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Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +58 -0
- actions/locomanipulation/LM61/session_004/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM61/session_004/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM61/session_004/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM61/session_004/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM61/session_004/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM61/session_004/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM61/session_004/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM61/session_004/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM61/session_004/raw/sensors/robowrist_imu_right.db +0 -0
- actions/locomanipulation/LM61/session_004/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM61/session_004/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM61/session_004/scene/infer.json +36 -0
- actions/locomanipulation/LM61/session_004/scene/views.npz +3 -0
- actions/locomanipulation/LM61/session_004/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM61/session_004/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM61/session_004/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM61/session_004/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM61/session_004/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM61/session_004/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM61/session_004/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM61/session_004/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM61/session_004/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM61/session_004/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM61/session_004/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM61/session_004/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM61/session_004/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM61/session_004/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM61/session_005/cameras/poses.npz +3 -0
- actions/locomanipulation/LM61/session_005/meta.json +516 -0
- actions/locomanipulation/LM61/session_005/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM61/session_005/motions/markers.npz +3 -0
- actions/locomanipulation/LM61/session_005/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM61/session_005/motions/smplx.npz +3 -0
- actions/locomanipulation/LM61/session_005/raw/audio.wav +3 -0
- actions/locomanipulation/LM61/session_005/raw/manifest.json +248 -0
- actions/locomanipulation/LM61/session_005/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM61/session_005/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM61/session_005/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM61/session_005/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM61/session_005/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM61/session_005/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM61/session_005/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM61/session_005/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM61/session_005/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM61/session_005/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM61/session_005/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM61/session_005/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM61/session_005/scene/infer.json +36 -0
- actions/locomanipulation/LM61/session_005/scene/views.npz +3 -0
.gitattributes
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| 1 |
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{
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| 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": 144.025,
|
| 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": -1.178984,
|
| 28 |
+
"rate": 0.0,
|
| 29 |
+
"global_lag_s": -1.18,
|
| 30 |
+
"peak_corr": 0.9939,
|
| 31 |
+
"reference_imu_first_sample_s": 1364.68014263,
|
| 32 |
+
"windows": {
|
| 33 |
+
"n_windows": 13,
|
| 34 |
+
"window_corr_median": 0.9982019410696162,
|
| 35 |
+
"drift_ppm": 1.3636475925861598,
|
| 36 |
+
"drift_se_ppm": 2.5425228241800024,
|
| 37 |
+
"drift_ms_over_take": 0.19638798079228345,
|
| 38 |
+
"lag_scatter_ms": 0.3155187848555682,
|
| 39 |
+
"lag_range_ms": 1.087158370293606
|
| 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 |
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"calibration": {
|
| 67 |
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"device": "e17c9efadb69e7b1",
|
| 68 |
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"status": "ok",
|
| 69 |
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"date": "2026-09-08"
|
| 70 |
+
},
|
| 71 |
+
"streams": {
|
| 72 |
+
"sensors": {
|
| 73 |
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"imu_head_right": {
|
| 74 |
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"n_acc": 29280,
|
| 75 |
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|
| 76 |
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"t_start": -1.19555529700064,
|
| 77 |
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"t_end": 144.78187470499947
|
| 78 |
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},
|
| 79 |
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"imu_head_left": {
|
| 80 |
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"n_acc": 29225,
|
| 81 |
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"n_gyro": 29219,
|
| 82 |
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"t_start": -1.0752637980005082,
|
| 83 |
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|
| 84 |
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},
|
| 85 |
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"imu_wrist_right": {
|
| 86 |
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"n_acc": 28376,
|
| 87 |
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"n_gyro": 28376,
|
| 88 |
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"t_start": 0.22338241499947542,
|
| 89 |
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"t_end": 140.41914217699932
|
| 90 |
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},
|
| 91 |
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"imu_wrist_left": {
|
| 92 |
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"n_acc": 27696,
|
| 93 |
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"n_gyro": 27708,
|
| 94 |
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"t_start": 0.23655639099943726,
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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"n": 14612,
|
| 99 |
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"t_start": -0.9889222130006081,
|
| 100 |
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|
| 101 |
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},
|
| 102 |
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|
| 103 |
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"n": 14015,
|
| 104 |
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"t_start": 0.23633850699944303,
|
| 105 |
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|
| 106 |
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},
|
| 107 |
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|
| 108 |
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"n": 14010,
|
| 109 |
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"t_start": 0.2507294489993066,
|
| 110 |
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|
| 111 |
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}
|
| 112 |
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},
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| 113 |
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|
| 114 |
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|
| 115 |
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"fps": 30.0,
|
| 116 |
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| 117 |
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| 118 |
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| 119 |
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|
| 120 |
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|
| 121 |
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"file": "robocap_segment1_video_left.mp4",
|
| 122 |
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"t_start": 0.039663233798234776,
|
| 123 |
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"t_end": 144.0063522337983,
|
| 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": 1365.896378,
|
| 130 |
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| 131 |
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|
