +3 -0
.gitattributes
CHANGED
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@@ -39506,3 +39506,46 @@ actions/static_manipulation/SM36/session_005/raw/sensors/robowrist_mag_left.db f
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actions/static_manipulation/SM36/session_005/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM36/session_006/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM36/session_006/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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| 39506 |
actions/static_manipulation/SM36/session_005/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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| 39507 |
actions/static_manipulation/SM36/session_006/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM36/session_006/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM36/session_006/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM36/session_006/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM36/session_006/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM36/session_006/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM36/session_006/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM36/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM36/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM37/session_001/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM37/session_001/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM37/session_001/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM37/session_001/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM37/session_003/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM37/session_004/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM37/session_004/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM37/session_004/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM36/session_006/raw/sensors/robocap_imu_left.db
ADDED
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| 1 |
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{
|
| 2 |
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"schema_version": 1,
|
| 3 |
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"session": "EgoMotionActions/20260915/SM37/20260915_033129_session32",
|
| 4 |
+
"session_id": "20260915_033129_session32",
|
| 5 |
+
"primitive": "SM37",
|
| 6 |
+
"batch": "20260915",
|
| 7 |
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"participant": "wangyang",
|
| 8 |
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"participant_source": "manifest",
|
| 9 |
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"device_ids": {
|
| 10 |
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"main": "e17c9efadb69e7b1",
|
| 11 |
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"left": "452031d7af00ef6f",
|
| 12 |
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"right": "6ee5ee4472fe2ad7"
|
| 13 |
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},
|
| 14 |
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"generated_at_utc": "2026-10-14T11:09:00.734301+00:00",
|
| 15 |
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"generated_by": "scripts/sync_dataset.py",
|
| 16 |
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"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": 149.025,
|
| 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": -1.174971,
|
| 28 |
+
"rate": 0.0,
|
| 29 |
+
"global_lag_s": -1.175,
|
| 30 |
+
"peak_corr": 0.9689,
|
| 31 |
+
"reference_imu_first_sample_s": 10206.234761146,
|
| 32 |
+
"windows": {
|
| 33 |
+
"n_windows": 12,
|
| 34 |
+
"window_corr_median": 0.993876030439027,
|
| 35 |
+
"drift_ppm": -1.2598107335699285,
|
| 36 |
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"drift_se_ppm": 5.596359845093335,
|
| 37 |
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"drift_ms_over_take": -0.18773279614747887,
|
| 38 |
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"lag_scatter_ms": 0.6109181493699704,
|
| 39 |
+
"lag_range_ms": 2.403852785439975
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"units": {
|
| 43 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 44 |
+
"y_up_to_z_up": [
|
| 45 |
+
[
|
| 46 |
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1.0,
|
| 47 |
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0.0,
|
| 48 |
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0.0
|
| 49 |
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],
|
| 50 |
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[
|
| 51 |
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0.0,
|
| 52 |
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0.0,
|
| 53 |
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-1.0
|
| 54 |
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],
|
| 55 |
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[
|
| 56 |
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0.0,
|
| 57 |
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1.0,
|
| 58 |
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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 |
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"device": "e17c9efadb69e7b1",
|
| 68 |
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"status": "ok",
|
| 69 |
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"date": "2026-09-08"
|
| 70 |
+
},
|
| 71 |
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"streams": {
|
| 72 |
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"sensors": {
|
| 73 |
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|
| 74 |
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| 85 |
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|
| 86 |
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| 87 |
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| 88 |
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|
| 89 |
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| 90 |
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},
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| 91 |
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"n": 15111,
|
| 93 |
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},
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| 103 |
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}
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| 106 |
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| 108 |
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| 109 |
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|
| 110 |
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"file": "robocap_segment1_video_left.mp4",
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| 119 |
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| 120 |
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},
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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| 126 |
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| 127 |
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| 128 |
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| 129 |
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| 130 |
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| 132 |
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| 133 |
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},
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| 134 |
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| 135 |
