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Upload folder using huggingface_hub (part 1761)

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  1. actions/locomotion_posture_dynamics/D59/session_005/raw/sensors/robowrist_mag_right.db +2 -2
  2. actions/locomotion_posture_dynamics/D59/session_005/scene/infer.json +5 -5
  3. actions/locomotion_posture_dynamics/D59/session_005/scene/views.npz +2 -2
  4. actions/locomotion_posture_dynamics/D59/session_005/sensors/head_imu.npz +2 -2
  5. actions/locomotion_posture_dynamics/D59/session_005/sensors/head_mag.npz +2 -2
  6. actions/locomotion_posture_dynamics/D59/session_005/sensors/wrist_imu.npz +2 -2
  7. actions/locomotion_posture_dynamics/D59/session_005/sensors/wrist_mag.npz +2 -2
  8. actions/locomotion_posture_dynamics/D59/session_005/videos/frame_timestamps.npz +2 -2
  9. actions/locomotion_posture_dynamics/D59/session_005/videos/head_left.mp4 +2 -2
  10. actions/locomotion_posture_dynamics/D59/session_005/videos/head_left_eye.mp4 +2 -2
  11. actions/locomotion_posture_dynamics/D59/session_005/videos/head_left_front.mp4 +2 -2
  12. actions/locomotion_posture_dynamics/D59/session_005/videos/head_right.mp4 +2 -2
  13. actions/locomotion_posture_dynamics/D59/session_005/videos/head_right_eye.mp4 +2 -2
  14. actions/locomotion_posture_dynamics/D59/session_005/videos/head_right_front.mp4 +2 -2
  15. actions/locomotion_posture_dynamics/D59/session_005/videos/third_person.mp4 +2 -2
  16. actions/locomotion_posture_dynamics/D59/session_005/videos/wrist_left.mp4 +2 -2
  17. actions/locomotion_posture_dynamics/D59/session_005/videos/wrist_right.mp4 +2 -2
  18. actions/locomotion_posture_dynamics/D59/session_006/cameras/poses.npz +2 -2
  19. actions/locomotion_posture_dynamics/D59/session_006/meta.json +218 -191
  20. actions/locomotion_posture_dynamics/D59/session_006/motions/head_rig.npz +2 -2
  21. actions/locomotion_posture_dynamics/D59/session_006/motions/markers.npz +2 -2
  22. actions/locomotion_posture_dynamics/D59/session_006/motions/skeleton.npz +2 -2
  23. actions/locomotion_posture_dynamics/D59/session_006/motions/smplx.npz +2 -2
  24. actions/locomotion_posture_dynamics/D59/session_006/raw/audio.wav +2 -2
  25. actions/locomotion_posture_dynamics/D59/session_006/raw/manifest.json +71 -71
  26. actions/locomotion_posture_dynamics/D59/session_006/raw/mocap/Body0.bvh +0 -0
  27. actions/locomotion_posture_dynamics/D59/session_006/raw/mocap/Body0.csv +2 -2
  28. actions/locomotion_posture_dynamics/D59/session_006/raw/mocap/Body0.trc +2 -2
  29. actions/locomotion_posture_dynamics/D59/session_006/raw/mocap/Tracker0.csv +0 -0
  30. actions/locomotion_posture_dynamics/D59/session_006/raw/mocap/Tracker0.trc +0 -0
  31. actions/locomotion_posture_dynamics/D59/session_006/raw/sensors/robocap_imu_left.db +2 -2
  32. actions/locomotion_posture_dynamics/D59/session_006/raw/sensors/robocap_imu_right.db +2 -2
  33. actions/locomotion_posture_dynamics/D59/session_006/raw/sensors/robocap_mag_middle.db +2 -2