| 132 |
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"timing": "pts",
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| 133 |
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|
| 134 |
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"file": "robocap_segment1_video_right.mp4",
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| 135 |
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"t_start": 0.039200809644950985,
|
| 136 |
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| 137 |
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|
| 138 |
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| 139 |
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},
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| 140 |
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"left_front": {
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| 141 |
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|
| 142 |
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"start_device_s": 1365.89642,
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| 143 |
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"frames": 4320,
|
| 144 |
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| 145 |
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"timing": "pts",
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| 146 |
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| 147 |
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"file": "robocap_segment1_video_left_front.mp4",
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| 148 |
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"t_start": 0.03911096823808946,
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| 149 |
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| 150 |
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"clock": "device",
|
| 151 |
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| 152 |
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},
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| 153 |
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| 154 |
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"fps": 30.0,
|
| 155 |
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| 156 |
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| 157 |
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| 158 |
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| 159 |
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| 160 |
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"file": "robocap_segment1_video_right_front.mp4",
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| 161 |
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| 162 |
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| 163 |
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| 164 |
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| 165 |
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},
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| 166 |
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| 167 |
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| 168 |
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| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 173 |
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"file": "robocap_segment1_video_left_eye.mp4",
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| 174 |
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"t_start": 0.038940777298291485,
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| 175 |
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| 176 |
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| 177 |
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"calibrated": true
|
| 178 |
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},
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| 179 |
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| 180 |
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|
| 181 |
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| 182 |
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|
| 183 |
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"pts_gaps": 0,
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| 184 |
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"timing": "pts",
|
| 185 |
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| 186 |
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"file": "robocap_segment1_video_right_eye.mp4",
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| 187 |
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"t_start": 0.03893978276174237,
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| 188 |
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| 189 |
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| 190 |
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|
| 191 |
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},
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| 192 |
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| 193 |
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"fps": 30.0,
|
| 194 |
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"start_device_s": 1367.693011,
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| 195 |
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| 196 |
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|
| 197 |
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|
| 198 |
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| 199 |
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"file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
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| 200 |
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| 201 |
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| 203 |
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| 204 |
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},
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| 205 |
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| 206 |
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|
| 207 |
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| 208 |
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| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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"file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
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| 213 |
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| 214 |
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| 215 |
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|
| 216 |
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|
| 217 |
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},
|
| 218 |
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"third_person": {
|
| 219 |
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"file": "mocap/mocap-LM61-S01-wangyang-02p1-1.mp4",
|
| 220 |
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|
| 221 |
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"fps": 30.0,
|
| 222 |
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"clock": "nokov (frame index)",
|
| 223 |
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|
| 224 |
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"t_end": 144.0
|
| 225 |
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}
|
| 226 |
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}
|
| 227 |
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},
|
| 228 |
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"flags": [],
|
| 229 |
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"sanity": {
|
| 230 |
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"status": {
|
| 231 |
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"structure": "WARN",
|
| 232 |
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"markers": "WARN",
|
| 233 |
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"timing": "WARN"
|
| 234 |
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},
|
| 235 |
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"verdict": "READY_WITH_WARNINGS",
|
| 236 |
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"issues": [
|
| 237 |
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"WARN M_BODY_ID",
|
| 238 |
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"WARN M_SPIKES",
|
| 239 |
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"WARN M_TRACKER_LABELS",
|
| 240 |
+
"WARN S_REPORT_TIMING",
|
| 241 |
+
"WARN T_UNITS"
|
| 242 |
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]
|
| 243 |
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},
