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- .gitattributes +57 -0
- actions/locomotion_primitives/P11/session_016/raw/mocap/Body0.csv +3 -0
- actions/locomotion_primitives/P11/session_016/raw/mocap/Body0.trc +3 -0
- actions/locomotion_primitives/P11/session_016/raw/mocap/Tracker0.csv +0 -0
- actions/locomotion_primitives/P11/session_016/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/P11/session_016/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/P11/session_016/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/P11/session_016/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/P11/session_016/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/P11/session_016/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomotion_primitives/P11/session_016/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomotion_primitives/P11/session_016/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomotion_primitives/P11/session_016/scene/infer.json +36 -0
- actions/locomotion_primitives/P11/session_016/scene/views.npz +3 -0
- actions/locomotion_primitives/P11/session_016/sensors/head_imu.npz +3 -0
- actions/locomotion_primitives/P11/session_016/sensors/head_mag.npz +3 -0
- actions/locomotion_primitives/P11/session_016/sensors/wrist_imu.npz +3 -0
- actions/locomotion_primitives/P11/session_016/sensors/wrist_mag.npz +3 -0
- actions/locomotion_primitives/P11/session_016/videos/frame_timestamps.npz +3 -0
- actions/locomotion_primitives/P11/session_016/videos/head_left.mp4 +3 -0
- actions/locomotion_primitives/P11/session_016/videos/head_left_eye.mp4 +3 -0
- actions/locomotion_primitives/P11/session_016/videos/head_left_front.mp4 +3 -0
- actions/locomotion_primitives/P11/session_016/videos/head_right.mp4 +3 -0
- actions/locomotion_primitives/P11/session_016/videos/head_right_eye.mp4 +3 -0
- actions/locomotion_primitives/P11/session_016/videos/head_right_front.mp4 +3 -0
- actions/locomotion_primitives/P11/session_016/videos/third_person.mp4 +3 -0
- actions/locomotion_primitives/P11/session_016/videos/wrist_left.mp4 +3 -0
- actions/locomotion_primitives/P11/session_016/videos/wrist_right.mp4 +3 -0
- actions/locomotion_primitives/P12/session_001/cameras/poses.npz +3 -0
- actions/locomotion_primitives/P12/session_001/meta.json +533 -0
- actions/locomotion_primitives/P12/session_001/motions/head_rig.npz +3 -0
- actions/locomotion_primitives/P12/session_001/motions/markers.npz +3 -0
- actions/locomotion_primitives/P12/session_001/motions/skeleton.npz +3 -0
- actions/locomotion_primitives/P12/session_001/motions/smplx.npz +3 -0
- actions/locomotion_primitives/P12/session_001/raw/manifest.json +222 -0
- actions/locomotion_primitives/P12/session_001/raw/mocap/Body0.bvh +0 -0
- actions/locomotion_primitives/P12/session_001/raw/mocap/Body0.csv +3 -0
- actions/locomotion_primitives/P12/session_001/raw/mocap/Body0.trc +3 -0
- actions/locomotion_primitives/P12/session_001/raw/mocap/Tracker0.csv +0 -0
- actions/locomotion_primitives/P12/session_001/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/P12/session_001/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_primitives/P12/session_001/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_primitives/P12/session_001/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomotion_primitives/P12/session_001/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomotion_primitives/P12/session_001/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomotion_primitives/P12/session_001/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomotion_primitives/P12/session_001/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomotion_primitives/P12/session_001/scene/infer.json +36 -0
- actions/locomotion_primitives/P12/session_001/scene/views.npz +3 -0
- actions/locomotion_primitives/P12/session_001/sensors/head_imu.npz +3 -0
.gitattributes
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actions/locomotion_primitives/P11/session_015/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P11/session_015/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P11/session_016/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P11/session_016/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P11/session_016/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P11/session_016/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P11/session_016/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P11/session_016/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P12/session_001/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P12/session_002/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P11/session_016/raw/mocap/Body0.csv
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actions/locomotion_primitives/P11/session_016/raw/mocap/Body0.trc
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actions/locomotion_primitives/P11/session_016/raw/mocap/Tracker0.trc
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actions/locomotion_primitives/P11/session_016/raw/sensors/robocap_imu_left.db
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actions/locomotion_primitives/P11/session_016/scene/infer.json
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{
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"model": "facebook/map-anything",
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"views": 234,
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"windows": 5,
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"cams": "left_front,right_front",
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|
| 1 |
+
{
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| 2 |
+
"schema_version": 1,
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| 3 |
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"session": "EgoMotionActions/20260828/P12/20260828_061404_session16",
|
| 4 |
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"session_id": "20260828_061404_session16",
|
| 5 |
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"primitive": "P12",
|
| 6 |
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"batch": "20260828",
|
| 7 |
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"participant": "wangyang",
|
| 8 |
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"participant_source": "manifest",
|
| 9 |
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"device_ids": {
|
| 10 |
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"main": "850a0e6aafa85fdf",
|
| 11 |
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"left": "cc5681142208e29a",
|
| 12 |
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"right": "60a6f081bbe60b0d"
|
| 13 |
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},
|
| 14 |
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"generated_at_utc": "2026-10-14T10:51:45.417258+00:00",
|
| 15 |
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"generated_by": "scripts/sync_dataset.py",
|
| 16 |
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"time_base": {
|
| 17 |
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"definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
|
| 18 |
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"mocap_rate_hz": 120.0,
|
| 19 |
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"first_solved_frame": 0,
|
| 20 |
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"duration_s": 134.025,
|
| 21 |
