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Upload folder using huggingface_hub (part 1762)

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  1. .gitattributes +1 -0
  2. actions/locomotion_posture_dynamics/D59/session_006/videos/third_person.mp4 +2 -2
  3. actions/locomotion_posture_dynamics/D59/session_006/videos/wrist_left.mp4 +2 -2
  4. actions/locomotion_posture_dynamics/D59/session_006/videos/wrist_right.mp4 +2 -2
  5. actions/locomotion_posture_dynamics/D59/session_007/cameras/poses.npz +2 -2
  6. actions/locomotion_posture_dynamics/D59/session_007/meta.json +202 -197
  7. actions/locomotion_posture_dynamics/D59/session_007/motions/head_rig.npz +2 -2
  8. actions/locomotion_posture_dynamics/D59/session_007/motions/markers.npz +2 -2
  9. actions/locomotion_posture_dynamics/D59/session_007/motions/skeleton.npz +2 -2
  10. actions/locomotion_posture_dynamics/D59/session_007/motions/smplx.npz +2 -2
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  13. actions/locomotion_posture_dynamics/D59/session_007/raw/mocap/Body0.bvh +0 -0
  14. actions/locomotion_posture_dynamics/D59/session_007/raw/mocap/Body0.csv +2 -2
  15. actions/locomotion_posture_dynamics/D59/session_007/raw/mocap/Body0.trc +2 -2
  16. actions/locomotion_posture_dynamics/D59/session_007/raw/mocap/Tracker0.csv +0 -0
  17. actions/locomotion_posture_dynamics/D59/session_007/raw/mocap/Tracker0.trc +0 -0
  18. actions/locomotion_posture_dynamics/D59/session_007/raw/sensors/robocap_imu_left.db +2 -2
  19. actions/locomotion_posture_dynamics/D59/session_007/raw/sensors/robocap_imu_right.db +2 -2
  20. actions/locomotion_posture_dynamics/D59/session_007/raw/sensors/robocap_mag_middle.db +2 -2
  21. actions/locomotion_posture_dynamics/D59/session_007/raw/sensors/robowrist_imu_left.db +2 -2
  22. actions/locomotion_posture_dynamics/D59/session_007/raw/sensors/robowrist_imu_right.db +0 -0
  23. actions/locomotion_posture_dynamics/D59/session_007/raw/sensors/robowrist_mag_left.db +2 -2
  24. actions/locomotion_posture_dynamics/D59/session_007/raw/sensors/robowrist_mag_right.db +2 -2
  25. actions/locomotion_posture_dynamics/D59/session_007/scene/infer.json +5 -5
  26. actions/locomotion_posture_dynamics/D59/session_007/scene/views.npz +2 -2
  27. actions/locomotion_posture_dynamics/D59/session_007/sensors/head_imu.npz +2 -2
  28. actions/locomotion_posture_dynamics/D59/session_007/sensors/head_mag.npz +2 -2
  29. actions/locomotion_posture_dynamics/D59/session_007/sensors/wrist_imu.npz +2 -2
  30. actions/locomotion_posture_dynamics/D59/session_007/sensors/wrist_mag.npz +2 -2
  31. actions/locomotion_posture_dynamics/D59/session_007/videos/frame_timestamps.npz +2 -2
  32. actions/locomotion_posture_dynamics/D59/session_007/videos/head_left.mp4 +2 -2
  33. actions/locomotion_posture_dynamics/D59/session_007/videos/head_left_eye.mp4 +2 -2
  34. actions/locomotion_posture_dynamics/D59/session_007/videos/head_left_front.mp4 +2 -2
  35. actions/locomotion_posture_dynamics/D59/session_007/videos/head_right.mp4 +2 -2
  36. actions/locomotion_posture_dynamics/D59/session_007/videos/head_right_eye.mp4 +2 -2
  37. actions/locomotion_posture_dynamics/D59/session_007/videos/head_right_front.mp4 +2 -2
  38. actions/locomotion_posture_dynamics/D59/session_007/videos/third_person.mp4 +2 -2
  39. actions/locomotion_posture_dynamics/D59/session_007/videos/wrist_left.mp4 +2 -2
  40. actions/locomotion_posture_dynamics/D59/session_007/videos/wrist_right.mp4 +2 -2
  41. actions/locomotion_posture_dynamics/D59/session_008/cameras/poses.npz +2 -2
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  43. actions/locomotion_posture_dynamics/D59/session_008/motions/head_rig.npz +2 -2
  44. actions/locomotion_posture_dynamics/D59/session_008/motions/markers.npz +2 -2
  45. actions/locomotion_posture_dynamics/D59/session_008/motions/skeleton.npz +2 -2
  46. actions/locomotion_posture_dynamics/D59/session_008/motions/smplx.npz +2 -2
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  48. actions/locomotion_posture_dynamics/D59/session_008/raw/manifest.json +74 -74
  49. actions/locomotion_posture_dynamics/D59/session_008/raw/mocap/Body0.bvh +0 -0
  50. actions/locomotion_posture_dynamics/D59/session_008/raw/mocap/Body0.csv +2 -2
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  },
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  "worst_markers": [
365
- "CLAV 24mm",
366
- "LWristOut 22mm",
367
- "LWristIn 20mm",
368
- "LElbowIn 18mm",
369
- "WaistRSide 16mm"
370
  ],
371
- "valid_fraction": 0.9996,
372
  "qc": {
373
  "lowest_vertex_mm": {
374
- "median": -16.6,
375
- "p5": -24.7
376
  },
377
- "frames_checked": 456,
378
- "stature_mm": 1765.5
379
  },
380
  "surface_term": {
381
  "weight": 1.0,
382
  "marker_height_mm": 11.0,
383
  "markers_on_surface": 52,
384
- "surface_rmse_mm_median": 16.57
385
  },
386
  "shape_source": "participant median",
387
  "wrist_correction": {
388
  "left": {
389
  "status": "corrected",
390
- "Q_deg": 96.38,
391
  "Q_rotvec": [
392
- -1.65473,
393
- -0.13929,
394
- 0.2683
395
  ],
396
- "in_out_sign": -1,
397
- "wrist_bend_deg_median": 106.4,
398
- "opposite_sign_bend_deg": 82.0,
399
- "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
400
- "marker_frame_spread_deg": 3.34,
401
  "hand_vs_marker_frame_deg": {
402
- "before": 95.47,
403
- "after": 3.34
404
  },
405
  "markers_on_wrist": [
406
  "LHandIn",
407
  "LHandOut"
408
  ],
409
  "forearm_twist": {
410
- "twist_moved_deg": -104.41,
411
  "wrist_twist_deg_after": {
412
- "median": -0.08,
413
  "iqr": [
414
- -1.9,
415
- 92.4
416
  ]
417
  },
418
- "wrist_total_deg_median_after": 25.3,
419
  "markers_on_forearm": [
420
  "LForearm",
421
  "LWristIn",
422
  "LWristOut"
423
  ]
424
  },
425
- "frames_used": 1368
426
  },
427
  "right": {
428
  "status": "corrected",
429
- "Q_deg": 45.17,
430
  "Q_rotvec": [
431
- 0.70087,
432
- 0.35408,
433
- -0.07115
434
  ],
435
  "in_out_sign": 1,
436
- "wrist_bend_deg_median": 47.1,
437
- "opposite_sign_bend_deg": 142.2,
438
  "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
439
- "marker_frame_spread_deg": 1.64,
440
  "hand_vs_marker_frame_deg": {
441
- "before": 45.56,
442
- "after": 1.64
443
  },
444
  "markers_on_wrist": [
 