|
| 244 |
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"canonical": {
|
| 245 |
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"generated_at_utc": "2026-10-14T12:21:33.392021+00:00",
|
| 246 |
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"generated_by": "scripts/canonicalise_dataset.py",
|
| 247 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 248 |
+
"R_canon_nokov": [
|
| 249 |
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[
|
| 250 |
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0.9999891338,
|
| 251 |
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-0.0046617433,
|
| 252 |
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-2.23966e-05
|
| 253 |
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],
|
| 254 |
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[
|
| 255 |
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2.23966e-05,
|
| 256 |
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0.0096084269,
|
| 257 |
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-0.9999538377
|
| 258 |
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],
|
| 259 |
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[
|
| 260 |
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0.0046617433,
|
| 261 |
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0.9999429715,
|
| 262 |
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0.0096084269
|
| 263 |
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]
|
| 264 |
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],
|
| 265 |
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"scale_nokov_to_canon": 0.001,
|
| 266 |
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"T_canon_nokov_mm": [
|
| 267 |
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[
|
| 268 |
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0.000999989134,
|
| 269 |
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-4.661743e-06,
|
| 270 |
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-2.2397e-08,
|
| 271 |
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0.0
|
| 272 |
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],
|
| 273 |
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[
|
| 274 |
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2.2397e-08,
|
| 275 |
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9.608427e-06,
|
| 276 |
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-0.000999953838,
|
| 277 |
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0.0
|
| 278 |
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],
|
| 279 |
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[
|
| 280 |
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4.661743e-06,
|
| 281 |
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0.000999942972,
|
| 282 |
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9.608427e-06,
|
| 283 |
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0.0
|
| 284 |
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],
|
| 285 |
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[
|
| 286 |
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0.0,
|
| 287 |
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0.0,
|
| 288 |
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0.0,
|
| 289 |
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1.0
|
| 290 |
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]
|
| 291 |
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],
|
| 292 |
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"block": "20260922-morning",
|
| 293 |
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"block_assignment": "trc",
|
| 294 |
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"tilt_removed_deg": 0.6119072705165756,
|
| 295 |
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"plane_status": "ok",
|
| 296 |
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"floor": {
|
| 297 |
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"sole_marker_p1_mm": 48.0,
|
| 298 |
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"headtop_p95_mm": 1778.4
|
| 299 |
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},
|
| 300 |
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"gravity_check": {
|
| 301 |
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"static_samples": 5803,
|
| 302 |
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"g_world_mean_m_s2": [
|
| 303 |
+
-0.0342,
|
| 304 |
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0.065,
|
| 305 |
+
9.7518
|
| 306 |
+
],
|
| 307 |
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"tilt_from_z_deg": 0.431,
|
| 308 |
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"tilt_from_z_deg_before_levelling": 0.181,
|
| 309 |
+
"magnitude_m_s2": 9.7521
|
| 310 |
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},
|
| 311 |
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"rig_tracker_definition": "e17c9efadb69e7b1/20260922-morning/labels-352410/session-93e35e90de85f6e5",
|
| 312 |
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"camera_pose_source": "provider T_tracker0_cam",
|
| 313 |
+
"files": [
|
| 314 |
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"mocap_zup.npz",
|
| 315 |
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"tracker0_zup.npz",
|
| 316 |
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"rig_zup.npz",
|
| 317 |
+
"cameras_zup.npz"
|
| 318 |
+
]
|
| 319 |
+
},
|
| 320 |
+
"smplx": {
|
| 321 |
+
"generated_at_utc": "2026-10-15T11:07:35.823208+00:00",
|
| 322 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 323 |
+
"file": "smplx.npz",
|
| 324 |
+
"gender": "male",
|
| 325 |
+
"n_betas": 16,
|
| 326 |
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"betas_source": "participant median (derived/smplx/participants.json)",
|
| 327 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 328 |
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 329 |
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"hands": {
|
| 330 |
+
"observed": false,
|
| 331 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 332 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 333 |
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"hand_marker_offsets_m": {
|
| 334 |
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"left": {
|
| 335 |
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"LHandIn": [
|
| 336 |
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0.07217848300933838,
|
| 337 |
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0.01879647746682167,
|
| 338 |
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-0.02333240769803524
|
| 339 |
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],
|
| 340 |
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"LHandOut": [
|
| 341 |
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0.0619342066347599,
|
| 342 |
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0.021473689004778862,
|
| 343 |
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0.024663876742124557
|
| 344 |
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]
|
| 345 |
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},
|
| 346 |
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"right": {
|
| 347 |
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"RHandIn": [
|
| 348 |
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-0.04060397297143936,
|
| 349 |
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0.009177778847515583,
|
| 350 |
+
0.03111189790070057
|
| 351 |
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],
|
| 352 |
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"RHandOut": [
|
| 353 |
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-0.04336266592144966,
|
| 354 |
+
0.03427603095769882,
|
| 355 |
+
-0.013870247639715672
|
| 356 |
+
]
|
| 357 |
+
}
|
| 358 |
+
}
|
| 359 |
+
},
|
| 360 |
+
"marker_rmse_mm": {
|
| 361 |
+
"median_frame": 4.61,
|
| 362 |
+
"p95_frame": 6.93
|
| 363 |
+
},
|
| 364 |
+
"worst_markers": [
|
| 365 |
+
"LKneeIn 12mm",
|
| 366 |
+
"RKneeIn 12mm",
|
| 367 |
+
"LThigh 8mm",
|
| 368 |
+
"WaistLBack 8mm",
|
| 369 |
+
"RThigh 8mm"
|
| 370 |
+
],
|
| 371 |
+
"valid_fraction": 1.0,
|
| 372 |
+
"qc": {
|
| 373 |
+
"lowest_vertex_mm": {
|
| 374 |
+
"median": 0.9,
|
| 375 |
+
"p5": -8.0
|
| 376 |
+
},
|
| 377 |
+
"frames_checked": 577,
|
| 378 |
+
"stature_mm": 1765.5
|
| 379 |
+
},
|
| 380 |
+
"surface_term": {
|
| 381 |
+
"weight": 1.0,
|
| 382 |
+
"marker_height_mm": 11.0,
|
| 383 |
+
"markers_on_surface": 52,
|
| 384 |
+
"surface_rmse_mm_median": 15.4
|
| 385 |
+
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