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  1. actions/human_human_locomanipulation/HH08/session_006/videos/wrist_right.mp4 +2 -2
  2. actions/human_human_locomanipulation/HH08/session_007/cameras/poses.npz +2 -2
  3. actions/human_human_locomanipulation/HH08/session_007/meta.json +208 -375
  4. actions/human_human_locomanipulation/HH08/session_007/motions/head_rig.npz +2 -2
  5. actions/human_human_locomanipulation/HH08/session_007/motions/markers.npz +2 -2
  6. actions/human_human_locomanipulation/HH08/session_007/motions/markers_body1.npz +2 -2
  7. actions/human_human_locomanipulation/HH08/session_007/motions/skeleton.npz +2 -2
  8. actions/human_human_locomanipulation/HH08/session_007/motions/skeleton_body1.npz +2 -2
  9. actions/human_human_locomanipulation/HH08/session_007/motions/smplx.npz +2 -2
  10. actions/human_human_locomanipulation/HH08/session_007/raw/audio.wav +2 -2
  11. actions/human_human_locomanipulation/HH08/session_007/raw/manifest.json +294 -292
  12. actions/human_human_locomanipulation/HH08/session_007/raw/mocap/Body0.bvh +0 -0
  13. actions/human_human_locomanipulation/HH08/session_007/raw/mocap/Body0.csv +2 -2
  14. actions/human_human_locomanipulation/HH08/session_007/raw/mocap/Body0.trc +2 -2
  15. actions/human_human_locomanipulation/HH08/session_007/raw/mocap/Body1.bvh +0 -0
  16. actions/human_human_locomanipulation/HH08/session_007/raw/mocap/Body1.csv +2 -2
  17. actions/human_human_locomanipulation/HH08/session_007/raw/mocap/Body1.trc +2 -2
  18. actions/human_human_locomanipulation/HH08/session_007/raw/mocap/Tracker0.csv +0 -0
  19. actions/human_human_locomanipulation/HH08/session_007/raw/mocap/Tracker0.trc +0 -0
  20. actions/human_human_locomanipulation/HH08/session_007/raw/sensors/robocap_imu_left.db +2 -2
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506
- ]
507
- },
508
- "wrist_total_deg_median_after": 15.1,
509
- "markers_on_forearm": [
510
- "RElbowIn",
511
- "RForearm",
512
- "RWristIn"
513
- ]
514
- },
515
- "frames_used": 1001
516
- },
517
- "generated_at_utc": "2026-10-23T07:19:10.991160+00:00",
518
- "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
519
- }
520
- },
521
- "participant_body1": {
522
- "participant": "lvaoshan",
523
- "gender": "female"
524
- },
525
- "smplx_body1": {
526
- "generated_at_utc": "2026-10-23T18:23:38.912559+00:00",
527
- "generated_by": "scripts/fit_smplx_dataset.py",
528
- "file": "smplx_body1.npz",
529
- "gender": "female",
530
- "n_betas": 16,
531
- "betas_source": "participant median (derived/smplx/participants.json)",
532
- "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
533
- "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
534
- "hands": {
535
- "observed": false,
536
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
537
- "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
538
- "hand_marker_offsets_m": {
539
- "left": {
540
- "LHandIn": [
541
- 0.08603689074516296,
542
- 0.01283381599932909,
543
- 0.02101437933743
544
- ],
545
- "LHandOut": [
546
- 0.08520003408193588,
547
- 0.006568425800651312,
548
- -0.017749805003404617
549
- ]
550
- },
551
- "right": {
552
- "RHandIn": [
553