445
  "RHandIn",
446
  "RHandOut"
447
  ],
448
  "forearm_twist": {
449
- "twist_moved_deg": -41.48,
450
  "wrist_twist_deg_after": {
451
- "median": -0.06,
452
  "iqr": [
453
- -1.4,
454
- 1.2
455
  ]
456
  },
457
- "wrist_total_deg_median_after": 23.9,
458
  "markers_on_forearm": [
459
  "RForearm",
460
- "RWristIn",
461
  "RWristOut"
462
  ]
463
  },
464
- "frames_used": 1368
465
  },
466
- "generated_at_utc": "2026-10-15T06:04:59.402005+00:00",
467
  "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
468
  }
469
  },
470
  "rig_tracker": {
471
- "definition": "e17c9efadb69e7b1/20260920-afternoon/labels-520143/session-67b5a77b3bcc58cf",
472
  "R_tracker0_imu0": [
473
  [
474
- -0.64224642,
475
- 0.13185956,
476
- -0.75507125
477
  ],
478
  [
479
- 0.76274729,
480
- 0.20728017,
481
- -0.61257775
482
  ],
483
  [
484
- 0.07573706,
485
- -0.96935442,
486
- -0.23370047
487
  ]
488
  ],
489
  "p_tracker0_imu0_m": [
490
- -0.1273483170739501,
491
- 0.0008994353427705238,
492
- -0.09562899147343255
493
  ],
494
  "rig_check": {
495
- "gyro_samples": 3936,
496
  "gyro_max_deg": 2.5,
497
  "status": "ok",
498
  "dropped_marker": null,
499
- "gyro_deg": 0.84
500
  },
501
  "file": "derived/rig_tracker_provider/rig_tracker.json",
502
  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
503
  },
504
  "rig_calibration_repair": {
505
  "version": 2,
506
- "applied_at_utc": "2026-10-18T18:58:16.356425+00:00",
507
  "generated_by": "scripts/correct_processed_rig.py",
508
- "remaining_gyro_frame_deg": 0.7836660059828947
509
  },
510
  "release": {
511
  "release_path": "actions/locomotion_posture_dynamics/D59/session_007",
512
  "family": "locomotion_posture_dynamics",
513
  "primitive": "D59",
514
- "source_session": "20260920/D59/20260920_100116_session112"
515
  }
516
  }
 
