| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20260922/LM21/20260922_014743_session4", |
| "session_id": "20260922_014743_session4", |
| "primitive": "LM21", |
| "batch": "20260922", |
| "participant": "wangyang", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "e17c9efadb69e7b1", |
| "left": "cc5681142208e29a", |
| "right": "60a6f081bbe60b0d" |
| }, |
| "generated_at_utc": "2026-10-14T11:21:45.570447+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": 124.025, |
| "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": -1.168663, |
| "rate": 0.0, |
| "global_lag_s": -1.17, |
| "peak_corr": 0.9905, |
| "reference_imu_first_sample_s": 370.181203707, |
| "windows": { |
| "n_windows": 11, |
| "window_corr_median": 0.9965590385972104, |
| "drift_ppm": 3.375943935533034, |
| "drift_se_ppm": 11.677907138626132, |
| "drift_ms_over_take": 0.4186733137383551, |
| "lag_scatter_ms": 1.1078635458599477, |
| "lag_range_ms": 3.5086351280775308 |
| } |
| }, |
| "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": 25269, |
| "n_gyro": 25263, |
| "t_start": -1.1852242224122504, |
| "t_end": 124.79150761258776 |
| }, |
| "imu_head_left": { |
| "n_acc": 25223, |
| "n_gyro": 25219, |
| "t_start": -1.0734237844122616, |
| "t_end": 124.95575079258774 |
| }, |
| "imu_wrist_right": { |
| "n_acc": 24297, |
| "n_gyro": 24310, |
| "t_start": 0.3810082685877434, |
| "t_end": 120.45464115758776 |
| }, |
| "imu_wrist_left": { |
| "n_acc": 23749, |
| "n_gyro": 23761, |
| "t_start": 0.18813908258774759, |
| "t_end": 120.41967983358776 |
| }, |
| "mag_head": { |
| "n": 12612, |
| "t_start": -0.9892615974122576, |
| "t_end": 125.12074287958777 |
| }, |
| "mag_wrist_right": { |
| "n": 12007, |
| "t_start": 0.39431749758775836, |
| "t_end": 120.45432475058774 |
| }, |
| "mag_wrist_left": { |
| "n": 12016, |
| "t_start": 0.20245267358776586, |
| "t_end": 120.35237470358774 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 371.387556, |
| "frames": 3720, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0023423887986386703, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": 0.04003190738640128, |
| "t_end": 124.00667590738638, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 371.387484, |
| "frames": 3720, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0019489646456461974, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": 0.039566483233352434, |
| "t_end": 124.00622248323336, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 371.387534, |
| "frames": 3720, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0018171232386612972, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": 0.03948464182641387, |
| "t_end": 124.00612864182645, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 371.387578, |
| "frames": 3720, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0017295646474508202, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": 0.03944108323522655, |
| "t_end": 124.00608508323526, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 30.0, |
| "start_device_s": 371.387508, |
| "frames": 3720, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.001668932298833096, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": 0.03931045088662599, |
| "t_end": 124.00596645088663, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 371.387451, |
| "frames": 3720, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0017169377622902274, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": 0.03930145635004023, |
| "t_end": 124.00596845635002, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "wrist_left": { |
| "fps": 30.0, |
| "start_device_s": 371.524751, |
| "frames": 3607, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4", |
| "t_start": 0.1748845185877259, |
| "t_end": 120.37481951858771, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "wrist_right": { |
| "fps": 30.0, |
| "start_device_s": 371.715232, |
| "frames": 3603, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4", |
| "t_start": 0.3653655185877598, |
| "t_end": 120.43203251858776, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "third_person": { |
| "file": "mocap/mocap-LM21-S02-wangyang-01p1-1.mp4", |
| "frames": 3721, |
