Upload folder using huggingface_hub (part 21)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +37 -0
- actions/environment_coupled_wholebody/EC05/session_006/raw/mocap/Body0.bvh +0 -0
- actions/environment_coupled_wholebody/EC05/session_006/raw/mocap/Body0.csv +3 -0
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- actions/environment_coupled_wholebody/EC05/session_006/raw/sensors/robowrist_mag_right.db +3 -0
- actions/environment_coupled_wholebody/EC05/session_006/scene/infer.json +36 -0
- actions/environment_coupled_wholebody/EC05/session_006/scene/views.npz +3 -0
- actions/environment_coupled_wholebody/EC05/session_006/sensors/head_imu.npz +3 -0
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- actions/environment_coupled_wholebody/EC05/session_006/videos/head_right_front.mp4 +3 -0
- actions/environment_coupled_wholebody/EC05/session_006/videos/third_person.mp4 +3 -0
- actions/environment_coupled_wholebody/EC05/session_006/videos/wrist_left.mp4 +3 -0
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| 1 |
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{
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| 2 |
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"session": "EgoMotionActions/20261009/EC05/20261009_021323_session27",
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| 4 |
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"session_id": "20261009_021323_session27",
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| 5 |
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"primitive": "EC05",
|
| 6 |
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"batch": "20261009",
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| 15 |
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"generated_by": "scripts/sync_dataset.py",
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| 16 |
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"time_base": {
|
| 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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| 18 |
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| 19 |
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| 20 |
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|
| 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": -1.180577,
|
| 28 |
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"rate": 0.0,
|
| 29 |
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"global_lag_s": -1.18,
|
| 30 |
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"peak_corr": 0.9556,
|
| 31 |
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"reference_imu_first_sample_s": 7195.678198903,
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| 32 |
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"windows": {
|
| 33 |
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"n_windows": 11,
|
| 34 |
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"window_corr_median": 0.9838094655718626,
|
| 35 |
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"drift_ppm": 3.3138870277687955,
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|
| 39 |
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"lag_range_ms": 0.7975994673303788
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| 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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| 57 |
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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 |
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"device": "e17c9efadb69e7b1",
|
| 68 |
+
"status": "ok",
|
| 69 |
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"date": "2026-09-08"
|
| 70 |
+
},
|
| 71 |
+
"streams": {
|
| 72 |
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"sensors": {
|
| 73 |
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"imu_head_right": {
|
| 74 |
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"n_acc": 27273,
|
| 75 |
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|
| 76 |
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"t_start": -1.1875612033517768,
|
| 77 |
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| 78 |
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},
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| 79 |
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"imu_head_left": {
|
| 80 |
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"n_acc": 27221,
|
| 81 |
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"n_gyro": 27216,
|
| 82 |
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"t_start": -1.0710914533519258,
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| 83 |
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| 84 |
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},
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| 85 |
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"imu_wrist_right": {
|
| 86 |
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"n_acc": 26408,
|
| 87 |
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|
| 88 |
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"t_start": 0.485695396648282,
|
| 89 |
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|
| 90 |
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},
|
| 91 |
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"imu_wrist_left": {
|
| 92 |
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"n_acc": 25832,
|
| 93 |
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"n_gyro": 25843,
|
| 94 |
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"t_start": 0.22162933464829848,
|
| 95 |
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|
| 96 |
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| 97 |
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|
| 98 |
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"n": 13611,
|
| 99 |
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|
| 100 |
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|
| 101 |
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},
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| 102 |
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|
| 103 |
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"n": 13050,
|
| 104 |
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"t_start": 0.4934668036485732,
