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Upload folder using huggingface_hub (part 111)

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  1. actions/human_human_locomanipulation/HH08/session_002/scene/infer.json +36 -0
  2. actions/human_human_locomanipulation/HH08/session_002/scene/views.npz +3 -0
  3. actions/human_human_locomanipulation/HH08/session_002/sensors/head_imu.npz +2 -2
  4. actions/human_human_locomanipulation/HH08/session_002/sensors/head_mag.npz +2 -2
  5. actions/human_human_locomanipulation/HH08/session_002/sensors/wrist_imu.npz +2 -2
  6. actions/human_human_locomanipulation/HH08/session_002/sensors/wrist_mag.npz +2 -2
  7. actions/human_human_locomanipulation/HH08/session_002/videos/frame_timestamps.npz +2 -2
  8. actions/human_human_locomanipulation/HH08/session_002/videos/head_left.mp4 +2 -2
  9. actions/human_human_locomanipulation/HH08/session_002/videos/head_left_eye.mp4 +2 -2
  10. actions/human_human_locomanipulation/HH08/session_002/videos/head_left_front.mp4 +2 -2
  11. actions/human_human_locomanipulation/HH08/session_002/videos/head_right.mp4 +2 -2
  12. actions/human_human_locomanipulation/HH08/session_002/videos/head_right_eye.mp4 +2 -2
  13. actions/human_human_locomanipulation/HH08/session_002/videos/head_right_front.mp4 +2 -2
  14. actions/human_human_locomanipulation/HH08/session_002/videos/third_person.mp4 +2 -2
  15. actions/human_human_locomanipulation/HH08/session_002/videos/wrist_left.mp4 +2 -2
  16. actions/human_human_locomanipulation/HH08/session_002/videos/wrist_right.mp4 +2 -2
  17. actions/human_human_locomanipulation/HH08/session_003/cameras/poses.npz +2 -2
  18. actions/human_human_locomanipulation/HH08/session_003/meta.json +183 -360
  19. actions/human_human_locomanipulation/HH08/session_003/motions/head_rig.npz +2 -2
  20. actions/human_human_locomanipulation/HH08/session_003/motions/markers.npz +2 -2
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  "frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
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  "R_canon_nokov": [
@@ -302,32 +296,31 @@
302
  "tilt_removed_deg": 0.7453323908227573,
303
  "plane_status": "ok",
304
  "floor": {
305
- "sole_marker_p1_mm": 38.5,
306
- "headtop_p95_mm": 1653.3
307
  },
308
  "gravity_check": {
309
- "static_samples": 2169,
310
  "g_world_mean_m_s2": [
311
- 0.0051,
312
- 0.0296,
313
- 9.7285
314
  ],
315
- "tilt_from_z_deg": 0.177,
316
- "tilt_from_z_deg_before_levelling": 0.725,
317
- "magnitude_m_s2": 9.7285
318
  },
319
- "rig_tracker_definition": "e17c9efadb69e7b1/20260911-afternoon/labels-253140/session-ebed1f36e3baac02",
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": "2026-10-15T08:24:04.066556+00:00",
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
- 0.03467884659767151,
346
- -0.028476564213633537,
347
- 0.001843998208642006
348
  ],
349
  "LHandOut": [
350
- 0.01853773184120655,
351
- 0.01635042577981949,
352
- 0.032119229435920715
353
  ]
354
  },
355
  "right": {
356
  "RHandIn": [
357
- -0.07884039729833603,
358
- -0.00035604453296400607,
359
- 0.043320171535015106
360
  ],
361
  "RHandOut": [
362
- -0.07170294225215912,
363
- 0.02654918096959591,
364
- -0.00847680028527975
 
 
 
 
 
 
 
 
 
