Upload folder using huggingface_hub (part 898)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +54 -0
- actions/locomotion_primitives/P36/session_090/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/P36/session_090/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/P36/session_090/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/P36/session_090/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/P36/session_090/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomotion_primitives/P36/session_090/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomotion_primitives/P36/session_090/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomotion_primitives/P36/session_090/scene/infer.json +36 -0
- actions/locomotion_primitives/P36/session_090/scene/views.npz +3 -0
- actions/locomotion_primitives/P36/session_090/sensors/head_imu.npz +3 -0
- actions/locomotion_primitives/P36/session_090/sensors/head_mag.npz +3 -0
- actions/locomotion_primitives/P36/session_090/sensors/wrist_imu.npz +3 -0
- actions/locomotion_primitives/P36/session_090/sensors/wrist_mag.npz +3 -0
- actions/locomotion_primitives/P36/session_090/videos/frame_timestamps.npz +3 -0
- actions/locomotion_primitives/P36/session_090/videos/head_left.mp4 +3 -0
- actions/locomotion_primitives/P36/session_090/videos/head_left_eye.mp4 +3 -0
- actions/locomotion_primitives/P36/session_090/videos/head_left_front.mp4 +3 -0
- actions/locomotion_primitives/P36/session_090/videos/head_right.mp4 +3 -0
- actions/locomotion_primitives/P36/session_090/videos/head_right_eye.mp4 +3 -0
- actions/locomotion_primitives/P36/session_090/videos/head_right_front.mp4 +3 -0
- actions/locomotion_primitives/P36/session_090/videos/third_person.mp4 +3 -0
- actions/locomotion_primitives/P36/session_090/videos/wrist_left.mp4 +3 -0
- actions/locomotion_primitives/P36/session_090/videos/wrist_right.mp4 +3 -0
- actions/locomotion_primitives/P36/session_091/cameras/poses.npz +3 -0
- actions/locomotion_primitives/P36/session_091/meta.json +532 -0
- actions/locomotion_primitives/P36/session_091/motions/head_rig.npz +3 -0
- actions/locomotion_primitives/P36/session_091/motions/markers.npz +3 -0
- actions/locomotion_primitives/P36/session_091/motions/skeleton.npz +3 -0
- actions/locomotion_primitives/P36/session_091/motions/smplx.npz +3 -0
- actions/locomotion_primitives/P36/session_091/raw/audio.wav +3 -0
- actions/locomotion_primitives/P36/session_091/raw/manifest.json +261 -0
- actions/locomotion_primitives/P36/session_091/raw/mocap/Body0.bvh +0 -0
- actions/locomotion_primitives/P36/session_091/raw/mocap/Body0.csv +3 -0
- actions/locomotion_primitives/P36/session_091/raw/mocap/Body0.trc +3 -0
- actions/locomotion_primitives/P36/session_091/raw/mocap/Tracker0.csv +0 -0
- actions/locomotion_primitives/P36/session_091/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/P36/session_091/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/P36/session_091/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/P36/session_091/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/P36/session_091/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/P36/session_091/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomotion_primitives/P36/session_091/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomotion_primitives/P36/session_091/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomotion_primitives/P36/session_091/scene/infer.json +36 -0
- actions/locomotion_primitives/P36/session_091/scene/views.npz +3 -0
- actions/locomotion_primitives/P36/session_091/sensors/head_imu.npz +3 -0
- actions/locomotion_primitives/P36/session_091/sensors/head_mag.npz +3 -0
- actions/locomotion_primitives/P36/session_091/sensors/wrist_imu.npz +3 -0
- actions/locomotion_primitives/P36/session_091/sensors/wrist_mag.npz +3 -0
.gitattributes
CHANGED
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@@ -36162,3 +36162,57 @@ actions/locomotion_primitives/P36/session_089/raw/sensors/robowrist_mag_right.db
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actions/locomotion_primitives/P36/session_090/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_090/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_090/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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| 36162 |
