Upload folder using huggingface_hub (part 111)
Browse files- actions/human_human_locomanipulation/HH08/session_002/scene/infer.json +36 -0
- actions/human_human_locomanipulation/HH08/session_002/scene/views.npz +3 -0
- actions/human_human_locomanipulation/HH08/session_002/sensors/head_imu.npz +2 -2
- actions/human_human_locomanipulation/HH08/session_002/sensors/head_mag.npz +2 -2
- actions/human_human_locomanipulation/HH08/session_002/sensors/wrist_imu.npz +2 -2
- actions/human_human_locomanipulation/HH08/session_002/sensors/wrist_mag.npz +2 -2
- actions/human_human_locomanipulation/HH08/session_002/videos/frame_timestamps.npz +2 -2
- actions/human_human_locomanipulation/HH08/session_002/videos/head_left.mp4 +2 -2
- actions/human_human_locomanipulation/HH08/session_002/videos/head_left_eye.mp4 +2 -2
- actions/human_human_locomanipulation/HH08/session_002/videos/head_left_front.mp4 +2 -2
- actions/human_human_locomanipulation/HH08/session_002/videos/head_right.mp4 +2 -2
- actions/human_human_locomanipulation/HH08/session_002/videos/head_right_eye.mp4 +2 -2
- actions/human_human_locomanipulation/HH08/session_002/videos/head_right_front.mp4 +2 -2
- actions/human_human_locomanipulation/HH08/session_002/videos/third_person.mp4 +2 -2
- actions/human_human_locomanipulation/HH08/session_002/videos/wrist_left.mp4 +2 -2
- actions/human_human_locomanipulation/HH08/session_002/videos/wrist_right.mp4 +2 -2
- actions/human_human_locomanipulation/HH08/session_003/cameras/poses.npz +2 -2
- actions/human_human_locomanipulation/HH08/session_003/meta.json +183 -360
- actions/human_human_locomanipulation/HH08/session_003/motions/head_rig.npz +2 -2
- actions/human_human_locomanipulation/HH08/session_003/motions/markers.npz +2 -2
actions/human_human_locomanipulation/HH08/session_002/scene/infer.json
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actions/human_human_locomanipulation/HH08/session_002/scene/views.npz
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actions/human_human_locomanipulation/HH08/session_002/sensors/head_imu.npz
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actions/human_human_locomanipulation/HH08/session_002/sensors/head_mag.npz
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actions/human_human_locomanipulation/HH08/session_002/sensors/wrist_imu.npz
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actions/human_human_locomanipulation/HH08/session_002/sensors/wrist_mag.npz
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actions/human_human_locomanipulation/HH08/session_002/videos/head_left.mp4
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actions/human_human_locomanipulation/HH08/session_002/videos/head_left_eye.mp4
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actions/human_human_locomanipulation/HH08/session_002/videos/head_left_front.mp4
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actions/human_human_locomanipulation/HH08/session_002/videos/head_right.mp4
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actions/human_human_locomanipulation/HH08/session_002/videos/head_right_eye.mp4
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actions/human_human_locomanipulation/HH08/session_002/videos/head_right_front.mp4
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actions/human_human_locomanipulation/HH08/session_002/videos/wrist_left.mp4
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actions/human_human_locomanipulation/HH08/session_003/cameras/poses.npz
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actions/human_human_locomanipulation/HH08/session_003/meta.json
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{
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"session": "EgoMotionActions/20260911/HH08/
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"session_id": "
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"primitive": "HH08",
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"batch": "20260911",
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"participant": "mahui",
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"left": "cc5681142208e29a",
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"generated_at_utc": "2026-10-14T11:03:
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| 15 |
"generated_by": "scripts/sync_dataset.py",
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| 16 |
"time_base": {
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| 17 |
"definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
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| 19 |
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"duration_s":
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"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
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"alignment": {
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| 24 |
"reference_imu": "imu_head_right",
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"model": "offset
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| 26 |
"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
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"offset_s": -1.
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"rate":
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"global_lag_s": -1.
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"units": {
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"streams": {
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"sensors": {
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"imu_head_right": {
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"n_acc":
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"t_start": -1.
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"t_end":
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"imu_head_left": {
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"n_acc":
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"t_start": -1.
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"imu_wrist_right": {
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"n_acc":
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"mag_head": {
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"n":
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"mag_wrist_left": {
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"n":
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},
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"videos": {
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"left": {
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"fps": 30.0,
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"start_device_s":
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"timing": "pts",
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|
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"t_start": 0.
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"clock": "device",
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"calibrated": true
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"right": {
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"fps": 30.0,
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"start_device_s":
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"t_end":
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"clock": "device",
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"right_front": {
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"left_eye": {
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"fps": 30.0,
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"file": "robocap_segment1_video_left_eye.mp4",
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"t_start": 0.