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"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 22 |
+
},
|
| 23 |
+
"alignment": {
|
| 24 |
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"reference_imu": "imu_head_right",
|
| 25 |
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"model": "offset (median of windows)",
|
| 26 |
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"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 27 |
+
"offset_s": -1.172101,
|
| 28 |
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"rate": 0.0,
|
| 29 |
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"global_lag_s": -1.17,
|
| 30 |
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"peak_corr": 0.9881,
|
| 31 |
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"reference_imu_first_sample_s": 2426.057759143,
|
| 32 |
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"windows": {
|
| 33 |
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"n_windows": 11,
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| 34 |
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"window_corr_median": 0.9964940318383789,
|
| 35 |
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"drift_ppm": -11.147667877503014,
|
| 36 |
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"drift_se_ppm": 5.386788900968371,
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| 37 |
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"drift_ms_over_take": -1.493973290050029,
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| 38 |
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"lag_scatter_ms": 0.5110356660472577,
|
| 39 |
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"lag_range_ms": 2.678093375491075
|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"units": {
|
| 43 |
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"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 44 |
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"y_up_to_z_up": [
|
| 45 |
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[
|
| 46 |
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1.0,
|
| 47 |
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0.0,
|
| 48 |
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0.0
|
| 49 |
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],
|
| 50 |
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[
|
| 51 |
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0.0,
|
| 52 |
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0.0,
|
| 53 |
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-1.0
|
| 54 |
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],
|
| 55 |
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[
|
| 56 |
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0.0,
|
| 57 |
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1.0,
|
| 58 |
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0.0
|
| 59 |
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]
|
| 60 |
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],
|
| 61 |
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"acc": "m/s^2 (8192 LSB/g)",
|
| 62 |
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"gyro": "rad/s (65.536 LSB/dps)",
|
| 63 |
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"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 64 |
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"quaternions": "xyzw, Nokov global"
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| 65 |
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},
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| 66 |
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"calibration": {
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| 67 |
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"device": "850a0e6aafa85fdf",
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| 68 |
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"status": "ok",
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| 69 |
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"date": "2026-08-27"
|
| 70 |
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},
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| 71 |
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"streams": {
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| 72 |
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"sensors": {
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| 73 |
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"imu_head_right": {
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| 74 |
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"n_acc": 27456,
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| 75 |
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"t_start": -1.17863188773172,
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| 77 |
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"t_end": 134.67460080026822
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| 78 |
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},
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"imu_head_left": {
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| 80 |
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"n_acc": 27449,
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| 81 |
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"n_gyro": 27442,
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| 82 |
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"t_start": -1.0718575127317336,
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| 83 |
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},
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"imu_wrist_right": {
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"n_acc": 26829,
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| 88 |
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"t_start": 0.2752308372681882,
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| 89 |
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},
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"imu_wrist_left": {
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"n_acc": 26170,
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"n_gyro": 26170,
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"t_start": 0.36845573326799874,
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"n": 13600,
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"n": 13258,
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| 105 |
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| 106 |
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"n": 13248,
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"file": "robocap_segment1_video_left.mp4",
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| 126 |
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| 134 |
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| 178 |
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"file": "robocap_segment1_video_right_eye.mp4",
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"file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
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},
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"third_person": {
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"file": "mocap/mocap-P12-S01-wangyang-10p-1.mp4",
