Upload folder using huggingface_hub (part 123)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +18 -0
- actions/locomanipulation/LM04/session_003/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM04/session_003/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM04/session_003/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM04/session_004/cameras/poses.npz +3 -0
- actions/locomanipulation/LM04/session_004/meta.json +522 -0
- actions/locomanipulation/LM04/session_004/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM04/session_004/motions/markers.npz +3 -0
- actions/locomanipulation/LM04/session_004/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM04/session_004/motions/smplx.npz +3 -0
- actions/locomanipulation/LM04/session_004/raw/audio.wav +3 -0
- actions/locomanipulation/LM04/session_004/raw/manifest.json +248 -0
- actions/locomanipulation/LM04/session_004/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM04/session_004/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM04/session_004/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM04/session_004/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM04/session_004/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM04/session_004/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM04/session_004/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM04/session_004/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM04/session_004/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM04/session_004/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM04/session_004/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM04/session_004/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM04/session_004/scene/infer.json +36 -0
- actions/locomanipulation/LM04/session_004/scene/views.npz +3 -0
- actions/locomanipulation/LM04/session_004/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM04/session_004/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM04/session_004/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM04/session_004/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM04/session_004/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM04/session_004/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM04/session_004/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM04/session_004/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM04/session_004/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM04/session_004/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM04/session_004/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM04/session_004/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM04/session_004/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM04/session_004/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM04/session_005/cameras/poses.npz +3 -0
- actions/locomanipulation/LM04/session_005/meta.json +502 -0
- actions/locomanipulation/LM04/session_005/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM04/session_005/motions/markers.npz +3 -0
- actions/locomanipulation/LM04/session_005/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM04/session_005/motions/smplx.npz +3 -0
- actions/locomanipulation/LM04/session_005/raw/audio.wav +3 -0
- actions/locomanipulation/LM04/session_005/raw/manifest.json +261 -0
- actions/locomanipulation/LM04/session_005/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM04/session_005/raw/mocap/Body0.csv +3 -0
.gitattributes
CHANGED
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actions/locomanipulation/LM04/session_003/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM04/session_003/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM04/session_003/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM04/session_004/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM04/session_005/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM04/session_005/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM04/session_005/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM04/session_005/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM04/session_003/videos/third_person.mp4
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size 55258689
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actions/locomanipulation/LM04/session_003/videos/wrist_left.mp4
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actions/locomanipulation/LM04/session_003/videos/wrist_right.mp4
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actions/locomanipulation/LM04/session_004/cameras/poses.npz
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actions/locomanipulation/LM04/session_004/meta.json
ADDED
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@@ -0,0 +1,522 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20260928/LM04/20260928_055536_session11",
|
| 4 |
+
"session_id": "20260928_055536_session11",
|
| 5 |
+
"primitive": "LM04",
|
| 6 |
+
"batch": "20260928",
|
| 7 |
+
"participant": "liujiaxin",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e17c9efadb69e7b1",
|
| 11 |
+
"left": "cc5681142208e29a",
|
| 12 |
+
"right": "60a6f081bbe60b0d"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-14T11:28:24.090406+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": 119.025,
|
| 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": -1.165063,
|
| 28 |
+
"rate": 0.0,
|
| 29 |
+
"global_lag_s": -1.165,
|
| 30 |
+
"peak_corr": 0.9846,
|
| 31 |
+
"reference_imu_first_sample_s": 2368.527096128,
|
| 32 |
+
"windows": {
|
| 33 |
+
"n_windows": 10,
|
| 34 |
+
"window_corr_median": 0.9946759849886215,
|
| 35 |
+
"drift_ppm": -0.8926424535169707,
|
| 36 |
+
"drift_se_ppm": 3.371614024906305,
|
| 37 |
+
"drift_ms_over_take": -0.10623932934274478,
|
| 38 |
+
"lag_scatter_ms": 0.2739112182394804,
|
| 39 |
+
"lag_range_ms": 0.8065576676747899
|
| 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": 24261,
|
| 75 |
+
"n_gyro": 24255,
|
| 76 |
+
"t_start": -1.1817009301323735,
|
| 77 |
+
"t_end": 119.77261583686753
|
| 78 |
+
},
|
| 79 |
+
"imu_head_left": {
|
| 80 |
+
"n_acc": 24220,
|
| 81 |
+
"n_gyro": 24215,
|
| 82 |
+
"t_start": -1.0730388051322364,
|
| 83 |
+
"t_end": 119.94658032586788
|
| 84 |
+
},
|
| 85 |
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"imu_wrist_right": {
|
| 86 |
+
"n_acc": 23645,
|
| 87 |
+
"n_gyro": 23645,
|
| 88 |
+
"t_start": 0.20809745386781353,
|
| 89 |
+
"t_end": 117.06196725786752
|
| 90 |
+
},
|
| 91 |
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"imu_wrist_left": {
|
| 92 |
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"n_acc": 23080,
|
| 93 |
+
"n_gyro": 23080,
|
| 94 |
+
"t_start": 0.2110027618675674,
