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- actions/locomotion_primitives/P21/session_006/raw/sensors/robowrist_mag_left.db +2 -2
- actions/locomotion_primitives/P21/session_006/raw/sensors/robowrist_mag_right.db +2 -2
- actions/locomotion_primitives/P21/session_006/scene/infer.json +6 -6
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- actions/locomotion_primitives/P21/session_006/sensors/head_imu.npz +2 -2
- actions/locomotion_primitives/P21/session_006/sensors/head_mag.npz +2 -2
- actions/locomotion_primitives/P21/session_006/sensors/wrist_imu.npz +2 -2
- actions/locomotion_primitives/P21/session_006/sensors/wrist_mag.npz +2 -2
- actions/locomotion_primitives/P21/session_006/videos/frame_timestamps.npz +2 -2
- actions/locomotion_primitives/P21/session_006/videos/head_left.mp4 +2 -2
- actions/locomotion_primitives/P21/session_006/videos/head_left_eye.mp4 +2 -2
- actions/locomotion_primitives/P21/session_006/videos/head_left_front.mp4 +2 -2
- actions/locomotion_primitives/P21/session_006/videos/head_right.mp4 +2 -2
- actions/locomotion_primitives/P21/session_006/videos/head_right_eye.mp4 +2 -2
- actions/locomotion_primitives/P21/session_006/videos/head_right_front.mp4 +2 -2
- actions/locomotion_primitives/P21/session_006/videos/third_person.mp4 +2 -2
- actions/locomotion_primitives/P21/session_006/videos/wrist_left.mp4 +2 -2
- actions/locomotion_primitives/P21/session_006/videos/wrist_right.mp4 +2 -2
- actions/locomotion_primitives/P21/session_007/cameras/poses.npz +2 -2
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- actions/locomotion_primitives/P21/session_007/raw/mocap/Tracker0.csv +0 -0
- actions/locomotion_primitives/P21/session_007/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_primitives/P21/session_007/raw/sensors/robocap_imu_left.db +2 -2
- actions/locomotion_primitives/P21/session_007/raw/sensors/robocap_imu_right.db +2 -2
- actions/locomotion_primitives/P21/session_007/raw/sensors/robocap_mag_middle.db +2 -2
- actions/locomotion_primitives/P21/session_007/raw/sensors/robowrist_imu_left.db +2 -2
- actions/locomotion_primitives/P21/session_007/raw/sensors/robowrist_imu_right.db +2 -2
- actions/locomotion_primitives/P21/session_007/raw/sensors/robowrist_mag_left.db +2 -2
- actions/locomotion_primitives/P21/session_007/raw/sensors/robowrist_mag_right.db +2 -2
- actions/locomotion_primitives/P21/session_007/scene/infer.json +6 -6
- actions/locomotion_primitives/P21/session_007/scene/views.npz +2 -2
- actions/locomotion_primitives/P21/session_007/sensors/head_imu.npz +2 -2
- actions/locomotion_primitives/P21/session_007/sensors/head_mag.npz +2 -2
- actions/locomotion_primitives/P21/session_007/sensors/wrist_imu.npz +2 -2
- actions/locomotion_primitives/P21/session_007/sensors/wrist_mag.npz +2 -2
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- actions/locomotion_primitives/P21/session_007/videos/head_left_eye.mp4 +2 -2
- actions/locomotion_primitives/P21/session_007/videos/head_left_front.mp4 +2 -2
- actions/locomotion_primitives/P21/session_007/videos/head_right.mp4 +2 -2
- actions/locomotion_primitives/P21/session_007/videos/head_right_eye.mp4 +2 -2
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"clock": "device",
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| 125 |
"calibrated": true
|
| 126 |
},
|
| 127 |
"right": {
|
| 128 |
"fps": 30.0,
|
| 129 |
-
"start_device_s":
|
| 130 |
-
"frames":
|
| 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.
|
| 136 |
-
"t_end":
|
| 137 |
"clock": "device",
|
| 138 |
"calibrated": true
|
| 139 |
},
|
| 140 |
"left_front": {
|
| 141 |
"fps": 30.0,
|
| 142 |
-
"start_device_s":
|
| 143 |
-
"frames":
|
| 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.
|
| 149 |
-
"t_end":
|
| 150 |
"clock": "device",
|
| 151 |
"calibrated": true
|
| 152 |
},
|
| 153 |
"right_front": {
|
| 154 |
"fps": 30.0,
|
| 155 |
-
"start_device_s":
|
| 156 |
-
"frames":
|
| 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.
