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Upload folder using huggingface_hub (part 1893)

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  1. .gitattributes +2 -0
  2. actions/locomotion_primitives/P21/session_010/motions/head_rig.npz +2 -2
  3. actions/locomotion_primitives/P21/session_010/motions/markers.npz +2 -2
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  25. actions/locomotion_primitives/P21/session_010/sensors/wrist_mag.npz +2 -2
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  28. actions/locomotion_primitives/P21/session_010/videos/head_left_eye.mp4 +2 -2
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  40. actions/locomotion_primitives/P21/session_011/motions/skeleton.npz +2 -2
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  50. actions/locomotion_primitives/P21/session_011/raw/sensors/robocap_imu_right.db +2 -2
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  "streams": {
72
  "sensors": {
73
  "imu_head_right": {
74
- "n_acc": 26273,
75
- "n_gyro": 26266,
76
- "t_start": -1.193614398471987,
77
- "t_end": 129.79171202852666
78
  },
79
  "imu_head_left": {
80
- "n_acc": 26224,
81
- "n_gyro": 26218,
82
- "t_start": -1.0785166174726377,
83
- "t_end": 129.95509966852768
84
  },
85
  "imu_wrist_right": {
86
- "n_acc": 25156,
87
- "n_gyro": 25156,
88
- "t_start": 0.2776038485273553,
89
- "t_end": 124.59766104152658
90
  },
91
  "imu_wrist_left": {
92
- "n_acc": 24571,
93
- "n_gyro": 24584,
94
- "t_start": 0.20555446752695805,
95
- "t_end": 124.60181699152707
96
  },
97
  "mag_head": {
98
- "n": 13112,
99
- "t_start": -0.9900175344726498,
100
- "t_end": 130.12001415252706
101
  },
102
  "mag_wrist_right": {
103
- "n": 12432,
104
- "t_start": 0.295020688526342,
105
- "t_end": 124.6044737115273
106
  },
107
  "mag_wrist_left": {
108
- "n": 12439,
109
- "t_start": 0.22488513052775905,
110
- "t_end": 124.60455561152702
111
  }
112
  },
113
  "videos": {
114
  "left": {
115
  "fps": 30.0,
116
- "start_device_s": 9309.170878,
117
- "frames": 3870,
118
  "pts_gaps": 0,
119
  "timing": "pts",
120
  "timeshift_cam_imu_s": 0.0023423887986386703,
121
  "file": "robocap_segment1_video_left.mp4",
122
- "t_start": 0.03966720932584811,
123
- "t_end": 129.00637820932496,
124
  "clock": "device",
125
  "calibrated": true
126
  },
127
  "right": {
128
  "fps": 30.0,
129
- "start_device_s": 9309.170828,
130
- "frames": 3870,
131
  "pts_gaps": 0,
132
  "timing": "pts",
133
  "timeshift_cam_imu_s": 0.0019489646456461974,
134
  "file": "robocap_segment1_video_right.mp4",
135
- "t_start": 0.03922378517308478,
136
- "t_end": 129.0059347851722,
137
  "clock": "device",
138
  "calibrated": true
139
  },
140
  "left_front": {
141
  "fps": 30.0,
142
- "start_device_s": 9309.170862,
143
- "frames": 3870,
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": 0.0391259437666982,
149
- "t_end": 129.00583694376581,
150
  "clock": "device",
151
  "calibrated": true
152
  },
153
  "right_front": {
154
  "fps": 30.0,
155
- "start_device_s": 9309.170896,
156
- "frames": 3870,
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": 0.039072385173489765,
162
- "t_end": 129.0057833851726,
163
  "clock": "device",
164
  "calibrated": true
165
  },
166
  "left_eye": {
167
  "fps": 30.0,
168
- "start_device_s": 9309.170846,
169
- "frames": 3870,
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": 0.03896175282643033,
175
- "t_end": 129.00567275282555,
176
  "clock": "device",
177