  34. actions/locomotion_posture_dynamics/D59/session_006/raw/sensors/robowrist_imu_left.db +2 -2
  35. actions/locomotion_posture_dynamics/D59/session_006/raw/sensors/robowrist_mag_left.db +2 -2
  36. actions/locomotion_posture_dynamics/D59/session_006/raw/sensors/robowrist_mag_right.db +2 -2
  37. actions/locomotion_posture_dynamics/D59/session_006/scene/infer.json +6 -6
  38. actions/locomotion_posture_dynamics/D59/session_006/scene/views.npz +2 -2
  39. actions/locomotion_posture_dynamics/D59/session_006/sensors/head_imu.npz +2 -2
  40. actions/locomotion_posture_dynamics/D59/session_006/sensors/head_mag.npz +2 -2
  41. actions/locomotion_posture_dynamics/D59/session_006/sensors/wrist_imu.npz +2 -2
  42. actions/locomotion_posture_dynamics/D59/session_006/sensors/wrist_mag.npz +2 -2
  43. actions/locomotion_posture_dynamics/D59/session_006/videos/frame_timestamps.npz +2 -2
  44. actions/locomotion_posture_dynamics/D59/session_006/videos/head_left.mp4 +2 -2
  45. actions/locomotion_posture_dynamics/D59/session_006/videos/head_left_eye.mp4 +2 -2
  46. actions/locomotion_posture_dynamics/D59/session_006/videos/head_left_front.mp4 +2 -2
  47. actions/locomotion_posture_dynamics/D59/session_006/videos/head_right.mp4 +2 -2
  48. actions/locomotion_posture_dynamics/D59/session_006/videos/head_right_eye.mp4 +2 -2
  49. actions/locomotion_posture_dynamics/D59/session_006/videos/head_right_front.mp4 +2 -2
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  "timing": "pts",
166
  "timeshift_cam_imu_s": 0.001668932298833096,
167
  "file": "robocap_segment1_video_left_eye.mp4",
168
- "t_start": 0.03914792369950404,
169
- "t_end": 89.00588092370062,
170
  "clock": "device",
171
  "calibrated": true
172
  },
173
  "right_eye": {
174
  "fps": 30.0,
175
- "start_device_s": 31002.43468,
176
- "frames": 2670,
177
  "pts_gaps": 0,
178
  "timing": "pts",
179
  "timeshift_cam_imu_s": 0.0017169377622902274,
180
  "file": "robocap_segment1_video_right_eye.mp4",
181
- "t_start": 0.03915192916146437,
182
- "t_end": 89.00587392916249,
183
  "clock": "device",
184
  "calibrated": true
185
  },
186
  "wrist_left": {
187
  "fps": 30.0,
188
- "start_device_s": 31002.78632,
189
- "frames": 2559,
190
  "pts_gaps": 0,
191
  "timing": "pts",
192
  "timeshift_cam_imu_s": null,
193
  "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
194
- "t_start": 0.3890749914015872,
195
- "t_end": 85.65515599140316,
196
  "clock": "device",
197
  "calibrated": false
198
  },
199
  "wrist_right": {
200
  "fps": 30.0,
201
- "start_device_s": 31002.545783,
202
- "frames": 2566,
203
  "pts_gaps": 0,
204
  "timing": "pts",
205
  "timeshift_cam_imu_s": null,
206
  "file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
207
- "t_start": 0.1485379914037297,
208
- "t_end": 85.64762699140455,
209
  "clock": "device",
210
  "calibrated": false
211
  },
212
  "third_person": {
213
- "file": "mocap/mocap-D59-S01-gaoziyue-02p2-1.mp4",
214
- "frames": 2671,
215
- "fps": 30.0,
216
  "clock": "nokov (frame index)",
217
  "t_start": 0.0,
218
- "t_end": 89.0
219
  }
220
  }