|
| 162 |
-
"t_end":
|
| 163 |
"clock": "device",
|
| 164 |
"calibrated": true
|
| 165 |
},
|
| 166 |
"left_eye": {
|
| 167 |
"fps": 30.0,
|
| 168 |
-
"start_device_s":
|
| 169 |
-
"frames":
|
| 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.
|
| 175 |
-
"t_end":
|
| 176 |
"clock": "device",
|
| 177 |
"calibrated": true
|
| 178 |
},
|
| 179 |
"right_eye": {
|
| 180 |
"fps": 30.0,
|
| 181 |
-
"start_device_s":
|
| 182 |
-
"frames":
|
| 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.
|
| 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-P21-
|
| 220 |
-
"frames":
|
| 221 |
-
"fps":
|
| 222 |
"clock": "nokov (frame index)",
|
| 223 |
"t_start": 0.0,
|
| 224 |
-
"t_end":
|
| 225 |
}
|
| 226 |
}
|
| 227 |
},
|
|
@@ -230,58 +230,57 @@
|
|
| 230 |
"status": {
|
| 231 |
"structure": "WARN",
|
| 232 |
"markers": "WARN",
|
| 233 |
-
"timing": "
|
| 234 |
},
|
| 235 |
-
"verdict": "
|
| 236 |
"issues": [
|
| 237 |
"WARN M_BODY_ID",
|
| 238 |
-
"WARN M_FLOOR_SHIFT",
|
| 239 |
-
"WARN M_SPIKES",
|
| 240 |
"WARN M_TRACKER_LABELS",
|
| 241 |
"WARN S_INDEX",
|
| 242 |
-
"WARN
|
| 243 |
-
"WARN
|
|
|
|
| 244 |
]
|
| 245 |
},
|
| 246 |
"canonical": {
|
| 247 |
-
"generated_at_utc": "2026-10-14T12:18:
|
| 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": [
|
| 251 |
[
|
| 252 |
-
0.
|
| 253 |
-
-0.
|
| 254 |
-
-
|
| 255 |
],
|
| 256 |
[
|
| 257 |
-
|
| 258 |
-
0.
|
| 259 |
-
-0.
|
| 260 |
],
|
| 261 |
[
|
| 262 |
-
0.
|
| 263 |
-
0.
|
| 264 |
-
0.
|
| 265 |
]
|
| 266 |
],
|
| 267 |
"scale_nokov_to_canon": 0.001,
|
| 268 |
"T_canon_nokov_mm": [
|
| 269 |
[
|
| 270 |
-
0.
|
| 271 |
-
-
|
| 272 |
-
-
|
| 273 |
0.0
|
| 274 |
],
|
| 275 |
[
|
| 276 |
-
|
| 277 |
-
|
| 278 |
-
-0.
|
| 279 |
0.0
|
| 280 |
],
|
| 281 |
[
|
| 282 |
-
|
| 283 |
-
0.
|
| 284 |
-
|
| 285 |
0.0
|
| 286 |
],
|
| 287 |
[
|
|
@@ -291,26 +290,26 @@
|
|
| 291 |
1.0
|
| 292 |
]
|
| 293 |
],
|
| 294 |
-
"block": "
|
| 295 |
"block_assignment": "trc",
|
| 296 |
-
"tilt_removed_deg":
|
| 297 |
"plane_status": "ok",
|
| 298 |
"floor": {
|
| 299 |
-
"sole_marker_p1_mm":
|
| 300 |
-
"headtop_p95_mm":
|
| 301 |
},
|
| 302 |
"gravity_check": {
|
| 303 |
-
"static_samples":
|
| 304 |
"g_world_mean_m_s2": [
|
| 305 |
-
-0.
|
| 306 |
-
0.
|
| 307 |
-
9.
|
| 308 |
],
|
| 309 |
-
"tilt_from_z_deg": 0.
|
| 310 |
-
"tilt_from_z_deg_before_levelling": 0.
|
| 311 |
-
"magnitude_m_s2": 9.
|
| 312 |
},
|
| 313 |
-
"rig_tracker_definition": "e17c9efadb69e7b1/
|
| 314 |
"camera_pose_source": "provider T_tracker0_cam",
|
| 315 |
"files": [
|
| 316 |
"mocap_zup.npz",
|
|
@@ -320,10 +319,10 @@
|
|
| 320 |
]
|
| 321 |
},
|
| 322 |
"smplx": {
|
| 323 |
-
"generated_at_utc": "2026-10-
|
| 324 |
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 325 |
"file": "smplx.npz",
|
| 326 |
-
"gender": "
|
| 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",
|
|
@@ -335,184 +334,207 @@
|
|
| 335 |
"hand_marker_offsets_m": {
|
| 336 |
"left": {
|
| 337 |
"LHandIn": [
|
| 338 |
-
0.
