Upload folder using huggingface_hub (part 746)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +62 -0
- actions/locomotion_primitives/P22/session_013/raw/mocap/Body0.csv +3 -0
- actions/locomotion_primitives/P22/session_013/raw/mocap/Body0.trc +3 -0
- actions/locomotion_primitives/P22/session_013/raw/mocap/Tracker0.csv +0 -0
- actions/locomotion_primitives/P22/session_013/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/P22/session_013/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/P22/session_013/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/P22/session_013/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/P22/session_013/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/P22/session_013/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomotion_primitives/P22/session_013/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomotion_primitives/P22/session_013/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomotion_primitives/P22/session_013/scene/infer.json +36 -0
- actions/locomotion_primitives/P22/session_013/scene/views.npz +3 -0
- actions/locomotion_primitives/P22/session_013/sensors/head_imu.npz +3 -0
- actions/locomotion_primitives/P22/session_013/sensors/head_mag.npz +3 -0
- actions/locomotion_primitives/P22/session_013/sensors/wrist_imu.npz +3 -0
- actions/locomotion_primitives/P22/session_013/sensors/wrist_mag.npz +3 -0
- actions/locomotion_primitives/P22/session_013/videos/frame_timestamps.npz +3 -0
- actions/locomotion_primitives/P22/session_013/videos/head_left.mp4 +3 -0
- actions/locomotion_primitives/P22/session_013/videos/head_left_eye.mp4 +3 -0
- actions/locomotion_primitives/P22/session_013/videos/head_left_front.mp4 +3 -0
- actions/locomotion_primitives/P22/session_013/videos/head_right.mp4 +3 -0
- actions/locomotion_primitives/P22/session_013/videos/head_right_eye.mp4 +3 -0
- actions/locomotion_primitives/P22/session_013/videos/head_right_front.mp4 +3 -0
- actions/locomotion_primitives/P22/session_013/videos/third_person.mp4 +3 -0
- actions/locomotion_primitives/P22/session_013/videos/wrist_left.mp4 +3 -0
- actions/locomotion_primitives/P22/session_013/videos/wrist_right.mp4 +3 -0
- actions/locomotion_primitives/P22/session_014/cameras/poses.npz +3 -0
- actions/locomotion_primitives/P22/session_014/meta.json +530 -0
- actions/locomotion_primitives/P22/session_014/motions/head_rig.npz +3 -0
- actions/locomotion_primitives/P22/session_014/motions/markers.npz +3 -0
- actions/locomotion_primitives/P22/session_014/motions/skeleton.npz +3 -0
- actions/locomotion_primitives/P22/session_014/motions/smplx.npz +3 -0
- actions/locomotion_primitives/P22/session_014/raw/audio.wav +3 -0
- actions/locomotion_primitives/P22/session_014/raw/manifest.json +230 -0
- actions/locomotion_primitives/P22/session_014/raw/mocap/Body0.bvh +0 -0
- actions/locomotion_primitives/P22/session_014/raw/mocap/Body0.csv +3 -0
- actions/locomotion_primitives/P22/session_014/raw/mocap/Body0.trc +3 -0
- actions/locomotion_primitives/P22/session_014/raw/mocap/Tracker0.csv +0 -0
- actions/locomotion_primitives/P22/session_014/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/P22/session_014/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/P22/session_014/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/P22/session_014/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/P22/session_014/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/P22/session_014/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomotion_primitives/P22/session_014/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomotion_primitives/P22/session_014/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomotion_primitives/P22/session_014/scene/infer.json +36 -0
- actions/locomotion_primitives/P22/session_014/scene/views.npz +3 -0
.gitattributes
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actions/locomotion_primitives/P22/session_012/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P22/session_012/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P22/session_012/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P22/session_013/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P22/session_013/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P22/session_013/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P22/session_013/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P22/session_013/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P22/session_013/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P22/session_013/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P22/session_013/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P22/session_014/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P22/session_014/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P22/session_014/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P22/session_014/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P22/session_014/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P22/session_015/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P22/session_013/raw/mocap/Body0.csv
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actions/locomotion_primitives/P22/session_013/raw/mocap/Tracker0.trc
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actions/locomotion_primitives/P22/session_013/raw/sensors/robocap_imu_left.db
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|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20260921/P22/20260921_072822_session131",
|
| 4 |
+
"session_id": "20260921_072822_session131",
|
| 5 |
+
"primitive": "P22",
|
| 6 |
+
"batch": "20260921",
|
| 7 |
+
"participant": "zhangxinxin",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e17c9efadb69e7b1",
|
| 11 |
+
"left": "cc5681142208e29a",
|
| 12 |
+
"right": "60a6f081bbe60b0d"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-14T11:20:40.686039+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": 94.025,
|
| 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": -1.169148,
|
| 28 |
+
"rate": 0.0,
|
| 29 |
+
"global_lag_s": -1.17,
|
| 30 |
+
"peak_corr": 0.9738,
|
| 31 |
+
"reference_imu_first_sample_s": 25812.120663975,
|
| 32 |
+
"windows": {
|
| 33 |
+
"n_windows": 8,
|
| 34 |
+
"window_corr_median": 0.9934209136601565,
|
| 35 |
+