|
| 95 |
+
"t_end": 117.05955798486751
|
| 96 |
+
},
|
| 97 |
+
"mag_head": {
|
| 98 |
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"n": 12112,
|
| 99 |
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"t_start": -0.990697763132411,
|
| 100 |
+
"t_end": 120.11929846086763
|
| 101 |
+
},
|
| 102 |
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"mag_wrist_right": {
|
| 103 |
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"n": 11686,
|
| 104 |
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"t_start": 0.22143805086783752,
|
| 105 |
+
"t_end": 117.07132180286747
|
| 106 |
+
},
|
| 107 |
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"mag_wrist_left": {
|
| 108 |
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"n": 11684,
|
| 109 |
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"t_start": 0.22528904986778864,
|
| 110 |
+
"t_end": 117.0551043968678
|
| 111 |
+
}
|
| 112 |
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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": 2369.730028,
|
| 117 |
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"frames": 3570,
|
| 118 |
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"pts_gaps": 0,
|
| 119 |
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"timing": "pts",
|
| 120 |
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"timeshift_cam_imu_s": 0.0023423887986386703,
|
| 121 |
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"file": "robocap_segment1_video_left.mp4",
|
| 122 |
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"t_start": 0.040210830666401964,
|
| 123 |
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"t_end": 119.00678883066642,
|
| 124 |
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"clock": "device",
|
| 125 |
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"calibrated": true
|
| 126 |
+
},
|
| 127 |
+
"right": {
|
| 128 |
+
"fps": 30.0,
|
| 129 |
+
"start_device_s": 2369.729976,
|
| 130 |
+
"frames": 3570,
|
| 131 |
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"pts_gaps": 0,
|
| 132 |
+
"timing": "pts",
|
| 133 |
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"timeshift_cam_imu_s": 0.0019489646456461974,
|
| 134 |
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"file": "robocap_segment1_video_right.mp4",
|
| 135 |
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"t_start": 0.03976540651341631,
|
| 136 |
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"t_end": 119.00636540651361,
|
| 137 |
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"clock": "device",
|
| 138 |
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"calibrated": true
|
| 139 |
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},
|
| 140 |
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"left_front": {
|
| 141 |
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"fps": 30.0,
|
| 142 |
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"start_device_s": 2369.730013,
|
| 143 |
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"frames": 3570,
|
| 144 |
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"pts_gaps": 0,
|
| 145 |
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"timing": "pts",
|
| 146 |
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"timeshift_cam_imu_s": 0.0018171232386612972,
|
| 147 |
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"file": "robocap_segment1_video_left_front.mp4",
|
| 148 |
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"t_start": 0.03967056510622635,
|
| 149 |
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"t_end": 119.00625956510633,
|
| 150 |
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"clock": "device",
|
| 151 |
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"calibrated": true
|
| 152 |
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},
|
| 153 |
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"right_front": {
|
| 154 |
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"fps": 30.0,
|
| 155 |
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"start_device_s": 2369.730045,
|
| 156 |
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"frames": 3570,
|
| 157 |
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"pts_gaps": 0,
|
| 158 |
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"timing": "pts",
|
| 159 |
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"timeshift_cam_imu_s": 0.0017295646474508202,
|
| 160 |
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"file": "robocap_segment1_video_right_front.mp4",
|
| 161 |
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"t_start": 0.03961500651506933,
|
| 162 |
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"t_end": 119.006182006515,
|
| 163 |
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"clock": "device",
|
| 164 |
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"calibrated": true
|
| 165 |
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},
|
| 166 |
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"left_eye": {
|
| 167 |
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"fps": 30.0,
|
| 168 |
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"start_device_s": 2369.729995,
|
| 169 |
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"frames": 3570,
|
| 170 |
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"pts_gaps": 0,
|
| 171 |
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"timing": "pts",
|
| 172 |
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"timeshift_cam_imu_s": 0.001668932298833096,
|
| 173 |
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"file": "robocap_segment1_video_left_eye.mp4",
|
| 174 |
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"t_start": 0.03950437416664565,
|
| 175 |
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"t_end": 119.00609337416675,
|
| 176 |
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"clock": "device",
|
| 177 |
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"calibrated": true
|
| 178 |
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},
|
| 179 |
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"right_eye": {
|
| 180 |
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"fps": 30.0,
|
| 181 |
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"start_device_s": 2369.72994,
|
| 182 |
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"frames": 3570,
|
| 183 |
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"pts_gaps": 0,
|
| 184 |
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"timing": "pts",
|
| 185 |
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"timeshift_cam_imu_s": 0.0017169377622902274,
