clip_id stringlengths 14 16 | group stringclasses 7
values | prompt_chain stringclasses 13
values | split stringclasses 1
value | config stringclasses 1
value | phenotype stringclasses 3
values | population stringclasses 1
value | level stringclasses 3
values | stature_cm float64 140 196 | frames int64 140 150 | joints int64 30 30 | n_sensors int64 15 15 | sensor_channels int64 15 15 | target_dim int64 180 180 | phenotype_fit_dim int64 10 10 | region_order stringclasses 1
value | region_scales listlengths 10 10 | phenotype_fit_target listlengths 10 10 | microduck_pass bool 1
class | max_angle_deg float64 60.8 178 | max_vel_deg float64 73.4 1.25k | motion_local_rotations_xyzw listlengths 16.8k 18k | caldata_x listlengths 31.5k 33.8k | caldata_y listlengths 180 180 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
seq_arm_000_s0 | arm | "a person raises both arms out to the sides and overhead -> the person lowers the arms and crosses t(...TRUNCATED) | train | human | human_p01_short | worldwide_civilian_2024 | short | 140 | 140 | 30 | 15 | 15 | 180 | 10 | torso,head,shoulder_L,shoulder_R,arm_L,arm_R,hand_L,hand_R,leg_L,leg_R | [0.8241243246559621,0.8928359030893666,0.7537899773901454,0.7447845857576338,0.8247338905082222,0.84(...TRUNCATED) | [-0.19343388101697562,-0.11335247412986443,-0.2826414943503305,-0.29466024904757393,-0.1926945016398(...TRUNCATED) | true | 177.598236 | 862.052368 | [0.002716987393796444,0.002495766617357731,-0.004659712780267,0.9999823570251465,-0.0031480316538363(...TRUNCATED) | [-2.644890785217285,8.93702507019043,3.061084508895874,0.2781001627445221,-0.6940101981163025,0.6640(...TRUNCATED) | [0.9983423352241516,-0.05198313295841217,-0.024705927819013596,0.048222318291664124,0.98980605602264(...TRUNCATED) |
seq_arm_000_s0 | arm | "a person raises both arms out to the sides and overhead -> the person lowers the arms and crosses t(...TRUNCATED) | train | human | human_p50_median | worldwide_civilian_2024 | median | 171.5 | 140 | 30 | 15 | 15 | 180 | 10 | torso,head,shoulder_L,shoulder_R,arm_L,arm_R,hand_L,hand_R,leg_L,leg_R | [0.9936184729772749,0.9885000935123308,0.9701464943848233,0.9849549719194239,0.981724362453203,0.997(...TRUNCATED) | [-0.006401976009894805,-0.011566541771236427,-0.03030819374886371,-0.015159352642342059,-0.018444699(...TRUNCATED) | true | 177.598236 | 862.052368 | [0.002716987393796444,0.002495766617357731,-0.004659712780267,0.9999823570251465,-0.0031480316538363(...TRUNCATED) | [1.5874600410461426,9.621359825134277,-1.0702837705612183,-0.2285734862089157,-0.3720250725746155,0.(...TRUNCATED) | [0.9987886548042297,0.043562330305576324,0.02288133092224598,-0.04435186833143234,0.9983952045440674(...TRUNCATED) |
seq_arm_000_s0 | arm | "a person raises both arms out to the sides and overhead -> the person lowers the arms and crosses t(...TRUNCATED) | train | human | human_p99_tall | worldwide_civilian_2024 | tall | 196 | 140 | 30 | 15 | 15 | 180 | 10 | torso,head,shoulder_L,shoulder_R,arm_L,arm_R,hand_L,hand_R,leg_L,leg_R | [1.1339378345759763,1.0899982987537515,1.2237897063493473,1.179364503517992,1.095585733687033,1.1569(...TRUNCATED) | [0.12569638420500676,0.08617613546345958,0.20195236079124176,0.16497573706333343,0.09128913686073639(...TRUNCATED) | true | 177.598236 | 862.052368 | [0.002716987393796444,0.002495766617357731,-0.004659712780267,0.9999823570251465,-0.0031480316538363(...TRUNCATED) | [5.8969316482543945,5.701178073883057,-5.381344318389893,0.06877705454826355,0.010110929608345032,0.(...TRUNCATED) | [0.8244489431381226,0.4934486746788025,0.27711427211761475,-0.5559306740760803,0.7978086471557617,0.(...TRUNCATED) |