"drift_ppm": -67.53817767724054,
|
| 36 |
+
"drift_se_ppm": 34.125076171746116,
|
| 37 |
+
"drift_ms_over_take": -6.349714337955231,
|
| 38 |
+
"lag_scatter_ms": 1.915265149983559,
|
| 39 |
+
"lag_range_ms": 7.7424021209708815
|
| 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": 19223,
|
| 75 |
+
"n_gyro": 19216,
|
| 76 |
+
"t_start": -1.181105192276649,
|
| 77 |
+
"t_end": 94.6529993687229
|
| 78 |
+
},
|
| 79 |
+
"imu_head_left": {
|
| 80 |
+
"n_acc": 19191,
|
| 81 |
+
"n_gyro": 19185,
|
| 82 |
+
"t_start": -1.0703819652760864,
|
| 83 |
+
"t_end": 94.81800045372185
|
| 84 |
+
},
|
| 85 |
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"imu_wrist_right": {
|
| 86 |
+
"n_acc": 18845,
|
| 87 |
+
"n_gyro": 18858,
|
| 88 |
+
"t_start": 0.1936185947244815,
|
| 89 |
+
"t_end": 93.32251689472216
|
| 90 |
+
},
|
| 91 |
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"imu_wrist_left": {
|
| 92 |
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"n_acc": 18380,
|
| 93 |
+
"n_gyro": 18379,
|
| 94 |
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"t_start": 0.2642939937224731,
|
| 95 |
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"t_end": 93.31255663672457
|
| 96 |
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},
|
| 97 |
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"mag_head": {
|
| 98 |
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"n": 9599,
|
| 99 |
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"t_start": -0.9897241322785555,
|
| 100 |
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"t_end": 94.99027491372291
|
| 101 |
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},
|
| 102 |
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"mag_wrist_right": {
|
| 103 |
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"n": 9312,
|
| 104 |
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"t_start": 0.21223705272242688,
|
| 105 |
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"t_end": 93.32174127272194
|
| 106 |
+
},
|
| 107 |
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"mag_wrist_left": {
|
| 108 |
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"n": 9304,
|
| 109 |
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"t_start": 0.283664773721481,
|
| 110 |
+
"t_end": 93.3134659517211
|
| 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": 25813.326973,
|
| 117 |
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"frames": 2820,
|
| 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": 0.03950382451986689,
|
| 123 |
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"t_end": 94.00613682451987,
|
| 124 |
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"clock": "device",
|
| 125 |
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"calibrated": true
|
| 126 |
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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": 25813.326918,
|
| 130 |
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"frames": 2820,
|
| 131 |
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"pts_gaps": 0,
|
| 132 |
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"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": 0.039055400369048865,
|
| 136 |
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"t_end": 94.00571140036956,
|
| 137 |
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"clock": "device",
|
| 138 |
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"calibrated": true
|
| 139 |
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},
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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": 25813.326952,
|
| 143 |
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"frames": 2820,
|
| 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": 0.038957558962662286,
|
| 149 |
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"t_end": 94.00560155896275,
|
| 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": 25813.32699,
|
| 156 |
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"frames": 2820,
|
| 157 |
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"pts_gaps": 0,
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| 158 |
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"timing": "pts",
|
| 159 |
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"timeshift_cam_imu_s": 0.0017295646474508202,
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| 160 |
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"file": "robocap_segment1_video_right_front.mp4",
|
| 161 |
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"t_start": 0.038908000370807994,
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| 162 |
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"t_end": 94.00553000037073,
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| 163 |
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"clock": "device",
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| 164 |
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"calibrated": true
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| 165 |
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},
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| 166 |
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"left_eye": {
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| 167 |
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"fps": 30.0,
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| 168 |
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"start_device_s": 25813.326935,
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| 169 |
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"frames": 2820,
|
| 170 |
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| 171 |
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"timing": "pts",
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| 172 |
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"timeshift_cam_imu_s": 0.001668932298833096,
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| 173 |
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"file": "robocap_segment1_video_left_eye.mp4",
|
| 174 |
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"t_start": 0.03879236802205588,
|
| 175 |
