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  1. actions/locomotion_posture_dynamics/D59/session_001/sensors/head_mag.npz +2 -2
  2. actions/locomotion_posture_dynamics/D59/session_001/sensors/wrist_imu.npz +2 -2
  3. actions/locomotion_posture_dynamics/D59/session_001/sensors/wrist_mag.npz +2 -2
  4. actions/locomotion_posture_dynamics/D59/session_001/videos/frame_timestamps.npz +2 -2
  5. actions/locomotion_posture_dynamics/D59/session_001/videos/head_left.mp4 +2 -2
  6. actions/locomotion_posture_dynamics/D59/session_001/videos/head_left_eye.mp4 +2 -2
  7. actions/locomotion_posture_dynamics/D59/session_001/videos/head_left_front.mp4 +2 -2
  8. actions/locomotion_posture_dynamics/D59/session_001/videos/head_right.mp4 +2 -2
  9. actions/locomotion_posture_dynamics/D59/session_001/videos/head_right_eye.mp4 +2 -2
  10. actions/locomotion_posture_dynamics/D59/session_001/videos/head_right_front.mp4 +2 -2
  11. actions/locomotion_posture_dynamics/D59/session_001/videos/third_person.mp4 +2 -2
  12. actions/locomotion_posture_dynamics/D59/session_001/videos/wrist_left.mp4 +2 -2
  13. actions/locomotion_posture_dynamics/D59/session_001/videos/wrist_right.mp4 +2 -2
  14. actions/locomotion_posture_dynamics/D59/session_002/cameras/poses.npz +2 -2
  15. actions/locomotion_posture_dynamics/D59/session_002/meta.json +243 -191
  16. actions/locomotion_posture_dynamics/D59/session_002/motions/head_rig.npz +2 -2
  17. actions/locomotion_posture_dynamics/D59/session_002/motions/markers.npz +2 -2
  18. actions/locomotion_posture_dynamics/D59/session_002/motions/skeleton.npz +2 -2
  19. actions/locomotion_posture_dynamics/D59/session_002/motions/smplx.npz +2 -2
  20. actions/locomotion_posture_dynamics/D59/session_002/raw/audio.wav +2 -2
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- "generated_at_utc": "2026-10-15T02:28:43.388357+00:00",
324
  "generated_by": "scripts/fit_smplx_dataset.py",
325
  "file": "smplx.npz",
326
- "gender": "female",
327
  "n_betas": 16,
328
  "betas_source": "participant median (derived/smplx/participants.json)",
329
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
@@ -335,185 +336,236 @@
335
  "hand_marker_offsets_m": {
336
  "left": {
337
  "LHandIn": [
338
- 0.08679217845201492,
339
- 0.012174985371530056,
340
- 0.029364481568336487
341
  ],
342
  "LHandOut": [
343
- 0.07299571484327316,
344
- 0.01304776594042778,
345
- -0.016329888254404068
346
  ]
347
  },
348
  "right": {
349
  "RHandIn": [
350
- -0.06160886958241463,
351
- 0.011842036619782448,
352
- 0.013274140655994415
353
  ],
354
  "RHandOut": [
355
- -0.036630917340517044,
356
- 0.0231013223528862,
357
- -0.026700453832745552
 
 
 
 
 