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"t_end":
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"clock": "device",
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"calibrated": true
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"right_eye": {
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"fps": 30.0,
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"start_device_s":
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"frames":
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"pts_gaps": 0,
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| 184 |
"timing": "pts",
|
| 185 |
"timeshift_cam_imu_s": 0.0017169377622902274,
|
| 186 |
"file": "robocap_segment1_video_right_eye.mp4",
|
| 187 |
-
"t_start": 0.
|
| 188 |
-
"t_end":
|
| 189 |
"clock": "device",
|
| 190 |
"calibrated": true
|
| 191 |
},
|
| 192 |
"wrist_left": {
|
| 193 |
"fps": 30.0,
|
| 194 |
-
"start_device_s":
|
| 195 |
-
"frames":
|
| 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.
|
| 201 |
-
"t_end":
|
| 202 |
"clock": "device",
|
| 203 |
"calibrated": false
|
| 204 |
},
|
| 205 |
"wrist_right": {
|
| 206 |
"fps": 30.0,
|
| 207 |
-
"start_device_s":
|
| 208 |
-
"frames":
|
| 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.
|
| 214 |
-
"t_end":
|
| 215 |
"clock": "device",
|
| 216 |
"calibrated": false
|
| 217 |
},
|
| 218 |
"third_person": {
|
| 219 |
-
"file": "mocap/mocap-HH08-
|
| 220 |
-
"frames":
|
| 221 |
"fps": 30.0,
|
| 222 |
"clock": "nokov (frame index)",
|
| 223 |
"t_start": 0.0,
|
| 224 |
-
"t_end":
|
| 225 |
}
|
| 226 |
-
},
|
| 227 |
-
"mocap_body1": {
|
| 228 |
-
"file": "mocap_body1.npz",
|
| 229 |
-
"frames": 10084,
|
| 230 |
-
"solved_fraction": 1.0,
|
| 231 |
-
"note": "second person (no ego cameras), Body1 of the same take, same time base as mocap.npz"
|
| 232 |
}
|
| 233 |
},
|
| 234 |
"flags": [],
|
|
@@ -238,19 +232,19 @@
|
|
| 238 |
"markers": "WARN",
|
| 239 |
"timing": "WARN"
|
| 240 |
},
|
| 241 |
-
"verdict": "
|
| 242 |
"issues": [
|
| 243 |
"WARN M_BODY_ID",
|
| 244 |
-
"WARN M_SPIKES",
|
| 245 |
"WARN M_TRACKER_LABELS",
|
| 246 |
"WARN S_INDEX",
|
| 247 |
-
"WARN S_MOCAP_TS",
|
| 248 |
"WARN S_PARTICIPANT",
|
| 249 |
-
"WARN
|
|
|
|
|
|
|
| 250 |
]
|
| 251 |
},
|
| 252 |
"canonical": {
|
| 253 |
-
"generated_at_utc": "2026-10-14T12:19:
|
| 254 |
"generated_by": "scripts/canonicalise_dataset.py",
|
| 255 |
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 256 |
"R_canon_nokov": [
|
|
@@ -302,32 +296,31 @@
|
|
| 302 |
"tilt_removed_deg": 0.7453323908227573,
|
| 303 |
"plane_status": "ok",
|
| 304 |
"floor": {
|
| 305 |
-
"sole_marker_p1_mm": 38.
|
| 306 |
-
"headtop_p95_mm":
|
| 307 |
},
|
| 308 |
"gravity_check": {
|
| 309 |
-
"static_samples":
|
| 310 |
"g_world_mean_m_s2": [
|
| 311 |
-
0.
|
| 312 |
-
0.
|
| 313 |
-
9.
|
| 314 |
],
|
| 315 |
-
"tilt_from_z_deg": 0.
|
| 316 |
-
"tilt_from_z_deg_before_levelling": 0.
|
| 317 |
-
"magnitude_m_s2": 9.
|
| 318 |
},
|
| 319 |
-
"rig_tracker_definition": "e17c9efadb69e7b1/20260911-afternoon/labels-253140/session-
|
| 320 |
"camera_pose_source": "provider T_tracker0_cam",
|
| 321 |
"files": [
|
| 322 |
"mocap_zup.npz",
|
| 323 |
"tracker0_zup.npz",
|
| 324 |
"rig_zup.npz",
|
| 325 |
-
"cameras_zup.npz"
|
| 326 |
-
"mocap_body1_zup.npz"
|
| 327 |
]
|
| 328 |
},
|
| 329 |
"smplx": {
|
| 330 |
-
"generated_at_utc": "2026-10-15T08:24:
|
| 331 |
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 332 |
"file": "smplx.npz",
|
| 333 |
"gender": "female",
|
|
@@ -342,366 +335,196 @@
|
|
| 342 |
"hand_marker_offsets_m": {
|
| 343 |
"left": {
|
| 344 |
"LHandIn": [
|
| 345 |
-
0.
|
| 346 |
-
-0.
|
| 347 |
-
0.
|
| 348 |
],
|
| 349 |
"LHandOut": [
|
| 350 |
-
0.
|
| 351 |
-
0.
|
| 352 |
-
0.
|
| 353 |
]
|
| 354 |
},
|
| 355 |
"right": {
|
| 356 |
"RHandIn": [
|
| 357 |
-
-0.
|
| 358 |
-
|
| 359 |
-
0.
|
| 360 |
],
|
| 361 |
"RHandOut": [
|
| 362 |
-
-0.
|
| 363 |
-
0.
|
| 364 |
-
-0.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 365 |
]
|
| 366 |
}
|
| 367 |
}
|
| 368 |
},
|
| 369 |
"marker_rmse_mm": {
|
| 370 |
-
"median_frame":
|
| 371 |
-
"p95_frame":
|
| 372 |
},
|
| 373 |
"worst_markers": [
|
| 374 |
-
"RKneeIn
|
| 375 |
-
"
|
| 376 |
-
"
|
| 377 |
-
"
|
| 378 |
-
"
|
| 379 |
],
|
| 380 |
-
"valid_fraction": 0.
