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Upload folder using huggingface_hub (part 1764)

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  1. actions/locomotion_posture_dynamics/D59/session_011/motions/markers.npz +2 -2
  2. actions/locomotion_posture_dynamics/D59/session_011/motions/skeleton.npz +2 -2
  3. actions/locomotion_posture_dynamics/D59/session_011/motions/smplx.npz +2 -2
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  11. actions/locomotion_posture_dynamics/D59/session_011/raw/sensors/robocap_imu_left.db +2 -2
  12. actions/locomotion_posture_dynamics/D59/session_011/raw/sensors/robocap_imu_right.db +2 -2
  13. actions/locomotion_posture_dynamics/D59/session_011/raw/sensors/robocap_mag_middle.db +2 -2
  14. actions/locomotion_posture_dynamics/D59/session_011/raw/sensors/robowrist_imu_left.db +2 -2
  15. actions/locomotion_posture_dynamics/D59/session_011/raw/sensors/robowrist_imu_right.db +2 -2
  16. actions/locomotion_posture_dynamics/D59/session_011/raw/sensors/robowrist_mag_left.db +2 -2
  17. actions/locomotion_posture_dynamics/D59/session_011/raw/sensors/robowrist_mag_right.db +2 -2
  18. actions/locomotion_posture_dynamics/D59/session_011/scene/infer.json +6 -6
  19. actions/locomotion_posture_dynamics/D59/session_011/scene/views.npz +2 -2
  20. actions/locomotion_posture_dynamics/D59/session_011/sensors/head_imu.npz +2 -2
  21. actions/locomotion_posture_dynamics/D59/session_011/sensors/head_mag.npz +2 -2
  22. actions/locomotion_posture_dynamics/D59/session_011/sensors/wrist_imu.npz +2 -2
  23. actions/locomotion_posture_dynamics/D59/session_011/sensors/wrist_mag.npz +2 -2
  24. actions/locomotion_posture_dynamics/D59/session_011/videos/frame_timestamps.npz +2 -2
  25. actions/locomotion_posture_dynamics/D59/session_011/videos/head_left.mp4 +2 -2
  26. actions/locomotion_posture_dynamics/D59/session_011/videos/head_left_eye.mp4 +2 -2
  27. actions/locomotion_posture_dynamics/D59/session_011/videos/head_left_front.mp4 +2 -2
  28. actions/locomotion_posture_dynamics/D59/session_011/videos/head_right.mp4 +2 -2
  29. actions/locomotion_posture_dynamics/D59/session_011/videos/head_right_eye.mp4 +2 -2
  30. actions/locomotion_posture_dynamics/D59/session_011/videos/head_right_front.mp4 +2 -2
  31. actions/locomotion_posture_dynamics/D59/session_011/videos/third_person.mp4 +2 -2
  32. actions/locomotion_posture_dynamics/D59/session_011/videos/wrist_left.mp4 +2 -2
  33. actions/locomotion_posture_dynamics/D59/session_011/videos/wrist_right.mp4 +2 -2
  34. actions/locomotion_posture_dynamics/D59/session_012/cameras/poses.npz +2 -2
  35. actions/locomotion_posture_dynamics/D59/session_012/meta.json +242 -237
  36. actions/locomotion_posture_dynamics/D59/session_012/motions/head_rig.npz +2 -2
  37. actions/locomotion_posture_dynamics/D59/session_012/motions/markers.npz +2 -2
  38. actions/locomotion_posture_dynamics/D59/session_012/motions/skeleton.npz +2 -2
  39. actions/locomotion_posture_dynamics/D59/session_012/motions/smplx.npz +2 -2
  40. actions/locomotion_posture_dynamics/D59/session_012/raw/audio.wav +2 -2
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  46. actions/locomotion_posture_dynamics/D59/session_012/raw/mocap/Tracker0.trc +0 -0
  47. actions/locomotion_posture_dynamics/D59/session_012/raw/sensors/robocap_imu_left.db +2 -2
  48. actions/locomotion_posture_dynamics/D59/session_012/raw/sensors/robocap_imu_right.db +2 -2
  49. actions/locomotion_posture_dynamics/D59/session_012/raw/sensors/robocap_mag_middle.db +2 -2
  50. actions/locomotion_posture_dynamics/D59/session_012/raw/sensors/robowrist_imu_left.db +2 -2
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443
- "wrist_bend_deg_median": 59.9,
444
- "opposite_sign_bend_deg": 130.4,
445
  "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
446
- "marker_frame_spread_deg": 2.11,
447
  "hand_vs_marker_frame_deg": {
448
- "before": 59.3,
449
- "after": 2.11
450
  },
451
  "markers_on_wrist": [
452
- "RWristOut",
453
  "RHandIn",
454
  "RHandOut"
455
  ],
456
  "forearm_twist": {
457
- "twist_moved_deg": -56.12,
458
  "wrist_twist_deg_after": {
459
  "median": -0.0,
460
  "iqr": [
461
- -2.6,
462
- 2.1
463
  ]
464
  },
465
- "wrist_total_deg_median_after": 23.0,
466
  "markers_on_forearm": [
467
  "RForearm",
468
- "RWristIn"
 
