Upload folder using huggingface_hub (part 326)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +48 -0
- actions/locomanipulation/LM32/session_017/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM32/session_017/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM32/session_017/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM32/session_017/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM32/session_017/raw/sensors/robowrist_imu_right.db +0 -0
- actions/locomanipulation/LM32/session_017/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM32/session_017/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM32/session_017/scene/infer.json +36 -0
- actions/locomanipulation/LM32/session_017/scene/views.npz +3 -0
- actions/locomanipulation/LM32/session_017/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM32/session_017/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM32/session_017/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM32/session_017/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM32/session_017/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM32/session_017/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM32/session_017/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM32/session_017/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM32/session_017/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM32/session_017/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM32/session_017/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM32/session_017/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM32/session_017/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM32/session_017/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM32/session_018/cameras/poses.npz +3 -0
- actions/locomanipulation/LM32/session_018/meta.json +529 -0
- actions/locomanipulation/LM32/session_018/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM32/session_018/motions/markers.npz +3 -0
- actions/locomanipulation/LM32/session_018/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM32/session_018/motions/smplx.npz +3 -0
- actions/locomanipulation/LM32/session_018/raw/audio.wav +3 -0
- actions/locomanipulation/LM32/session_018/raw/manifest.json +230 -0
- actions/locomanipulation/LM32/session_018/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM32/session_018/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM32/session_018/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM32/session_018/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM32/session_018/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM32/session_018/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM32/session_018/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM32/session_018/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM32/session_018/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM32/session_018/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM32/session_018/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM32/session_018/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM32/session_018/scene/infer.json +36 -0
- actions/locomanipulation/LM32/session_018/scene/views.npz +3 -0
- actions/locomanipulation/LM32/session_018/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM32/session_018/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM32/session_018/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM32/session_018/sensors/wrist_mag.npz +3 -0
.gitattributes
CHANGED
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@@ -11229,3 +11229,51 @@ actions/locomanipulation/LM32/session_016/raw/sensors/robowrist_mag_left.db filt
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actions/locomanipulation/LM32/session_016/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM32/session_017/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM32/session_017/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM32/session_016/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM32/session_017/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM32/session_017/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM32/session_017/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM32/session_017/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM32/session_017/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM32/session_018/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM32/session_017/raw/sensors/robocap_imu_left.db
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20260924/LM32/20260924_073111_session94",
|
| 4 |
+
"session_id": "20260924_073111_session94",
|
| 5 |
+
"primitive": "LM32",
|
| 6 |
+
"batch": "20260924",
|
| 7 |
+
"participant": "liujiaxin",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e17c9efadb69e7b1",
|
| 11 |
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"left": "cc5681142208e29a",
|
| 12 |
+
"right": "60a6f081bbe60b0d"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-14T13:02:08.501418+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 |
+
"mocap_rate_fix": {
|
| 20 |
+
"declared_hz": 90.0,
|
| 21 |
+
"used_hz": 120.0,
|
| 22 |
+
"alignment_smoothing_sigma_frames": 3.0,
|
| 23 |
+
"peak_corr_at_declared_rate": 0.1184,
|
| 24 |
+
"note": "Nokov header rate wrong (captured at 120 Hz); marker noise elevated in this block, smooth before differentiating; prefer training split only"
|
| 25 |
+
},
|
| 26 |
+
"first_solved_frame": 0,
|
| 27 |
+
"duration_s": 129.025,
|
| 28 |
+
"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 29 |
+
},
|
| 30 |
+
"alignment": {
|
| 31 |
+
"reference_imu": "imu_head_right",
|
| 32 |
+
"model": "offset (median of windows)",
|
| 33 |
+
"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 34 |
+
"offset_s": -1.175807,
|
| 35 |
+
"rate": 0.0,
|
| 36 |
+
"global_lag_s": -1.175,
|
| 37 |
+
"peak_corr": 0.9772,
|
| 38 |
+
"reference_imu_first_sample_s": 25635.809066525,
|
| 39 |
+
"windows": {
|
| 40 |
+
"n_windows": 11,
|
| 41 |
+
"window_corr_median": 0.9989616582278639,
|
| 42 |
+
"drift_ppm": -12.617956306985286,
|
| 43 |
+
"drift_se_ppm": 7.3655109310971705,
|
| 44 |
+
"drift_ms_over_take": -1.6279266628728852,
|
| 45 |
+
"lag_scatter_ms": 0.6987537201940374,
|
| 46 |
+
"lag_range_ms": 3.080907767298191
|
| 47 |
+
}
|
| 48 |
+
},
|
| 49 |
+
"units": {
|
