| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20260910/LM21/20260910_100934_session174", |
| "session_id": "20260910_100934_session174", |
| "primitive": "LM21", |
| "batch": "20260910", |
| "participant": "mahui", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "e17c9efadb69e7b1", |
| "left": "cc5681142208e29a", |
| "right": "60a6f081bbe60b0d" |
| }, |
| "generated_at_utc": "2026-10-14T11:01:53.730212+00:00", |
| "generated_by": "scripts/sync_dataset.py", |
| "time_base": { |
| "definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled", |
| "mocap_rate_hz": 120.0, |
| "first_solved_frame": 0, |
| "duration_s": 109.025, |
| "mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)" |
| }, |
| "alignment": { |
| "reference_imu": "imu_head_right", |
| "model": "offset (median of windows)", |
| "mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample", |
| "offset_s": -1.173896, |
| "rate": 0.0, |
| "global_lag_s": -1.175, |
| "peak_corr": 0.991, |
| "reference_imu_first_sample_s": 35095.872190645, |
| "windows": { |
| "n_windows": 8, |
| "window_corr_median": 0.9984359073087785, |
| "drift_ppm": -3.4213985420066124, |
| "drift_se_ppm": 6.1850466708114515, |
| "drift_ms_over_take": -0.37298946438775415, |
| "lag_scatter_ms": 0.34713488345074855, |
| "lag_range_ms": 1.3027306305863906 |
| } |
| }, |
| "units": { |
| "mocap": "millimetres, Nokov world, Y-up (unchanged)", |
| "y_up_to_z_up": [ |
| [ |
| 1.0, |
| 0.0, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| -1.0 |
| ], |
| [ |
| 0.0, |
| 1.0, |
| 0.0 |
| ] |
| ], |
| "acc": "m/s^2 (8192 LSB/g)", |
| "gyro": "rad/s (65.536 LSB/dps)", |
| "mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)", |
| "quaternions": "xyzw, Nokov global" |
| }, |
| "calibration": { |
| "device": "e17c9efadb69e7b1", |
| "status": "ok", |
| "date": "2026-09-08" |
| }, |
| "streams": { |
| "sensors": { |
| "imu_head_right": { |
| "n_acc": 22255, |
| "n_gyro": 22248, |
| "t_start": -1.1858629543489587, |
| "t_end": 109.76339772165421 |
| }, |
| "imu_head_left": { |
| "n_acc": 22216, |
| "n_gyro": 22209, |
| "t_start": -1.075932729348533, |
| "t_end": 109.92685572365055 |
| }, |
| "imu_wrist_right": { |
| "n_acc": 20913, |
| "n_gyro": 20924, |
| "t_start": 0.34068322864961376, |
| "t_end": 103.68385657865339 |
| }, |
| "imu_wrist_left": { |
| "n_acc": 20397, |
| "n_gyro": 20397, |
| "t_start": 0.2212227956483912, |
| "t_end": 103.47729496564763 |
| }, |
| "mag_head": { |
| "n": 11109, |
| "t_start": -0.990641937350556, |
| "t_end": 110.08945457365236 |
| }, |
| "mag_wrist_right": { |
| "n": 10334, |
| "t_start": 0.35908939065167944, |
| "t_end": 103.68927528065298 |
| }, |
| "mag_wrist_left": { |
| "n": 10325, |
| "t_start": 0.23550548664981763, |
| "t_end": 103.47552181164839 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 35097.082986, |
| "frames": 3270, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0023423887986386703, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": 0.03924188444991161, |
| "t_end": 109.00591988444695, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 35097.082927, |
| "frames": 3270, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0019489646456461974, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": 0.03878946029773944, |
| "t_end": 109.00546746029478, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 35097.082964, |
| "frames": 3270, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0018171232386612972, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": 0.03869461888873049, |
| "t_end": 109.00537261888577, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 35097.083004, |
| "frames": 3270, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0017295646474508202, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": 0.03864706029755327, |
| "t_end": 109.00531406029815, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 30.0, |
| "start_device_s": 35097.082946, |
| "frames": 3270, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.001668932298833096, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": 0.038528427955061506, |
| "t_end": 109.0052064279521, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 35097.0829, |
| "frames": 3270, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0017169377622902274, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": 0.03853043341270679, |
| "t_end": 109.00520843340975, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "wrist_left": { |
| "fps": 30.0, |
| "start_device_s": 35097.259664, |