|
| 339 |
-
0.
|
| 340 |
-
0.
|
| 341 |
],
|
| 342 |
"LHandOut": [
|
| 343 |
-
0.
|
| 344 |
-
0.
|
| 345 |
-
-0.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 346 |
]
|
| 347 |
},
|
| 348 |
"right": {
|
| 349 |
"RHandIn": [
|
| 350 |
-
-0.
|
| 351 |
-
-0.
|
| 352 |
-
0.
|
| 353 |
],
|
| 354 |
"RHandOut": [
|
| 355 |
-
-0.
|
| 356 |
-
0.
|
| 357 |
-
0.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 358 |
]
|
| 359 |
}
|
| 360 |
}
|
| 361 |
},
|
| 362 |
"marker_rmse_mm": {
|
| 363 |
-
"median_frame": 3.
|
| 364 |
-
"p95_frame":
|
| 365 |
},
|
| 366 |
"worst_markers": [
|
| 367 |
-
"
|
| 368 |
"RKneeIn 10mm",
|
| 369 |
-
"
|
| 370 |
-
"
|
| 371 |
-
"
|
| 372 |
],
|
| 373 |
-
"valid_fraction": 0.
|
| 374 |
"qc": {
|
| 375 |
"lowest_vertex_mm": {
|
| 376 |
-
"median":
|
| 377 |
-
"p5":
|
| 378 |
},
|
| 379 |
-
"frames_checked":
|
| 380 |
-
"stature_mm":
|
| 381 |
},
|
| 382 |
"surface_term": {
|
| 383 |
"weight": 1.0,
|
| 384 |
"marker_height_mm": 11.0,
|
| 385 |
"markers_on_surface": 52,
|
| 386 |
-
"surface_rmse_mm_median":
|
| 387 |
},
|
| 388 |
"shape_source": "participant median",
|
| 389 |
"wrist_correction": {
|
| 390 |
"left": {
|
| 391 |
"status": "corrected",
|
| 392 |
-
"Q_deg":
|
| 393 |
"Q_rotvec": [
|
| 394 |
-
|
| 395 |
-
-0.
|
| 396 |
-
-0.
|
| 397 |
],
|
| 398 |
-
"in_out_sign":
|
| 399 |
-
"wrist_bend_deg_median":
|
| 400 |
-
"opposite_sign_bend_deg":
|
| 401 |
-
"in_out_convention": "pinky side =
|
| 402 |
-
"marker_frame_spread_deg": 0.
|
| 403 |
"hand_vs_marker_frame_deg": {
|
| 404 |
-
"before":
|
| 405 |
-
"after": 0.
|
| 406 |
},
|
| 407 |
"markers_on_wrist": [
|
|
|
|
|
|
|
| 408 |
"LHandIn",
|
| 409 |
"LHandOut"
|
| 410 |
],
|
| 411 |
"forearm_twist": {
|
| 412 |
-
"twist_moved_deg": -
|
| 413 |
"wrist_twist_deg_after": {
|
| 414 |
-
"median": -0.
|
| 415 |
"iqr": [
|
| 416 |
-
-
|
| 417 |
-
|
| 418 |
]
|
| 419 |
},
|
| 420 |
-
"wrist_total_deg_median_after":
|
| 421 |
"markers_on_forearm": [
|
| 422 |
-
"
|
| 423 |
-
"
|
| 424 |
-
"
|
| 425 |
]
|
| 426 |
},
|
| 427 |
-
"frames_used":
|
| 428 |
},
|
| 429 |
"right": {
|
| 430 |
"status": "corrected",
|
| 431 |
-
"Q_deg":
|
| 432 |
"Q_rotvec": [
|
| 433 |
-
|
| 434 |
-
0.
|
| 435 |
-
0.
|
| 436 |
],
|
| 437 |
"in_out_sign": 1,
|
| 438 |
-
"wrist_bend_deg_median":
|
| 439 |
-
"opposite_sign_bend_deg":
|
| 440 |
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 441 |
-
"marker_frame_spread_deg": 0.
|
| 442 |
"hand_vs_marker_frame_deg": {
|
| 443 |
-
"before":
|
| 444 |
-
"after": 0.