221
  },
@@ -232,53 +232,54 @@
232
  "issues": [
233
  "FAIL S_DB_EMPTY",
234
  "FAIL S_REPORT_EMPTY",
235
- "WARN M_FLOOR_SHIFT",
236
  "WARN M_SPIKES",
237
  "WARN M_TRACKER_LABELS",
238
  "WARN S_INDEX_STALE",
239
  "WARN S_PARTICIPANT",
 
240
  "WARN T_EMPTY"
241
  ]
242
  },
243
  "canonical": {
244
- "generated_at_utc": "2026-10-14T12:20:28.854611+00:00",
245
  "generated_by": "scripts/canonicalise_dataset.py",
246
  "frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
247
  "R_canon_nokov": [
248
  [
249
- 0.9999089224,
250
- -0.0134960197,
251
- -6.59458e-05
252
  ],
253
  [
254
- 6.59458e-05,
255
- 0.009771953,
256
- -0.9999522512
257
  ],
258
  [
259
- 0.0134960197,
260
- 0.9998611736,
261
- 0.009771953
262
  ]
263
  ],
264
  "scale_nokov_to_canon": 0.001,
265
  "T_canon_nokov_mm": [
266
  [
267
- 0.000999908922,
268
- -1.349602e-05,
269
- -6.5946e-08,
270
  0.0
271
  ],
272
  [
273
- 6.5946e-08,
274
- 9.771953e-06,
275
- -0.000999952251,
276
  0.0
277
  ],
278
  [
279
- 1.349602e-05,
280
- 0.000999861174,
281
- 9.771953e-06,
282
  0.0
283
  ],
284
  [
@@ -288,26 +289,26 @@
288
  1.0
289
  ]
290
  ],
291
- "block": "20260919-afternoon",
292
  "block_assignment": "trc",
293
- "tilt_removed_deg": 0.9547260052070599,
294
  "plane_status": "ok",
295
  "floor": {
296
- "sole_marker_p1_mm": 45.0,
297
- "headtop_p95_mm": 1626.6
298
  },
299
  "gravity_check": {
300
- "static_samples": 4122,
301
  "g_world_mean_m_s2": [
302
- 0.0245,
303
- -0.0148,
304
- 9.788
305
  ],
306
- "tilt_from_z_deg": 0.168,
307
- "tilt_from_z_deg_before_levelling": 1.122,
308
- "magnitude_m_s2": 9.788
309
  },
310
- "rig_tracker_definition": "e17c9efadb69e7b1/20260919-afternoon/labels-530412/session-4cdc0f6d11fc9047",
311
  "camera_pose_source": "provider T_tracker0_cam",
312
  "files": [
313
  "mocap_zup.npz",
@@ -317,10 +318,10 @@
317
  ]
318
  },
319
  "smplx": {
320
- "generated_at_utc": "2026-10-15T04:30:21.836684+00:00",
321
  "generated_by": "scripts/fit_smplx_dataset.py",
322
  "file": "smplx.npz",
323
- "gender": "female",
324
  "n_betas": 16,
325
  "betas_source": "participant median (derived/smplx/participants.json)",
326
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
@@ -332,189 +333,215 @@
332
  "hand_marker_offsets_m": {
333
  "left": {
334
  "LHandIn": [
335
- 0.039496127516031265,
336
- 0.020683597773313522,
337
- 0.01799156703054905
338
  ],
339
  "LHandOut": [
340
- 0.03780108690261841,
341
- 0.008599408902227879,
342
- -0.03779100626707077
343
- ],
344
- "LWristOut": [
345
- -0.01634795404970646,
346
- 0.028162449598312378,
347
- -0.030696794390678406
348
  ]
349
  },
350
  "right": {
351
  "RHandIn": [
352
- -0.03685671091079712,
353
- 0.022509869188070297,
354
- 0.014185369946062565
355
  ],
356
  "RHandOut": [
357
- -0.05394728481769562,
358
- 0.005289692897349596,
359
- -0.037216294556856155
360
  ]
361
  }
362
  }
363
  },
364
  "marker_rmse_mm": {
365
- "median_frame": 5.75,
366
- "p95_frame": 13.25
367
  },
368
  "worst_markers": [
369
- "WaistLBack 14mm",
370