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"t_end": 94.00543636802215,
|
| 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": 25813.326894,
|
| 182 |
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"frames": 2820,
|
| 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": 0.03879937348503182,
|
| 188 |
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"t_end": 94.00545537348555,
|
| 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": 25813.587862,
|
| 195 |
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"frames": 2790,
|
| 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": 0.2980504357230678,
|
| 201 |
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"t_end": 93.2645214357228,
|
| 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": 25813.482323,
|
| 208 |
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"frames": 2793,
|
| 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": 0.1925114357229325,
|
| 214 |
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"t_end": 93.25865743572396,
|
| 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-P22-S04-zhangxinxin-04p1-1.mp4",
|
| 220 |
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"frames": 2821,
|
| 221 |
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"fps": 60.0,
|
| 222 |
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"clock": "nokov (frame index)",
|
| 223 |
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"t_start": 0.0,
|
| 224 |
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"t_end": 47.0
|
| 225 |
+
}
|
| 226 |
+
}
|
| 227 |
+
},
|
| 228 |
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"flags": [],
|
| 229 |
+
"sanity": {
|
| 230 |
+
"status": {
|
| 231 |
+
"structure": "WARN",
|
| 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 S_INDEX_STALE",
|
| 241 |
+
"WARN S_PARTICIPANT",
|
| 242 |
+
"WARN S_VIDEO_FPS",
|
| 243 |
+
"WARN T_UNITS"
|
| 244 |
+
]
|
| 245 |
+
},
|
| 246 |
+
"canonical": {
|
| 247 |
+
"generated_at_utc": "2026-10-14T12:21:15.345538+00:00",
|
| 248 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 249 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 250 |
+
"R_canon_nokov": [
|
| 251 |
+
[
|
| 252 |
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0.9999883331,
|
| 253 |
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-0.0048304539,
|
| 254 |
+
-2.10161e-05
|
| 255 |
+
],
|
| 256 |
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[
|
| 257 |
+
2.10161e-05,
|
| 258 |
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0.0087013021,
|
| 259 |
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-0.9999621427
|
| 260 |
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],
|
| 261 |
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[
|
| 262 |
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0.0048304539,
|
| 263 |
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0.9999504758,
|
| 264 |
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0.0087013021
|
| 265 |
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]
|
| 266 |
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],
|
| 267 |
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"scale_nokov_to_canon": 0.001,
|
| 268 |
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"T_canon_nokov_mm": [
|
| 269 |
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[
|
| 270 |
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0.000999988333,
|
| 271 |
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-4.830454e-06,
|
| 272 |
+
-2.1016e-08,
|
| 273 |
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0.0
|
| 274 |
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],
|
| 275 |
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[
|
| 276 |
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2.1016e-08,
|
| 277 |
+
8.701302e-06,
|
| 278 |
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-0.000999962143,
|
| 279 |
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0.0
|
| 280 |
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],
|
| 281 |
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[
|
| 282 |
+
4.830454e-06,
|
| 283 |
+
0.000999950476,
|
| 284 |
+
8.701302e-06,
|
| 285 |
+
0.0
|
| 286 |
+
],
|
| 287 |
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[
|
| 288 |
+
0.0,
|
| 289 |
+
0.0,
|
| 290 |
+
0.0,
|
| 291 |
+
1.0
|
| 292 |
+
]
|
| 293 |
+
],
|
| 294 |
+
"block": "20260921-afternoon",
|
| 295 |
+
"block_assignment": "trc",
|
| 296 |
+
"tilt_removed_deg": 0.57022748706666,
|
| 297 |
+
"plane_status": "ok",
|
| 298 |
+
"floor": {
|
| 299 |
+
"sole_marker_p1_mm": 37.2,
|
| 300 |
+
"headtop_p95_mm": 1626.1
|
| 301 |
+
},
|
| 302 |
+
"gravity_check": {
|
| 303 |
+
"static_samples": 556,
|
| 304 |
+
"g_world_mean_m_s2": [
|
| 305 |
+
0.1317,
|
| 306 |
+
-0.0716,
|
| 307 |
+
9.7703
|
| 308 |
+
],
|
| 309 |
+
"tilt_from_z_deg": 0.879,
|
| 310 |
+
"tilt_from_z_deg_before_levelling": 1.394,
|
| 311 |
+
"magnitude_m_s2": 9.7715
|
| 312 |
+
},
|
| 313 |
+
"rig_tracker_definition": "e17c9efadb69e7b1/20260921-afternoon/labels-530412/session-7d1d911a8dce0f80",
|
| 314 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 315 |
+
"files": [
|
| 316 |
+
"mocap_zup.npz",
|
| 317 |
+
"tracker0_zup.npz",
|
| 318 |
+
"rig_zup.npz",
|
| 319 |
+
"cameras_zup.npz"
|
| 320 |
+
]
|
| 321 |
+
},
|
| 322 |
+
"smplx": {
|
| 323 |
+
"generated_at_utc": "2026-10-15T09:22:10.419927+00:00",
|
| 324 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 325 |
+
"file": "smplx.npz",
|
| 326 |
+
"gender": "female",
|
| 327 |
+
"n_betas": 16,
|
| 328 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 329 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 330 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 331 |
+
"hands": {
|
| 332 |
+
"observed": false,
|
| 333 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 334 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 335 |
+
"hand_marker_offsets_m": {
|
| 336 |
+
"left": {
|
| 337 |
+
"LHandIn": [
|
| 338 |
+
0.061975181102752686,
|
| 339 |
+
0.010061947628855705,
|
| 340 |
+
0.026090966537594795
|
| 341 |
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],
|
| 342 |
+
"LHandOut": [
|
| 343 |
+
0.06643722951412201,
|
| 344 |
+
0.006838229484856129,
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