|
| 445 |
},
|
| 446 |
"markers_on_wrist": [
|
|
|
|
|
|
|
| 447 |
"RHandIn",
|
| 448 |
"RHandOut"
|
| 449 |
],
|
| 450 |
"forearm_twist": {
|
| 451 |
-
"twist_moved_deg": -
|
| 452 |
"wrist_twist_deg_after": {
|
| 453 |
"median": -0.0,
|
| 454 |
"iqr": [
|
| 455 |
-
-1.
|
| 456 |
-
1.
|
| 457 |
]
|
| 458 |
},
|
| 459 |
-
"wrist_total_deg_median_after":
|
| 460 |
"markers_on_forearm": [
|
| 461 |
-
"
|
| 462 |
-
"
|
| 463 |
-
"RWristOut"
|
| 464 |
]
|
| 465 |
},
|
| 466 |
-
"frames_used":
|
| 467 |
},
|
| 468 |
-
"generated_at_utc": "2026-10-
|
| 469 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 470 |
}
|
| 471 |
},
|
| 472 |
"rig_tracker": {
|
| 473 |
-
"definition": "e17c9efadb69e7b1/
|
| 474 |
"R_tracker0_imu0": [
|
| 475 |
[
|
| 476 |
-
0.
|
| 477 |
-
|
| 478 |
-
0.
|
| 479 |
],
|
| 480 |
[
|
| 481 |
-
0.
|
| 482 |
-
0.
|
| 483 |
-
-0.
|
| 484 |
],
|
| 485 |
[
|
| 486 |
-
0.
|
| 487 |
-
0.
|
| 488 |
-
0.
|
| 489 |
]
|
| 490 |
],
|
| 491 |
"p_tracker0_imu0_m": [
|
| 492 |
-
-0.
|
| 493 |
-
-0.
|
| 494 |
-
0.
|
| 495 |
],
|
| 496 |
"rig_check": {
|
| 497 |
-
"gyro_samples":
|
| 498 |
"gyro_max_deg": 2.5,
|
| 499 |
"status": "ok",
|
| 500 |
"dropped_marker": null,
|
| 501 |
-
"gyro_deg": 0.
|
| 502 |
},
|
| 503 |
"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 504 |
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 505 |
},
|
| 506 |
"rig_calibration_repair": {
|
| 507 |
"version": 2,
|
| 508 |
-
"applied_at_utc": "2026-10-18T18:
|
| 509 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 510 |
-
"remaining_gyro_frame_deg":
|
| 511 |
},
|
| 512 |
"release": {
|
| 513 |
"release_path": "actions/locomotion_primitives/P21/session_007",
|
| 514 |
"family": "locomotion_primitives",
|
| 515 |
"primitive": "P21",
|
| 516 |
-
"source_session": "
|
| 517 |
}
|
| 518 |
}
|
|
|
|
| 1 |
{
|
| 2 |
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20260909/P21/20260909_075221_session126",
|
| 4 |
+
"session_id": "20260909_075221_session126",
|
| 5 |
"primitive": "P21",
|
| 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": "2026-10-14T11:00:18.649492+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": 99.025,
|
| 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": -1.164167,
|
| 28 |
"rate": 0.0,
|
| 29 |
+
"global_lag_s": -1.165,
|
| 30 |
+
"peak_corr": 0.9949,
|
| 31 |
+
"reference_imu_first_sample_s": 26992.564878935,
|
| 32 |
"windows": {
|
| 33 |
+
"n_windows": 8,
|
| 34 |
+
"window_corr_median": 0.998096656940022,
|
| 35 |
+
"drift_ppm": 1.6261613230495457,
|
| 36 |
+
"drift_se_ppm": 6.943872831553832,
|
| 37 |
+
"drift_ms_over_take": 0.1610170736706225,
|
| 38 |
+
"lag_scatter_ms": 0.38972389609503416,
|
| 39 |
+
"lag_range_ms": 1.2769157698238054
|
| 40 |
}
|
| 41 |
},
|
| 42 |
"units": {
|
|
|
|
| 71 |
"streams": {
|
| 72 |
"sensors": {
|
| 73 |
"imu_head_right": {
|
| 74 |
+
"n_acc": 20230,
|
| 75 |
+
"n_gyro": 20224,
|
| 76 |
+
"t_start": -1.1757414694341652,
|
| 77 |
+
"t_end": 99.67855139756892
|
| 78 |
},
|
| 79 |
"imu_head_left": {
|
| 80 |
+
"n_acc": 20198,
|
| 81 |
+
"n_gyro": 20192,
|
| 82 |
+
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actions/locomotion_primitives/P21/session_007/videos/head_right_eye.mp4
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