1
  {
2
  "schema_version": 1,
3
+ "session": "EgoMotionActions/20260925/D59/20260925_080757_session84",
4
+ "session_id": "20260925_080757_session84",
5
  "primitive": "D59",
6
+ "batch": "20260925",
7
+ "participant": "wangzhixin",
8
  "participant_source": "manifest",
9
  "device_ids": {
10
  "main": "e17c9efadb69e7b1",
11
+ "left": "cc5681142208e29a",
12
+ "right": "60a6f081bbe60b0d"
13
  },
14
+ "generated_at_utc": "2026-10-14T11:27:19.932730+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": -1.179769,
28
  "rate": 0.0,
29
+ "global_lag_s": -1.18,
30
+ "peak_corr": 0.9909,
31
+ "reference_imu_first_sample_s": 30002.34396983,
32
  "windows": {
33
+ "n_windows": 8,
34
+ "window_corr_median": 0.9958448998245131,
35
+ "drift_ppm": -3.70512035003364,
36
+ "drift_se_ppm": 5.8156352134080285,
37
+ "drift_ms_over_take": -0.36686866665916423,
38
+ "lag_scatter_ms": 0.326401716825462,
39
+ "lag_range_ms": 1.003884378056652
40
  }
41
  },
42
  "units": {
 
71
  "streams": {
72
  "sensors": {
73
  "imu_head_right": {
74
+ "n_acc": 20248,
75
+ "n_gyro": 20242,
76
+ "t_start": -1.1863512917898804,
77
+ "t_end": 99.76399464121091
78
  },
79
  "imu_head_left": {
80
+ "n_acc": 20215,
81
+ "n_gyro": 20208,
82
+ "t_start": -1.0772280837900796,
83
+ "t_end": 99.93433950621143
84
+ },
85
+ "imu_wrist_right": {
86
+ "n_acc": 19701,
87
+ "n_gyro": 19713,
88
+ "t_start": 0.37622403721065734,
89
+ "t_end": 97.74440368620886
90
  },
91
  "imu_wrist_left": {
92
+ "n_acc": 19254,
93
+ "n_gyro": 19254,
94
+ "t_start": 0.2590966192091839,
95
+ "t_end": 97.74227560721006
96
  },
97
  "mag_head": {
98
+ "n": 10110,
99
+ "t_start": -0.9905258757917652,
100
+ "t_end": 100.09958371420903
101
  },
102
  "mag_wrist_right": {
103
+ "n": 9734,
104
+ "t_start": 0.39438982420865454,
105
+ "t_end": 97.72372308520967
106
  },
107
  "mag_wrist_left": {
108
+ "n": 9748,
109
+ "t_start": 0.27647720821000643,
110
+ "t_end": 97.74614252620991
111
  }
112
  },
113
  "videos": {
114
  "left": {
115
  "fps": 30.0,
116
+ "start_device_s": 30003.561206,
117
+ "frames": 2970,
118
  "pts_gaps": 0,
119
  "timing": "pts",
120
  "timeshift_cam_imu_s": 0.0023423887986386703,
121
  "file": "robocap_segment1_video_left.mp4",
122
+ "t_start": 0.0398093340063026,
123
+ "t_end": 99.00636533400571,
124
  "clock": "device",
125
  "calibrated": true
126
  },
127
  "right": {
128
  "fps": 30.0,
129
+ "start_device_s": 30003.561147,
130
+ "frames": 2970,
131
  "pts_gaps": 0,
132
  "timing": "pts",
133
  "timeshift_cam_imu_s": 0.0019489646456461974,
134
  "file": "robocap_segment1_video_right.mp4",
135
+ "t_start": 0.03935690985776841,
136
+ "t_end": 99.00591290985717,
137
  "clock": "device",
138
  "calibrated": true
139
  },
140
  "left_front": {
141
  "fps": 30.0,
142
+ "start_device_s": 30003.561189,
143
+ "frames": 2970,
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": 0.039267068450452136,
149
+ "t_end": 99.00582306844986,
150
  "clock": "device",
151
  "calibrated": true
152
  },
153
  "right_front": {
154
  "fps": 30.0,
155
+ "start_device_s": 30003.561223,
156
+ "frames": 2970,
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": 0.0392135098572437,
162
+ "t_end": 99.00576950985665,
163
  "clock": "device",
164
  "calibrated": true
165
  },
166
  "left_eye": {
167
  "fps": 30.0,
168
+ "start_device_s": 30003.561165,
169
+ "frames": 2970,
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": 0.03909487750747598,
175
+ "t_end": 99.00565087750688,
176
  "clock": "device",
177
  "calibrated": true
178
  },
179
  "right_eye": {
180
  "fps": 30.0,
181
+ "start_device_s": 30003.561116,
182
+ "frames": 2970,
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": 0.03909388297138161,
188
+ "t_end": 99.00566088297087,
189
  "clock": "device",
190
  "calibrated": true
191
  },
192
  "wrist_left": {
193
  "fps": 30.0,
194
+ "start_device_s": 30003.768923,
195
+ "frames": 2925,
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": 0.2451839452095994,
201
+ "t_end": 97.71152494520898,
202
  "clock": "device",
203
  "calibrated": false
204
  },
205
  "wrist_right": {
206
  "fps": 30.0,
207
+ "start_device_s": 30003.891051,
208
+ "frames": 2921,
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": 0.36731194520866506,
214
+ "t_end": 97.69999394520887,
215
  "clock": "device",
216
  "calibrated": false
217
  },
218
  "third_person": {
219
+ "file": "mocap/mocap-D59-S01-wangzhixin-02p2-1.mp4",
220
+ "frames": 2971,
221
+ "fps": 60.0,
222
  "clock": "nokov (frame index)",
223
  "t_start": 0.0,
224
+ "t_end": 49.5
225
  }
226
  }
227
  },
228
+ "flags": [],
 