358
  ]
359
  }
360
  }
361
  },
362
  "marker_rmse_mm": {
363
- "median_frame": 4.42,
364
- "p95_frame": 8.78
365
  },
366
  "worst_markers": [
367
- "LKneeIn 13mm",
368
- "RKneeIn 10mm",
369
- "LWristIn 9mm",
370
- "CLAV 8mm",
371
- "RElbowIn 8mm"
372
  ],
373
- "valid_fraction": 0.9993,
374
  "qc": {
375
  "lowest_vertex_mm": {
376
- "median": 10.5,
377
- "p5": 6.6
378
  },
379
- "frames_checked": 376,
380
- "stature_mm": 1631.4
381
  },
382
  "surface_term": {
383
  "weight": 1.0,
384
  "marker_height_mm": 11.0,
385
  "markers_on_surface": 52,
386
- "surface_rmse_mm_median": 10.41
387
  },
388
  "shape_source": "participant median",
389
  "wrist_correction": {
390
  "left": {
391
  "status": "corrected",
392
- "Q_deg": 174.17,
393
  "Q_rotvec": [
394
- -2.90339,
395
- 0.3054,
396
- 0.8472
397
  ],
398
- "in_out_sign": -1,
399
- "wrist_bend_deg_median": 142.3,
400
- "opposite_sign_bend_deg": 44.9,
401
- "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
402
- "marker_frame_spread_deg": 2.12,
403
  "hand_vs_marker_frame_deg": {
404
- "before": 173.83,
405
- "after": 2.12
406
  },
407
  "markers_on_wrist": [
408
  "LHandIn",
409
  "LHandOut"
410
  ],
411
  "forearm_twist": {
412
- "twist_moved_deg": -140.18,
413
  "wrist_twist_deg_after": {
414
- "median": -0.21,
415
  "iqr": [
416
- -3.0,
417
- 2.7
418
  ]
419
  },
420
- "wrist_total_deg_median_after": 35.1,
421
  "markers_on_forearm": [
422
- "LElbowIn",
423
  "LForearm",
424
  "LWristIn",
425
  "LWristOut"
426
  ]
427
  },
428
- "frames_used": 1128
429
  },
430
  "right": {
431
  "status": "corrected",
432
- "Q_deg": 29.85,
433
  "Q_rotvec": [
434
- 0.42998,
435
- -0.22563,
436
- -0.18878
437
  ],
438
  "in_out_sign": 1,
439
- "wrist_bend_deg_median": 24.7,
440
- "opposite_sign_bend_deg": 158.8,
441
  "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
442
- "marker_frame_spread_deg": 4.47,
443
  "hand_vs_marker_frame_deg": {
444
- "before": 32.27,
445
- "after": 4.47
446
  },
447
  "markers_on_wrist": [
 
448
  "RHandIn",
449
  "RHandOut"
450
  ],
451
  "forearm_twist": {
452
- "twist_moved_deg": -23.78,
453
  "wrist_twist_deg_after": {
454
- "median": -0.0,
455
  "iqr": [
456
- -5.1,
457
- 3.7
458
  ]
459
  },
460
- "wrist_total_deg_median_after": 9.0,
461
  "markers_on_forearm": [
462
  "RForearm",
463
- "RWristIn",
464
- "RWristOut"
465
  ]
466
  },
467
- "frames_used": 1128
468
  },
469
- "generated_at_utc": "2026-10-15T02:28:46.040401+00:00",
470
  "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
471
  }
472
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
473
  "rig_tracker": {
474
- "definition": "e17c9efadb69e7b1/0907-afternooon/labels-431502/session-3c9e5138e755b138",
475
  "R_tracker0_imu0": [
476
  [
477
- 0.37173428,
478
- -0.91966841,
479
- 0.12658449
480
  ],
481
  [
482
- 0.75262871,
483
- 0.21873355,
484
- -0.62105206
485
  ],
486
  [
487
- 0.54347369,
488
- 0.32613746,
489
- 0.77347961
490
  ]
491
  ],
492
  "p_tracker0_imu0_m": [
493
- -0.01306370713155853,
494
- -0.0016085063541278531,
495
- 0.10091668405239278
496
  ],
497
  "rig_check": {
498
- "gyro_samples": 3155,
499
  "gyro_max_deg": 2.5,
500
  "status": "ok",
501
  "dropped_marker": null,
502
- "gyro_deg": 0.702
503
  },
504
  "file": "derived/rig_tracker_provider/rig_tracker.json",
505
  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
506
  },
507
  "rig_calibration_repair": {
508
  "version": 2,
509
- "applied_at_utc": "2026-10-18T18:46:58.507668+00:00",
510
  "generated_by": "scripts/correct_processed_rig.py",
511
- "remaining_gyro_frame_deg": 0.648218050806271
512
  },
513
  "release": {
514
  "release_path": "actions/locomotion_posture_dynamics/D59/session_002",
515
  "family": "locomotion_posture_dynamics",
516
  "primitive": "D59",
517
- "source_session": "20260907/D59/20260907_093916_session186"
518
  }
519
  }
 