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| 136 |
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| 142 |
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"file": "robocap_segment1_video_left_eye.mp4",
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| 168 |
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| 172 |
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},
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"file": "robocap_segment1_video_right_eye.mp4",
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| 181 |
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| 185 |
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},
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| 191 |
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| 192 |
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| 193 |
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| 194 |
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},
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| 204 |
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| 205 |
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| 206 |
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"file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
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| 211 |
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},
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| 212 |
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"third_person": {
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| 213 |
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"file": "mocap/mocap-SM37-S01-wangyang-02p1-1.mp4",
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| 214 |
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|
| 215 |
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|
| 216 |
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| 217 |
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| 218 |
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|
| 219 |
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}
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| 220 |
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}
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| 221 |
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},
|
| 222 |
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"flags": [
|
| 223 |
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"wrist_right_imu empty"
|
| 224 |
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],
|
| 225 |
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"sanity": {
|
| 226 |
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"status": {
|
| 227 |
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"structure": "FAIL",
|
| 228 |
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"markers": "WARN",
|
| 229 |
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"timing": "WARN"
|
| 230 |
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},
|
| 231 |
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"verdict": "READY_WITH_WARNINGS",
|
| 232 |
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"issues": [
|
| 233 |
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"FAIL S_DB_EMPTY",
|
| 234 |
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"FAIL S_REPORT_EMPTY",
|
| 235 |
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"WARN M_BODY_ID",
|
| 236 |
+
"WARN M_RIGID",
|
| 237 |
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"WARN M_SPIKES",
|
| 238 |
+
"WARN M_TRACKER_LABELS",
|
| 239 |
+
"WARN S_INDEX_STALE",
|
| 240 |
+
"WARN S_PARTICIPANT",
|
| 241 |
+
"WARN T_EMPTY"
|
| 242 |
+
]
|
| 243 |
+
},
|
| 244 |
+
"canonical": {
|
| 245 |
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"generated_at_utc": "2026-10-14T12:19:46.388913+00:00",
|
| 246 |
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"generated_by": "scripts/canonicalise_dataset.py",
|
| 247 |
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"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 248 |
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"R_canon_nokov": [
|
| 249 |
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[
|
| 250 |
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0.9999194082,
|
| 251 |
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|
| 252 |
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-4.65246e-05
|
| 253 |
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| 254 |
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[
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0.0073289328,
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],
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[
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| 262 |
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0.0073289328
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| 263 |
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]
|
| 264 |
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],
|
| 265 |
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|
| 266 |
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|
| 267 |
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[
|
| 268 |
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0.000999919408,
|
| 269 |
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-1.2695466e-05,
|
| 270 |
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|
| 271 |
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0.0
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],
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[
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4.6525e-08,
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| 275 |
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7.328933e-06,
|
| 276 |
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|
| 277 |
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0.0
|
| 278 |
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],
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| 279 |
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[
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| 280 |
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1.2695466e-05,
|
| 281 |
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0.00099989255,
|
| 282 |
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7.328933e-06,
|
| 283 |
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0.0
|
| 284 |
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],
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| 285 |
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[
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| 286 |
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0.0,
|
| 287 |
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0.0,
|
| 288 |
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0.0,
|
| 289 |
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1.0
|
| 290 |
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]
|
| 291 |
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],
|
| 292 |
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"block": "20260915morning",
|
| 293 |
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"block_assignment": "trc",
|
| 294 |
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|
| 295 |
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"plane_status": "ok",
|
| 296 |
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"floor": {