 
229
  "sanity": {
230
  "status": {
231
+ "structure": "WARN",
232
  "markers": "WARN",
233
  "timing": "WARN"
234
  },
235
  "verdict": "READY_WITH_WARNINGS",
236
  "issues": [
 
 
237
  "WARN M_BODY_ID",
238
  "WARN M_SPIKES",
239
  "WARN M_TRACKER_LABELS",
 
 
240
  "WARN S_VIDEO_FPS",
241
+ "WARN T_UNITS"
242
  ]
243
  },
244
  "canonical": {
245
+ "generated_at_utc": "2026-10-14T13:43:20.123163+00:00",
246
  "generated_by": "scripts/canonicalise_dataset.py",
247
  "frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
248
  "R_canon_nokov": [
249
  [
250
+ 0.9999999427,
251
+ -0.0003384399,
252
+ -5.316e-07
253
  ],
254
  [
255
+ 5.316e-07,
256
+ 0.0031414623,
257
+ -0.9999950656
258
  ],
259
  [
260
+ 0.0003384399,
261
+ 0.9999950083,
262
+ 0.0031414623
263
  ]
264
  ],
265
  "scale_nokov_to_canon": 0.001,
266
  "T_canon_nokov_mm": [
267
  [
268
+ 0.000999999943,
269
+ -3.3844e-07,
270
+ -5.32e-10,
271
  0.0
272
  ],
273
  [
274
+ 5.32e-10,
275
+ 3.141462e-06,
276
+ -0.000999995066,
277
  0.0
278
  ],
279
  [
280
+ 3.3844e-07,
281
+ 0.000999995008,
282
+ 3.141462e-06,
283
  0.0
284
  ],
285
  [
 
289
  1.0
290
  ]
291
  ],
292
+ "block": "20260925-afternoon",
293
  "block_assignment": "trc",
294
+ "tilt_removed_deg": 0.18103435649546387,
295
  "plane_status": "ok",
296
  "floor": {
297
+ "sole_marker_p1_mm": 27.0,
298
+ "headtop_p95_mm": 1575.3
299
  },
300
  "gravity_check": {
301
+ "static_samples": 3604,
302
  "g_world_mean_m_s2": [
303
+ 0.0496,
304
+ -0.0078,
305
+ 9.8031
306
  ],
307
+ "tilt_from_z_deg": 0.294,
308
+ "tilt_from_z_deg_before_levelling": 0.383,
309
+ "magnitude_m_s2": 9.8033
310
  },
311
+ "rig_tracker_definition": "e17c9efadb69e7b1/20260925-afternoon/labels-530412/session-349efc3a1a5c7a89",
312
  "camera_pose_source": "provider T_tracker0_cam",
313
  "files": [
314
  "mocap_zup.npz",
 
318
  ]
319
  },
320
  "smplx": {
321
+ "generated_at_utc": "2026-10-15T02:14:52.578341+00:00",
322
  "generated_by": "scripts/fit_smplx_dataset.py",
323
  "file": "smplx.npz",
324
+ "gender": "female",
325
  "n_betas": 16,
326
  "betas_source": "participant median (derived/smplx/participants.json)",
327
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
 