1
  {
2
  "schema_version": 1,
3
+ "session": "EgoMotionActions/20260909/D59/20260909_075024_session125",
4
+ "session_id": "20260909_075024_session125",
5
  "primitive": "D59",
6
+ "batch": "20260909",
7
+ "participant": "daihaoxiang",
8
  "participant_source": "manifest",
9
  "device_ids": {
10
  "main": "e17c9efadb69e7b1",
11
  "left": "cc5681142208e29a",
12
  "right": "60a6f081bbe60b0d"
13
  },
14
+ "generated_at_utc": "2026-10-14T10:59:35.564724+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": 89.025,
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": -1.163232,
28
  "rate": 0.0,
29
+ "global_lag_s": -1.165,
30
+ "peak_corr": 0.9709,
31
+ "reference_imu_first_sample_s": 26875.50811114,
32
  "windows": {
33
+ "n_windows": 6,
34
+ "window_corr_median": 0.9939568239964794,
35
+ "drift_ppm": -58.70777910890614,
36
+ "drift_se_ppm": 27.311775658618835,
37
+ "drift_ms_over_take": -5.225970803677795,
38
+ "lag_scatter_ms": 0.9328747350160033,
39
+ "lag_range_ms": 4.105523306724201
40
  }
41
  },
42
  "units": {
 