- -0.049052342772483826,
554
- 0.013539393432438374,
555
- 0.014061683788895607
556
- ],
557
- "RHandOut": [
558
- -0.045192185789346695,
559
- -0.002982339123263955,
560
- -0.039135079830884933
561
- ]
562
- }
563
- }
564
- },
565
- "marker_rmse_mm": {
566
- "median_frame": 4.95,
567
- "p95_frame": 8.73
568
- },
569
- "worst_markers": [
570
- "LShin 18mm",
571
- "LKneeIn 11mm",
572
- "RKneeIn 9mm",
573
- "LElbowIn 9mm",
574
- "LThigh 8mm"
575
- ],
576
- "valid_fraction": 0.9997,
577
- "qc": {
578
- "lowest_vertex_mm": {
579
- "median": 14.8,
580
- "p5": 10.2
581
- },
582
- "frames_checked": 334,
583
- "stature_mm": 1659.4
584
- },
585
- "surface_term": {
586
- "weight": 1.0,
587
- "marker_height_mm": 11.0,
588
- "markers_on_surface": 52,
589
- "surface_rmse_mm_median": 14.53
590
- },
591
- "shape_source": "participant median (lvaoshan, Body1 identity)",
592
- "betas": [
593
- -0.21623000502586365,
594
- -0.9873600006103516,
595
- -0.24369999766349792,
596
- -0.5116400122642517,
597
- -0.040800001472234726,
598
- 0.12189999967813492,
599
- 0.8241999745368958,
600
- -0.8545200228691101,
601
- -0.022520000115036964,
602
- -0.10251999646425247,
603
- 1.7049299478530884,
604
- 0.5074300169944763,
605
- -0.00773000018671155,
606
- -1.2519700527191162,
607
- 0.5342100262641907,
608
- -0.441540002822876
609
- ],
610
- "wrist_correction": {
611
- "left": {
612
- "status": "corrected",
613
- "Q_deg": 16.36,
614
- "Q_rotvec": [
615
- -0.06839,
616
- -0.27139,
617
- 0.05681
618
- ],
619
- "in_out_sign": 1,
620
- "wrist_bend_deg_median": 26.1,
621
- "opposite_sign_bend_deg": 169.4,
622
- "in_out_convention": "pinky side = HandOut (smaller wrist bend, no ACE output)",
623
- "marker_frame_spread_deg": 1.72,
624
  "hand_vs_marker_frame_deg": {
625
- "before": 16.42,
626
- "after": 1.72
627
  },
628
  "markers_on_wrist": [
629
  "LHandIn",
630
  "LHandOut"
631
  ],
632
  "forearm_twist": {
633
- "twist_moved_deg": 13.1,
634
  "wrist_twist_deg_after": {
635
- "median": 0.0,
636
  "iqr": [
637
- -12.8,
638
- 5.3
639
  ]
640
  },
641
- "wrist_total_deg_median_after": 22.6,
642
  "markers_on_forearm": [
643
  "LForearm",
644
  "LWristIn",
645
  "LWristOut"
646
  ]
647
  },
648
- "frames_used": 1001
649
  },
650
  "right": {
651
  "status": "corrected",
652
- "Q_deg": 17.97,
653
  "Q_rotvec": [
654
- -0.18626,
655
- 0.20676,
656
- -0.14462
657
  ],
658
  "in_out_sign": 1,
659
- "wrist_bend_deg_median": 34.9,
660
- "opposite_sign_bend_deg": 148.3,
661
- "in_out_convention": "pinky side = HandOut (smaller wrist bend, no ACE output)",
662
- "marker_frame_spread_deg": 2.08,
663
  "hand_vs_marker_frame_deg": {
664
- "before": 18.0,
665
- "after": 2.08
666
  },
667
  "markers_on_wrist": [
 
 
668
  "RHandIn",
669
  "RHandOut"
670
  ],
671
  "forearm_twist": {
672
- "twist_moved_deg": 31.89,
673
  "wrist_twist_deg_after": {
674
  "median": 0.0,
675
  "iqr": [
676
- -2.7,
677
- 10.7
678
  ]
679
  },
680
- "wrist_total_deg_median_after": 14.5,
681
  "markers_on_forearm": [
682
- "RForearm",
683
- "RWristIn",
684
- "RWristOut"
685
  ]
686
  },
687
- "frames_used": 1001
688
  },
689
- "generated_at_utc": "2026-10-23T18:23:41.546850+00:00",
690