 
365
  ]
366
  }
367
  }
368
  },
369
  "marker_rmse_mm": {
370
- "median_frame": 4.45,
371
- "p95_frame": 6.66
372
  },
373
  "worst_markers": [
374
- "RKneeIn 12mm",
375
- "RElbow 11mm",
376
- "RElbowIn 11mm",
377
- "RWristIn 9mm",
378
- "LElbowIn 7mm"
379
  ],
380
- "valid_fraction": 0.968,
381
  "qc": {
382
  "lowest_vertex_mm": {
383
- "median": 2.2,
384
- "p5": -4.1
385
  },
386
- "frames_checked": 326,
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": 12.47
394
  },
395
  "shape_source": "participant median",
396
  "wrist_correction": {
397
  "left": {
398
  "status": "corrected",
399
- "Q_deg": 61.21,
400
  "Q_rotvec": [
401
- -0.85895,
402
- -0.61056,
403
- 0.17568
404
  ],
405
- "in_out_sign": -1,
406
- "wrist_bend_deg_median": 77.6,
407
- "opposite_sign_bend_deg": 109.7,
408
- "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
409
- "marker_frame_spread_deg": 4.73,
410
  "hand_vs_marker_frame_deg": {
411
- "before": 61.97,
412
- "after": 4.73
413
  },
414
  "markers_on_wrist": [
415
  "LHandIn",
416
  "LHandOut"
417
  ],
418
  "forearm_twist": {
419
- "twist_moved_deg": -73.44,
420
  "wrist_twist_deg_after": {
421
- "median": 0.0,
422
  "iqr": [
423
- -3.5,
424
- 3.5
425
  ]
426
  },
427
- "wrist_total_deg_median_after": 28.4,
428
  "markers_on_forearm": [
429
  "LForearm",
430
  "LWristIn",
431
  "LWristOut"
432
  ]
433
  },
434
- "frames_used": 977
435
  },
436
  "right": {
437
  "status": "corrected",
438
- "Q_deg": 35.12,
439
  "Q_rotvec": [
440
- 0.58145,
441
- 0.18673,
442
- -0.05274
443
  ],
444
  "in_out_sign": 1,
445
- "wrist_bend_deg_median": 45.2,
446
- "opposite_sign_bend_deg": 153.4,
447
  "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
448
- "marker_frame_spread_deg": 2.14,
449
  "hand_vs_marker_frame_deg": {
450
- "before": 35.45,
451
- "after": 2.14
452
  },
453
  "markers_on_wrist": [
 
 
454
  "RHandIn",
455
  "RHandOut"
456
  ],
457
  "forearm_twist": {
458
- "twist_moved_deg": -34.74,
459
  "wrist_twist_deg_after": {
460
  "median": -0.0,
461
  "iqr": [
462
- -2.1,
463
- 18.1
464
  ]
465
  },
466
- "wrist_total_deg_median_after": 28.0,
467
  "markers_on_forearm": [
468
- "RForearm",
469
- "RWristIn",
470
- "RWristOut"
471
  ]
472
  },
473
- "frames_used": 977
474
  },
475
- "generated_at_utc": "2026-10-15T08:24:06.745733+00:00",
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-ebed1f36e3baac02",
481
  "R_tracker0_imu0": [
482
  [
483
- -0.57510261,
484
- -0.26323915,
485
- -0.77457223
486
  ],
487
  [
488
- 0.72773195,
489
- 0.26790691,
490
- -0.63137318
491
  ],
492
  [
493
- 0.37371539,
494
- -0.92678532,
495
- 0.03749358
496
  ]
497
  ],
498
  "p_tracker0_imu0_m": [
499
- -0.0037740365717685923,
500
- 0.007480417172736339,
501
- -0.03668884202035521
502
  ],
503
  "rig_check": {
504
- "gyro_samples": 2488,
505
  "gyro_max_deg": 2.5,
506
  "status": "ok",
507
  "dropped_marker": null,
508
- "gyro_deg": 0.915
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": "2026-10-18T18:50:58.198155+00:00",
516
  "generated_by": "scripts/correct_processed_rig.py",
517
- "remaining_gyro_frame_deg": 1.0894672625618456
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
- -0.010001630522310734
542
- ],
543
- "LHandOut": [
544
- 0.07703014463186264,
545
- -0.024883199483156204,
546
- 0.0005720521439798176
547
- ],
548
- "LWristIn": [
549
- -0.002544969320297241,
550
- 0.029273195192217827,
551
- -0.00608832947909832
552
- ],
553
- "LWristOut": [
554
- -0.002546349074691534,
555
- -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
- -0.4001300036907196,
605
- -0.4121299982070923,
606
- -0.08902999758720398,
607
- -1.0207699537277222,
608
- 0.22271999716758728,
609
- 0.7357100248336792,
610
- 1.3050400018692017,
611
- -1.0408400297164917,
612
- -0.8402799963951111,
613
- 0.9734500050544739,
614
- -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/HH08/20260911_113027_session45"
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
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