333
  "hand_marker_offsets_m": {
334
  "left": {
335
  "LHandIn": [
336
+ 0.03975672274827957,
337
+ 0.0061166612431406975,
338
+ 0.037444379180669785
339
  ],
340
  "LHandOut": [
341
+ 0.04356228560209274,
342
+ 0.027094610035419464,
343
+ -0.015608828514814377
344
  ]
345
  },
346
  "right": {
347
  "RHandIn": [
348
+ -0.06160722300410271,
349
+ -0.0009204834932461381,
350
+ 0.030875850468873978
351
  ],
352
  "RHandOut": [
353
+ -0.06088670343160629,
354
+ 0.02514486573636532,
355
+ -0.021004969254136086
356
+ ],
357
+ "RWristIn": [
358
+ -0.008125584572553635,
359
+ -0.028593871742486954,
360
+ 0.0396546944975853
361
  ]
362
  }
363
  }
364
  },
365
  "marker_rmse_mm": {
366
+ "median_frame": 4.83,
367
+ "p95_frame": 14.67
368
  },
369
  "worst_markers": [
370
+ "LThigh 19mm",
371
+ "CLAV 18mm",
372
+ "WaistLFront 15mm",
373
+ "WaistLBack 12mm",
374
+ "WaistLSide 12mm"
375
  ],
376
+ "valid_fraction": 1.0,
377
  "qc": {
378
  "lowest_vertex_mm": {
379
+ "median": 6.4,
380
+ "p5": -1.0
381
  },
382
+ "frames_checked": 397,
383
+ "stature_mm": 1582.0
384
  },
385
  "surface_term": {
386
  "weight": 1.0,
387
  "marker_height_mm": 11.0,
388
  "markers_on_surface": 52,
389
+ "surface_rmse_mm_median": 14.68
390
  },
391
  "shape_source": "participant median",
392
  "wrist_correction": {
393
  "left": {
394
  "status": "corrected",
395
+ "Q_deg": 180.0,
396
  "Q_rotvec": [
397
+ 2.98447,
398
+ -0.44488,
399
+ -0.87443
400
  ],
401
+ "in_out_sign": 1,
402
+ "wrist_bend_deg_median": 172.4,
403
+ "opposite_sign_bend_deg": 28.6,
404
+ "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
405
+ "marker_frame_spread_deg": 2.06,
406
  "hand_vs_marker_frame_deg": {
407
+ "before": 179.51,
408
+ "after": 2.06
409
  },
410
  "markers_on_wrist": [
411
  "LHandIn",
412
  "LHandOut"
413
  ],
414
  "forearm_twist": {
415
+ "twist_moved_deg": -171.87,
416
  "wrist_twist_deg_after": {
417
+ "median": -0.34,
418
  "iqr": [
419
+ -3.4,
420
+ 4.1
421
  ]
422
  },
423
+ "wrist_total_deg_median_after": 30.0,
424
  "markers_on_forearm": [
425
  "LForearm",
426
  "LWristIn",
427
  "LWristOut"
428
  ]
429
  },
430
+ "frames_used": 1189
431
  },
432
  "right": {
433
  "status": "corrected",
434
+ "Q_deg": 0.0,
435
  "Q_rotvec": [
436
+ -0.0,
437
+ 0.0,
438
+ 0.0
439
  ],
440
  "in_out_sign": 1,
441
+ "wrist_bend_deg_median": 30.1,
442
+ "opposite_sign_bend_deg": 166.6,
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  "schema_version": 1,
3
- "session": "EgoMotionActions/20260925/D59/20260925_080757_session84",
4
- "session_id": "20260925_080757_session84",
5
  "primitive": "D59",
6
- "batch": "20260925",
7
- "participant": "wangzhixin",
8
  "participant_source": "manifest",
9
  "device_ids": {
10
  "main": "e17c9efadb69e7b1",
11
  "left": "cc5681142208e29a",
12
  "right": "60a6f081bbe60b0d"
13
  },
14
- "generated_at_utc": "2026-10-14T11:27:19.932730+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": -1.179769,
28
  "rate": 0.0,
29
- "global_lag_s": -1.18,
30
- "peak_corr": 0.9909,
31
- "reference_imu_first_sample_s": 30002.34396983,
32
  "windows": {
33
- "n_windows": 8,
34
- "window_corr_median": 0.9958448998245131,
35
- "drift_ppm": -3.70512035003364,
36
- "drift_se_ppm": 5.8156352134080285,
37
- "drift_ms_over_take": -0.36686866665916423,
38
- "lag_scatter_ms": 0.326401716825462,
39
- "lag_range_ms": 1.003884378056652
40
  }
41
  },
42
  "units": {
@@ -71,215 +71,215 @@
71
  "streams": {
72
  "sensors": {
73
  "imu_head_right": {
74
- "n_acc": 20248,
75
- "n_gyro": 20242,
76
- "t_start": -1.1863512917898804,
77
- "t_end": 99.76399464121091
78
  },
79
  "imu_head_left": {