|
| 381 |
"qc": {
|
| 382 |
"lowest_vertex_mm": {
|
| 383 |
-
"median": 2.
|
| 384 |
-
"p5": -
|
| 385 |
},
|
| 386 |
-
"frames_checked":
|
| 387 |
"stature_mm": 1631.4
|
| 388 |
},
|
| 389 |
"surface_term": {
|
| 390 |
"weight": 1.0,
|
| 391 |
"marker_height_mm": 11.0,
|
| 392 |
"markers_on_surface": 52,
|
| 393 |
-
"surface_rmse_mm_median":
|
| 394 |
},
|
| 395 |
"shape_source": "participant median",
|
| 396 |
"wrist_correction": {
|
| 397 |
"left": {
|
| 398 |
"status": "corrected",
|
| 399 |
-
"Q_deg":
|
| 400 |
"Q_rotvec": [
|
| 401 |
-
|
| 402 |
-
-0.
|
| 403 |
-
0.
|
| 404 |
],
|
| 405 |
-
"in_out_sign":
|
| 406 |
-
"wrist_bend_deg_median":
|
| 407 |
-
"opposite_sign_bend_deg":
|
| 408 |
-
"in_out_convention": "pinky side =
|
| 409 |
-
"marker_frame_spread_deg":
|
| 410 |
"hand_vs_marker_frame_deg": {
|
| 411 |
-
"before":
|
| 412 |
-
"after":
|
| 413 |
},
|
| 414 |
"markers_on_wrist": [
|
| 415 |
"LHandIn",
|
| 416 |
"LHandOut"
|
| 417 |
],
|
| 418 |
"forearm_twist": {
|
| 419 |
-
"twist_moved_deg":
|
| 420 |
"wrist_twist_deg_after": {
|
| 421 |
-
"median":
|
| 422 |
"iqr": [
|
| 423 |
-
|
| 424 |
-
|
| 425 |
]
|
| 426 |
},
|
| 427 |
-
"wrist_total_deg_median_after":
|
| 428 |
"markers_on_forearm": [
|
| 429 |
"LForearm",
|
| 430 |
"LWristIn",
|
| 431 |
"LWristOut"
|
| 432 |
]
|
| 433 |
},
|
| 434 |
-
"frames_used":
|
| 435 |
},
|
| 436 |
"right": {
|
| 437 |
"status": "corrected",
|
| 438 |
-
"Q_deg":
|
| 439 |
"Q_rotvec": [
|
| 440 |
-
0.
|
| 441 |
-
0.
|
| 442 |
-
|
| 443 |
],
|
| 444 |
"in_out_sign": 1,
|
| 445 |
-
"wrist_bend_deg_median":
|
| 446 |
-
"opposite_sign_bend_deg":
|
| 447 |
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 448 |
-
"marker_frame_spread_deg":
|
| 449 |
"hand_vs_marker_frame_deg": {
|
| 450 |
-
"before":
|
| 451 |
-
"after":
|
| 452 |
},
|
| 453 |
"markers_on_wrist": [
|
|
|
|
|
|
|
| 454 |
"RHandIn",
|
| 455 |
"RHandOut"
|
| 456 |
],
|
| 457 |
"forearm_twist": {
|
| 458 |
-
"twist_moved_deg":
|
| 459 |
"wrist_twist_deg_after": {
|
| 460 |
"median": -0.0,
|
| 461 |
"iqr": [
|
| 462 |
-
-
|
| 463 |
-
|
| 464 |
]
|
| 465 |
},
|
| 466 |
-
"wrist_total_deg_median_after":
|
| 467 |
"markers_on_forearm": [
|
| 468 |
-
"
|
| 469 |
-
"
|
| 470 |
-
"
|
| 471 |
]
|
| 472 |
},
|
| 473 |
-
"frames_used":
|
| 474 |
},
|
| 475 |
-
"generated_at_utc": "2026-10-
|
| 476 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 477 |
}
|
| 478 |
},
|
| 479 |
"rig_tracker": {
|
| 480 |
-
"definition": "e17c9efadb69e7b1/20260911-afternoon/labels-253140/session-
|
| 481 |
"R_tracker0_imu0": [
|
| 482 |
[
|
| 483 |
-
-0.
|
| 484 |
-
-0.
|
| 485 |
-
-0.
|
| 486 |
],
|
| 487 |
[
|
| 488 |
-
0.
|
| 489 |
-
0.
|
| 490 |
-
-0.
|
| 491 |
],
|
| 492 |
[
|
| 493 |
-
0.
|
| 494 |
-
-0.
|
| 495 |
-
0.
|
| 496 |
]
|
| 497 |
],
|
| 498 |
"p_tracker0_imu0_m": [
|
| 499 |
-
-0.
|
| 500 |
-
0.
|
| 501 |
-
-0.
|
| 502 |
],
|
| 503 |
"rig_check": {
|
| 504 |
-
"gyro_samples":
|
| 505 |
"gyro_max_deg": 2.5,
|
| 506 |
"status": "ok",
|
| 507 |
"dropped_marker": null,
|
| 508 |
-
"gyro_deg": 0.
|
| 509 |
},
|
| 510 |
"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 511 |
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 512 |
},
|
| 513 |
"rig_calibration_repair": {
|
| 514 |
"version": 2,
|
| 515 |
-
"applied_at_utc": "2026-10-18T18:50:58.