| "frames": 3098, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4", |
| "t_start": 0.2135774956482419, |
| "t_end": 103.44691049564473, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "wrist_right": { |
| "fps": 30.0, |
| "start_device_s": 35097.42363, |
| "frames": 3099, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4", |
| "t_start": 0.377543495648315, |
| "t_end": 103.64440549564507, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "third_person": { |
| "file": "mocap/mocap-LM21-S02-mahui-01p1-1.mp4", |
| "frames": 3271, |
| "fps": 30.0, |
| "clock": "nokov (frame index)", |
| "t_start": 0.0, |
| "t_end": 109.0 |
| } |
| } |
| }, |
| "flags": [], |
| "sanity": { |
| "status": { |
| "structure": "WARN", |
| "markers": "WARN", |
| "timing": "PASS" |
| }, |
| "verdict": "READY", |
| "issues": [ |
| "WARN M_SPIKES", |
| "WARN M_TRACKER_LABELS", |
| "WARN S_INDEX", |
| "WARN S_PARTICIPANT" |
| ] |
| }, |
| "canonical": { |
| "generated_at_utc": "2026-10-14T12:18:47.924883+00:00", |
| "generated_by": "scripts/canonicalise_dataset.py", |
| "frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)", |
| "R_canon_nokov": [ |
| [ |
| 0.9998951173, |
| -0.0144827759, |
| -5.99233e-05 |
| ], |
| [ |
| 5.99233e-05, |
| 0.0082745384, |
| -0.9999657636 |
| ], |
| [ |
| 0.0144827759, |
| 0.9998608809, |
| 0.0082745384 |
| ] |
| ], |
| "scale_nokov_to_canon": 0.001, |
| "T_canon_nokov_mm": [ |
| [ |
| 0.000999895117, |
| -1.4482776e-05, |
| -5.9923e-08, |
| 0.0 |
| ], |
| [ |
| 5.9923e-08, |
| 8.274538e-06, |
| -0.000999965764, |
| 0.0 |
| ], |
| [ |
| 1.4482776e-05, |
| 0.000999860881, |
| 8.274538e-06, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "block": "20260910-afternoon", |
| "block_assignment": "trc", |
| "tilt_removed_deg": 0.9557317120642068, |
| "plane_status": "ok", |
| "floor": { |
| "sole_marker_p1_mm": 37.1, |
| "headtop_p95_mm": 1649.2 |
| }, |
| "gravity_check": { |
| "static_samples": 1244, |
| "g_world_mean_m_s2": [ |
| -0.0833, |
| 0.0999, |
| 9.7828 |
| ], |
| "tilt_from_z_deg": 0.762, |
| "tilt_from_z_deg_before_levelling": 0.359, |
| "magnitude_m_s2": 9.7837 |
| }, |
| "rig_tracker_definition": "e17c9efadb69e7b1/20260910-afternoon/labels-530412/session-2a0273bcd989aeeb", |
| "camera_pose_source": "provider T_tracker0_cam", |
| "files": [ |
| "mocap_zup.npz", |
| "tracker0_zup.npz", |
| "rig_zup.npz", |
| "cameras_zup.npz" |
| ] |
| }, |
| "smplx": { |
| "generated_at_utc": "2026-10-15T06:59:32.516746+00:00", |
| "generated_by": "scripts/fit_smplx_dataset.py", |
| "file": "smplx.npz", |
| "gender": "female", |
| "n_betas": 16, |
| "betas_source": "participant median (derived/smplx/participants.json)", |
| "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", |
| "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", |
| "hands": { |
| "observed": true, |
| "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", |
| "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", |
| "hand_marker_offsets_m": { |
| "left": { |
| "LHandIn": [ |
| 0.054642658680677414, |
| 0.01052938587963581, |
| 0.025279957801103592 |
| ], |
| "LHandOut": [ |
| 0.04075564444065094, |
| 0.008834253065288067, |
| -0.030749887228012085 |
| ], |
| "LWristOut": [ |
| -0.022864697501063347, |
| 0.007788593415170908, |
| -0.020356252789497375 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.06074580177664757, |
| 0.012487590312957764, |
| 0.027990007773041725 |
| ], |
| "RHandOut": [ |
| -0.041847337037324905, |
| 0.014511151239275932, |
| -0.027983585372567177 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 4.2, |
| "p95_frame": 6.54 |
| }, |
| "worst_markers": [ |
| "RKneeIn 15mm", |
| "LKneeIn 13mm", |
| "RKnee 9mm", |
| "LHeel 8mm", |
| "RThigh 7mm" |
| ], |
| "valid_fraction": 0.9971, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": 9.1, |
| "p5": 1.8 |
| }, |
| "frames_checked": 435, |
| "stature_mm": 1631.4 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 10.34 |
| }, |
| "shape_source": "participant median", |
| "wrist_correction": { |
| "left": { |
| "status": "corrected", |
| "Q_deg": 180.0, |
| "Q_rotvec": [ |
| 2.98498, |
| -0.43373, |
| -0.87829 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 177.1, |
| "opposite_sign_bend_deg": 28.8, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 0.66, |
| "hand_vs_marker_frame_deg": { |
| "before": 179.71, |
| "after": 0.66 |
| }, |
| "markers_on_wrist": [ |
| "LWristOut", |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -174.31, |
| "wrist_twist_deg_after": { |
| "median": -4.45, |
| "iqr": [ |