- "WaistRBack 13mm",
371
- "CLAV 11mm",
372
- "RElbow 11mm",
373
- "WaistRFront 11mm"
374
  ],
375
- "valid_fraction": 1.0,
376
  "qc": {
377
  "lowest_vertex_mm": {
378
- "median": 8.5,
379
- "p5": 3.1
380
  },
381
- "frames_checked": 357,
382
- "stature_mm": 1598.8
383
  },
384
  "surface_term": {
385
  "weight": 1.0,
386
  "marker_height_mm": 11.0,
387
  "markers_on_surface": 52,
388
- "surface_rmse_mm_median": 12.45
389
  },
390
  "shape_source": "participant median",
391
  "wrist_correction": {
392
  "left": {
393
  "status": "corrected",
394
- "Q_deg": 172.89,
395
  "Q_rotvec": [
396
- 2.97674,
397
- -0.16444,
398
- -0.4665
399
  ],
400
- "in_out_sign": -1,
401
- "wrist_bend_deg_median": 150.2,
402
- "opposite_sign_bend_deg": 36.9,
403
- "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
404
- "marker_frame_spread_deg": 3.17,
405
  "hand_vs_marker_frame_deg": {
406
- "before": 174.74,
407
- "after": 3.17
408
  },
409
  "markers_on_wrist": [
410
- "LWristOut",
411
  "LHandIn",
412
  "LHandOut"
413
  ],
414
  "forearm_twist": {
415
- "twist_moved_deg": 149.0,
416
  "wrist_twist_deg_after": {
417
- "median": -0.0,
418
  "iqr": [
419
- -2.6,
420
- 3.8
421
  ]
422
  },
423
- "wrist_total_deg_median_after": 32.0,
424
  "markers_on_forearm": [
425
  "LForearm",
426
- "LWristIn"
 
427
  ]
428
  },
429
- "frames_used": 1069
430
  },
431
  "right": {
432
  "status": "corrected",
433
- "Q_deg": 39.97,
434
  "Q_rotvec": [
435
- -0.2395,
436
- 0.5194,
437
- -0.39927
438
  ],
439
  "in_out_sign": 1,
440
- "wrist_bend_deg_median": 32.0,
441
- "opposite_sign_bend_deg": 172.1,
442
  "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
443
- "marker_frame_spread_deg": 4.89,
444
  "hand_vs_marker_frame_deg": {
445
- "before": 42.03,
446
- "after": 4.89
447
  },
448
  "markers_on_wrist": [
449
  "RHandIn",
450
  "RHandOut"
451
  ],
452
  "forearm_twist": {
453
- "twist_moved_deg": -10.55,
454
  "wrist_twist_deg_after": {
455
- "median": 0.0,
456
  "iqr": [
457
- -3.6,
458
- 2.0
459
  ]
460
  },
461
- "wrist_total_deg_median_after": 30.6,
462
  "markers_on_forearm": [
463
  "RForearm",
464
  "RWristIn",
465
  "RWristOut"
466
  ]
467
  },
468
- "frames_used": 1069
469
  },
470
- "generated_at_utc": "2026-10-15T04:30:24.359319+00:00",
471
  "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
472
  }
473
  },
474
  "rig_tracker": {
475
- "definition": "e17c9efadb69e7b1/20260919-afternoon/labels-530412/session-4cdc0f6d11fc9047",
476
  "R_tracker0_imu0": [
477
  [
478
- -0.6596038,
479
- 0.24182618,
480
- -0.71164804
481
  ],
482
  [
483
- 0.75057995,
484
- 0.16229429,
485
- -0.64053908
486
  ],
487
  [
488
- -0.0394027,
489
- -0.95665075,
490
- -0.28855981
491
  ]
492
  ],
493
  "p_tracker0_imu0_m": [
494
- -0.17629881979525755,
495
- -0.016309105570836313,
496
- -0.025425181402420383
497
  ],
498
  "rig_check": {
499
- "gyro_samples": 1893,
500
  "gyro_max_deg": 2.5,
501
  "status": "ok",
502
  "dropped_marker": null,
503
- "gyro_deg": 0.958
504
  },
505
  "file": "derived/rig_tracker_provider/rig_tracker.json",