  "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
691
  }
692
  },
@@ -694,6 +527,6 @@
694
  "release_path": "actions/human_human_locomanipulation/HH08/session_007",
695
  "family": "human_human_locomanipulation",
696
  "primitive": "HH08",
697
- "source_session": "20261020/HH08/20261020_082237_session21"
698
  }
699
  }
 
1
  {
2
  "schema_version": 1,
3
+ "session": "EgoMotionActions/20261024/HH08/20261024_071647_session3",
4
+ "session_id": "20261024_071647_session3",
5
  "primitive": "HH08",
6
+ "batch": "20261024",
7
+ "participant": "daihaoxiang",
8
  "participant_source": "manifest",
9
  "device_ids": {
10
  "main": "c9205ac6e17d2d5c",
11
+ "left": "cc5681142208e29a",
12
+ "right": "a85418f7d807dff9"
13
  },
14
+ "generated_at_utc": "2026-10-26T05:02:37.584566+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": null,
20
  "first_solved_frame": 0,
21
+ "duration_s": 130.95833333333334,
22
  "mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
23
  },
24
  "alignment": {
25
  "reference_imu": "imu_head_right",
26
  "model": "offset (median of windows)",
27
  "mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
28
+ "offset_s": -0.090354,
29
  "rate": 0.0,
30
+ "global_lag_s": -0.09,
31
+ "peak_corr": 0.9665,
32
+ "reference_imu_first_sample_s": 1974.443457546,
33
  "windows": {
34
+ "n_windows": 12,
35
+ "window_corr_median": 0.9784230119414754,
36
+ "drift_ppm": -250.82269719361918,
37
+ "drift_se_ppm": 150.4515241894776,
38
+ "drift_ms_over_take": -32.84523219750443,
39
+ "lag_scatter_ms": 16.42381284833089,
40
+ "lag_range_ms": 67.84289452069606
41
  }
42
  },
43
  "units": {
 
72
  "streams": {
73
  "sensors": {
74
  "imu_head_right": {
75
+ "n_acc": 26642,
76
+ "n_gyro": 26637,
77
+ "t_start": -0.09724852675422804,
78
+ "t_end": 131.13421697024606
79
  },
80
  "imu_head_left": {
81
+ "n_acc": 26477,
82
+ "n_gyro": 26472,
83
+ "t_start": 0.016741246245956826,
84
+ "t_end": 131.29802964824594
85
  },
86
  "imu_wrist_right": {
87
+ "n_acc": 25898,
88
+ "n_gyro": 25912,
89
+ "t_start": -0.8081634237540667,
90
+ "t_end": 129.96365355024582
91
  },
92
  "imu_wrist_left": {
93
+ "n_acc": 25846,
94
+ "n_gyro": 25846,
95
+ "t_start": -0.8708233667540382,
96
+ "t_end": 129.96289758324602
97
  },
98
  "mag_head": {
99
+ "n": 13137,
100
+ "t_start": 0.09854668124593521,
101
+ "t_end": 131.45854566124572
102
  },
103
  "mag_wrist_right": {
104
+ "n": 13077,
105
+ "t_start": -0.7993919157541851,
106
+ "t_end": 129.96023181924593
107
  },
108
  "mag_wrist_left": {
109
+ "n": 13082,
110
+ "t_start": -0.8522317117541289,
111
+ "t_end": 129.95748605824602
112
  }
113
  },
114
  "videos": {
115
  "left": {
116
  "fps": 30.0,
117
+ "start_device_s": 1974.571281,
118
+ "frames": 3928,
119
  "pts_gaps": 0,
120
  "timing": "pts",
121
  "timeshift_cam_imu_s": 0.0026284356473863946,
122
  "file": "robocap_segment1_video_left.mp4",
123
+ "t_start": 0.040097427893343446,
124
+ "t_end": 130.94006442789296,
125
  "clock": "device",
126
  "calibrated": true
127
  },
128
  "right": {
129
  "fps": 30.0,
130
+ "start_device_s": 1974.571252,
131
+ "frames": 3928,
132
  "pts_gaps": 0,
133
  "timing": "pts",
134
  "timeshift_cam_imu_s": 0.0024181146161434135,