|
| 105 |
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|
| 106 |
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},
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| 107 |
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|
| 108 |
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"n": 13078,
|
| 109 |
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"t_start": 0.23711317264866238,
|
| 110 |
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| 111 |
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}
|
| 112 |
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},
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| 113 |
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"videos": {
|
| 114 |
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"left": {
|
| 115 |
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"fps": 30.0,
|
| 116 |
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"start_device_s": 7196.896115,
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| 117 |
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| 118 |
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| 119 |
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"timing": "pts",
|
| 120 |
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|
| 121 |
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"file": "robocap_segment1_video_left.mp4",
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| 122 |
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| 123 |
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| 124 |
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"clock": "device",
|
| 125 |
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"calibrated": true
|
| 126 |
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},
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| 127 |
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"right": {
|
| 128 |
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"fps": 30.0,
|
| 129 |
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"start_device_s": 7196.896056,
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| 130 |
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| 131 |
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| 132 |
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"timing": "pts",
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| 133 |
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| 134 |
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"file": "robocap_segment1_video_right.mp4",
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| 135 |
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"t_start": 0.03922949729354741,
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| 136 |
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| 137 |
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|
| 138 |
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| 139 |
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},
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| 140 |
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"left_front": {
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| 141 |
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| 142 |
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| 143 |
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| 144 |
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| 145 |
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| 146 |
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| 147 |
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"file": "robocap_segment1_video_left_front.mp4",
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| 148 |
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| 149 |
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| 150 |
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| 151 |
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| 152 |
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},
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| 153 |
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| 154 |
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| 155 |
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| 156 |
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| 157 |
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| 158 |
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| 159 |
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| 160 |
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"file": "robocap_segment1_video_right_front.mp4",
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| 161 |
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| 162 |
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| 163 |
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| 164 |
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| 165 |
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},
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| 166 |
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| 167 |
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| 168 |
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| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 173 |
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"file": "robocap_segment1_video_left_eye.mp4",
|
| 174 |
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"t_start": 0.038968464947231496,
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| 175 |
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| 176 |
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"clock": "device",
|
| 177 |
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"calibrated": true
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| 178 |
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},
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| 179 |
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|
| 180 |
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| 181 |
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| 182 |
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|
| 183 |
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| 184 |