506
  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
507
  },
508
  "rig_calibration_repair": {
509
  "version": 2,
510
- "applied_at_utc": "2026-10-18T18:57:09.824906+00:00",
511
  "generated_by": "scripts/correct_processed_rig.py",
512
- "remaining_gyro_frame_deg": 0.9147354531765388
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
513
  },
514
  "release": {
515
  "release_path": "actions/locomotion_posture_dynamics/D59/session_006",
516
  "family": "locomotion_posture_dynamics",
517
  "primitive": "D59",
518
- "source_session": "20260919/D59/20260919_091000_session153"
519
  }
520
  }
 
1
  {
2
  "schema_version": 1,
3
+ "session": "EgoMotionActions/20260920/D59/20260920_100116_session112",
4
+ "session_id": "20260920_100116_session112",
5
  "primitive": "D59",
6
+ "batch": "20260920",
7
+ "participant": "wangyang",
8
  "participant_source": "manifest",
9
  "device_ids": {
10
  "main": "e17c9efadb69e7b1",
11
  "left": "452031d7af00ef6f",
12
  "right": "6ee5ee4472fe2ad7"
13
  },
14
+ "generated_at_utc": "2026-10-14T11:16:54.887964+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
  "first_solved_frame": 0,
20
+ "duration_s": 114.025,
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": -1.172155,
28
  "rate": 0.0,
29
+ "global_lag_s": -1.17,
30
+ "peak_corr": 0.9915,
31
+ "reference_imu_first_sample_s": 25367.011415071,
32
  "windows": {
33
+ "n_windows": 10,
34
+ "window_corr_median": 0.9968364702289676,
35
+ "drift_ppm": 4.207153837909534,
36
+ "drift_se_ppm": 3.9890129398588785,
37
+ "drift_ms_over_take": 0.4796856567523186,
38
+ "lag_scatter_ms": 0.32406894320003327,
39
+ "lag_range_ms": 1.075245383958201
40
  }
41
  },
42
  "units": {
 
71
  "streams": {
72
  "sensors": {
73
  "imu_head_right": {
74
+ "n_acc": 23263,
75
+ "n_gyro": 23257,
76
+ "t_start": -1.1841435166659158,
77
+ "t_end": 114.79144219433353
78
  },
79
  "imu_head_left": {
80
+ "n_acc": 23223,
81
+ "n_gyro": 23217,
82
+ "t_start": -1.0749480856663813,
83
+ "t_end": 114.9600751983328
84
  },
85
  "imu_wrist_left": {
86
+ "n_acc": 22034,
87
+ "n_gyro": 22034,
88
+ "t_start": 0.213986392331446,
89
+ "t_end": 109.03042558033327
90
  },
91
  "mag_head": {
92
+ "n": 11613,
93
+ "t_start": -0.990412641667479,
94
+ "t_end": 115.12959308033375
95
  },
96
  "mag_wrist_right": {
97
+ "n": 10893,
98
+ "t_start": 0.1089279903337792,
99
+ "t_end": 109.02833919833417
100
  },
101
  "mag_wrist_left": {
102
+ "n": 10880,
103
+ "t_start": 0.2275161003328885,
104
+ "t_end": 109.01680306833283
105
  }
106
  },
107
  "videos": {
108
  "left": {
109
  "fps": 30.0,
110
+ "start_device_s": 25368.220913,
111
+ "frames": 3420,
112
  "pts_gaps": 0,
113
  "timing": "pts",
114
  "timeshift_cam_imu_s": 0.0023423887986386703,
115
  "file": "robocap_segment1_video_left.mp4",
116
+ "t_start": 0.03968523513163924,
117
+ "t_end": 114.00636323513233,
118
  "clock": "device",
119
  "calibrated": true
120
  },
121
  "right": {
122
  "fps": 30.0,
123
+ "start_device_s": 25368.22087,
124
+ "frames": 3420,
125
  "pts_gaps": 0,