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"clock": "nokov (frame index)",
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| 223 |
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| 224 |
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| 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",
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| 236 |
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"issues": [
|
| 237 |
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"WARN M_SPIKES",
|
| 238 |
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"WARN M_TRACKER_LABELS",
|
| 239 |
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"WARN S_INDEX",
|
| 240 |
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"WARN S_PARTICIPANT",
|
| 241 |
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"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": "2026-10-24T05:09:43.381879+00:00",
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| 246 |
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"generated_by": "scripts/canonicalise_dataset.py",
|
| 247 |
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"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 248 |
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"R_canon_nokov": [
|
| 249 |
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[
|
| 250 |
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[
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|
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[
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|
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1.0
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| 290 |
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]
|
| 291 |
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],
|
| 292 |
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"block": "20260828-xiawu",
|
| 293 |
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"block_assignment": "trc",
|
| 294 |
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"tilt_removed_deg": 0.574417641477752,
|
| 295 |
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"plane_status": "ok",
|
| 296 |
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"floor": {
|
| 297 |
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"sole_marker_p1_mm": 23.8,
|
| 298 |
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"headtop_p95_mm": 1769.8
|
| 299 |
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},
|
| 300 |
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"gravity_check": {
|
| 301 |
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|
| 302 |
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"g_world_mean_m_s2": [
|
| 303 |
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-0.0012,
|
| 304 |
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0.0137,
|
| 305 |
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9.7889
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| 306 |
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],
|
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"tilt_from_z_deg": 0.081,
|
| 308 |
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|
| 309 |
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|
| 310 |
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},
|
| 311 |
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"rig_tracker_definition": "850a0e6aafa85fdf/20260828-xiawu/labels-530412/session-81fe73dcccffbf10",
|
| 312 |
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"rig_check": {
|
| 313 |
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"status": "video_solve",
|
| 314 |
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"dropped_marker": null,
|
| 315 |
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"gyro_deg": 0.814
|
| 316 |
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},
|
| 317 |
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"camera_pose_source": "T_tracker0_imu0 @ inv(T_cam_imu)",
|
| 318 |
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"files": [
|
| 319 |
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"mocap_zup.npz",
|
| 320 |
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"tracker0_zup.npz",
|
| 321 |
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"rig_zup.npz",
|
| 322 |
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"cameras_zup.npz"
|
| 323 |
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]
|
| 324 |
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},
|
| 325 |
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"smplx": {
|
| 326 |
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"generated_at_utc": "2026-10-14T22:19:26.085008+00:00",
|
| 327 |
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"generated_by": "scripts/fit_smplx_dataset.py",
|
| 328 |
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"file": "smplx.npz",
|
| 329 |
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"gender": "male",
|
| 330 |
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"n_betas": 16,
|
| 331 |
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"betas_source": "participant median (derived/smplx/participants.json)",
|
| 332 |
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 333 |
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 334 |
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"hands": {
|
| 335 |
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"observed": false,
|
| 336 |
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"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 337 |
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"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 338 |
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"hand_marker_offsets_m": {
|
| 339 |
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"left": {
|
| 340 |
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"LHandIn": [
|
| 341 |
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0.04971557855606079,
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0.009983689524233341,
|
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],
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"LHandOut": [
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|
| 347 |
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0.028487760573625565,
|
| 348 |
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-0.005268951412290335
|
| 349 |
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],
|
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"LWristIn": [
|
| 351 |
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|
| 352 |
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|
| 353 |
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0.0226756501942873
|
| 354 |
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]
|
| 355 |
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},
|
| 356 |
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"right": {
|
| 357 |
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"RHandIn": [
|
| 358 |
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|
| 359 |
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-0.0201127789914608,
|
| 360 |
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0.033635105937719345
|
| 361 |
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],
|
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