469
  ]
470
  },
471
- "frames_used": 829
472
  },
473
- "generated_at_utc": "2026-10-22T20:23:18.524456+00:00",
474
  "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
475
  }
476
  },
477
- "rig_tracker": {
478
- "definition": "e17c9efadb69e7b1/20261013-afternoon/labels-530412/session-87fda29e76134bed",
479
- "R_tracker0_imu0": [
480
- [
481
- -0.51663672,
482
- 0.05950376,
483
- -0.85413453
484
- ],
485
- [
486
- 0.8350363,
487
- -0.18543689,
488
- -0.51800342
489
- ],
490
- [
491
- -0.18921121,
492
- -0.98085292,
493
- 0.04611571
494
- ]
495
- ],
496
- "p_tracker0_imu0_m": [
497
- -0.1772678347063988,
498
- 0.017236458979247127,
499
- 0.007406051238015213
500
- ],
501
- "rig_check": {
502
- "gyro_samples": 4720,
503
- "gyro_max_deg": 2.5,
504
- "status": "ok",
505
- "dropped_marker": null,
506
- "gyro_deg": 1.347
507
- },
508
- "file": "derived/rig_tracker_provider/rig_tracker.json",
509
- "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
510
- },
511
- "rig_calibration_repair": {
512
- "version": 2,
513
- "applied_at_utc": "2026-10-18T19:10:43.430847+00:00",
514
- "generated_by": "scripts/correct_processed_rig.py",
515
- "remaining_gyro_frame_deg": 1.2968901846282554
516
- },
517
  "release": {
518
  "release_path": "actions/locomotion_posture_dynamics/D59/session_012",
519
  "family": "locomotion_posture_dynamics",
520
  "primitive": "D59",
521
- "source_session": "20261013/D59/20261013_085551_session149"
522
  }
523
  }
 