  "calibrated": true
178
  },
179
  "right_eye": {
180
  "fps": 30.0,
181
- "start_device_s": 9309.170805,
182
- "frames": 3870,
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": 0.03896875828940627,
188
- "t_end": 129.00567975828852,
189
  "clock": "device",
190
  "calibrated": true
191
  },
192
  "wrist_left": {
193
  "fps": 30.0,
194
- "start_device_s": 9309.337788,
195
- "frames": 3732,
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": 0.20423482052792186,
201
- "t_end": 124.57057582052875,
202
  "clock": "device",
203
  "calibrated": false
204
  },
205
  "wrist_right": {
206
  "fps": 30.0,
207
- "start_device_s": 9309.409059,
208
- "frames": 3729,
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": 0.2755058205268093,
214
- "t_end": 124.54165182052674,
215
  "clock": "device",
216
  "calibrated": false
217
  },
218
  "third_person": {
219
- "file": "mocap/mocap-P21-S01-liujiaxin-05p2-1.mp4",
220
- "frames": 3871,
221
  "fps": 30.0,
222
  "clock": "nokov (frame index)",
223
  "t_start": 0.0,
224
- "t_end": 129.0
225
  }
226
  }
227
  },
@@ -232,18 +244,20 @@
232
  "markers": "WARN",
233
  "timing": "WARN"
234
  },
235
- "verdict": "READY",
236
  "issues": [
237
  "WARN M_FLOOR_SHIFT",
238
  "WARN M_SPIKES",
239
  "WARN M_TRACKER_LABELS",
240
  "WARN S_INDEX_STALE",
241
  "WARN S_PARTICIPANT",
 
 
242
  "WARN T_RIG_TRACKER"
243
  ]
244
  },
245
  "canonical": {
246
- "generated_at_utc": "2026-10-14T12:20:37.241787+00:00",
247
  "generated_by": "scripts/canonicalise_dataset.py",
248
  "frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
249
  "R_canon_nokov": [
@@ -296,20 +310,20 @@
296
  "plane_status": "ok",
297
  "floor": {
298
  "sole_marker_p1_mm": 30.1,
299
- "headtop_p95_mm": 1642.0
300
  },
301
  "gravity_check": {
302
- "static_samples": 204,
303
  "g_world_mean_m_s2": [
304
- 0.1396,
305
- -0.0123,
306
- 9.4436
307
  ],
308
- "tilt_from_z_deg": 0.85,
309
- "tilt_from_z_deg_before_levelling": 1.902,
310
- "magnitude_m_s2": 9.4446
311
  },
312
- "rig_tracker_definition": "e17c9efadb69e7b1/20260919-morning/labels-035142/session-0ec8befdc5c7d411",
313
  "camera_pose_source": "provider T_tracker0_cam",
314
  "files": [
315
  "mocap_zup.npz",
@@ -319,7 +333,7 @@
319
  ]
320
  },
321
  "smplx": {
322
- "generated_at_utc": "2026-10-15T05:20:36.955635+00:00",
323
  "generated_by": "scripts/fit_smplx_dataset.py",
324
  "file": "smplx.npz",
325
  "gender": "female",
@@ -334,94 +348,94 @@
334
  "hand_marker_offsets_m": {
335
  "left": {
336
  "LHandIn": [
337
- 0.05381592735648155,
338
- 0.012305774725973606,
339
- 0.030152784660458565
340
  ],
341
  "LHandOut": [
342
- 0.062375474721193314,
343
- 0.0060415747575461864,
344
- -0.03011748380959034
345
  ]
346
  },
347
  "right": {
348
  "RHandIn": [
349
- -0.057521283626556396,
350
- 0.016968274489045143,
351
- 0.025525785982608795
352
  ],
353
  "RHandOut": [
354
- -0.06006556749343872,
355
- 0.002082798397168517,
356
- -0.03656116873025894
357
  ],
358
- "RWristOut": [
359
- 0.018224628642201424,
360
- 0.0015055869007483125,
361
- -0.024943862110376358
362
  ]
363
  }
364
  }
365
  },
366
  "marker_rmse_mm": {
367
- "median_frame": 5.06,
368
- "p95_frame": 8.02
369
  },
370
  "worst_markers": [
371
  "LKneeIn 15mm",
372
  "RKneeIn 13mm",
373
- "WaistRSide 10mm",
374
- "RHeel 9mm",
375
- "RThigh 9mm"
376
  ],
377
  "valid_fraction": 0.9995,
378
  "qc": {
379
  "lowest_vertex_mm": {
380
- "median": 9.5,
381
- "p5": 0.8
382
  },
383