|
| 516 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 517 |
-
"remaining_gyro_frame_deg": 1.
|
| 518 |
-
},
|
| 519 |
-
"participant_body1": {
|
| 520 |
-
"participant": "wangyang",
|
| 521 |
-
"gender": "male"
|
| 522 |
-
},
|
| 523 |
-
"smplx_body1": {
|
| 524 |
-
"generated_at_utc": "2026-10-23T18:06:10.855584+00:00",
|
| 525 |
-
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 526 |
-
"file": "smplx_body1.npz",
|
| 527 |
-
"gender": "male",
|
| 528 |
-
"n_betas": 16,
|
| 529 |
-
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 530 |
-
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 531 |
-
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 532 |
-
"hands": {
|
| 533 |
-
"observed": false,
|
| 534 |
-
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 535 |
-
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 536 |
-
"hand_marker_offsets_m": {
|
| 537 |
-
"left": {
|
| 538 |
-
"LHandIn": [
|
| 539 |
-
0.06599676609039307,
|
| 540 |
-
0.019397513940930367,
|
| 541 |
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-0.010001630522310734
|
| 542 |
-
],
|
| 543 |
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"LHandOut": [
|
| 544 |
-
0.07703014463186264,
|
| 545 |
-
-0.024883199483156204,
|
| 546 |
-
0.0005720521439798176
|
| 547 |
-
],
|
| 548 |
-
"LWristIn": [
|
| 549 |
-
-0.002544969320297241,
|
| 550 |
-
0.029273195192217827,
|
| 551 |
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-0.00608832947909832
|
| 552 |
-
],
|
| 553 |
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"LWristOut": [
|
| 554 |
-
-0.002546349074691534,
|
| 555 |
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-0.024373048916459084,
|
| 556 |
-
0.004800051916390657
|
| 557 |
-
]
|
| 558 |
-
},
|
| 559 |
-
"right": {
|
| 560 |
-
"RHandIn": [
|
| 561 |
-
-0.0522669218480587,
|
| 562 |
-
-0.025070732459425926,
|
| 563 |
-
0.0036849891766905785
|
| 564 |
-
],
|
| 565 |
-
"RHandOut": [
|
| 566 |
-
-0.04660799354314804,
|
| 567 |
-
0.011312276124954224,
|
| 568 |
-
0.03568437322974205
|
| 569 |
-
]
|
| 570 |
-
}
|
| 571 |
-
}
|
| 572 |
-
},
|
| 573 |
-
"marker_rmse_mm": {
|
| 574 |
-
"median_frame": 4.6,
|
| 575 |
-
"p95_frame": 5.7
|
| 576 |
-
},
|
| 577 |
-
"worst_markers": [
|
| 578 |
-
"LKneeIn 11mm",
|
| 579 |
-
"RKneeIn 10mm",
|
| 580 |
-
"LElbow 7mm",
|
| 581 |
-
"RThigh 7mm",
|
| 582 |
-
"LElbowIn 7mm"
|
| 583 |
-
],
|
| 584 |
-
"valid_fraction": 1.0,
|
| 585 |
-
"qc": {
|
| 586 |
-
"lowest_vertex_mm": {
|
| 587 |
-
"median": -9.4,
|
| 588 |
-
"p5": -15.0
|
| 589 |
-
},
|
| 590 |
-
"frames_checked": 337,
|
| 591 |
-
"stature_mm": 1765.5
|
| 592 |
-
},
|
| 593 |
-
"surface_term": {
|
| 594 |
-
"weight": 1.0,
|
| 595 |
-
"marker_height_mm": 11.0,
|
| 596 |
-
"markers_on_surface": 52,
|
| 597 |
-
"surface_rmse_mm_median": 11.95
|
| 598 |
-
},
|
| 599 |
-
"shape_source": "participant median (wangyang, Body1 identity)",
|
| 600 |
-
"betas": [
|
| 601 |
-
0.5029100179672241,
|
| 602 |
-
-0.4547699987888336,
|
| 603 |
-
-0.4154900014400482,
|
| 604 |
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-0.4001300036907196,
|
| 605 |
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-0.4121299982070923,
|
| 606 |
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-0.08902999758720398,
|
| 607 |
-
-1.0207699537277222,
|
| 608 |
-
0.22271999716758728,
|
| 609 |
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0.7357100248336792,
|
| 610 |
-
1.3050400018692017,
|
| 611 |
-
-1.0408400297164917,
|
| 612 |
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-0.8402799963951111,
|
| 613 |
-
0.9734500050544739,
|
| 614 |
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-0.41565001010894775,
|
| 615 |
-
-0.05232999846339226,
|
| 616 |
-
-0.05277999863028526
|
| 617 |
-
],
|
| 618 |
-
"wrist_correction": {
|
| 619 |
-
"left": {
|
| 620 |
-
"status": "corrected",
|
| 621 |
-
"Q_deg": 82.78,
|
| 622 |
-
"Q_rotvec": [
|
| 623 |
-
1.44412,
|
| 624 |
-
-0.02409,
|
| 625 |
-
-0.03299
|
| 626 |
-
],
|
| 627 |
-
"in_out_sign": -1,
|
| 628 |
-
"wrist_bend_deg_median": 62.0,
|
| 629 |
-
"opposite_sign_bend_deg": 135.2,
|
| 630 |
-
"in_out_convention": "pinky side = HandIn (smaller wrist bend, no ACE output)",
|
| 631 |
-
"marker_frame_spread_deg": 2.4,
|
| 632 |
-
"hand_vs_marker_frame_deg": {
|
| 633 |
-
"before": 83.06,
|
| 634 |
-
"after": 2.4
|
| 635 |
-
},
|
| 636 |
-
"markers_on_wrist": [
|
| 637 |
-
"LWristIn",
|
| 638 |
-
"LWristOut",
|
| 639 |
-
"LHandIn",
|
| 640 |
-
"LHandOut"
|
| 641 |
-
],
|
| 642 |
-
"forearm_twist": {
|
| 643 |
-
"twist_moved_deg": 55.46,
|
| 644 |
-
"wrist_twist_deg_after": {
|
| 645 |
-
"median": 0.0,
|
| 646 |
-
"iqr": [