126
  "timing": "pts",
127
  "timeshift_cam_imu_s": 0.0019489646456461974,
128
  "file": "robocap_segment1_video_right.mp4",
129
+ "t_start": 0.03924881098124566,
130
+ "t_end": 114.00591581098185,
131
  "clock": "device",
132
  "calibrated": true
133
  },
134
  "left_front": {
135
  "fps": 30.0,
136
+ "start_device_s": 25368.2209,
137
+ "frames": 3420,
138
  "pts_gaps": 0,
139
  "timing": "pts",
140
  "timeshift_cam_imu_s": 0.0018171232386612972,
141
  "file": "robocap_segment1_video_left_front.mp4",
142
+ "t_start": 0.03914696957350494,
143
+ "t_end": 114.00582496957419,
144
  "clock": "device",
145
  "calibrated": true
146
  },
147
  "right_front": {
148
  "fps": 30.0,
149
+ "start_device_s": 25368.220929,
150
+ "frames": 3420,
151
  "pts_gaps": 0,
152
  "timing": "pts",
153
  "timeshift_cam_imu_s": 0.0017295646474508202,
154
  "file": "robocap_segment1_video_right_front.mp4",
155
+ "t_start": 0.03908841097860383,
156
+ "t_end": 114.00577741097938,
157
  "clock": "device",
158
  "calibrated": true
159
  },
160
  "left_eye": {
161
  "fps": 30.0,
162
+ "start_device_s": 25368.220885,
163
+ "frames": 3420,
164
  "pts_gaps": 0,
165
  "timing": "pts",
166
  "timeshift_cam_imu_s": 0.001668932298833096,
167
  "file": "robocap_segment1_video_left_eye.mp4",
168
+ "t_start": 0.03898377862993763,
169
+ "t_end": 114.00565077863054,
170
  "clock": "device",
171
  "calibrated": true
172
  },
173
  "right_eye": {
174
  "fps": 30.0,
175
+ "start_device_s": 25368.220847,
176
+ "frames": 3420,
177
  "pts_gaps": 0,
178
  "timing": "pts",
179
  "timeshift_cam_imu_s": 0.0017169377622902274,
180
  "file": "robocap_segment1_video_right_eye.mp4",
181
+ "t_start": 0.038993784093929174,
182
+ "t_end": 114.00566078409453,
183
  "clock": "device",
184
  "calibrated": true
185
  },
186
  "wrist_left": {
187
  "fps": 30.0,
188
+ "start_device_s": 25368.393309,
189
+ "frames": 3264,
190
  "pts_gaps": 0,
191
  "timing": "pts",
192
  "timeshift_cam_imu_s": null,
193
  "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
194
+ "t_start": 0.20973884633191298,
195
+ "t_end": 108.97568984633314,
196
  "clock": "device",
197
  "calibrated": false
198
  },
199
  "wrist_right": {
200
  "fps": 30.0,
201
+ "start_device_s": 25368.407163,
202
+ "frames": 3263,
203
  "pts_gaps": 0,
204
  "timing": "pts",
205
  "timeshift_cam_imu_s": null,
206
  "file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
207
+ "t_start": 0.22359284633263266,
208
+ "t_end": 108.95633984633083,
209
  "clock": "device",
210
  "calibrated": false
211
  },
212
  "third_person": {
213
+ "file": "mocap/mocap-D59-S02-wangyang-02p1-1.mp4",
214
+ "frames": 3421,
215
+ "fps": 29.75,
216
  "clock": "nokov (frame index)",
217
  "t_start": 0.0,
218
+ "t_end": 114.95798319327731
219
  }
220
  }
221
  },
 
232
  "issues": [
233
  "FAIL S_DB_EMPTY",
234
  "FAIL S_REPORT_EMPTY",
235
+ "WARN M_BODY_ID",
236
  "WARN M_SPIKES",
237
  "WARN M_TRACKER_LABELS",
238
  "WARN S_INDEX_STALE",
239
  "WARN S_PARTICIPANT",
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