80
- "n_acc": 20215,
81
- "n_gyro": 20208,
82
- "t_start": -1.0772280837900796,
83
- "t_end": 99.93433950621143
84
  },
85
  "imu_wrist_right": {
86
- "n_acc": 19701,
87
- "n_gyro": 19713,
88
- "t_start": 0.37622403721065734,
89
- "t_end": 97.74440368620886
90
  },
91
  "imu_wrist_left": {
92
- "n_acc": 19254,
93
- "n_gyro": 19254,
94
- "t_start": 0.2590966192091839,
95
- "t_end": 97.74227560721006
96
  },
97
  "mag_head": {
98
- "n": 10110,
99
- "t_start": -0.9905258757917652,
100
- "t_end": 100.09958371420903
101
  },
102
  "mag_wrist_right": {
103
- "n": 9734,
104
- "t_start": 0.39438982420865454,
105
- "t_end": 97.72372308520967
106
  },
107
  "mag_wrist_left": {
108
- "n": 9748,
109
- "t_start": 0.27647720821000643,
110
- "t_end": 97.74614252620991
111
  }
112
  },
113
  "videos": {
114
  "left": {
115
  "fps": 30.0,
116
- "start_device_s": 30003.561206,
117
- "frames": 2970,
118
  "pts_gaps": 0,
119
  "timing": "pts",
120
  "timeshift_cam_imu_s": 0.0023423887986386703,
121
  "file": "robocap_segment1_video_left.mp4",
122
- "t_start": 0.0398093340063026,
123
- "t_end": 99.00636533400571,
124
  "clock": "device",
125
  "calibrated": true
126
  },
127
  "right": {
128
  "fps": 30.0,
129
- "start_device_s": 30003.561147,
130
- "frames": 2970,
131
  "pts_gaps": 0,
132
  "timing": "pts",
133
  "timeshift_cam_imu_s": 0.0019489646456461974,
134
  "file": "robocap_segment1_video_right.mp4",
135
- "t_start": 0.03935690985776841,
136
- "t_end": 99.00591290985717,
137
  "clock": "device",
138
  "calibrated": true
139
  },
140
  "left_front": {
141
  "fps": 30.0,
142
- "start_device_s": 30003.561189,
143
- "frames": 2970,
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": 0.039267068450452136,
149
- "t_end": 99.00582306844986,
150
  "clock": "device",
151
  "calibrated": true
152
  },
153
  "right_front": {
154
  "fps": 30.0,
155
- "start_device_s": 30003.561223,
156
- "frames": 2970,
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": 0.0392135098572437,
162
- "t_end": 99.00576950985665,
163
  "clock": "device",
164
  "calibrated": true
165
  },
166
  "left_eye": {
167
  "fps": 30.0,
168
- "start_device_s": 30003.561165,
169
- "frames": 2970,
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": 0.03909487750747598,
175
- "t_end": 99.00565087750688,
176
  "clock": "device",
177
  "calibrated": true
178
  },
179
  "right_eye": {
180
  "fps": 30.0,
181
- "start_device_s": 30003.561116,
182
- "frames": 2970,
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": 0.03909388297138161,
188
- "t_end": 99.00566088297087,
189
  "clock": "device",
190
  "calibrated": true
191
  },
192
  "wrist_left": {
193
  "fps": 30.0,
194
- "start_device_s": 30003.768923,
195
- "frames": 2925,
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": 0.2451839452095994,
201
- "t_end": 97.71152494520898,
202
  "clock": "device",
203
  "calibrated": false
204
  },
205
  "wrist_right": {
206
  "fps": 30.0,
207
- "start_device_s": 30003.891051,
208
- "frames": 2921,
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": 0.36731194520866506,
214
- "t_end": 97.69999394520887,
215
  "clock": "device",
216
  "calibrated": false
217
  },
218
  "third_person": {
219
- "file": "mocap/mocap-D59-S01-wangzhixin-02p2-1.mp4",
220
- "frames": 2971,
221
- "fps": 60.0,
222
  "clock": "nokov (frame index)",
223
  "t_start": 0.0,
224
- "t_end": 49.5
225
  }
226
  }
227
  },
228
  "flags": [],
229
  "sanity": {
230
  "status": {
231
- "structure": "WARN",
232
  "markers": "WARN",
233
  "timing": "WARN"
234
  },
235
  "verdict": "READY_WITH_WARNINGS",
236
  "issues": [
237
  "WARN M_BODY_ID",
 