| 50 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 51 |
+
"y_up_to_z_up": [
|
| 52 |
+
[
|
| 53 |
+
1.0,
|
| 54 |
+
0.0,
|
| 55 |
+
0.0
|
| 56 |
+
],
|
| 57 |
+
[
|
| 58 |
+
0.0,
|
| 59 |
+
0.0,
|
| 60 |
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-1.0
|
| 61 |
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],
|
| 62 |
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[
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| 63 |
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0.0,
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| 64 |
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1.0,
|
| 65 |
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0.0
|
| 66 |
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]
|
| 67 |
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],
|
| 68 |
+
"acc": "m/s^2 (8192 LSB/g)",
|
| 69 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 70 |
+
"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 71 |
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"quaternions": "xyzw, Nokov global"
|
| 72 |
+
},
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| 73 |
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|
| 74 |
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"device": "e17c9efadb69e7b1",
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| 75 |
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"status": "ok",
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| 76 |
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"date": "2026-09-08"
|
| 77 |
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},
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| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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| 83 |
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| 84 |
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| 86 |
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|
| 87 |
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| 88 |
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|
| 89 |
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| 90 |
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| 93 |
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| 94 |
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| 95 |
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| 96 |
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| 98 |
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| 99 |
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"n_acc": 24901,
|
| 100 |
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|
| 101 |
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| 102 |
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| 103 |
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| 104 |
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|
| 105 |
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"n": 13100,
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| 106 |
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| 107 |
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| 108 |
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| 109 |
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|
| 110 |
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"n": 12588,
|
| 111 |
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| 112 |
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| 113 |
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| 114 |
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|
| 115 |
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"n": 12605,
|
| 116 |
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| 117 |
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| 118 |
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}
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| 119 |
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| 121 |
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| 122 |
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| 123 |
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| 126 |
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| 127 |
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| 128 |
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"file": "robocap_segment1_video_left.mp4",
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| 129 |
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| 130 |
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| 131 |
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"clock": "device",
|
| 132 |
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"calibrated": true
|
| 133 |
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},
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| 134 |
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|
| 135 |
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"fps": 30.0,
|
| 136 |
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"start_device_s": 25637.023064,
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| 137 |
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| 138 |
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| 139 |
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| 140 |
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| 141 |
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| 142 |
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| 143 |
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| 146 |
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| 150 |
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| 153 |
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"file": "robocap_segment1_video_left_front.mp4",
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| 155 |
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| 156 |
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| 159 |
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| 163 |
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| 164 |
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| 165 |
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| 166 |
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| 167 |
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"file": "robocap_segment1_video_right_front.mp4",