|
| 647 |
-
-32.3,
|
| 648 |
-
3.5
|
| 649 |
-
]
|
| 650 |
-
},
|
| 651 |
-
"wrist_total_deg_median_after": 32.7,
|
| 652 |
-
"markers_on_forearm": [
|
| 653 |
-
"LForearm"
|
| 654 |
-
]
|
| 655 |
-
},
|
| 656 |
-
"frames_used": 1009
|
| 657 |
-
},
|
| 658 |
-
"right": {
|
| 659 |
-
"status": "corrected",
|
| 660 |
-
"Q_deg": 140.04,
|
| 661 |
-
"Q_rotvec": [
|
| 662 |
-
2.42628,
|
| 663 |
-
0.29048,
|
| 664 |
-
0.056
|
| 665 |
-
],
|
| 666 |
-
"in_out_sign": 1,
|
| 667 |
-
"wrist_bend_deg_median": 107.1,
|
| 668 |
-
"opposite_sign_bend_deg": 80.6,
|
| 669 |
-
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 670 |
-
"marker_frame_spread_deg": 2.34,
|
| 671 |
-
"hand_vs_marker_frame_deg": {
|
| 672 |
-
"before": 140.24,
|
| 673 |
-
"after": 2.34
|
| 674 |
-
},
|
| 675 |
-
"markers_on_wrist": [
|
| 676 |
-
"RHandIn",
|
| 677 |
-
"RHandOut"
|
| 678 |
-
],
|
| 679 |
-
"forearm_twist": {
|
| 680 |
-
"twist_moved_deg": -105.3,
|
| 681 |
-
"wrist_twist_deg_after": {
|
| 682 |
-
"median": -0.0,
|
| 683 |
-
"iqr": [
|
| 684 |
-
-6.2,
|
| 685 |
-
5.5
|
| 686 |
-
]
|
| 687 |
-
},
|
| 688 |
-
"wrist_total_deg_median_after": 17.4,
|
| 689 |
-
"markers_on_forearm": [
|
| 690 |
-
"RForearm",
|
| 691 |
-
"RWristIn",
|
| 692 |
-
"RWristOut"
|
| 693 |
-
]
|
| 694 |
-
},
|
| 695 |
-
"frames_used": 1009
|
| 696 |
-
},
|
| 697 |
-
"generated_at_utc": "2026-10-23T18:06:13.472583+00:00",
|
| 698 |
-
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 699 |
-
}
|
| 700 |
},
|
| 701 |
"release": {
|
| 702 |
"release_path": "actions/human_human_locomanipulation/HH08/session_003",
|
| 703 |
"family": "human_human_locomanipulation",
|
| 704 |
"primitive": "HH08",
|
| 705 |
-
"source_session": "20260911/HH08/
|
| 706 |
}
|
| 707 |
}
|
|
|
|
| 1 |
{
|
| 2 |
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20260911/HH08/20260911_121626_session54",
|
| 4 |
+
"session_id": "20260911_121626_session54",
|
| 5 |
"primitive": "HH08",
|
| 6 |
"batch": "20260911",
|
| 7 |
"participant": "mahui",
|
|
|
|
| 11 |
"left": "cc5681142208e29a",
|
| 12 |
"right": "60a6f081bbe60b0d"
|
| 13 |
},
|
| 14 |
+
"generated_at_utc": "2026-10-14T11:03:17.796542+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": 79.025,
|
| 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 + rate (windowed fit)",
|
| 26 |
"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 27 |
+
"offset_s": -1.175977,
|
| 28 |
+
"rate": -6.298209500384924e-05,
|
| 29 |
+
"global_lag_s": -1.18,
|
| 30 |
+
"peak_corr": 0.928,
|
| 31 |
+
"reference_imu_first_sample_s": 19252.447117566,
|
| 32 |
"windows": {
|
| 33 |
+
"n_windows": 5,
|
| 34 |
+
"window_corr_median": 0.9709508790496528,
|
| 35 |
+
"drift_ppm": -62.98209500386472,
|
| 36 |
+
"drift_se_ppm": 13.663926733784162,
|
| 37 |
+
"drift_ms_over_take": -4.9766352068887105,
|
| 38 |
+
"lag_scatter_ms": 0.3346964838054516,
|
| 39 |
+
"lag_range_ms": 2.8235079082985504
|
| 40 |
}
|
| 41 |
},
|
| 42 |
"units": {
|
|
|
|
| 71 |
"streams": {
|
| 72 |
"sensors": {
|
| 73 |
"imu_head_right": {
|
| 74 |
+
"n_acc": 16241,
|
| 75 |
+
"n_gyro": 16235,
|
| 76 |
+
"t_start": -1.1879522849452864,
|
| 77 |
+
"t_end": 79.77086489297564
|
| 78 |
},
|
| 79 |
"imu_head_left": {
|
| 80 |
+
"n_acc": 16213,
|
| 81 |
+
"n_gyro": 16207,
|
| 82 |
+
"t_start": -1.0675880062163217,
|
| 83 |
+
"t_end": 79.93272478305985
|
| 84 |
},
|
| 85 |
"imu_wrist_right": {
|
| 86 |
+
"n_acc": 15545,
|
| 87 |
+
"n_gyro": 15558,
|
| 88 |
+
"t_start": 0.40000991256998775,
|
| 89 |
+
"t_end": 77.21431724684349
|
| 90 |
},
|
| 91 |
"imu_wrist_left": {
|
| 92 |
+
"n_acc": 15209,
|
| 93 |
+
"n_gyro": 15221,
|
| 94 |
+
"t_start": 0.24032098074429525,
|
| 95 |
+
"t_end": 77.23028279623821
|
| 96 |
},
|
| 97 |
"mag_head": {
|
| 98 |
+
"n": 8110,
|
| 99 |
+
"t_start": -0.9870780622234278,
|
| 100 |
+
"t_end": 80.09781380075
|
| 101 |
},
|
| 102 |
"mag_wrist_right": {
|
| 103 |
+
"n": 7682,
|
| 104 |
+
"t_start": 0.40822391520176443,
|
| 105 |
+
"t_end": 77.21304512897086
|
| 106 |
},
|
| 107 |
"mag_wrist_left": {
|
| 108 |
+
"n": 7699,
|
| 109 |
+
"t_start": 0.25466607020406223,
|
| 110 |
+
"t_end": 77.22947784893626
|
| 111 |
}
|
| 112 |
},
|
| 113 |
"videos": {
|
| 114 |
"left": {
|
| 115 |
"fps": 30.0,
|
| 116 |
+
"start_device_s": 19253.662628,
|
| 117 |
+
"frames": 2370,
|
| 118 |
"pts_gaps": 0,
|
| 119 |
"timing": "pts",
|
| 120 |
"timeshift_cam_imu_s": 0.0023423887986386703,
|
| 121 |
"file": "robocap_segment1_video_left.mp4",
|
| 122 |
+
"t_start": 0.04179905065600791,
|
| 123 |
+
"t_end": 79.00346956598156,
|
| 124 |
"clock": "device",
|
| 125 |
"calibrated": true
|
| 126 |
},
|
| 127 |
"right": {
|
| 128 |
"fps": 30.0,
|
| 129 |