238
  "WARN M_SPIKES",
239
  "WARN M_TRACKER_LABELS",
240
- "WARN S_VIDEO_FPS",
241
  "WARN T_UNITS"
242
  ]
243
  },
244
  "canonical": {
245
- "generated_at_utc": "2026-10-14T13:43:20.123163+00:00",
246
  "generated_by": "scripts/canonicalise_dataset.py",
247
  "frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
248
  "R_canon_nokov": [
249
  [
250
- 0.9999999427,
251
- -0.0003384399,
252
- -5.316e-07
253
  ],
254
  [
255
- 5.316e-07,
256
- 0.0031414623,
257
- -0.9999950656
258
  ],
259
  [
260
- 0.0003384399,
261
- 0.9999950083,
262
- 0.0031414623
263
  ]
264
  ],
265
  "scale_nokov_to_canon": 0.001,
266
  "T_canon_nokov_mm": [
267
  [
268
- 0.000999999943,
269
- -3.3844e-07,
270
- -5.32e-10,
271
  0.0
272
  ],
273
  [
274
- 5.32e-10,
275
- 3.141462e-06,
276
- -0.000999995066,
277
  0.0
278
  ],
279
  [
280
- 3.3844e-07,
281
- 0.000999995008,
282
- 3.141462e-06,
283
  0.0
284
  ],
285
  [
@@ -289,26 +289,26 @@
289
  1.0
290
  ]
291
  ],
292
- "block": "20260925-afternoon",
293
  "block_assignment": "trc",
294
- "tilt_removed_deg": 0.18103435649546387,
295
  "plane_status": "ok",
296
  "floor": {
297
- "sole_marker_p1_mm": 27.0,
298
- "headtop_p95_mm": 1575.3
299
  },
300
  "gravity_check": {
301
- "static_samples": 3604,
302
  "g_world_mean_m_s2": [
303
- 0.0496,
304
- -0.0078,
305
- 9.8031
306
  ],
307
- "tilt_from_z_deg": 0.294,
308
- "tilt_from_z_deg_before_levelling": 0.383,
309
- "magnitude_m_s2": 9.8033
310
  },
311
- "rig_tracker_definition": "e17c9efadb69e7b1/20260925-afternoon/labels-530412/session-349efc3a1a5c7a89",
312
  "camera_pose_source": "provider T_tracker0_cam",
313
  "files": [
314
  "mocap_zup.npz",
@@ -318,7 +318,7 @@
318
  ]
319
  },
320
  "smplx": {
321
- "generated_at_utc": "2026-10-15T02:14:52.578341+00:00",
322
  "generated_by": "scripts/fit_smplx_dataset.py",
323
  "file": "smplx.npz",
324
  "gender": "female",
@@ -333,189 +333,185 @@
333
  "hand_marker_offsets_m": {
334
  "left": {
335
  "LHandIn": [
336
- 0.03975672274827957,
337
- 0.0061166612431406975,
338
- 0.037444379180669785
339
  ],
340
  "LHandOut": [
341
- 0.04356228560209274,
342
- 0.027094610035419464,
343
- -0.015608828514814377
344
  ]
345
  },
346
  "right": {
347
  "RHandIn": [
348
- -0.06160722300410271,
349
- -0.0009204834932461381,
350
- 0.030875850468873978
351
  ],
352
  "RHandOut": [
353
- -0.06088670343160629,
354
- 0.02514486573636532,
355
- -0.021004969254136086
356
- ],
357
- "RWristIn": [
358
- -0.008125584572553635,
359
- -0.028593871742486954,
360
- 0.0396546944975853
361
  ]
362
  }
363
  }
364
  },
365
  "marker_rmse_mm": {
366
- "median_frame": 4.83,
367
- "p95_frame": 14.67
368
  },
369
  "worst_markers": [
370
- "LThigh 19mm",
371
- "CLAV 18mm",
372
- "WaistLFront 15mm",
373
- "WaistLBack 12mm",
374
- "WaistLSide 12mm"
375
  ],
376
  "valid_fraction": 1.0,
377
  "qc": {
378
  "lowest_vertex_mm": {
379
- "median": 6.4,
380
- "p5": -1.0
381
  },
382
- "frames_checked": 397,
383
- "stature_mm": 1582.0
384
  },
385
  "surface_term": {
386
  "weight": 1.0,
387
  "marker_height_mm": 11.0,
388
  "markers_on_surface": 52,
389
- "surface_rmse_mm_median": 14.68
390
  },
391
  "shape_source": "participant median",
392
  "wrist_correction": {
393
  "left": {
394
  "status": "corrected",
395
- "Q_deg": 156.28,
396
  "Q_rotvec": [
397
- -2.69612,
398
- -0.31316,
399
- 0.26961
400
  ],
401
- "in_out_sign": -1,
402
- "wrist_bend_deg_median": 131.2,
403
- "opposite_sign_bend_deg": 65.7,
404
- "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
405
- "marker_frame_spread_deg": 2.06,
406
  "hand_vs_marker_frame_deg": {
407
- "before": 156.57,
408
- "after": 2.06
409
  },
410
  "markers_on_wrist": [
411
  "LHandIn",
412
  "LHandOut"
413
  ],
414
  "forearm_twist": {
415
- "twist_moved_deg": -129.19,
416
  "wrist_twist_deg_after": {
417
- "median": -0.05,
418
  "iqr": [
419
- -2.9,
420
- 4.8
421
  ]
422
  },
423
- "wrist_total_deg_median_after": 28.6,
424
  "markers_on_forearm": [
 