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| 168 |
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| 180 |
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"file": "robocap_segment1_video_left_eye.mp4",
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| 181 |
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| 182 |
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| 183 |
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| 184 |
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| 185 |
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},
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| 186 |
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| 187 |
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| 188 |
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| 189 |
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| 191 |
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| 192 |
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| 193 |
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"file": "robocap_segment1_video_right_eye.mp4",
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| 194 |
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| 198 |
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},
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| 204 |
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| 205 |
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| 206 |
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"file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
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| 207 |
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| 211 |
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| 214 |
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| 215 |
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| 217 |
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| 218 |
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| 219 |
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"file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
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| 224 |
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},
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"third_person": {
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| 226 |
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"file": "mocap/mocap-LM32-S04-liujiaxin-01p1-1.mp4",
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| 227 |
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|
| 228 |
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|
| 229 |
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"clock": "nokov (frame index)",
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| 230 |
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|
| 231 |
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|
| 232 |
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}
|
| 233 |
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}
|
| 234 |
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},
|
| 235 |
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"flags": [
|
| 236 |
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"mocap rate corrected 90 -> 120 Hz (header wrong); alignment on smoothed Tracker0"
|
| 237 |
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],
|
| 238 |
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"sanity": {
|
| 239 |
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"status": {
|
| 240 |
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"structure": "WARN",
|
| 241 |
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"markers": "WARN",
|
| 242 |
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"timing": "FAIL"
|
| 243 |
+
},
|
| 244 |
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"verdict": "NOT_READY",
|
| 245 |
+
"issues": [
|
| 246 |
+
"FAIL T_CORR",
|
| 247 |
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"WARN M_BODY_ID",
|
| 248 |
+
"WARN M_RATE",
|
| 249 |
+
"WARN M_SPIKES",
|
| 250 |
+
"WARN M_TRACKER_LABELS",
|
| 251 |
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"WARN S_PARTICIPANT",
|
| 252 |
+
"WARN S_REPORT_TIMING",
|
| 253 |
+
"WARN T_LAG_OUTLIER"
|
| 254 |
+
]
|
| 255 |
+
},
|
| 256 |
+
"canonical": {
|
| 257 |
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"generated_at_utc": "2026-10-14T13:43:11.196781+00:00",
|
| 258 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 259 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 260 |
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"R_canon_nokov": [
|
| 261 |
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[
|
| 262 |
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1.0,
|
| 263 |
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0.0,
|
| 264 |
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0.0
|
| 265 |
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],
|
| 266 |
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[
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| 267 |
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0.0,
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| 268 |
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0.0,
|
| 269 |
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|
| 270 |
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],
|
| 271 |
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[
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| 272 |
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0.0,
|
| 273 |
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1.0,
|
| 274 |
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0.0
|
| 275 |
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]
|
| 276 |
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],
|
| 277 |
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"scale_nokov_to_canon": 0.001,
|
| 278 |
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"T_canon_nokov_mm": [
|
| 279 |
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[
|
| 280 |
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0.001,
|
| 281 |
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0.0,
|
| 282 |
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0.0,
|
| 283 |
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0.0