1
  {
2
  "schema_version": 1,
3
+ "session": "EgoMotionActions/20261017/D59/20261017_015534_session15",
4
+ "session_id": "20261017_015534_session15",
5
  "primitive": "D59",
6
+ "batch": "20261017",
7
+ "participant": "huruoxuan",
8
  "participant_source": "manifest",
9
  "device_ids": {
10
+ "main": "c9205ac6e17d2d5c",
11
+ "left": "452031d7af00ef6f",
12
+ "right": "a85418f7d807dff9"
13
  },
14
+ "generated_at_utc": "2026-10-22T15:52:08.296255+00:00",
15
  "generated_by": "scripts/sync_dataset.py",
16
  "time_base": {
17
  "definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
18
  "mocap_rate_hz": 120.0,
19
+ "mocap_rate_fix": null,
20
  "first_solved_frame": 0,
21
+ "duration_s": 95.59166666666667,
22
  "mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
23
  },
24
  "alignment": {
25
  "reference_imu": "imu_head_right",
26
  "model": "offset (median of windows)",
27
  "mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
28
+ "offset_s": -0.078077,
29
  "rate": 0.0,
30
+ "global_lag_s": -0.08,
31
+ "peak_corr": 0.9375,
32
+ "reference_imu_first_sample_s": 4592.395490854,
33
  "windows": {
34
+ "n_windows": 8,
35
+ "window_corr_median": 0.9672670466908412,
36
+ "drift_ppm": -783.9158944672719,
37
+ "drift_se_ppm": 462.484907587284,
38
+ "drift_ms_over_take": -74.92929424616341,
39
+ "lag_scatter_ms": 25.956901061181373,
40
+ "lag_range_ms": 96.19476189186899
41
  }
42
  },
43
  "units": {
 