71
  "streams": {
72
  "sensors": {
73
  "imu_head_right": {
74
+ "n_acc": 18246,
75
+ "n_gyro": 18240,
76
+ "t_start": -1.1843604572790363,
77
+ "t_end": 89.77779111972231
78
  },
79
  "imu_head_left": {
80
+ "n_acc": 18218,
81
+ "n_gyro": 18213,
82
+ "t_start": -1.0713692492794515,
83
+ "t_end": 89.95456262872139
84
  },
85
  "imu_wrist_right": {
86
+ "n_acc": 17309,
87
+ "n_gyro": 17321,
88
+ "t_start": 0.21347461471996132,
89
+ "t_end": 85.751088045719
90
  },
91
  "imu_wrist_left": {
92
+ "n_acc": 16893,
93
+ "n_gyro": 16904,
94
+ "t_start": 0.22153408372068872,
95
+ "t_end": 85.7419972047206
96
  },
97
  "mag_head": {
98
+ "n": 9111,
99
+ "t_start": -0.9875479162805285,
100
+ "t_end": 90.11247812772089
101
  },
102
  "mag_wrist_right": {
103
+ "n": 8553,
104
+ "t_start": 0.2308986217209159,
105
+ "t_end": 85.75070007772192
106
  },
107
  "mag_wrist_left": {
108
+ "n": 8551,
109
+ "t_start": 0.23593546571973922,
110
+ "t_end": 85.73572740772178
111
  }
112
  },
113
  "videos": {
114
  "left": {
115
  "fps": 30.0,
116
+ "start_device_s": 26876.709045,
117
+ "frames": 2670,
118
  "pts_gaps": 0,
119
  "timing": "pts",
120
  "timeshift_cam_imu_s": 0.0023423887986386703,
121
  "file": "robocap_segment1_video_left.mp4",
122
+ "t_start": 0.04004407551801625,
123
+ "t_end": 89.00670007551852,
124
  "clock": "device",
125
  "calibrated": true
126
  },
127
  "right": {
128
  "fps": 30.0,
129
+ "start_device_s": 26876.708992,
130
+ "frames": 2670,
131
  "pts_gaps": 0,
132
  "timing": "pts",
133
  "timeshift_cam_imu_s": 0.0019489646456461974,
134
  "file": "robocap_segment1_video_right.mp4",
135
+ "t_start": 0.0395976513678753,
136
+ "t_end": 89.00625365136838,
137
  "clock": "device",
138
  "calibrated": true
139
  },
140
  "left_front": {
141
  "fps": 30.0,
142
+ "start_device_s": 26876.709027,
143
+ "frames": 2670,
144
  "pts_gaps": 0,
145
  "timing": "pts",
146
  "timeshift_cam_imu_s": 0.0018171232386612972,
147
  "file": "robocap_segment1_video_left_front.mp4",
148
+ "t_start": 0.039500809961827255,
149
+ "t_end": 89.00615680996233,
150
  "clock": "device",
151
  "calibrated": true
152
  },
153
  "right_front": {
154
  "fps": 30.0,
155
+ "start_device_s": 26876.70906,
156
+ "frames": 2670,
157
  "pts_gaps": 0,
158
  "timing": "pts",
159
  "timeshift_cam_imu_s": 0.0017295646474508202,
160
  "file": "robocap_segment1_video_right_front.mp4",
161
+ "t_start": 0.03944625136828028,
162
+ "t_end": 89.00610225136879,
163
  "clock": "device",
164
  "calibrated": true
165
  },
166
  "left_eye": {
167
  "fps": 30.0,
168
+ "start_device_s": 26876.709011,
169
+ "frames": 2670,
170
  "pts_gaps": 0,
171
  "timing": "pts",
172
  "timeshift_cam_imu_s": 0.001668932298833096,
173
  "file": "robocap_segment1_video_left_eye.mp4",
174
+ "t_start": 0.039336619017921404,
175
+ "t_end": 89.00599261901843,
176
  "clock": "device",
177
  "calibrated": true
178
  },
179
  "right_eye": {
180
  "fps": 30.0,
181
+ "start_device_s": 26876.708965,
182
+ "frames": 2670,
183
  "pts_gaps": 0,
184
  "timing": "pts",
185
  "timeshift_cam_imu_s": 0.0017169377622902274,
186
  "file": "robocap_segment1_video_right_eye.mp4",
187
+ "t_start": 0.03933862448284264,
188
+ "t_end": 89.00600562448344,
189
  "clock": "device",
190
  "calibrated": true
191
  },
192
  "wrist_left": {
193
  "fps": 30.0,
194
+ "start_device_s": 26876.915224,
195
+ "frames": 2565,
196
  "pts_gaps": 0,
197
  "timing": "pts",
198
  "timeshift_cam_imu_s": null,
199
  "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
200
+ "t_start": 0.24388068672087604,
201
+ "t_end": 85.7103516867206,
202
  "clock": "device",
203
  "calibrated": false
204
  },
205
  "wrist_right": {
206
  "fps": 30.0,
207
+ "start_device_s": 26876.927893,
208
+ "frames": 2565,
209
  "pts_gaps": 0,
210
  "timing": "pts",
211
  "timeshift_cam_imu_s": null,
212
  "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
213
+ "t_start": 0.2565496867206085,
214
+ "t_end": 85.72302068672033,
215
  "clock": "device",
216
  "calibrated": false
217
  },
218
  "third_person": {
219
+ "file": "mocap/mocap-D59-S01-daihaoxiang-02p1-1.mp4",
220
+ "frames": 2671,
221
+ "fps": 60.0,
222
  "clock": "nokov (frame index)",
223
  "t_start": 0.0,
224
+ "t_end": 44.5
225
  }
226
  }
227
  },
 
235
  "verdict": "READY_WITH_WARNINGS",
236
  "issues": [
237
  "WARN M_BODY_ID",
238
+ "WARN M_RIGID",
239
  "WARN M_SPIKES",
240
  "WARN M_TRACKER_LABELS",
241
  "WARN S_INDEX",
242
  "WARN S_PARTICIPANT",
243
+ "WARN S_VIDEO_FPS",
244
  "WARN T_UNITS"
245
  ]
246
  },
247
  "canonical": {
248
+ "generated_at_utc": "2026-10-14T12:18:29.501591+00:00",
249
  "generated_by": "scripts/canonicalise_dataset.py",
250
  "frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
251
  "R_canon_nokov": [
252
  [
253
+ 0.9998822259,
254
+ -0.0153469922,
255
+ -6.38739e-05
256
  ],
257
  [
258
+ 6.38739e-05,
259
+ 0.0083233353,
260
+ -0.9999653584
261
  ],
262
  [
263
+ 0.0153469922,
264
+ 0.9998475843,
265
+ 0.0083233353
266
  ]
267
  ],
268
  "scale_nokov_to_canon": 0.001,
269
  "T_canon_nokov_mm": [
270
  [
271
+ 0.000999882226,
272
+ -1.5346992e-05,
273
+ -6.3874e-08,
274
  0.0
275
  ],
276
  [
277
+ 6.3874e-08,
278
+ 8.323335e-06,
279
+ -0.000999965358,
280
  0.0
281
  ],
282
  [
283
+ 1.5346992e-05,
284
+ 0.000999847584,
285
+ 8.323335e-06,
286
  0.0
287
  ],
288
  [
 