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| 284 |
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],
|
| 285 |
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[
|
| 286 |
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0.0,
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| 287 |
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0.0,
|
| 288 |
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-0.001,
|
| 289 |
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0.0
|
| 290 |
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],
|
| 291 |
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[
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| 292 |
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0.0,
|
| 293 |
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0.001,
|
| 294 |
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0.0,
|
| 295 |
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0.0
|
| 296 |
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],
|
| 297 |
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[
|
| 298 |
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0.0,
|
| 299 |
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0.0,
|
| 300 |
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0.0,
|
| 301 |
+
1.0
|
| 302 |
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]
|
| 303 |
+
],
|
| 304 |
+
"block": "20260924-afternoon",
|
| 305 |
+
"block_assignment": "trc",
|
| 306 |
+
"tilt_removed_deg": null,
|
| 307 |
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"plane_status": "contacts span only 0.85 m",
|
| 308 |
+
"floor": {
|
| 309 |
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"sole_marker_p1_mm": -8.1,
|
| 310 |
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|
| 311 |
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},
|
| 312 |
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"gravity_check": {
|
| 313 |
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"static_samples": 1310,
|
| 314 |
+
"g_world_mean_m_s2": [
|
| 315 |
+
-0.0623,
|
| 316 |
+
0.0959,
|
| 317 |
+
9.7444
|
| 318 |
+
],
|
| 319 |
+
"tilt_from_z_deg": 0.672,
|
| 320 |
+
"tilt_from_z_deg_before_levelling": 0.672,
|
| 321 |
+
"magnitude_m_s2": 9.7451
|
| 322 |
+
},
|
| 323 |
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"rig_tracker_definition": "e17c9efadb69e7b1/20260924-afternoon/labels-035142/session-fc944ba2b3d2ace2",
|
| 324 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 325 |
+
"files": [
|
| 326 |
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"mocap_zup.npz",
|
| 327 |
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"tracker0_zup.npz",
|
| 328 |
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"rig_zup.npz",
|
| 329 |
+
"cameras_zup.npz"
|
| 330 |
+
]
|
| 331 |
+
},
|
| 332 |
+
"smplx": {
|
| 333 |
+
"generated_at_utc": "2026-10-15T01:18:41.500960+00:00",
|
| 334 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 335 |
+
"file": "smplx.npz",
|
| 336 |
+
"gender": "female",
|
| 337 |
+
"n_betas": 16,
|
| 338 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 339 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 340 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 341 |
+
"hands": {
|
| 342 |
+
"observed": false,
|
| 343 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 344 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 345 |
+
"hand_marker_offsets_m": {
|
| 346 |
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"left": {
|
| 347 |
+
"LHandIn": [
|
| 348 |
+
0.05664561316370964,
|
| 349 |
+
-0.02982507273554802,
|
| 350 |
+
0.0059166569262743
|
| 351 |
+
],
|
| 352 |
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"LHandOut": [
|
| 353 |
+
0.04790293797850609,
|
| 354 |
+
0.02567434124648571,
|
| 355 |
+
0.018919529393315315
|
| 356 |
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]
|
| 357 |
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},
|
| 358 |
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"right": {
|
| 359 |
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"RHandIn": [
|
| 360 |
+
-0.06764282286167145,
|
| 361 |
+
-0.005933800246566534,
|
| 362 |
+
0.03939104825258255
|
| 363 |
+
],
|
| 364 |
+
"RHandOut": [
|
| 365 |
+
-0.07046440243721008,
|
| 366 |
+
0.014105877839028835,
|
| 367 |
+
-0.01678420789539814
|
| 368 |
+
]
|
| 369 |
+
}
|
| 370 |
+
}
|
| 371 |
+
},
|
| 372 |
+
"marker_rmse_mm": {
|
| 373 |
+
"median_frame": 4.39,
|
| 374 |
+
"p95_frame": 9.52
|
| 375 |
+
},
|
| 376 |
+
"worst_markers": [
|
| 377 |
+
"LForearm 12mm",
|
| 378 |
+
"WaistLSide 10mm",
|
| 379 |
+
"LWristIn 10mm",
|
| 380 |
+
"LWristOut 9mm",
|
| 381 |
+
"RForearm 9mm"
|
| 382 |
+
],
|
| 383 |
+
"valid_fraction": 0.9999,
|
| 384 |
+
"qc": {
|
| 385 |
+
"lowest_vertex_mm": {
|
| 386 |
+
"median": -7.4,
|
| 387 |
+
"p5": -30.7
|
| 388 |
+
},
|
| 389 |
+
"frames_checked": 517,
|
| 390 |
+
"stature_mm": 1614.2
|
| 391 |
+
},
|
| 392 |
+
"surface_term": {
|
| 393 |
+
"weight": 1.0,
|
| 394 |
+
"marker_height_mm": 11.0,
|
| 395 |
+
"markers_on_surface": 52,
|
| 396 |
+
"surface_rmse_mm_median": 11.49
|
| 397 |
+
},
|
| 398 |
+
"shape_source": "participant median",
|
| 399 |
+
"wrist_correction": {
|
| 400 |
+
"left": {
|
| 401 |
+
"status": "corrected",
|
| 402 |
+
"Q_deg": 75.33,
|
| 403 |
+
"Q_rotvec": [
|
| 404 |
+
-1.21687,
|
| 405 |
+
-0.26014,
|
| 406 |
+
0.42469
|
| 407 |
+
],
|
| 408 |
+
"in_out_sign": -1,
|
| 409 |
+
"wrist_bend_deg_median": 89.9,
|
| 410 |
+
"opposite_sign_bend_deg": 102.1,
|
| 411 |
+
"in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
|
| 412 |
+
"marker_frame_spread_deg": 3.68,
|
| 413 |
+
"hand_vs_marker_frame_deg": {
|
| 414 |
+
"before": 75.7,
|
| 415 |
+
"after": 3.68
|
| 416 |
+
},
|
| 417 |
+
"markers_on_wrist": [
|
| 418 |
+
"LHandIn",
|
| 419 |
+
"LHandOut"
|
| 420 |
+
],
|
| 421 |
+
"forearm_twist": {
|
| 422 |
+
"twist_moved_deg": -83.82,
|
| 423 |
+
"wrist_twist_deg_after": {
|
| 424 |
+
"median": -0.38,
|
| 425 |
+
"iqr": [
|
| 426 |
+
-48.0,
|
| 427 |
+
7.5
|
| 428 |
+
]
|
| 429 |
+
},
|
| 430 |
+
"wrist_total_deg_median_after": 40.9,
|
| 431 |
+
"markers_on_forearm": [
|
| 432 |
+
"LForearm",
|
| 433 |
+
"LWristIn",
|
| 434 |
+
"LWristOut"
|
| 435 |
+
]
|
| 436 |
+
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