actions/locomotion_primitives/P36/session_090/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_090/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_090/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_090/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_090/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_090/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_090/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_090/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_090/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_090/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_091/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_091/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_091/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_091/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_091/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_091/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_091/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_091/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_091/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_092/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_092/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_092/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_092/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_092/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_092/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_093/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_093/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_093/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_093/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_093/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_093/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P36/session_093/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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| 1 |
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{
|
| 2 |
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"schema_version": 1,
|
| 3 |
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"session": "EgoMotionActions/20261019/P36/20261019_050209_session8",
|
| 4 |
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"session_id": "20261019_050209_session8",
|
| 5 |
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"primitive": "P36",
|
| 6 |
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"batch": "20261019",
|
| 7 |
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"participant": "xiaobo",
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| 8 |
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"participant_source": "manifest",
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"device_ids": {
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"main": "c9205ac6e17d2d5c",
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"left": "cc5681142208e29a",
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"right": "60a6f081bbe60b0d"
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},
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| 14 |
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"generated_at_utc": "2026-10-22T16:09:57.689671+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,
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| 19 |
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"mocap_rate_fix": null,
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"first_solved_frame": 0,
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"duration_s": 126.025,
|
| 22 |
+
"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 23 |
+
},
|
| 24 |
+
"alignment": {
|
| 25 |
+
"reference_imu": "imu_head_right",
|
| 26 |
+
"model": "offset (median of windows)",
|
| 27 |
+
"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 28 |
+
"offset_s": -0.088673,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.9599,
|
| 32 |
+
"reference_imu_first_sample_s": 1801.074268192,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 11,
|
| 35 |
+
"window_corr_median": 0.9777614093619215,
|
| 36 |
+