292
  1.0
293
  ]
294
  ],
295
+ "block": "20260909-afternoon",
296
  "block_assignment": "trc",
297
+ "tilt_removed_deg": 1.0003637245150543,
298
  "plane_status": "ok",
299
  "floor": {
300
+ "sole_marker_p1_mm": 41.1,
301
+ "headtop_p95_mm": 1775.1
302
  },
303
  "gravity_check": {
304
+ "static_samples": 1969,
305
  "g_world_mean_m_s2": [
306
+ 0.2064,
307
+ 0.187,
308
+ 9.7806
309
  ],
310
+ "tilt_from_z_deg": 1.631,
311
+ "tilt_from_z_deg_before_levelling": 2.178,
312
+ "magnitude_m_s2": 9.7846
313
  },
314
+ "rig_tracker_definition": "e17c9efadb69e7b1/20260909-afternoon/labels-302145/session-a77f41feb91e941c",
315
  "camera_pose_source": "provider T_tracker0_cam",
316
  "files": [
317
  "mocap_zup.npz",
 
321
  ]
322
  },
323
  "smplx": {
324
+ "generated_at_utc": "2026-10-18T14:21:07.594569+00:00",
325
  "generated_by": "scripts/fit_smplx_dataset.py",
326
  "file": "smplx.npz",
327
+ "gender": "male",
328
  "n_betas": 16,
329
  "betas_source": "participant median (derived/smplx/participants.json)",
330
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
 
336
  "hand_marker_offsets_m": {
337
  "left": {
338
  "LHandIn": [
339
+ 0.06661009043455124,
340
+ -0.023594608530402184,
341
+ -0.007233492098748684
342
  ],
343
  "LHandOut": [
344
+ 0.04436662420630455,
345
+ 0.014733949676156044,
346
+ 0.03167081996798515
347
  ]
348
  },
349
  "right": {
350
  "RHandIn": [
351
+ -0.06107398122549057,
352
+ 0.018927955999970436,
353
+ 0.011887558735907078
354
  ],
355
  "RHandOut": [
356
+ -0.04097723960876465,
357
+ 0.011980297975242138,
358
+ -0.0432279109954834
359
+ ],
360
+ "RWristOut": [
361
+ 0.021661745384335518,
362
+ 0.03310733661055565,
363
+ -0.02056851238012314
364
  ]
365
  }
366
  }
367
  },
368
  "marker_rmse_mm": {
369
+ "median_frame": 6.26,
370
+ "p95_frame": 12.58
371
  },
372
  "worst_markers": [
373
+ "LShin 15mm",
374
+ "CLAV 14mm",
375
+ "STRN 13mm",
376
+ "RElbow 12mm",
377
+ "RKnee 11mm"
378
  ],
379
+ "valid_fraction": 1.0,
380
  "qc": {
381
  "lowest_vertex_mm": {
382
+ "median": -0.1,
383
+ "p5": -5.8
384
  },
385
+ "frames_checked": 357,
386
+ "stature_mm": 1770.9
387
  },
388
  "surface_term": {
389
  "weight": 1.0,
390
  "marker_height_mm": 11.0,
391
  "markers_on_surface": 52,
392
+ "surface_rmse_mm_median": 14.38
393
  },
394
  "shape_source": "participant median",
395
  "wrist_correction": {
396
  "left": {
397
  "status": "corrected",
398
+ "Q_deg": 180.0,
399
  "Q_rotvec": [
400
+ 3.02575,
401
+ -0.26943,
402
+ -0.80116
403
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404
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