- "frames_checked": 516,
384
  "stature_mm": 1614.2
385
  },
386
  "surface_term": {
387
  "weight": 1.0,
388
  "marker_height_mm": 11.0,
389
  "markers_on_surface": 52,
390
- "surface_rmse_mm_median": 11.7
391
  },
392
  "shape_source": "participant median",
393
  "wrist_correction": {
394
  "left": {
395
  "status": "corrected",
396
- "Q_deg": 179.52,
397
  "Q_rotvec": [
398
- -3.11879,
399
- 0.20244,
400
- 0.22076
401
  ],
402
- "in_out_sign": -1,
403
- "wrist_bend_deg_median": 171.6,
404
- "opposite_sign_bend_deg": 23.7,
405
- "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
406
- "marker_frame_spread_deg": 0.78,
407
  "hand_vs_marker_frame_deg": {
408
- "before": 179.47,
409
- "after": 0.78
410
  },
411
  "markers_on_wrist": [
412
  "LHandIn",
413
  "LHandOut"
414
  ],
415
  "forearm_twist": {
416
- "twist_moved_deg": 171.44,
417
  "wrist_twist_deg_after": {
418
- "median": 0.06,
419
  "iqr": [
420
- -1.7,
421
- 2.1
422
  ]
423
  },
424
- "wrist_total_deg_median_after": 17.7,
425
  "markers_on_forearm": [
426
  "LElbowIn",
427
  "LForearm",
@@ -429,95 +443,96 @@
429
  "LWristOut"
430
  ]
431
  },
432
- "frames_used": 1500
433
  },
434
  "right": {
435
  "status": "corrected",
436
- "Q_deg": 25.72,
437
  "Q_rotvec": [
438
- -0.11418,
439
- 0.27834,
440
- -0.33317
441
  ],
442
  "in_out_sign": 1,
443
- "wrist_bend_deg_median": 27.9,
444
- "opposite_sign_bend_deg": 158.9,
445
  "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
446
- "marker_frame_spread_deg": 0.73,
447
  "hand_vs_marker_frame_deg": {
448
- "before": 25.97,
449
- "after": 0.73
450
  },
451
  "markers_on_wrist": [
452
- "RWristOut",
453
  "RHandIn",
454
  "RHandOut"
455
  ],
456
  "forearm_twist": {
457
- "twist_moved_deg": -22.29,
458
  "wrist_twist_deg_after": {
459
  "median": 0.0,
460
  "iqr": [
461
- -2.1,
462
- 1.7
463
  ]
464
  },
465
- "wrist_total_deg_median_after": 16.7,
466
  "markers_on_forearm": [
 
467
  "RForearm",
468
- "RWristIn"
469
  ]
470
  },
471
- "frames_used": 1500
472
  },
473
- "generated_at_utc": "2026-10-15T05:20:39.808797+00:00",
474
  "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
475
  }
476
  },
477
  "rig_tracker": {
478
- "definition": "e17c9efadb69e7b1/20260919-morning/labels-035142/session-0ec8befdc5c7d411",
479
  "R_tracker0_imu0": [
480
  [
481
- -0.60579718,
482
- 0.15023827,
483
- -0.78130547
484
  ],
485
  [
486
- 0.70483339,
487
- 0.55688472,
488
- -0.43941928
489
  ],
490
  [
491
- 0.36907949,
492
- -0.81688914,
493
- -0.44325214
494
  ]
495
  ],
496
  "p_tracker0_imu0_m": [
497
- 0.011060779298659083,
498
- 0.018289249070165572,
499
- -0.031413702831179925
500
  ],
501
  "rig_check": {
502
- "gyro_samples": 9952,
503
  "gyro_max_deg": 2.5,
504
  "status": "ok",
505
  "dropped_marker": null,
506
- "gyro_deg": 1.071
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": "2026-10-18T18:57:44.980488+00:00",
514
  "generated_by": "scripts/correct_processed_rig.py",
515
- "remaining_gyro_frame_deg": 1.0813055051311893
516
  },
517
  "release": {
518
  "release_path": "actions/locomotion_primitives/P21/session_011",
519
  "family": "locomotion_primitives",
520
  "primitive": "P21",
521
- "source_session": "20260919/P21/20260919_030827_session40"
522
  }
523
  }
 
1
  {
2
  "schema_version": 1,
3
+ "session": "EgoMotionActions/20260919/P21/20260919_031047_session41",
4
+ "session_id": "20260919_031047_session41",
5
  "primitive": "P21",
6
  "batch": "20260919",
7
  "participant": "liujiaxin",
 