+
"start_device_s": 19253.662566,
|
| 130 |
+
"frames": 2370,
|
| 131 |
"pts_gaps": 0,
|
| 132 |
"timing": "pts",
|
| 133 |
"timeshift_cam_imu_s": 0.0019489646456461974,
|
| 134 |
"file": "robocap_segment1_video_right.mp4",
|
| 135 |
+
"t_start": 0.04134365519002516,
|
| 136 |
+
"t_end": 79.0030371690675,
|
| 137 |
"clock": "device",
|
| 138 |
"calibrated": true
|
| 139 |
},
|
| 140 |
"left_front": {
|
| 141 |
"fps": 30.0,
|
| 142 |
+
"start_device_s": 19253.662603,
|
| 143 |
+
"frames": 2370,
|
| 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": 0.0412488197579646,
|
| 149 |
+
"t_end": 79.00293133432815,
|
| 150 |
"clock": "device",
|
| 151 |
"calibrated": true
|
| 152 |
},
|
| 153 |
"right_front": {
|
| 154 |
"fps": 30.0,
|
| 155 |
+
"start_device_s": 19253.662643,
|
| 156 |
+
"frames": 2370,
|
| 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": 0.041201264158489334,
|
| 162 |
+
"t_end": 79.00287177948404,
|
| 163 |
"clock": "device",
|
| 164 |
"calibrated": true
|
| 165 |
},
|
| 166 |
"left_eye": {
|
| 167 |
"fps": 30.0,
|
| 168 |
+
"start_device_s": 19253.662586,
|
| 169 |
+
"frames": 2370,
|
| 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": 0.041083639217791956,
|
| 175 |
+
"t_end": 79.00277715309527,
|
| 176 |
"clock": "device",
|
| 177 |
"calibrated": true
|
| 178 |
},
|
| 179 |
"right_eye": {
|
| 180 |
"fps": 30.0,
|
| 181 |
+
"start_device_s": 19253.66254,
|
| 182 |
+
"frames": 2370,
|
| 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": 0.041085644556404816,
|
| 188 |
+
"t_end": 79.00277915843387,
|
| 189 |
"clock": "device",
|
| 190 |
"calibrated": true
|
| 191 |
},
|
| 192 |
"wrist_left": {
|
| 193 |
"fps": 30.0,
|
| 194 |
+
"start_device_s": 19253.849673,
|
| 195 |
+
"frames": 2310,
|
| 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": 0.22649002890315845,
|
| 201 |
+
"t_end": 77.18798352750157,
|
| 202 |
"clock": "device",
|
| 203 |
"calibrated": false
|
| 204 |
},
|
| 205 |
"wrist_right": {
|
| 206 |
"fps": 30.0,
|
| 207 |
+
"start_device_s": 19254.019699,
|
| 208 |
+
"frames": 2304,
|
| 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": 0.39650532030925306,
|
| 214 |
+
"t_end": 77.15801141532594,
|
| 215 |
"clock": "device",
|
| 216 |
"calibrated": false
|
| 217 |
},
|
| 218 |
"third_person": {
|
| 219 |
+
"file": "mocap/mocap-HH08-S03-mahui-01p1-1.mp4",
|
| 220 |
+
"frames": 2371,
|
| 221 |
"fps": 30.0,
|
| 222 |
"clock": "nokov (frame index)",
|
| 223 |
"t_start": 0.0,
|
| 224 |
+
"t_end": 79.0
|
| 225 |
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 226 |
}
|
| 227 |
},
|
| 228 |
"flags": [],
|
|
|
|
| 232 |
"markers": "WARN",
|
| 233 |
"timing": "WARN"
|
| 234 |
},
|
| 235 |
+
"verdict": "READY_NEEDS_DRIFT",
|
| 236 |
"issues": [
|
| 237 |
"WARN M_BODY_ID",
|
|
|
|
| 238 |
"WARN M_TRACKER_LABELS",
|
| 239 |
"WARN S_INDEX",
|
|
|
|
| 240 |
"WARN S_PARTICIPANT",
|
| 241 |
+
"WARN T_DRIFT",
|
| 242 |
+
"WARN T_IMU_PAIR",
|
| 243 |
+
"WARN T_UNITS"
|
| 244 |
]
|
| 245 |
},
|
| 246 |
"canonical": {
|
| 247 |
+
"generated_at_utc": "2026-10-14T12:19:01.307723+00:00",
|
| 248 |
"generated_by": "scripts/canonicalise_dataset.py",
|
| 249 |
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 250 |
"R_canon_nokov": [
|
|
|
|
| 296 |
"tilt_removed_deg": 0.7453323908227573,
|
| 297 |
"plane_status": "ok",
|
| 298 |
"floor": {
|
| 299 |
+
"sole_marker_p1_mm": 38.4,
|
| 300 |
+
"headtop_p95_mm": 1645.4
|
| 301 |
},
|
| 302 |
"gravity_check": {
|
| 303 |
+
"static_samples": 4193,
|
| 304 |
"g_world_mean_m_s2": [
|
| 305 |
+
0.0126,
|
| 306 |
+
0.0313,
|
| 307 |
+
9.778
|
| 308 |
],
|
| 309 |
+
"tilt_from_z_deg": 0.198,
|
| 310 |
+
"tilt_from_z_deg_before_levelling": 0.767,
|
| 311 |
+
"magnitude_m_s2": 9.778
|
| 312 |
},
|
| 313 |
+
"rig_tracker_definition": "e17c9efadb69e7b1/20260911-afternoon/labels-253140/session-dce8068d112d4a17",
|
| 314 |
"camera_pose_source": "provider T_tracker0_cam",
|
| 315 |
"files": [
|
| 316 |
"mocap_zup.npz",
|
| 317 |
"tracker0_zup.npz",
|
| 318 |
"rig_zup.npz",
|
| 319 |
+
"cameras_zup.npz"
|
|
|
|
| 320 |
]
|
| 321 |
},
|
| 322 |
"smplx": {
|
| 323 |
+
"generated_at_utc": "2026-10-15T08:24:31.239890+00:00",
|
| 324 |
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 325 |
"file": "smplx.npz",
|
| 326 |
"gender": "female",
|
|
|
|
| 335 |
"hand_marker_offsets_m": {
|
| 336 |
"left": {
|
| 337 |
"LHandIn": [
|
| 338 |
+
0.039016783237457275,
|
| 339 |
+
-0.0244428850710392,
|
| 340 |
+
0.0013187248259782791
|
| 341 |
],
|
| 342 |
"LHandOut": [
|
| 343 |
+
0.020372547209262848,
|
| 344 |
+
0.020310016348958015,
|
| 345 |
+
0.0301327183842659
|
| 346 |
]
|
| 347 |
},
|
| 348 |
"right": {
|