425
  "LForearm",
426
  "LWristIn",
427
  "LWristOut"
428
  ]
429
  },
430
- "frames_used": 1189
431
  },
432
  "right": {
433
  "status": "corrected",
434
- "Q_deg": 41.34,
435
  "Q_rotvec": [
436
- 0.59655,
437
- 0.32546,
438
- -0.24221
439
  ],
440
  "in_out_sign": 1,
441
- "wrist_bend_deg_median": 53.8,
442
- "opposite_sign_bend_deg": 136.2,
443
  "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
444
- "marker_frame_spread_deg": 3.58,
445
  "hand_vs_marker_frame_deg": {
446
- "before": 41.92,
447
- "after": 3.58
448
  },
449
  "markers_on_wrist": [
450
- "RWristIn",
451
  "RHandIn",
452
  "RHandOut"
453
  ],
454
  "forearm_twist": {
455
- "twist_moved_deg": -46.68,
456
  "wrist_twist_deg_after": {
457
  "median": -0.0,
458
  "iqr": [
459
- -19.5,
460
- 9.4
461
  ]
462
  },
463
- "wrist_total_deg_median_after": 30.1,
464
  "markers_on_forearm": [
465
  "RForearm",
 
466
  "RWristOut"
467
  ]
468
  },
469
- "frames_used": 1189
470
  },
471
- "generated_at_utc": "2026-10-15T02:14:55.152334+00:00",
472
  "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
473
  }
474
  },
475
  "rig_tracker": {
476
- "definition": "e17c9efadb69e7b1/20260925-afternoon/labels-530412/session-349efc3a1a5c7a89",
477
  "R_tracker0_imu0": [
478
  [
479
- -0.58255598,
480
- 0.06730593,
481
- -0.80999904
482
  ],
483
  [
484
- 0.81278795,
485
- 0.05077892,
486
- -0.58034236
487
  ],
488
  [
489
- 0.00207039,
490
- -0.99643937,
491
- -0.08428702
492
  ]
493
  ],
494
  "p_tracker0_imu0_m": [
495
- -0.17838253842801866,
496
- 0.00121767082066852,
497
- 0.009158200688215738
498
  ],
499
  "rig_check": {
500
- "gyro_samples": 3439,
501
  "gyro_max_deg": 2.5,
502
  "status": "ok",
503
  "dropped_marker": null,
504
- "gyro_deg": 1.845
505
  },
506
  "file": "derived/rig_tracker_provider/rig_tracker.json",
507
  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
508
  },
509
  "rig_calibration_repair": {
510
  "version": 2,
511
- "applied_at_utc": "2026-10-18T19:04:33.871683+00:00",
512
  "generated_by": "scripts/correct_processed_rig.py",
513
- "remaining_gyro_frame_deg": 1.8736621957690143
514
  },
515
  "release": {
516
  "release_path": "actions/locomotion_posture_dynamics/D59/session_008",
517
  "family": "locomotion_posture_dynamics",
518
  "primitive": "D59",
519
- "source_session": "20260925/D59/20260925_080757_session84"
520
  }
521
  }
 
1
  {
2
  "schema_version": 1,
3
+ "session": "EgoMotionActions/20260929/D59/20260929_041034_session76",
4
+ "session_id": "20260929_041034_session76",
5
  "primitive": "D59",
6
+ "batch": "20260929",
7
+ "participant": "wangjingjing",
8
  "participant_source": "manifest",
9
  "device_ids": {
10
  "main": "e17c9efadb69e7b1",
11
  "left": "cc5681142208e29a",
12
  "right": "60a6f081bbe60b0d"
13
  },
14
+ "generated_at_utc": "2026-10-14T11:30:27.147133+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": 89.025,
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": -1.172735,
28
  "rate": 0.0,
29
+ "global_lag_s": -1.175,
30
+ "peak_corr": 0.9819,
31
+ "reference_imu_first_sample_s": 14068.973044385,
32
  "windows": {
33
+ "n_windows": 6,
34
+ "window_corr_median": 0.9967046300323034,
35
+ "drift_ppm": -10.41506000468286,
36
+ "drift_se_ppm": 5.122011754648815,
37
+ "drift_ms_over_take": -0.927113924750186,
38
+ "lag_scatter_ms": 0.17495000757517581,
39
+ "lag_range_ms": 0.7525961968912753
40
  }
41
  },
42
  "units": {
 
71
  "streams": {
72
  "sensors": {
73
  "imu_head_right": {
74
+ "n_acc": 18243,
75
+ "n_gyro": 18236,
76
+ "t_start": -1.1893562099305561,
77
+ "t_end": 89.76343847506884
78
  },
79
  "imu_head_left": {
80
+ "n_acc": 18212,
81
+ "n_gyro": 18206,
82
+ "t_start": -1.0735051279318575,
83
+ "t_end": 89.92872338306894
84
  },
85
  "imu_wrist_right": {
86
+ "n_acc": 17308,
87
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