"drift_ppm": -479.3908665697248,
|
| 37 |
+
"drift_se_ppm": 272.28227004630895,
|
| 38 |
+
"drift_ms_over_take": -60.411239035561486,
|
| 39 |
+
"lag_scatter_ms": 25.8309641948213,
|
| 40 |
+
"lag_range_ms": 104.59233463426665
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"units": {
|
| 44 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
+
"y_up_to_z_up": [
|
| 46 |
+
[
|
| 47 |
+
1.0,
|
| 48 |
+
0.0,
|
| 49 |
+
0.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
0.0,
|
| 53 |
+
0.0,
|
| 54 |
+
-1.0
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.0,
|
| 58 |
+
1.0,
|
| 59 |
+
0.0
|
| 60 |
+
]
|
| 61 |
+
],
|
| 62 |
+
"acc": "m/s^2 (8192 LSB/g)",
|
| 63 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 64 |
+
"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 65 |
+
"quaternions": "xyzw, Nokov global"
|
| 66 |
+
},
|
| 67 |
+
"calibration": {
|
| 68 |
+
"device": "c9205ac6e17d2d5c",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 25647,
|
| 76 |
+
"n_gyro": 25642,
|
| 77 |
+
"t_start": -0.10010094860809562,
|
| 78 |
+
"t_end": 126.22944302939207
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 25490,
|
| 82 |
+
"n_gyro": 25484,
|
| 83 |
+
"t_start": 0.007802459391988176,
|
| 84 |
+
"t_end": 126.3940338283919
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 25349,
|
| 88 |
+
"n_gyro": 25360,
|
| 89 |
+
"t_start": -0.8482305786080896,
|
| 90 |
+
"t_end": 124.42628285139197
|
| 91 |
+
},
|
| 92 |
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"imu_wrist_left": {
|
| 93 |
+
"n_acc": 24736,
|
| 94 |
+
"n_gyro": 24749,
|
| 95 |
+
"t_start": -0.7792487656079256,
|
| 96 |
+
"t_end": 124.45107256839195
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 12648,
|
| 100 |
+
"t_start": 0.08870823439200745,
|
| 101 |
+
"t_end": 126.5586808363921
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 12526,
|
| 105 |
+
"t_start": -0.8306356016080453,
|
| 106 |
+
"t_end": 124.419719104392
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 12522,
|
| 110 |
+
"t_start": -0.7657089466079096,
|
| 111 |
+
"t_end": 124.4444131333921
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
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"start_device_s": 1801.20055,
|
| 118 |
+
"frames": 3780,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.04023773003949924,
|
| 124 |
+
"t_end": 126.00680473003943,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 1801.20052,
|
| 131 |
+
"frames": 3780,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0024181146161434135,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.03999740900825696,
|
| 137 |
+
"t_end": 126.00657540900828,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 1801.200541,
|
| 144 |
+
"frames": 3780,
|
| 145 |
+
"pts_gaps": 0,
|
| 146 |
+
"timing": "pts",
|
| 147 |
+
"timeshift_cam_imu_s": 0.002458947067077895,
|
| 148 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
+
"t_start": 0.040059241458940104,
|
| 150 |
+
"t_end": 126.00662624145887,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
},
|
| 154 |
+
"right_front": {
|
| 155 |
+
"fps": 30.0,
|
| 156 |
+
"start_device_s": 1801.200565,
|
| 157 |
+
"frames": 3780,
|
| 158 |
+
"pts_gaps": 0,
|
| 159 |
+
"timing": "pts",
|
| 160 |
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"timeshift_cam_imu_s": 0.0021420814739499558,
|
| 161 |
+
"file": "robocap_segment1_video_right_front.mp4",
|
| 162 |
+
"t_start": 0.03976637586605744,
|
| 163 |
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"t_end": 126.00633337586599,
|
| 164 |
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"clock": "device",
|
| 165 |
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"calibrated": true
|
| 166 |
+
},
|
| 167 |
+
"left_eye": {
|
| 168 |
+
"fps": 30.0,
|
| 169 |
+
"start_device_s": 1801.200531,
|
| 170 |
+
"frames": 3776,
|
| 171 |
+
"pts_gaps": 4,
|
| 172 |
+
"timing": "pts",
|
| 173 |
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"timeshift_cam_imu_s": 0.002801984596191448,
|
| 174 |
+
"gap_test": {
|
| 175 |
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"pts": {
|
| 176 |
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"offset_ms": -13.3,
|
| 177 |
+
"corr": 0.686,
|
| 178 |