65
  "quaternions": "xyzw, Nokov global"
66
  },
67
  "calibration": {
68
+ "device": "c9205ac6e17d2d5c",
69
  "status": "ok",
70
+ "date": "2026-10-21"
71
  },
72
  "streams": {
73
  "sensors": {
74
  "imu_head_right": {
75
+ "n_acc": 19466,
76
+ "n_gyro": 19460,
77
+ "t_start": -0.09443363125707784,
78
+ "t_end": 95.78757452074272
79
  },
80
  "imu_head_left": {
81
+ "n_acc": 19349,
82
+ "n_gyro": 19342,
83
+ "t_start": 0.016565493742502255,
84
+ "t_end": 95.95232625074253
85
  },
86
  "imu_wrist_right": {
87
+ "n_acc": 18879,
88
+ "n_gyro": 18892,
89
+ "t_start": -0.7853553942570836,
90
+ "t_end": 94.55163837374288
91
  },
92
  "imu_wrist_left": {
93
+ "n_acc": 19336,
94
+ "n_gyro": 19347,
95
+ "t_start": -0.948076439257664,
96
+ "t_end": 94.54395325574272
97
  },
98
  "mag_head": {
99
+ "n": 9602,
100
+ "t_start": 0.10317457674294182,
101
+ "t_end": 96.11316666474316
102
  },
103
  "mag_wrist_right": {
104
+ "n": 9533,
105
+ "t_start": -0.7764614242571662,
106
+ "t_end": 94.54332059174315
107
  },
108
  "mag_wrist_left": {
109
+ "n": 9548,
110
+ "t_start": -0.9284167832568239,
111
+ "t_end": 94.54088804174238
112
  }
113
  },
114
  "videos": {
115
  "left": {
116
  "fps": 30.0,
117
+ "start_device_s": 4592.51064,
118
+ "frames": 2867,
119
  "pts_gaps": 0,
120
  "timing": "pts",
121
+ "timeshift_cam_imu_s": 0.0026284356473863946,
122
  "file": "robocap_segment1_video_left.mp4",
123
+ "t_start": 0.03970040839042831,
124
+ "t_end": 95.57296740839023,
125
  "clock": "device",
126
  "calibrated": true
127
  },
128
  "right": {
129
  "fps": 30.0,
130
+ "start_device_s": 4592.510611,
131
+ "frames": 2867,
132
  "pts_gaps": 0,
133
  "timing": "pts",
134
+ "timeshift_cam_imu_s": 0.0024181146161434135,
135
  "file": "robocap_segment1_video_right.mp4",
136
+ "t_start": 0.03946108735884245,
137
+ "t_end": 95.57273908735873,
138
  "clock": "device",
139
  "calibrated": true
140
  },
141
  "left_front": {
142
  "fps": 30.0,
143
+ "start_device_s": 4592.510631,
144
+ "frames": 2867,
145
  "pts_gaps": 0,
146
  "timing": "pts",
147
+ "timeshift_cam_imu_s": 0.002458947067077895,
148
  "file": "robocap_segment1_video_left_front.mp4",
149
+ "t_start": 0.0395219198096418,
150
+ "t_end": 95.57278891980944,
151
  "clock": "device",
152
  "calibrated": true
153
  },
154
  "right_front": {
155
  "fps": 30.0,
156
+ "start_device_s": 4592.510649,
157
+ "frames": 2867,
158
  "pts_gaps": 0,
159
  "timing": "pts",
160
+ "timeshift_cam_imu_s": 0.0021420814739499558,
161
  "file": "robocap_segment1_video_right_front.mp4",
162
+ "t_start": 0.03922305421631954,
163
+ "t_end": 95.57249005421612,
164
  "clock": "device",
165
  "calibrated": true
166
  },
167
  "left_eye": {
168
  "fps": 30.0,
169
+ "start_device_s": 4592.510621,
170
+ "frames": 2861,
171
+ "pts_gaps": 5,
172
  "timing": "pts",
173
+ "timeshift_cam_imu_s": 0.002801984596191448,
174
+ "gap_test": {
175
+ "pts": {
176
+ "offset_ms": -9.5,
177
+ "corr": 0.827,
178
+ "err_ms": 12.3
179
+ },
180
+ "nominal": {
181
+ "offset_ms": 40.9,
182
+ "corr": 0.827,
183
+ "err_ms": 38.1
184
+ }
185
+ },
186
  "file": "robocap_segment1_video_left_eye.mp4",
187
+ "t_start": 0.03985495733898624,
188
+ "t_end": 95.58977695733914,
189
  "clock": "device",
190
  "calibrated": true
191
  },
192
  "right_eye": {
193
  "fps": 30.0,
194
+ "start_device_s": 4592.510594,
195
+ "frames": 2867,
196
  "pts_gaps": 0,
197
  "timing": "pts",
198
+ "timeshift_cam_imu_s": 0.002930366888236734,
199
  "file": "robocap_segment1_video_right_eye.mp4",
200
+ "t_start": 0.03995633963107302,
201
+ "t_end": 95.57324533963104,
202
  "clock": "device",
203
  "calibrated": true
204
  },
205
  "wrist_left": {
206
  "fps": 30.0,
207
+ "start_device_s": 4591.602043,
208
+ "frames": 2862,
209
  "pts_gaps": 0,
210
  "timing": "pts",
211
  "timeshift_cam_imu_s": null,
212
+ "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
213
+ "t_start": -0.871525027257365,
214
+ "t_end": 94.4944259727424,
215
  "clock": "device",
216
  "calibrated": false
217
  },
218
  "wrist_right": {
219
  "fps": 30.0,
220
+ "start_device_s": 4591.686203,
221
+ "frames": 2859,
222
  "pts_gaps": 0,
223
  "timing": "pts",
224
  "timeshift_cam_imu_s": null,
225
+ "file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
226
+ "t_start": -0.7873650272570268,
227
+ "t_end": 94.47910597274289,
228
  "clock": "device",
229
  "calibrated": false
230
  },
231
  "third_person": {
232
+ "file": "mocap/mocap-D59-S01-huruoxuan-02p1-1.mp4",
233
+ "frames": 2868,
234
  "fps": 30.0,
235
  "clock": "nokov (frame index)",
236
  "t_start": 0.0,
237
+ "t_end": 95.56666666666666
238
  }
239
  }
240
  },
241
  "flags": [],
242
  "sanity": {
243
  "status": {
244
+ "structure": "WARN",
245
  "markers": "WARN",
246
+ "timing": "WARN"
247
  },
248
+ "verdict": "READY_WITH_WARNINGS",
249
  "issues": [
250
  "WARN M_FLOOR_SHIFT",
251
+ "WARN M_SPIKES",
252
+ "WARN M_TRACKER_GEOM",
253
+ "WARN S_CALIB",
254
+ "WARN S_REPORT_TIMING",
255
+ "WARN T_FRAMES",
256
+ "WARN T_LAG_OUTLIER",
257
+ "WARN T_LAG_SCATTER",
258
+ "WARN T_PTS",
259
+ "WARN T_UNITS"
260
  ]
261
  },
262
+ "rig_tracker": {
263
+ "definition": "c9205ac6e17d2d5c/20261017-morning/labels-325410/session-86a6d58acc5d2dd1",
264
+ "R_tracker0_imu0": [
265
+ [
266
+ -0.63366759,
267
+ -0.07932333,
268
+ -0.76952791
269
+ ],
270
+ [
271
+ 0.74411746,
272
+ 0.20952426,
273
+ -0.63434123
274
+ ],
275
+ [
276
+ 0.21155282,
277
+ -0.97458063,
278
+ -0.07374286
279
+ ]
280
+ ],
281
+ "p_tracker0_imu0_m": [
282
+ 0.015424003685543275,
283
+ -0.006742669595863504,
284
+ -0.01616245844280022
285
+ ],
286
+ "rig_check": {
287
+ "gyro_samples": 1743,
288
+ "gyro_max_deg": 2.5,
289
+ "status": "ok",
290
+ "dropped_marker": null,
291
+ "gyro_deg": 1.107
292
+ },
293
+ "file": "derived/rig_tracker_provider/rig_tracker.json",
294
+ "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
295
+ },
296
  "canonical": {
297
+ "generated_at_utc": "2026-10-22T17:37:57.397214+00:00",
298
  "generated_by": "scripts/canonicalise_dataset.py",
299
  "frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
300
  "R_canon_nokov": [
301
  [
302
+ 0.9999941336,
303
+ -0.0034252867,
304
+ -1.38614e-05
305
  ],
306
  [
307
+ 1.38614e-05,
308
+ 0.0080934184,
309
+ -0.9999672477
310
  ],
311
  [
312
+ 0.0034252867,
313
+ 0.9999613812,
314
+ 0.0080934184
315
  ]
316
  ],
317
  "scale_nokov_to_canon": 0.001,
318
  "T_canon_nokov_mm": [
319
  [
320
+ 0.000999994134,
321
+ -3.425287e-06,
322
+ -1.3861e-08,
323
  0.0
324
  ],
325
  [
326
+ 1.3861e-08,
327
+ 8.093418e-06,
328
+ -0.000999967248,
329
  0.0
330
  ],
331
  [
332
+ 3.425287e-06,
333
+ 0.000999961381,
334
+ 8.093418e-06,
335
  0.0
336
  ],
337
  [
 