|
| 186 |
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"file": "robocap_segment1_video_right_eye.mp4",
|
| 187 |
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"t_start": 0.03949737963033906,
|
| 188 |
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"t_end": 119.00611937963025,
|
| 189 |
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"clock": "device",
|
| 190 |
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"calibrated": true
|
| 191 |
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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": 2369.891833,
|
| 195 |
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"frames": 3505,
|
| 196 |
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"pts_gaps": 0,
|
| 197 |
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"timing": "pts",
|
| 198 |
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"timeshift_cam_imu_s": null,
|
| 199 |
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"file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
|
| 200 |
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"t_start": 0.19967344186783587,
|
| 201 |
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"t_end": 116.99947844186794,
|
| 202 |
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"clock": "device",
|
| 203 |
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"calibrated": false
|
| 204 |
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},
|
| 205 |
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"wrist_right": {
|
| 206 |
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"fps": 30.0,
|
| 207 |
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"start_device_s": 2369.88642,
|
| 208 |
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"frames": 3506,
|
| 209 |
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"pts_gaps": 0,
|
| 210 |
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"timing": "pts",
|
| 211 |
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"timeshift_cam_imu_s": null,
|
| 212 |
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"file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
|
| 213 |
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"t_start": 0.1942604418675189,
|
| 214 |
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"t_end": 117.02746344186765,
|
| 215 |
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"clock": "device",
|
| 216 |
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"calibrated": false
|
| 217 |
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},
|
| 218 |
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"third_person": {
|
| 219 |
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"file": "mocap/mocap-LM04-S03-liujiaxin-01p1-1.mp4",
|
| 220 |
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"frames": 3571,
|
| 221 |
+
"fps": 30.0,
|
| 222 |
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"clock": "nokov (frame index)",
|
| 223 |
+
"t_start": 0.0,
|
| 224 |
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"t_end": 119.0
|
| 225 |
+
}
|
| 226 |
+
}
|
| 227 |
+
},
|
| 228 |
+
"flags": [],
|
| 229 |
+
"sanity": {
|
| 230 |
+
"status": {
|
| 231 |
+
"structure": "PASS",
|
| 232 |
+
"markers": "WARN",
|
| 233 |
+
"timing": "PASS"
|
| 234 |
+
},
|
| 235 |
+
"verdict": "READY",
|
| 236 |
+
"issues": [
|
| 237 |
+
"WARN M_SPIKES",
|
| 238 |
+
"WARN M_TRACKER_LABELS"
|
| 239 |
+
]
|
| 240 |
+
},
|
| 241 |
+
"canonical": {
|
| 242 |
+
"generated_at_utc": "2026-10-14T12:22:08.572873+00:00",
|
| 243 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 244 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 245 |
+
"R_canon_nokov": [
|
| 246 |
+
[
|
| 247 |
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0.9999923994,
|
| 248 |
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-0.0038988195,
|
| 249 |
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-1.78677e-05
|
| 250 |
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],
|
| 251 |
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[
|
| 252 |
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1.78677e-05,
|
| 253 |
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0.0091654922,
|
| 254 |
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-0.9999579958
|
| 255 |
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],
|
| 256 |
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[
|
| 257 |
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0.0038988195,
|
| 258 |
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0.9999503952,
|
| 259 |
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0.0091654922
|
| 260 |
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]
|
| 261 |
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],
|
| 262 |
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"scale_nokov_to_canon": 0.001,
|
| 263 |
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"T_canon_nokov_mm": [
|
| 264 |
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[
|
| 265 |
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0.000999992399,
|
| 266 |
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-3.89882e-06,
|
| 267 |
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-1.7868e-08,
|
| 268 |
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0.0
|
| 269 |
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],
|
| 270 |
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[
|
| 271 |
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1.7868e-08,
|
| 272 |
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9.165492e-06,
|
| 273 |
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-0.000999957996,
|
| 274 |
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0.0
|
| 275 |
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],
|
| 276 |
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[
|
| 277 |
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3.89882e-06,
|
| 278 |
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0.000999950395,
|
| 279 |
+
9.165492e-06,
|
| 280 |
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0.0
|
| 281 |
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],
|
| 282 |
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[
|
| 283 |
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0.0,
|
| 284 |
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0.0,
|
| 285 |
+
0.0,
|
| 286 |
+
1.0
|
| 287 |
+
]
|
| 288 |
+
],
|
| 289 |
+
"block": "20260928-morning",
|
| 290 |
+
"block_assignment": "trc",
|
| 291 |
+
"tilt_removed_deg": 0.5706910507262971,
|
| 292 |
+
"plane_status": "ok",
|
| 293 |