seq_arm_000_s1 | arm | "a person raises both arms out to the sides and overhead -> the person lowers the arms and crosses t(...TRUNCATED) | train | human | human_p01_short | worldwide_civilian_2024 | short | 140 | 140 | 30 | 15 | 15 | 180 | 10 | torso,head,shoulder_L,shoulder_R,arm_L,arm_R,hand_L,hand_R,leg_L,leg_R | [0.8240285386651411,0.8897996876027144,0.7440770107532101,0.719280625725324,0.8129097104380533,0.821(...TRUNCATED) | [-0.1935501153700632,-0.11675891169733926,-0.2956107404288448,-0.3295036973731151,-0.207135232873409(...TRUNCATED) | true | 170.845215 | 846.979492 | [0.00788912083953619,0.001575632020831108,-0.00040566641837358475,0.9999675750732422,-0.052607618272(...TRUNCATED) | [-0.38885730504989624,9.252738952636719,3.2360026836395264,-0.36550599336624146,-0.7420244812965393,(...TRUNCATED) | [0.8472935557365417,-0.08168283104896545,-0.5248061418533325,-0.08722678571939468,0.9532864093780518(...TRUNCATED) |
seq_arm_000_s1 | arm | "a person raises both arms out to the sides and overhead -> the person lowers the arms and crosses t(...TRUNCATED) | train | human | human_p50_median | worldwide_civilian_2024 | median | 171.5 | 140 | 30 | 15 | 15 | 180 | 10 | torso,head,shoulder_L,shoulder_R,arm_L,arm_R,hand_L,hand_R,leg_L,leg_R | [1.0150096679829654,1.00574383023225,0.9874049486749,0.9933483720312946,0.9845361706429278,1.0178040(...TRUNCATED) | [0.014898137554757005,0.00572739733453719,-0.012675041346052757,-0.006673848636579608,-0.01558464146(...TRUNCATED) | true | 170.845215 | 846.979492 | [0.00788912083953619,0.001575632020831108,-0.00040566641837358475,0.9999675750732422,-0.052607618272(...TRUNCATED) | [2.4003705978393555,8.856162071228027,-3.470262289047241,0.2333221733570099,-0.24874942004680634,0.9(...TRUNCATED) | [0.8979074954986572,0.1903599500656128,0.3968944251537323,-0.29783329367637634,0.92665696144104,0.22(...TRUNCATED) |
seq_arm_000_s1 | arm | "a person raises both arms out to the sides and overhead -> the person lowers the arms and crosses t(...TRUNCATED) | train | human | human_p99_tall | worldwide_civilian_2024 | tall | 196 | 140 | 30 | 15 | 15 | 180 | 10 | torso,head,shoulder_L,shoulder_R,arm_L,arm_R,hand_L,hand_R,leg_L,leg_R | [1.151926803956493,1.0816576388833408,1.2467874763498918,1.1714459729980558,1.1334232742026762,1.127(...TRUNCATED) | [0.14143602202284952,0.07849471527438444,0.22057022422624684,0.1582388601029,0.12524249939579693,0.1(...TRUNCATED) | true | 170.845215 | 846.979492 | [0.00788912083953619,0.001575632020831108,-0.00040566641837358475,0.9999675750732422,-0.052607618272(...TRUNCATED) | [0.23640233278274536,9.72075366973877,1.2989063262939453,0.5169788002967834,-0.598897397518158,0.611(...TRUNCATED) | [0.9129659533500671,-0.041529834270477295,0.4059167504310608,0.08803769946098328,0.9914244413375854,(...TRUNCATED) |
seq_arm_000_s2 | arm | "a person raises both arms out to the sides and overhead -> the person lowers the arms and crosses t(...TRUNCATED) | train | human | human_p01_short | worldwide_civilian_2024 | short | 140 | 140 | 30 | 15 | 15 | 180 | 10 | torso,head,shoulder_L,shoulder_R,arm_L,arm_R,hand_L,hand_R,leg_L,leg_R | [0.8250926972529794,0.8976857257634716,0.7340433855629466,0.7370577788458166,0.8080890194143548,0.82(...TRUNCATED) | [-0.19225953865276083,-0.10793524324435357,-0.30918714371806894,-0.30508899251724986,-0.213083053987(...TRUNCATED) | true | 177.452957 | 1,246.226318 | [-0.0038276524282991886,-0.0011264526983723044,0.004402755759656429,0.9999823570251465,-0.0206888839(...TRUNCATED) | [-4.418741226196289,7.854837894439697,3.8745768070220947,0.25690340995788574,-0.7688105702400208,0.5(...TRUNCATED) | [0.9299084544181824,-0.3675919771194458,-0.012101901695132256,0.3229081630706787,0.8317381143569946,(...TRUNCATED) |
seq_arm_000_s2 | arm | "a person raises both arms out to the sides and overhead -> the person lowers the arms and crosses t(...TRUNCATED) | train | human | human_p50_median | worldwide_civilian_2024 | median | 171.5 | 140 | 30 | 15 | 15 | 180 | 10 | torso,head,shoulder_L,shoulder_R,arm_L,arm_R,hand_L,hand_R,leg_L,leg_R | [1.017276264726986,0.9910355598564268,1.0024715228624568,1.0039675749454293,1.00605151426325,0.98195(...TRUNCATED) | [0.017128726909662568,-0.009004862494279842,0.002468473672888039,0.003959724876928245,0.006033277387(...TRUNCATED) | true | 177.452957 | 1,246.226318 | [-0.0038276524282991886,-0.0011264526983723044,0.004402755759656429,0.9999823570251465,-0.0206888839(...TRUNCATED) | [3.50830078125,9.075204849243164,-1.2524282932281494,-0.4681479334831238,-0.24224171042442322,0.8497(...TRUNCATED) | [0.9696214199066162,0.22963206470012665,-0.08428167551755905,-0.23244339227676392,0.9722864627838135(...TRUNCATED) |