| 349 |
"RHandIn": [
|
| 350 |
+
-0.0890340507030487,
|
| 351 |
+
0.011750046163797379,
|
| 352 |
+
0.016139831393957138
|
| 353 |
],
|
| 354 |
"RHandOut": [
|
| 355 |
+
-0.06465843319892883,
|
| 356 |
+
0.008710972964763641,
|
| 357 |
+
-0.038017235696315765
|
| 358 |
+
],
|
| 359 |
+
"RWristIn": [
|
| 360 |
+
-0.02353542670607567,
|
| 361 |
+
0.013168569654226303,
|
| 362 |
+
0.038433678448200226
|
| 363 |
+
],
|
| 364 |
+
"RWristOut": [
|
| 365 |
+
-0.008367009460926056,
|
| 366 |
+
0.0207151398062706,
|
| 367 |
+
-0.016666101291775703
|
| 368 |
]
|
| 369 |
}
|
| 370 |
}
|
| 371 |
},
|
| 372 |
"marker_rmse_mm": {
|
| 373 |
+
"median_frame": 3.89,
|
| 374 |
+
"p95_frame": 5.42
|
| 375 |
},
|
| 376 |
"worst_markers": [
|
| 377 |
+
"RKneeIn 11mm",
|
| 378 |
+
"LHeel 9mm",
|
| 379 |
+
"RHeel 8mm",
|
| 380 |
+
"RThigh 7mm",
|
| 381 |
+
"WaistRFront 6mm"
|
| 382 |
],
|
| 383 |
+
"valid_fraction": 0.9993,
|
| 384 |
"qc": {
|
| 385 |
"lowest_vertex_mm": {
|
| 386 |
+
"median": 2.1,
|
| 387 |
+
"p5": -2.3
|
| 388 |
},
|
| 389 |
+
"frames_checked": 316,
|
| 390 |
"stature_mm": 1631.4
|
| 391 |
},
|
| 392 |
"surface_term": {
|
| 393 |
"weight": 1.0,
|
| 394 |
"marker_height_mm": 11.0,
|
| 395 |
"markers_on_surface": 52,
|
| 396 |
+
"surface_rmse_mm_median": 13.75
|
| 397 |
},
|
| 398 |
"shape_source": "participant median",
|
| 399 |
"wrist_correction": {
|
| 400 |
"left": {
|
| 401 |
"status": "corrected",
|
| 402 |
+
"Q_deg": 180.0,
|
| 403 |
"Q_rotvec": [
|
| 404 |
+
2.98498,
|
| 405 |
+
-0.43373,
|
| 406 |
+
-0.87829
|
| 407 |
],
|
| 408 |
+
"in_out_sign": 1,
|
| 409 |
+
"wrist_bend_deg_median": 175.1,
|
| 410 |
+
"opposite_sign_bend_deg": 34.4,
|
| 411 |
+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 412 |
+
"marker_frame_spread_deg": 2.12,
|
| 413 |
"hand_vs_marker_frame_deg": {
|
| 414 |
+
"before": 179.65,
|
| 415 |
+
"after": 2.12
|
| 416 |
},
|
| 417 |
"markers_on_wrist": [
|
| 418 |
"LHandIn",
|
| 419 |
"LHandOut"
|
| 420 |
],
|
| 421 |
"forearm_twist": {
|
| 422 |
+
"twist_moved_deg": 172.32,
|
| 423 |
"wrist_twist_deg_after": {
|
| 424 |
+
"median": 6.21,
|
| 425 |
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|
| 426 |
+
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|
| 427 |
+
11.3
|
| 428 |
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|
| 429 |
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|
| 430 |
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|
| 431 |
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|
| 432 |
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|
| 433 |
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|
| 434 |
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|
| 435 |
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|
| 436 |
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|
| 437 |
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|
| 438 |
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| 439 |
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|
| 440 |
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|
| 441 |
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|
| 442 |
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|
| 443 |
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|
| 444 |
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|
| 445 |
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|
| 446 |
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| 447 |
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|
| 448 |
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|
| 449 |
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|
| 450 |
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|
| 451 |
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|
| 452 |
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|
| 453 |
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|
| 454 |
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"after": 0.43
|
| 455 |
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|
| 456 |
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|
| 457 |
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"RWristIn",
|
| 458 |
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"RWristOut",
|
| 459 |
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|
| 460 |
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|
| 461 |
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|
| 462 |
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|
| 463 |
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|
| 464 |
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|
| 465 |
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|