135
  "file": "robocap_segment1_video_right.mp4",
136
+ "t_start": 0.03985810686198496,
137
+ "t_end": 130.93981410686175,
138
  "clock": "device",
139
  "calibrated": true
140
  },
141
  "left_front": {
142
  "fps": 30.0,
143
+ "start_device_s": 1974.571271,
144
+ "frames": 3928,
145
  "pts_gaps": 0,
146
  "timing": "pts",
147
  "timeshift_cam_imu_s": 0.002458947067077895,
148
  "file": "robocap_segment1_video_left_front.mp4",
149
+ "t_start": 0.039917939312900524,
150
+ "t_end": 130.93987393931312,
151
  "clock": "device",
152
  "calibrated": true
153
  },
154
  "right_front": {
155
  "fps": 30.0,
156
+ "start_device_s": 1974.571291,
157
+ "frames": 3928,
158
  "pts_gaps": 0,
159
  "timing": "pts",
160
  "timeshift_cam_imu_s": 0.0021420814739499558,
161
  "file": "robocap_segment1_video_right_front.mp4",
162
+ "t_start": 0.03962107371980059,
163
+ "t_end": 130.9395990737202,
164
  "clock": "device",
165
  "calibrated": true
166
  },
167
  "left_eye": {
168
  "fps": 60.0,
169
+ "start_device_s": 1974.571262,
170
+ "frames": 3808,
171
+ "pts_gaps": 3807,
172
  "timing": "pts (gap undecided)",
173
  "timeshift_cam_imu_s": 0.002801984596191448,
174
  "gap_test": {
175
  "pts": {
176
+ "offset_ms": 2.2,
177
+ "corr": 0.85,
178
+ "err_ms": 0.6
179
  },
180
  "nominal": {
181
+ "offset_ms": 51.8,
182
+ "corr": 0.026,
183
+ "err_ms": 49.0
184
  }
185
  },
186
  "file": "robocap_segment1_video_left_eye.mp4",
187
+ "t_start": 0.04025197684190138,
188
+ "t_end": 130.95685197684216,
189
  "clock": "device",
190
  "calibrated": true
191
  },
192
  "right_eye": {
193
  "fps": 30.0,
194
+ "start_device_s": 1974.571238,
195
+ "frames": 3928,
196
  "pts_gaps": 0,
197
  "timing": "pts",
198
  "timeshift_cam_imu_s": 0.002930366888236734,
199
  "file": "robocap_segment1_video_right_eye.mp4",
200
+ "t_start": 0.04035635913409427,
201
+ "t_end": 130.94031235913454,
202
  "clock": "device",
203
  "calibrated": true
204
  },
205
  "wrist_left": {
206
  "fps": 30.0,
207
+ "start_device_s": 1973.660352,
208
+ "frames": 3925,
209
  "pts_gaps": 0,
210
  "timing": "pts",
211
  "timeshift_cam_imu_s": null,
212
+ "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
213
+ "t_start": -0.8734600077540191,
214
+ "t_end": 129.92627999224615,
215
  "clock": "device",
216
  "calibrated": false
217
  },
218
  "wrist_right": {
219
  "fps": 30.0,
220
+ "start_device_s": 1973.722173,
221
+ "frames": 3923,
222
  "pts_gaps": 0,
223
  "timing": "pts",
224
  "timeshift_cam_imu_s": null,
225
+ "file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
226
+ "t_start": -0.8116390077540101,
227
+ "t_end": 129.92130399224598,
228
  "clock": "device",
229
  "calibrated": false
230
  },
231
  "third_person": {
232
+ "file": "mocap/mocap-HH08-S01-daihaoxiang-01p-1.mp4",
233
+ "frames": 3929,
234
  "fps": 30.0,
235
  "clock": "nokov (frame index)",
236
  "t_start": 0.0,
237
+ "t_end": 130.93333333333334
238
  }
239
  },
240
  "mocap_body1": {
241
  "file": "mocap_body1.npz",
242
+ "frames": 15716,
243
+ "solved_fraction": 0.9844,
244
  "note": "second person (no ego cameras), Body1 of the same take, same time base as mocap.npz"
245
  }
246