seq_arm_000_s2 | arm | "a person raises both arms out to the sides and overhead -> the person lowers the arms and crosses t(...TRUNCATED) | train | human | human_p99_tall | worldwide_civilian_2024 | tall | 196 | 140 | 30 | 15 | 15 | 180 | 10 | torso,head,shoulder_L,shoulder_R,arm_L,arm_R,hand_L,hand_R,leg_L,leg_R | [1.1379216606116371,1.0733638267388734,1.2050345802578046,1.1850936167786703,1.1348775017770398,1.13(...TRUNCATED) | [0.12920349380175775,0.07079748048981227,0.18650826384023986,0.16982177296762788,0.1265247171589811,(...TRUNCATED) | true | 177.452957 | 1,246.226318 | [-0.0038276524282991886,-0.0011264526983723044,0.004402755759656429,0.9999823570251465,-0.0206888839(...TRUNCATED) | [-1.381531834602356,9.528892517089844,1.8782095909118652,0.03177744895219803,-0.6583813428878784,0.7(...TRUNCATED) | [0.9999855756759644,0.0015730654122307897,-0.005130928475409746,-0.0015437797410413623,0.99998253583(...TRUNCATED) |
seq_arm_000_s7 | arm | "a person raises both arms out to the sides and overhead -> the person lowers the arms and crosses t(...TRUNCATED) | train | human | human_p01_short | worldwide_civilian_2024 | short | 140 | 140 | 30 | 15 | 15 | 180 | 10 | torso,head,shoulder_L,shoulder_R,arm_L,arm_R,hand_L,hand_R,leg_L,leg_R | [0.8361889370932695,0.8905823181987883,0.7337969962658643,0.748278366715972,0.8501131969113327,0.838(...TRUNCATED) | [-0.17890069012414525,-0.11587974009940767,-0.30952286046553906,-0.289980222221552,-0.16238576552762(...TRUNCATED) | true | 178.424667 | 1,100.839233 | [-0.01047675684094429,0.001712216529995203,-0.0014528937172144651,0.9999426007270813,-0.028028728440(...TRUNCATED) | [-3.5029373168945312,5.625077247619629,-7.233535289764404,-0.13171547651290894,0.27184098958969116,0(...TRUNCATED) | [0.9268990159034729,-0.2692199647426605,-0.26149338483810425,0.35983848571777344,0.8354682922363281,(...TRUNCATED) |
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mount-drift-caldata-motion
Generated continuous motions with constructed inertial-suit calibration data, for training a tracker mount-drift calibrator.
What it is for
A mount-drift calibrator recovers, from a worn inertial suit's raw per-sensor stream, the constant sensor-to-bone mount rotations and the shared world heading drift.
Each row holds one whole continuous SOMA30 motion clip rendered onto one body phenotype, with the calibration input caldata_x and the targets caldata_y and phenotype_fit_target.
The motions excite the arm and hand degrees of freedom, because gait and standing data starve the signal that identifies arm and hand mounts.
Two configs cover two body populations: human and starforged. Both are bounded to the same stature envelope.
Splits are assigned per clip, so a motion and all its phenotype re-renders stay in one split.
Every clip passes a validity gate for non-finite values, degenerate quaternions, joint range and teleports. microduck_qa.json records the gate result for every generated clip, including rejections.
The set is not a sole training distribution for a deployed calibrator. It mixes with real inertial captures.
Provenance
- Motion is generated synthetic, sampled from the Kimodo text-to-motion diffusion model
kimodo-soma-rp-v1.1(SOMA30 skeleton, DDIM 16 steps, text-cfg 2.5). Each row records its prompt chain. - Calibration data is constructed synthetic. Each sensor reports
M = D · C · R, whereDis a world heading drift,Cthe clean bone orientation andRthe sensor mount. Labels are exact and the same seed reproduces them. - Body anthropometry comes from chibifire/starforged-std-3001-appendix-e.
- The validity gate is modeled on pollen-robotics/microduck's
safety.rs. - Citation metadata is in
CITATION.cff.
Use
from datasets import load_dataset
human = load_dataset("chibifire/mount-drift-caldata-motion", "human")
starforged = load_dataset("chibifire/mount-drift-caldata-motion", "starforged")
Licence
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