+
"floor": {
|
| 294 |
+
"sole_marker_p1_mm": 63.0,
|
| 295 |
+
"headtop_p95_mm": 1655.1
|
| 296 |
+
},
|
| 297 |
+
"gravity_check": {
|
| 298 |
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"static_samples": 730,
|
| 299 |
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"g_world_mean_m_s2": [
|
| 300 |
+
0.2173,
|
| 301 |
+
0.0464,
|
| 302 |
+
9.8244
|
| 303 |
+
],
|
| 304 |
+
"tilt_from_z_deg": 1.296,
|
| 305 |
+
"tilt_from_z_deg_before_levelling": 1.512,
|
| 306 |
+
"magnitude_m_s2": 9.8269
|
| 307 |
+
},
|
| 308 |
+
"rig_tracker_definition": "e17c9efadb69e7b1/20260928-morning/labels-352410/session-1bb11c71a0a62bd1",
|
| 309 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 310 |
+
"files": [
|
| 311 |
+
"mocap_zup.npz",
|
| 312 |
+
"tracker0_zup.npz",
|
| 313 |
+
"rig_zup.npz",
|
| 314 |
+
"cameras_zup.npz"
|
| 315 |
+
]
|
| 316 |
+
},
|
| 317 |
+
"smplx": {
|
| 318 |
+
"generated_at_utc": "2026-10-15T03:13:12.299302+00:00",
|
| 319 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 320 |
+
"file": "smplx.npz",
|
| 321 |
+
"gender": "female",
|
| 322 |
+
"n_betas": 16,
|
| 323 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 324 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 325 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 326 |
+
"hands": {
|
| 327 |
+
"observed": false,
|
| 328 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 329 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 330 |
+
"hand_marker_offsets_m": {
|
| 331 |
+
"left": {
|
| 332 |
+
"LHandIn": [
|
| 333 |
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0.06219317764043808,
|
| 334 |
+
0.012499689124524593,
|
| 335 |
+
0.02557169273495674
|
| 336 |
+
],
|
| 337 |
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"LHandOut": [
|
| 338 |
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0.05379197373986244,
|
| 339 |
+
0.007496207021176815,
|
| 340 |
+
-0.03232092037796974
|
| 341 |
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]
|
| 342 |
+
},
|
| 343 |
+
"right": {
|
| 344 |
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"RHandIn": [
|
| 345 |
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-0.07758945971727371,
|
| 346 |
+
0.00930034089833498,
|
| 347 |
+
0.02880357764661312
|
| 348 |
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],
|
| 349 |
+
"RHandOut": [
|
| 350 |
+
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| 1 |
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{
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| 2 |
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"schema_version": 1,
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| 3 |
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"session": "EgoMotionActions/20261010/LM04/20261010_041609_session54",
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| 4 |
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"session_id": "20261010_041609_session54",
|
| 5 |
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"primitive": "LM04",
|
| 6 |
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"batch": "20261010",
|
| 7 |
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"participant": "gaoziyue",
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"participant_source": "manifest",
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"main": "e17c9efadb69e7b1",
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"right": "60a6f081bbe60b0d"
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},
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| 14 |
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"generated_at_utc": "2026-10-21T05:28:40.132482+00:00",
|
| 15 |
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"generated_by": "scripts/sync_dataset.py",
|
| 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",
|
| 18 |
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"mocap_rate_hz": 120.0,
|
| 19 |
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"mocap_rate_fix": null,
|
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"first_solved_frame": 0,
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"duration_s": 139.025,
|
| 22 |
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"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 23 |
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},
|
| 24 |
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"alignment": {
|
| 25 |
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"reference_imu": "imu_head_right",
|
| 26 |
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"model": "offset (median of windows)",
|
| 27 |
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"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 28 |
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"offset_s": -1.17238,
|
| 29 |
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"rate": 0.0,
|
| 30 |
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"global_lag_s": -1.17,
|
| 31 |
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"peak_corr": 0.9865,
|
| 32 |
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"reference_imu_first_sample_s": 13886.317872732,
|
| 33 |
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"windows": {
|
| 34 |
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"n_windows": 11,
|
| 35 |
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"window_corr_median": 0.9963021791679401,
|
| 36 |
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"drift_ppm": -0.24899460712139712,
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"drift_se_ppm": 6.504248100866434,
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"drift_ms_over_take": -0.034614400299992895,
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"lag_scatter_ms": 0.6170471539668759,
|
| 40 |
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"lag_range_ms": 2.062393776140148
|
| 41 |
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}
|
| 42 |
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},
|
| 43 |
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"units": {
|
| 44 |
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"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
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"y_up_to_z_up": [
|
| 46 |
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[
|
| 47 |
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1.0,
|
| 48 |
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0.0,
|
| 49 |
+
0.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
0.0,
|
| 53 |
+
0.0,
|
| 54 |
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-1.0
|
| 55 |