341
  1.0
342
  ]
343
  ],
344
+ "block": "20261017-morning",
345
  "block_assignment": "trc",
346
+ "tilt_removed_deg": 0.5035448256779972,
347
  "plane_status": "ok",
348
  "floor": {
349
+ "sole_marker_p1_mm": 38.0,
350
+ "headtop_p95_mm": 1609.0
351
  },
352
  "gravity_check": {
353
+ "static_samples": 4881,
354
  "g_world_mean_m_s2": [
355
+ -0.0303,
356
+ 0.0112,
357
+ 9.7789
358
  ],
359
+ "tilt_from_z_deg": 0.189,
360
+ "tilt_from_z_deg_before_levelling": 0.398,
361
+ "magnitude_m_s2": 9.779
362
  },
363
+ "rig_tracker_definition": "c9205ac6e17d2d5c/20261017-morning/labels-325410/session-86a6d58acc5d2dd1",
364
  "camera_pose_source": "provider T_tracker0_cam",
365
  "files": [
366
  "mocap_zup.npz",
 
370
  ]
371
  },
372
  "smplx": {
373
+ "generated_at_utc": "2026-10-23T02:41:44.019575+00:00",
374
  "generated_by": "scripts/fit_smplx_dataset.py",
375
  "file": "smplx.npz",
376
  "gender": "female",
 