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"err_ms": 16.1
|
| 179 |
+
},
|
| 180 |
+
"nominal": {
|
| 181 |
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"offset_ms": 36.6,
|
| 182 |
+
"corr": 0.686,
|
| 183 |
+
"err_ms": 33.8
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"file": "robocap_segment1_video_left_eye.mp4",
|
| 187 |
+
"t_start": 0.04039227898805717,
|
| 188 |
+
"t_end": 126.02360327898803,
|
| 189 |
+
"clock": "device",
|
| 190 |
+
"calibrated": true
|
| 191 |
+
},
|
| 192 |
+
"right_eye": {
|
| 193 |
+
"fps": 30.0,
|
| 194 |
+
"start_device_s": 1801.2005,
|
| 195 |
+
"frames": 3780,
|
| 196 |
+
"pts_gaps": 0,
|
| 197 |
+
"timing": "pts",
|
| 198 |
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"timeshift_cam_imu_s": 0.002930366888236734,
|
| 199 |
+
"file": "robocap_segment1_video_right_eye.mp4",
|
| 200 |
+
"t_start": 0.04048966128015405,
|
| 201 |
+
"t_end": 126.00706766128017,
|
| 202 |
+
"clock": "device",
|
| 203 |
+
"calibrated": true
|
| 204 |
+
},
|
| 205 |
+
"wrist_left": {
|
| 206 |
+
"fps": 30.0,
|
| 207 |
+
"start_device_s": 1800.367524,
|
| 208 |
+
"frames": 3757,
|
| 209 |
+
"pts_gaps": 0,
|
| 210 |
+
"timing": "pts",
|
| 211 |
+
"timeshift_cam_imu_s": null,
|
| 212 |
+
"file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
|
| 213 |
+
"t_start": -0.7954167056079849,
|
| 214 |
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"t_end": 124.40471329439195,
|
| 215 |
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"clock": "device",
|
| 216 |
+
"calibrated": false
|
| 217 |
+
},
|
| 218 |
+
"wrist_right": {
|
| 219 |
+
"fps": 30.0,
|
| 220 |
+
"start_device_s": 1800.305735,
|
| 221 |
+
"frames": 3758,
|
| 222 |
+
"pts_gaps": 0,
|
| 223 |
+
"timing": "pts",
|
| 224 |
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"timeshift_cam_imu_s": null,
|
| 225 |
+
"file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
|
| 226 |
+
"t_start": -0.8572057056080747,
|
| 227 |
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|
| 228 |
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"clock": "device",
|
| 229 |
+
"calibrated": false
|
| 230 |
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},
|
| 231 |
+
"third_person": {
|
| 232 |
+
"file": "mocap/mocap-P36-S05-xiaobo-01p1-1.mp4",
|
| 233 |
+
"frames": 3781,
|
| 234 |
+
"fps": 30.0,
|
| 235 |
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"clock": "nokov (frame index)",
|
| 236 |
+
"t_start": 0.0,
|
| 237 |
+
"t_end": 126.0
|
| 238 |
+
}
|
| 239 |
+
}
|
| 240 |
+
},
|
| 241 |
+
"flags": [],
|
| 242 |
+
"sanity": {
|
| 243 |
+
"status": {
|
| 244 |
+
"structure": "WARN",
|
| 245 |
+
"markers": "WARN",
|
| 246 |
+
"timing": "WARN"
|
| 247 |
+
},
|
| 248 |
+
"verdict": "READY_WITH_WARNINGS",
|
| 249 |
+
"issues": [
|
| 250 |
+
"WARN M_BODY_ID",
|
| 251 |
+
"WARN M_SPIKES",
|
| 252 |
+
"WARN M_TRACKER_GEOM",
|
| 253 |
+
"WARN S_CALIB",
|
| 254 |
+
"WARN S_INDEX",
|
| 255 |
+
"WARN S_REPORT_TIMING",
|
| 256 |
+
"WARN T_FRAMES",
|
| 257 |
+
"WARN T_LAG_OUTLIER",
|
| 258 |
+
"WARN T_LAG_SCATTER",
|
| 259 |
+
"WARN T_PTS",
|
| 260 |
+
"WARN T_RIG_TRACKER",
|
| 261 |
+
"WARN T_UNITS"
|
| 262 |
+
]
|
| 263 |
+
},
|
| 264 |
+
"rig_tracker": {
|
| 265 |
+
"definition": "c9205ac6e17d2d5c/20261019-morning/labels-503412/session-8958acb559013b10",
|
| 266 |
+
"R_tracker0_imu0": [
|
| 267 |
+
[
|
| 268 |
+
-0.68022155,
|
| 269 |
+
0.11114555,
|
| 270 |
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-0.7245311
|
| 271 |
+
],
|
| 272 |
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[
|
| 273 |
+
0.73232389,
|
| 274 |
+
0.14569602,
|
| 275 |
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-0.66518749
|
| 276 |
+
],
|
| 277 |
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[
|
| 278 |
+
0.03162867,
|
| 279 |
+
-0.98306629,
|
| 280 |
+
-0.18050011
|
| 281 |
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]
|
| 282 |
+
],
|
| 283 |
+
"p_tracker0_imu0_m": [
|
| 284 |
+
0.02052398521908061,
|
| 285 |
+
-0.00703155294551409,
|
| 286 |
+
-0.011032696004825482
|
| 287 |
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],
|
| 288 |
+
"rig_check": {
|
| 289 |
+
"gyro_samples": 10164,
|
| 290 |
+
"gyro_max_deg": 2.5,
|
| 291 |
+
"status": "ok",