11
  "left": "cc5681142208e29a",
12
  "right": "60a6f081bbe60b0d"
13
  },
14
+ "generated_at_utc": "2026-10-14T11:16:13.222280+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": 124.025,
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": -1.170955,
28
  "rate": 0.0,
29
+ "global_lag_s": -1.17,
30
+ "peak_corr": 0.989,
31
+ "reference_imu_first_sample_s": 9448.375587329,
32
  "windows": {
33
  "n_windows": 11,
34
+ "window_corr_median": 0.9954486834657376,
35
+ "drift_ppm": 7.1353545780061545,
36
+ "drift_se_ppm": 2.367128196135585,
37
+ "drift_ms_over_take": 0.8849028902490632,
38
+ "lag_scatter_ms": 0.22456549840182702,
39
+ "lag_range_ms": 1.0328658536600255
40
  }
41
  },
42
  "units": {
 
71
  "streams": {
72
  "sensors": {
73
  "imu_head_right": {
74
+ "n_acc": 25264,
75
+ "n_gyro": 25257,
76
+ "t_start": -1.1874878537643678,
77
+ "t_end": 124.76680862523546
78
  },
79
  "imu_head_left": {
80
+ "n_acc": 25218,
81
+ "n_gyro": 25212,
82
+ "t_start": -1.074768207764181,
83
+ "t_end": 124.93135122923496
84
  },
85
  "imu_wrist_right": {
86
+ "n_acc": 24399,
87
+ "n_gyro": 24412,
88
+ "t_start": 0.3285075592351052,
89
+ "t_end": 120.90838727623606
90
  },
91
  "imu_wrist_left": {
92
+ "n_acc": 23836,
93
+ "n_gyro": 23848,
94
+ "t_start": 0.23209651923508434,
95
+ "t_end": 120.9085623402346
96
  },
97
  "mag_head": {
98
+ "n": 12609,
99
+ "t_start": -0.9892802287637903,
100
+ "t_end": 125.09072033123567
101
  },
102
  "mag_wrist_right": {
103
+ "n": 12057,
104
+ "t_start": 0.34169502623563974,
105
+ "t_end": 120.90159621723552
106
  },
107
  "mag_wrist_left": {
108
+ "n": 12067,
109
+ "t_start": 0.24177983323471497,
110
+ "t_end": 120.90148857823561
111
  }
112
  },
113
  "videos": {
114
  "left": {
115
  "fps": 30.0,
116
+ "start_device_s": 9449.583626,
117
+ "frames": 3720,
118
  "pts_gaps": 0,
119
  "timing": "pts",
120
  "timeshift_cam_imu_s": 0.0023423887986386703,
121
  "file": "robocap_segment1_video_left.mp4",
122
+ "t_start": 0.03942607303298362,
123
+ "t_end": 124.00605907303299,
124
  "clock": "device",
125
  "calibrated": true
126
  },
127
  "right": {
128
  "fps": 30.0,
129
+ "start_device_s": 9449.583549,
130
+ "frames": 3720,
131
  "pts_gaps": 0,
132
  "timing": "pts",
133
  "timeshift_cam_imu_s": 0.0019489646456461974,
134
  "file": "robocap_segment1_video_right.mp4",
135
+ "t_start": 0.038955648881993765,
136
+ "t_end": 124.0056116488825,
137
  "clock": "device",
138
  "calibrated": true
139
  },
140
  "left_front": {
141
  "fps": 30.0,
142
+ "start_device_s": 9449.583594,
143
+ "frames": 3719,
144
+ "pts_gaps": 1,
145
  "timing": "pts",
146
  "timeshift_cam_imu_s": 0.0018171232386612972,
147
+ "gap_test": {
148
+ "pts": {
149
+ "offset_ms": 0.6,
150
+ "corr": 0.929,
151
+ "err_ms": 1.2
152
+ },
153
+ "nominal": {
154
+ "offset_ms": 34.0,
155
+ "corr": 0.929,
156
+ "err_ms": 32.2
157
+ }
158
+ },
159
  "file": "robocap_segment1_video_left_front.mp4",
160
+ "t_start": 0.03886880747387411,
161
+ "t_end": 124.00552480747439,
162
  "clock": "device",
163
  "calibrated": true
164
  },
165
  "right_front": {
166
  "fps": 30.0,
167
+ "start_device_s": 9449.583647,
168
+ "frames": 3720,
169
  "pts_gaps": 0,
170
  "timing": "pts",
171
  "timeshift_cam_imu_s": 0.0017295646474508202,
172
  "file": "robocap_segment1_video_right_front.mp4",
173
+ "t_start": 0.03883424888164089,
174
+ "t_end": 124.00546724888164,
175
  "clock": "device",
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