| 466 |
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|
| 467 |
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|
| 468 |
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|
| 469 |
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|
| 470 |
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|
| 471 |
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|
| 472 |
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|
| 473 |
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|
| 474 |
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|
| 475 |
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|
| 476 |
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|
| 477 |
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|
| 478 |
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|
| 479 |
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|
| 480 |
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"generated_at_utc": "2026-10-28T06:12:48.208733+00:00",
|
| 481 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 482 |
}
|
| 483 |
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|
| 484 |
"rig_tracker": {
|
| 485 |
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"definition": "e17c9efadb69e7b1/20260911-afternoon/labels-253140/session-dce8068d112d4a17",
|
| 486 |
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|
| 487 |
[
|
| 488 |
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|
| 489 |
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|
| 490 |
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|
| 491 |
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| 492 |
[
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| 493 |
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|
| 494 |
+
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|
| 495 |
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|
| 496 |
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[
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| 498 |
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|
| 499 |
+
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|
| 500 |
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| 501 |
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| 502 |
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| 504 |
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|
| 505 |
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|
| 506 |
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|
| 507 |
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| 508 |
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|
| 509 |
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|
| 510 |
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|
| 511 |
"status": "ok",
|
| 512 |
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|
| 513 |
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"gyro_deg": 0.957
|
| 514 |
},
|
| 515 |
"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 516 |
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 517 |
},
|
| 518 |
"rig_calibration_repair": {
|
| 519 |
"version": 2,
|
| 520 |
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"applied_at_utc": "2026-10-18T18:50:58.602885+00:00",
|
| 521 |
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|
| 522 |
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"remaining_gyro_frame_deg": 1.0763539374620759
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| 523 |
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| 524 |
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| 525 |
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|
| 526 |
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| 527 |
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| 528 |
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"source_session": "20260911/HH08/20260911_121626_session54"
|
| 529 |
}
|
| 530 |
}
|
actions/human_human_locomanipulation/HH08/session_003/motions/head_rig.npz
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@@ -1,3 +1,3 @@
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|
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size 694022
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actions/human_human_locomanipulation/HH08/session_003/motions/markers.npz
CHANGED
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@@ -1,3 +1,3 @@
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|
| 1 |
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:
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size 5412582
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