385
  "hand_marker_offsets_m": {
386
  "left": {
387
  "LHandIn": [
388
+ 0.08237306028604507,
389
+ 0.011378352530300617,
390
+ 0.024798089638352394
391
  ],
392
  "LHandOut": [
393
+ 0.07045650482177734,
394
+ 0.012251694686710835,
395
+ -0.02345442585647106
 
 
 
 
 
396
  ]
397
  },
398
  "right": {
399
  "RHandIn": [
400
+ -0.04814166575670242,
401
+ 0.009558161720633507,
402
+ 0.03093515709042549
403
  ],
404
  "RHandOut": [
405
+ -0.04621787369251251,
406
+ 0.023228436708450317,
407
+ -0.028562089428305626
 
 
 
 
 
408
  ]
409
  }
410
  }
411
  },
412
  "marker_rmse_mm": {
413
+ "median_frame": 4.92,
414
+ "p95_frame": 11.64
415
  },
416
  "worst_markers": [
417
+ "LThigh 17mm",
418
  "CLAV 12mm",
419
+ "LUArmHigh 11mm",
420
+ "WaistRBack 10mm",
421
+ "RShoulderFront 10mm"
422
  ],
423
  "valid_fraction": 1.0,
424
  "qc": {
425
  "lowest_vertex_mm": {
426
+ "median": 11.1,
427
+ "p5": 7.9
428
  },
429
+ "frames_checked": 383,
430
+ "stature_mm": 1572.8
431
  },
432
  "surface_term": {
433
  "weight": 1.0,
434
  "marker_height_mm": 11.0,
435
  "markers_on_surface": 52,
436
+ "surface_rmse_mm_median": 13.1
437
  },
438
  "shape_source": "participant median",
439
  "wrist_correction": {
440
  "left": {
441
  "status": "corrected",
442
+ "Q_deg": 180.0,
443
  "Q_rotvec": [
444
+ 2.98827,
445
+ -0.45012,
446
+ -0.85862
447
  ],
448
+ "in_out_sign": 1,
449
+ "wrist_bend_deg_median": 172.2,
450
+ "opposite_sign_bend_deg": 32.7,
451
+ "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
452
+ "marker_frame_spread_deg": 1.84,
453
  "hand_vs_marker_frame_deg": {
454
+ "before": 179.17,
455
+ "after": 1.84
456
  },
457
  "markers_on_wrist": [
 
458
  "LHandIn",
459
  "LHandOut"
460
  ],
461
  "forearm_twist": {
462
+ "twist_moved_deg": -171.93,
463
  "wrist_twist_deg_after": {
464
+ "median": -0.01,
465
  "iqr": [
466
+ -1.6,
467
+ 4.7
468
  ]
469
  },
470
+ "wrist_total_deg_median_after": 26.6,
471
  "markers_on_forearm": [
472
  "LForearm",
473
+ "LWristIn",
474
+ "LWristOut"
475
  ]
476
  },
477
+ "frames_used": 1148
478
  },
479
  "right": {
480
  "status": "corrected",
481
+ "Q_deg": 0.0,
482
  "Q_rotvec": [
483
+ 0.0,
484
+ 0.0,
485
+ -0.0
486
  ],
487
  "in_out_sign": 1,
488
+ "wrist_bend_deg_median": 6.5,
489
+ "opposite_sign_bend_deg": 178.4,
490
  "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
491
+ "marker_frame_spread_deg": 2.49,
492
  "hand_vs_marker_frame_deg": {
493
+ "before": 2.49,
494
+ "after": 2.49
495
  },
496
  "markers_on_wrist": [
 
497
  "RHandIn",
498
  "RHandOut"
499
  ],
500
  "forearm_twist": {
501
+ "twist_moved_deg": -0.0,
502
  "wrist_twist_deg_after": {
503
  "median": -0.0,
504
  "iqr": [
505
+ -1.8,
506
+ 1.4
507
  ]
508
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