|
| 297 |
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"sole_marker_p1_mm": 32.4,
|
| 298 |
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"headtop_p95_mm": 1761.1
|
| 299 |
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},
|
| 300 |
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"gravity_check": {
|
| 301 |
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"static_samples": 13215,
|
| 302 |
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"g_world_mean_m_s2": [
|
| 303 |
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0.1538,
|
| 304 |
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0.1751,
|
| 305 |
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9.7771
|
| 306 |
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],
|
| 307 |
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"tilt_from_z_deg": 1.365,
|
| 308 |
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|
| 309 |
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| 310 |
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},
|
| 311 |
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"rig_tracker_definition": "e17c9efadb69e7b1/20260915morning/labels-530412/session-c756524e923ffdbf",
|
| 312 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 313 |
+
"files": [
|
| 314 |
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"mocap_zup.npz",
|
| 315 |
+
"tracker0_zup.npz",
|
| 316 |
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"rig_zup.npz",
|
| 317 |
+
"cameras_zup.npz"
|
| 318 |
+
]
|
| 319 |
+
},
|
| 320 |
+
"smplx": {
|
| 321 |
+
"generated_at_utc": "2026-10-15T00:00:55.339990+00:00",
|
| 322 |
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"generated_by": "scripts/fit_smplx_dataset.py",
|
| 323 |
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"file": "smplx.npz",
|
| 324 |
+
"gender": "male",
|
| 325 |
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"n_betas": 16,
|
| 326 |
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"betas_source": "participant median (derived/smplx/participants.json)",
|
| 327 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 328 |
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 329 |
+
"hands": {
|
| 330 |
+
"observed": false,
|
| 331 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 332 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 333 |
+
"hand_marker_offsets_m": {
|
| 334 |
+
"left": {
|
| 335 |
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"LHandIn": [
|
| 336 |
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0.040122080594301224,
|
| 337 |
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0.04313652217388153,
|
| 338 |
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0.013508801348507404
|
| 339 |
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],
|
| 340 |
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"LHandOut": [
|
| 341 |
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0.04919213429093361,
|
| 342 |
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0.006053837016224861,
|
| 343 |
+
0.04250795394182205
|
| 344 |
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],
|
| 345 |
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"LWristIn": [
|
| 346 |
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-0.01869988441467285,
|
| 347 |
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0.03630198910832405,
|
| 348 |
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-0.005535079166293144
|
| 349 |
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],
|
| 350 |
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"LWristOut": [
|
| 351 |
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-0.012872562743723392,
|
| 352 |
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-0.028471730649471283,
|
| 353 |
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0.008998369798064232
|
| 354 |
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]
|
| 355 |
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},
|
| 356 |
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"right": {
|
| 357 |
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"RHandIn": [
|
| 358 |
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-0.04901081696152687,
|
| 359 |
+
0.004055161960422993,
|
| 360 |
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0.04830993711948395
|
| 361 |
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],
|
| 362 |
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"RHandOut": [
|
| 363 |
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-0.059762246906757355,
|
| 364 |
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0.03540954366326332,
|
| 365 |
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0.006736374460160732
|
| 366 |
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]
|
| 367 |
+
}
|
| 368 |
+
}
|
| 369 |
+
},
|
| 370 |
+
"marker_rmse_mm": {
|
| 371 |
+
"median_frame": 10.54,
|
| 372 |
+
"p95_frame": 25.23
|
| 373 |
+
},
|
| 374 |
+
"worst_markers": [
|
| 375 |
+
"WaistRBack 57mm",
|
| 376 |
+
"RKnee 30mm",
|
| 377 |
+
"LKneeIn 30mm",
|
| 378 |
+
"RThigh 29mm",
|
| 379 |
+
"RShin 25mm"
|
| 380 |
+
],
|
| 381 |
+
"valid_fraction": 1.0,
|
| 382 |
+
"qc": {
|
| 383 |
+
"lowest_vertex_mm": {
|
| 384 |
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"median": 3.6,
|
| 385 |
+
"p5": -0.4
|
| 386 |
+
},
|
| 387 |
+
"frames_checked": 597,
|
| 388 |
+
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|
| 389 |
+
},
|
| 390 |
+
"surface_term": {
|
| 391 |
+
"weight": 1.0,
|
| 392 |
+
"marker_height_mm": 11.0,
|
| 393 |
+
"markers_on_surface": 52,
|
| 394 |
+
"surface_rmse_mm_median": 17.69
|
| 395 |
+
},
|
| 396 |
+
"shape_source": "participant median",
|
| 397 |
+
"wrist_correction": {
|
| 398 |
+
"left": {
|
| 399 |
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"status": "corrected",
|
| 400 |
+
"Q_deg": 71.3,
|
| 401 |
+
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|
| 402 |
+
1.09477,
|
| 403 |
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-0.29784,
|
| 404 |
+
0.51131
|
| 405 |
+
],
|
| 406 |
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"in_out_sign": -1,
|
| 407 |
+
"wrist_bend_deg_median": 103.9,
|
| 408 |
+
"opposite_sign_bend_deg": 101.9,
|
| 409 |
+
"in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
|
| 410 |
+
"marker_frame_spread_deg": 3.03,
|
| 411 |
+
"hand_vs_marker_frame_deg": {
|
| 412 |
+
"before": 72.27,
|
| 413 |
+
"after": 3.03
|
| 414 |
+
},
|
| 415 |
+
"markers_on_wrist": [
|
| 416 |
+
"LWristIn",
|
| 417 |
+
"LWristOut",
|
| 418 |
+
"LHandIn",
|
| 419 |
+
"LHandOut"
|
| 420 |
+
],
|
| 421 |
+
"forearm_twist": {
|
| 422 |
+
"twist_moved_deg": 93.09,
|
| 423 |
+
"wrist_twist_deg_after": {
|
| 424 |
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"median": 0.0,
|
| 425 |
+
"iqr": [
|
| 426 |
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-8.4,
|
| 427 |
+
6.7
|
| 428 |
+
]
|
| 429 |
+
},
|
| 430 |
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"wrist_total_deg_median_after": 41.8,
|
| 431 |
+
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|
| 432 |
+
"LForearm"
|
| 433 |
+
]
|
| 434 |
+
},
|
| 435 |
+
"frames_used": 1500
|
| 436 |
+
},
|
| 437 |
+
"right": {
|
| 438 |
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"status": "corrected",
|
| 439 |
+
"Q_deg": 54.89,
|
| 440 |
+
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|
| 441 |
+
0.71546,
|
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