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],
|
| 56 |
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[
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| 57 |
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0.0,
|
| 58 |
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1.0,
|
| 59 |
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0.0
|
| 60 |
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]
|
| 61 |
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],
|
| 62 |
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"acc": "m/s^2 (8192 LSB/g)",
|
| 63 |
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"gyro": "rad/s (65.536 LSB/dps)",
|
| 64 |
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"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 65 |
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"quaternions": "xyzw, Nokov global"
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| 66 |
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},
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| 67 |
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|
| 68 |
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"device": "e17c9efadb69e7b1",
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| 69 |
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"status": "ok",
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| 70 |
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"date": "2026-09-08"
|
| 71 |
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},
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| 72 |
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| 73 |
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| 74 |
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| 75 |
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| 76 |
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| 90 |
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| 111 |
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| 113 |
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| 126 |
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|
| 127 |
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| 149 |
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"file": "robocap_segment1_video_right_eye.mp4",
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"file": "mocap/mocap-LM04-S03-gaoziyue-01p1-1.mp4",
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| 221 |
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| 222 |
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| 223 |
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| 226 |
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}
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| 227 |
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}
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| 228 |
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},
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| 229 |
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"flags": [],
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| 230 |
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"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
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| 231 |
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"rig_tracker": {
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| 232 |
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"definition": "e17c9efadb69e7b1/20261010-morning/labels-035142/session-14f1a2aae7546b06",
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| 233 |
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[
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[
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| 249 |
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],
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|
| 256 |
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|
| 257 |
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|
| 258 |
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"status": "ok",
|
| 259 |
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|
| 260 |
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|
| 261 |
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},
|
| 262 |
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"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 263 |
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"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 264 |
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},
|
| 265 |
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"canonical": {
|
| 266 |
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"generated_at_utc": "2026-10-21T06:55:25.284671+00:00",
|
| 267 |
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"generated_by": "scripts/canonicalise_dataset.py",
|
| 268 |
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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)",
|
| 269 |
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|
| 270 |
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[
|
| 271 |
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[
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[
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0.0152427412
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]
|
| 285 |
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],
|
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|
| 287 |
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|
| 288 |
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[
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| 289 |
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0.000999888519,
|
| 290 |
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|
| 291 |
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|
| 292 |
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0.0
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],
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| 294 |
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[
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1.13808e-07,
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| 296 |
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|
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0.0
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],
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| 300 |
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[
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1.4931074e-05,
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| 302 |