  },
247
  "flags": [],
248
  "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
249
  "rig_tracker": {
250
+ "definition": "c9205ac6e17d2d5c/20261024-afternoon/labels-053142/session-afc98f08021d64e1",
251
  "R_tracker0_imu0": [
252
  [
253
+ -0.64854984,
254
+ 0.05141986,
255
+ -0.75943341
256
  ],
257
  [
258
+ 0.75759499,
259
+ -0.05300823,
260
+ -0.65056894
261
  ],
262
  [
263
+ -0.07370838,
264
+ -0.99726933,
265
+ -0.00457695
266
  ]
267
  ],
268
  "p_tracker0_imu0_m": [
269
+ -0.17993582724148602,
270
+ -0.007884722021909199,
271
+ -0.0013886015387491006
272
  ],
273
  "rig_check": {
274
+ "gyro_samples": 7101,
275
  "gyro_max_deg": 2.5,
276
  "status": "ok",
277
  "dropped_marker": null,
278
+ "gyro_deg": 2.061
279
  },
280
  "file": "derived/rig_tracker_provider/rig_tracker.json",
281
  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
282
  },
283
  "canonical": {
284
+ "generated_at_utc": "2026-10-26T10:26:12.709546+00:00",
285
  "generated_by": "scripts/canonicalise_dataset.py",
286
  "frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
287
  "R_canon_nokov": [
288
  [
289
+ 0.9999934948,
290
+ 0.0036069732,
291
+ 5.0842e-06
292
  ],
293
  [
294
+ -5.0842e-06,
295
+ 0.0028190824,
296
+ -0.9999960264
297
  ],
298
  [
299
+ -0.0036069732,
300
+ 0.9999895212,
301
+ 0.0028190824
302
  ]
303
  ],
304
  "scale_nokov_to_canon": 0.001,
305
  "T_canon_nokov_mm": [
306
  [
307
+ 0.000999993495,
308
+ 3.606973e-06,
309
+ 5.084e-09,
310
  0.0
311
  ],
312
  [
313
+ -5.084e-09,
314
+ 2.819082e-06,
315
+ -0.000999996026,
316
  0.0
317
  ],
318
  [
319
+ -3.606973e-06,
320
+ 0.000999989521,
321
+ 2.819082e-06,
322
  0.0
323
  ],
324
  [
 
328
  1.0
329
  ]
330
  ],
331
+ "block": "20261024-afternoon",
332
  "block_assignment": "trc",
333
+ "tilt_removed_deg": 0.2622972247140124,
334
  "plane_status": "ok",
335
  "floor": {
336
+ "sole_marker_p1_mm": 24.8,
337
+ "headtop_p95_mm": 1778.9
338
  },
339
  "gravity_check": {
340
+ "static_samples": 541,
341
  "g_world_mean_m_s2": [
342
+ 0.0855,
343
+ -0.1201,
344
+ 9.7167
345
  ],
346
+ "tilt_from_z_deg": 0.869,
347
+ "tilt_from_z_deg_before_levelling": 0.919,
348
+ "magnitude_m_s2": 9.7179
349
  },
350
+ "rig_tracker_definition": "c9205ac6e17d2d5c/20261024-afternoon/labels-053142/session-afc98f08021d64e1",
351
  "rig_check": {
352
  "status": "ok",
353
  "dropped_marker": null,
354
+ "gyro_deg": 2.061
355
  },
356
  "camera_pose_source": "provider T_tracker0_cam",
357
  "files": [
 
363
  ]
364
  },
365
  "smplx": {
366
+ "generated_at_utc": "2026-10-26T16:48:28.846611+00:00",
367
  "generated_by": "scripts/fit_smplx_dataset.py",
368
  "file": "smplx.npz",
369
+ "gender": "male",
370
  "n_betas": 16,
371
  "betas_source": "participant median (derived/smplx/participants.json)",
372
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
 
378
  "hand_marker_offsets_m": {
379
  "left": {
380
  "LHandIn": [
381
+ 0.03679729625582695,
382
+ 0.014075551182031631,
383
+ 0.022952592000365257
384
  ],
385
  "LHandOut": [
386
+ 0.043129775673151016,
387
+ 0.029414094984531403,
388
+ -0.014943558722734451
389
  ]
390
  },
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