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"timing": "pts",
|
| 185 |
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| 186 |
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"file": "robocap_segment1_video_right_eye.mp4",
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| 187 |
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"t_start": 0.03896747041113713,
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| 188 |
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| 189 |
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| 190 |
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|
| 191 |
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},
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| 192 |
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"wrist_left": {
|
| 193 |
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"fps": 30.0,
|
| 194 |
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"start_device_s": 7197.07069,
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| 195 |
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| 196 |
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|
| 197 |
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"timing": "pts",
|
| 198 |
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|
| 199 |
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"file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
|
| 200 |
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| 201 |
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| 202 |
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| 204 |
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},
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| 206 |
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| 207 |
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| 208 |
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| 209 |
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| 210 |
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| 211 |
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| 212 |
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"file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
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| 213 |
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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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"third_person": {
|
| 219 |
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"file": "mocap/mocap-EC05-S01-daihaoxiang-01p1-1.mp4",
|
| 220 |
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"frames": 4021,
|
| 221 |
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"fps": 30.0,
|
| 222 |
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"clock": "nokov (frame index)",
|
| 223 |
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|
| 224 |
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"t_end": 134.0
|
| 225 |
+
}
|
| 226 |
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}
|
| 227 |
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},
|
| 228 |
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"flags": [],
|
| 229 |
+
"sanity": {
|
| 230 |
+
"status": {
|
| 231 |
+
"structure": "PASS",
|
| 232 |
+
"markers": "WARN",
|
| 233 |
+
"timing": "WARN"
|
| 234 |
+
},
|
| 235 |
+
"verdict": "READY_WITH_WARNINGS",
|
| 236 |
+
"issues": [
|
| 237 |
+
"WARN M_BODY_ID",
|
| 238 |
+
"WARN M_SPIKES",
|
| 239 |
+
"WARN M_TRACKER_LABELS",
|
| 240 |
+
"WARN T_RIG_TRACKER",
|
| 241 |
+
"WARN T_UNITS"
|
| 242 |
+
]
|
| 243 |
+
},
|
| 244 |
+
"canonical": {
|
| 245 |
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"generated_at_utc": "2026-10-14T12:22:59.949866+00:00",
|
| 246 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 247 |
+
"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 |
+
"R_canon_nokov": [
|
| 249 |
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[
|
| 250 |
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0.9999224264,
|
| 251 |
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-0.0124552848,
|
| 252 |
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-8.4556e-05
|
| 253 |
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],
|
| 254 |
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[
|
| 255 |
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8.4556e-05,
|
| 256 |
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0.0135763823,
|
| 257 |
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-0.9999078331
|
| 258 |
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],
|
| 259 |
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[
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| 260 |
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0.0124552848,
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| 261 |
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0.9998302595,
|
| 262 |
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0.0135763823
|
| 263 |
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]
|
| 264 |
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],
|
| 265 |
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"scale_nokov_to_canon": 0.001,
|
| 266 |
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"T_canon_nokov_mm": [
|
| 267 |
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[
|
| 268 |
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0.000999922426,
|
| 269 |
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-1.2455285e-05,
|
| 270 |
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-8.4556e-08,
|
| 271 |
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0.0
|
| 272 |
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],
|
| 273 |
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[
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| 274 |
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8.4556e-08,
|
| 275 |
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1.3576382e-05,
|
| 276 |
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-0.000999907833,
|
| 277 |
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0.0
|
| 278 |
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],
|
| 279 |
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[
|
| 280 |