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|
| 303 |
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1.5242741e-05,
|
| 304 |
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0.0
|
| 305 |
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],
|
| 306 |
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[
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0.0,
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| 308 |
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0.0,
|
| 309 |
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0.0,
|
| 310 |
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1.0
|
| 311 |
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]
|
| 312 |
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],
|
| 313 |
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"block": "20261010-morning",
|
| 314 |
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|
| 315 |
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|
| 316 |
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|
| 317 |
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|
| 318 |
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|
| 319 |
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|
| 320 |
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},
|
| 321 |
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|
| 322 |
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|
| 323 |
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|
| 324 |
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0.1206,
|
| 325 |
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0.0872,
|
| 326 |
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|
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],
|
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|
| 329 |
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|
| 330 |
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|
| 331 |
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},
|
| 332 |
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|
| 333 |
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"camera_pose_source": "provider T_tracker0_cam",
|
| 334 |
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"files": [
|
| 335 |
+
"mocap_zup.npz",
|
| 336 |
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"tracker0_zup.npz",
|
| 337 |
+
"rig_zup.npz",
|
| 338 |
+
"cameras_zup.npz"
|
| 339 |
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]
|
| 340 |
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},
|
| 341 |
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"smplx": {
|
| 342 |
+
"generated_at_utc": "2026-10-22T21:22:30.760718+00:00",
|
| 343 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 344 |
+
"file": "smplx.npz",
|
| 345 |
+
"gender": "female",
|
| 346 |
+
"n_betas": 16,
|
| 347 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 348 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 349 |
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 350 |
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"hands": {
|
| 351 |
+
"observed": false,
|
| 352 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 353 |
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"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 354 |
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"hand_marker_offsets_m": {
|
| 355 |
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"left": {
|
| 356 |
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"LHandIn": [
|
| 357 |
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|
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0.023991715162992477,
|
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|
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|
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|
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|
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]
|
| 383 |
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}
|
| 384 |
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}
|
| 385 |
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},
|
| 386 |
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"marker_rmse_mm": {
|
| 387 |
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"median_frame": 7.59,
|
| 388 |
+
"p95_frame": 11.52
|
| 389 |
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},
|
| 390 |
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"worst_markers": [
|
| 391 |
+
"LElbowIn 19mm",
|
| 392 |
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"LElbow 19mm",
|
| 393 |
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"WaistRSide 17mm",
|
| 394 |
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"LThigh 15mm",
|
| 395 |
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"WaistRFront 14mm"
|
| 396 |
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],
|
| 397 |
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"valid_fraction": 1.0,
|
| 398 |
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|
| 399 |
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|
| 400 |
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"median": 14.6,
|
| 401 |
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"p5": 7.6
|
| 402 |
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},
|
| 403 |
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|
| 404 |
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|
| 405 |
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},
|
| 406 |
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"surface_term": {
|
| 407 |
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"weight": 1.0,
|
| 408 |
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|
| 409 |
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"markers_on_surface": 52,
|
| 410 |
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|
| 411 |
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},
|
| 412 |
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"shape_source": "participant median",
|
| 413 |
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"wrist_correction": {
|
| 414 |
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"left": {
|
| 415 |
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"status": "corrected",
|
| 416 |
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|
| 417 |
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"Q_rotvec": [
|
| 418 |
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2.52501,
|
| 419 |
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-0.27379,
|
| 420 |
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