|
| 292 |
+
"dropped_marker": null,
|
| 293 |
+
"gyro_deg": 2.417
|
| 294 |
+
},
|
| 295 |
+
"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 296 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 297 |
+
},
|
| 298 |
+
"canonical": {
|
| 299 |
+
"generated_at_utc": "2026-10-22T17:38:40.736265+00:00",
|
| 300 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 301 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 302 |
+
"R_canon_nokov": [
|
| 303 |
+
[
|
| 304 |
+
0.9999993023,
|
| 305 |
+
0.0011813089,
|
| 306 |
+
1.2167e-06
|
| 307 |
+
],
|
| 308 |
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[
|
| 309 |
+
-1.2167e-06,
|
| 310 |
+
0.0020598409,
|
| 311 |
+
-0.9999978785
|
| 312 |
+
],
|
| 313 |
+
[
|
| 314 |
+
-0.0011813089,
|
| 315 |
+
0.9999971808,
|
| 316 |
+
0.0020598409
|
| 317 |
+
]
|
| 318 |
+
],
|
| 319 |
+
"scale_nokov_to_canon": 0.001,
|
| 320 |
+
"T_canon_nokov_mm": [
|
| 321 |
+
[
|
| 322 |
+
0.000999999302,
|
| 323 |
+
1.181309e-06,
|
| 324 |
+
1.217e-09,
|
| 325 |
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0.0
|
| 326 |
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],
|
| 327 |
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[
|
| 328 |
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-1.217e-09,
|
| 329 |
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2.059841e-06,
|
| 330 |
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-0.000999997879,
|
| 331 |
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0.0
|
| 332 |
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],
|
| 333 |
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[
|
| 334 |
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-1.181309e-06,
|
| 335 |
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0.000999997181,
|
| 336 |
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2.059841e-06,
|
| 337 |
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0.0
|
| 338 |
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],
|
| 339 |
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[
|
| 340 |
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0.0,
|
| 341 |
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0.0,
|
| 342 |
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0.0,
|
| 343 |
+
1.0
|
| 344 |
+
]
|
| 345 |
+
],
|
| 346 |
+
"block": "20261019-morning",
|
| 347 |
+
"block_assignment": "trc",
|
| 348 |
+
"tilt_removed_deg": 0.1360511893348655,
|
| 349 |
+
"plane_status": "ok",
|
| 350 |
+
"floor": {
|
| 351 |
+
"sole_marker_p1_mm": 40.5,
|
| 352 |
+
"headtop_p95_mm": 1705.6
|
| 353 |
+
},
|
| 354 |
+
"gravity_check": null,
|
| 355 |
+
"rig_tracker_definition": "c9205ac6e17d2d5c/20261019-morning/labels-503412/session-8958acb559013b10",
|
| 356 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 357 |
+
"files": [
|
| 358 |
+
"mocap_zup.npz",
|
| 359 |
+
"tracker0_zup.npz",
|
| 360 |
+
"rig_zup.npz",
|
| 361 |
+
"cameras_zup.npz"
|
| 362 |
+
]
|
| 363 |
+
},
|
| 364 |
+
"smplx": {
|
| 365 |
+
"generated_at_utc": "2026-10-23T06:33:35.251705+00:00",
|
| 366 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 367 |
+
"file": "smplx.npz",
|
| 368 |
+
"gender": "male",
|
| 369 |
+
"n_betas": 16,
|
| 370 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 371 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 372 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 373 |
+
"hands": {
|
| 374 |
+
"observed": false,
|
| 375 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 376 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 377 |
+
"hand_marker_offsets_m": {
|
| 378 |
+
"left": {
|
| 379 |
+
"LHandIn": [
|
| 380 |
+
0.05985955521464348,
|
| 381 |
+
0.017545457929372787,
|
| 382 |
+
0.013562069274485111
|
| 383 |
+
],
|
| 384 |
+
"LHandOut": [
|
| 385 |
+
0.035440780222415924,
|
| 386 |
+
0.028783679008483887,
|
| 387 |
+
-0.02586776204407215
|
| 388 |
+
],
|
| 389 |
+
"LWristIn": [
|
| 390 |
+
-0.023400161415338516,
|
| 391 |
+
-0.00357631198130548,
|
| 392 |
+
0.024632835760712624
|
| 393 |
+
],
|
| 394 |
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"LWristOut": [
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ADDED
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