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1.2455285e-05,
|
| 281 |
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0.000999830259,
|
| 282 |
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1.3576382e-05,
|
| 283 |
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0.0
|
| 284 |
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],
|
| 285 |
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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 |
+
1.0
|
| 290 |
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]
|
| 291 |
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],
|
| 292 |
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"block": "20261009-morning",
|
| 293 |
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"block_assignment": "trc",
|
| 294 |
+
"tilt_removed_deg": 1.0556903911986237,
|
| 295 |
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"plane_status": "contacts span only 0.92 m",
|
| 296 |
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"floor": {
|
| 297 |
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"sole_marker_p1_mm": 1.5,
|
| 298 |
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"headtop_p95_mm": 1752.9
|
| 299 |
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},
|
| 300 |
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"gravity_check": {
|
| 301 |
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"static_samples": 890,
|
| 302 |
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"g_world_mean_m_s2": [
|
| 303 |
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-0.0787,
|
| 304 |
+
0.0046,
|
| 305 |
+
9.7615
|
| 306 |
+
],
|
| 307 |
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"tilt_from_z_deg": 0.463,
|
| 308 |
+
"tilt_from_z_deg_before_levelling": 0.792,
|
| 309 |
+
"magnitude_m_s2": 9.7619
|
| 310 |
+
},
|
| 311 |
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"rig_tracker_definition": "e17c9efadb69e7b1/20261009-morning/labels-035142/session-1f102458173af1a9",
|
| 312 |
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"camera_pose_source": "provider T_tracker0_cam",
|
| 313 |
+
"files": [
|
| 314 |
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"mocap_zup.npz",
|
| 315 |
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"tracker0_zup.npz",
|
| 316 |
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"rig_zup.npz",
|
| 317 |
+
"cameras_zup.npz"
|
| 318 |
+
]
|
| 319 |
+
},
|
| 320 |
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"smplx": {
|
| 321 |
+
"generated_at_utc": "2026-10-15T08:35:27.798002+00:00",
|
| 322 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 323 |
+
"file": "smplx.npz",
|
| 324 |
+
"gender": "male",
|
| 325 |
+
"n_betas": 16,
|
| 326 |
+
"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 |
+
"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 |
+
"LHandIn": [
|
| 336 |
+
0.028153948485851288,
|
| 337 |
+
0.019920535385608673,
|
| 338 |
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0.036549054086208344
|
| 339 |
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],
|
| 340 |
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"LHandOut": [
|
| 341 |
+
0.02805577963590622,
|
| 342 |
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0.03691320866346359,
|
| 343 |
+
-0.01224865484982729
|
| 344 |
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]
|
| 345 |
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},
|
| 346 |
+
"right": {
|
| 347 |
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"RHandIn": [
|
| 348 |
+
-0.04993019998073578,
|
| 349 |
+
0.007552803494036198,
|
| 350 |
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0.04050580412149429
|
| 351 |
+
],
|
| 352 |
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"RHandOut": [
|
| 353 |
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-0.05363059416413307,
|
| 354 |
+
0.03522408753633499,
|
| 355 |
+
-0.0016876194858923554
|
| 356 |
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]
|
| 357 |
+
}
|
| 358 |
+
}
|
| 359 |
+
},
|
| 360 |
+
"marker_rmse_mm": {
|
| 361 |
+
"median_frame": 4.34,
|
| 362 |
+
"p95_frame": 6.93
|
| 363 |
+
},
|
| 364 |
+
"worst_markers": [
|
| 365 |
+
"RKneeIn 9mm",
|
| 366 |
+
"LKneeIn 9mm",
|
| 367 |
+
"RShin 9mm",
|
| 368 |
+
"RKnee 8mm",
|
| 369 |
+
"LKnee 8mm"
|
| 370 |
+
],
|
| 371 |
+
"valid_fraction": 0.9995,
|
| 372 |
+
"qc": {
|
| 373 |
+
"lowest_vertex_mm": {
|
| 374 |
+
"median": -13.6,
|
| 375 |
+
"p5": -31.5
|
| 376 |
+
},
|
| 377 |
+
"frames_checked": 536,
|
| 378 |
+
"stature_mm": 1770.9
|
| 379 |
+
},
|
| 380 |
+
"surface_term": {
|
| 381 |
+
"weight": 1.0,
|
| 382 |
+
"marker_height_mm": 11.0,
|
| 383 |
+
"markers_on_surface": 52,
|
| 384 |
+
"surface_rmse_mm_median": 13.5
|
| 385 |
+
},
|
| 386 |
+
"shape_source": "participant median",
|
| 387 |
+
"wrist_correction": {
|
| 388 |
+
"left": {
|
| 389 |
+
"status": "corrected",
|
| 390 |
+
"Q_deg": 156.57,
|
| 391 |
+
"Q_rotvec": [
|
| 392 |
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-2.69307,
|
| 393 |
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-0.31411,
|
| 394 |
+
0.34109
|
| 395 |
+
],
|
| 396 |
+
"in_out_sign": -1,
|
| 397 |
+
"wrist_bend_deg_median": 160.2,
|
| 398 |
+
"opposite_sign_bend_deg": 34.6,
|
| 399 |
+
"in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
|
| 400 |
+
"marker_frame_spread_deg": 4.65,
|
| 401 |
+
"hand_vs_marker_frame_deg": {
|
| 402 |
+
"before": 156.71,
|
| 403 |
+
"after": 4.65
|
| 404 |
+
},
|
| 405 |
+
"markers_on_wrist": [
|
| 406 |
+
"LHandIn",
|
| 407 |
+
"LHandOut"
|
| 408 |
+
],
|
| 409 |
+
"forearm_twist": {
|
| 410 |
+
"twist_moved_deg": 159.61,
|
| 411 |
+
"wrist_twist_deg_after": {
|
| 412 |
+
"median": 0.0,
|
| 413 |
+
"iqr": [
|
| 414 |
+
-3.6,
|
| 415 |
+
2.6
|
| 416 |
+
]
|
| 417 |
+
},
|
| 418 |
+
"wrist_total_deg_median_after": 20.2,
|
| 419 |
+
"markers_on_forearm": [
|
| 420 |
+
"LForearm",
|
| 421 |
+
"LWristIn",
|
| 422 |
+
"LWristOut"
|
| 423 |
+
]
|
| 424 |
+
},
|
| 425 |
+
"frames_used": 1500
|
| 426 |
+
},
|
| 427 |
+
"right": {
|
| 428 |
+
"status": "corrected",
|
| 429 |
+
"Q_deg": 45.44,
|
| 430 |
+
"Q_rotvec": [
|
| 431 |
+
0.68255,
|
| 432 |
+
0.38433,
|
| 433 |
+
-0.12416
|
| 434 |
+
],
|
| 435 |
+
"in_out_sign": 1,
|
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