| -6.9, |
| -1.6 |
| ] |
| }, |
| "wrist_total_deg_median_after": 12.9, |
| "markers_on_forearm": [ |
| "LElbowIn", |
| "LForearm", |
| "LWristIn" |
| ] |
| }, |
| "frames_used": 1305 |
| }, |
| "right": { |
| "status": "corrected", |
| "Q_deg": 0.0, |
| "Q_rotvec": [ |
| 0.0, |
| -0.0, |
| 0.0 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 13.0, |
| "opposite_sign_bend_deg": 176.9, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 0.94, |
| "hand_vs_marker_frame_deg": { |
| "before": 0.94, |
| "after": 0.94 |
| }, |
| "markers_on_wrist": [ |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": 0.0, |
| "wrist_twist_deg_after": { |
| "median": 0.0, |
| "iqr": [ |
| -2.3, |
| 3.0 |
| ] |
| }, |
| "wrist_total_deg_median_after": 13.0, |
| "markers_on_forearm": [ |
| "RElbow", |
| "RElbowIn", |
| "RForearm", |
| "RWristIn", |
| "RWristOut" |
| ] |
| }, |
| "frames_used": 1305 |
| }, |
| "generated_at_utc": "2026-10-28T06:11:39.457059+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "rig_tracker": { |
| "definition": "e17c9efadb69e7b1/20260910-afternoon/labels-530412/session-2a0273bcd989aeeb", |
| "R_tracker0_imu0": [ |
| [ |
| -0.64228395, |
| 0.37690863, |
| -0.66739135 |
| ], |
| [ |
| 0.76084205, |
| 0.20822898, |
| -0.61462189 |
| ], |
| [ |
| -0.09268607, |
| -0.90254118, |
| -0.42051007 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| -0.17168476402547805, |
| -0.01252667388990937, |
| -0.05074314447232211 |
| ], |
| "rig_check": { |
| "gyro_samples": 3401, |
| "gyro_max_deg": 2.5, |
| "status": "ok", |
| "dropped_marker": null, |
| "gyro_deg": 0.628 |
| }, |
| "file": "derived/rig_tracker_provider/rig_tracker.json", |
| "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" |
| }, |
| "rig_calibration_repair": { |
| "version": 2, |
| "applied_at_utc": "2026-10-18T18:50:01.129661+00:00", |
| "generated_by": "scripts/correct_processed_rig.py", |
| "remaining_gyro_frame_deg": 0.7207285899613057 |
| }, |
| "hands_registration": { |
| "cameras": {}, |
| "hands": { |
| "left": { |
| "offset_deg": 15.24, |
| "offset_rotvec": [ |
| 0.1895, |
| -0.1367, |
| 0.127 |
| ], |
| "dev_deg": { |
| "median": 19.15, |
| "p90": 31.51 |
| }, |
| "samples": 1883, |
| "accepted": 1661, |
| "wrist_pos_err_mm_median": 71.9, |
| "per_camera": { |
| "head": { |
| "samples": 1883, |
| "accepted": 1661, |
| "gate_deg": 30.0, |
| "offset_deg": 15.24, |
| "tier": "primary", |
| "dev_deg_median": 19.15, |
| "wrist_pos_err_mm_median": 71.9 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 6952, |
| "interpolated": 5928, |
| "mean_hand": 166, |
| "no_body_fit": 38 |
| }, |
| "observed_fraction": 0.9844, |
| "observed_fraction_of_valid": 0.9873, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 17.72, |
| "smplx": 0.42 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 5.5, |
| "p90": 7.8 |
| }, |
| "registered": { |
| "median": 6.0, |
| "p90": 7.5 |
| } |
| } |
| }, |
| "right": { |
| "offset_deg": 22.22, |
| "offset_rotvec": [ |
| 0.1543, |
| 0.3528, |
| -0.0461 |
| ], |
| "dev_deg": { |
| "median": 18.03, |
| "p90": 37.37 |
| }, |
| "samples": 2171, |
| "accepted": 1784, |
| "wrist_pos_err_mm_median": 76.2, |
| "per_camera": { |
| "head": { |
| "samples": 2171, |
| "accepted": 1784, |
| "gate_deg": 30.0, |
| "offset_deg": 22.22, |
| "tier": "primary", |
| "dev_deg_median": 18.03, |
| "wrist_pos_err_mm_median": 76.2 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 7426, |
| "interpolated": 4834, |
| "mean_hand": 786, |
| "no_body_fit": 38 |
| }, |
| "observed_fraction": 0.937, |
| "observed_fraction_of_valid": 0.9398, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 27.34, |
| "smplx": 0.58 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 7.4, |
| "p90": 8.3 |
| }, |
| "registered": { |
| "median": 6.9, |
| "p90": 7.5 |
| } |
| } |
| } |
| }, |
| "max_dev_deg": 30.0, |
| "max_gap_s": 1.0, |
| "cameras_used": [ |
| "head" |
| ], |
| "generated_at_utc": "2026-11-03T16:14:29.820528+00:00", |
| "generated_by": "scripts/register_hands_smplx.py", |
| "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", |
| "wrist_flip_suspect": [] |
| }, |
| "release": { |
| "release_path": "actions/locomanipulation/LM21/session_005", |
| "family": "locomanipulation", |
| "primitive": "LM21", |
| "source_session": "20260910/LM21/20260910_100934_session174" |
| }, |
| "task": { |
| "primitive": "LM21", |
| "instruction": "Carry the box straight from one end of the room to the other, set it down, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips." |
| } |
| } |
|
|