| "fps": 60.0, |
| "clock": "nokov (frame index)", |
| "t_start": 0.0, |
| "t_end": 62.0 |
| } |
| } |
| }, |
| "flags": [], |
| "sanity": { |
| "status": { |
| "structure": "WARN", |
| "markers": "WARN", |
| "timing": "WARN" |
| }, |
| "verdict": "READY_WITH_WARNINGS", |
| "issues": [ |
| "WARN M_BODY_ID", |
| "WARN M_SPIKES", |
| "WARN M_TRACKER_LABELS", |
| "WARN S_VIDEO_FPS", |
| "WARN T_UNITS" |
| ] |
| }, |
| "canonical": { |
| "generated_at_utc": "2026-10-14T12:21:23.275893+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": [ |
| [ |
| 0.9999891338, |
| -0.0046617433, |
| -2.23966e-05 |
| ], |
| [ |
| 2.23966e-05, |
| 0.0096084269, |
| -0.9999538377 |
| ], |
| [ |
| 0.0046617433, |
| 0.9999429715, |
| 0.0096084269 |
| ] |
| ], |
| "scale_nokov_to_canon": 0.001, |
| "T_canon_nokov_mm": [ |
| [ |
| 0.000999989134, |
| -4.661743e-06, |
| -2.2397e-08, |
| 0.0 |
| ], |
| [ |
| 2.2397e-08, |
| 9.608427e-06, |
| -0.000999953838, |
| 0.0 |
| ], |
| [ |
| 4.661743e-06, |
| 0.000999942972, |
| 9.608427e-06, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "block": "20260922-morning", |
| "block_assignment": "trc", |
| "tilt_removed_deg": 0.6119072705165756, |
| "plane_status": "ok", |
| "floor": { |
| "sole_marker_p1_mm": 54.5, |
| "headtop_p95_mm": 1777.5 |
| }, |
| "gravity_check": { |
| "static_samples": 1592, |
| "g_world_mean_m_s2": [ |
| -0.0056, |
| 0.0305, |
| 9.7715 |
| ], |
| "tilt_from_z_deg": 0.182, |
| "tilt_from_z_deg_before_levelling": 0.439, |
| "magnitude_m_s2": 9.7716 |
| }, |
| "rig_tracker_definition": "e17c9efadb69e7b1/20260922-morning/labels-352410/session-2c45d11274a663aa", |
| "camera_pose_source": "provider T_tracker0_cam", |
| "files": [ |
| "mocap_zup.npz", |
| "tracker0_zup.npz", |
| "rig_zup.npz", |
| "cameras_zup.npz" |
| ] |
| }, |
| "smplx": { |
| "generated_at_utc": "2026-10-15T10:09:31.634766+00:00", |
| "generated_by": "scripts/fit_smplx_dataset.py", |
| "file": "smplx.npz", |
| "gender": "male", |
| "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": [ |
| 0.08046332001686096, |
| 0.01274031214416027, |
| -0.02092665247619152 |
| ], |
| "LHandOut": [ |
| 0.07777053117752075, |
| -0.02024468407034874, |
| 0.017111992463469505 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.045475073158741, |
| 0.005636964924633503, |
| 0.03953757509589195 |
| ], |
| "RHandOut": [ |
| -0.0462704598903656, |
| 0.03635783493518829, |
| -0.0035124195273965597 |
| ], |
| "RWristOut": [ |
| 0.03647917881608009, |
| 0.032520830631256104, |
| 0.003925427794456482 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 5.96, |
| "p95_frame": 13.19 |
| }, |
| "worst_markers": [ |
| "CLAV 17mm", |
| "WaistRFront 12mm", |
| "WaistLSide 12mm", |
| "LKneeIn 12mm", |
| "LThigh 12mm" |
| ], |
| "valid_fraction": 1.0, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": 5.4, |
| "p5": -1.2 |
| }, |
| "frames_checked": 497, |
| "stature_mm": 1765.5 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 16.95 |
| }, |
| "shape_source": "participant median", |
| "wrist_correction": { |
| "left": { |
| "status": "corrected", |
| "Q_deg": 180.0, |
| "Q_rotvec": [ |
| 3.02706, |
| -0.2415, |
| -0.80509 |
| ], |
| "in_out_sign": -1, |
| "q_source": "markers (sign flipped by GSI)", |
| "gsi": { |
| "reliable": true, |
| "frames": 3000, |
| "inlier_frac": 0.981, |
| "inlier_spread_deg": 6.92, |
| "marker_Q_to_gsi_deg": { |
| "1": 169.7, |
| "-1": 14.7 |
| } |
| }, |
| "wrist_bend_deg_median": 170.4, |
| "opposite_sign_bend_deg": 15.8, |
| "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 2.99, |
| "hand_vs_marker_frame_deg": { |
| "before": 178.08, |
| "after": 2.99 |
| }, |
| "markers_on_wrist": [ |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -169.22, |
| "wrist_twist_deg_after": { |
| "median": -1.15, |
| "iqr": [ |
| -4.9, |
| 20.1 |
| ] |
| }, |
| "wrist_total_deg_median_after": 39.9, |
| "markers_on_forearm": [ |
| "LForearm", |
| "LWristIn", |
| "LWristOut" |
| ] |
| }, |
| "frames_used": 1489 |
| }, |
| "right": { |
| "status": "corrected", |
| "Q_deg": 0.0, |
| "Q_rotvec": [ |
| -0.0, |
| 0.0, |
| -0.0 |
| ], |
| "in_out_sign": 1, |
| "q_source": "markers (GSI confirms)", |
| "gsi": { |
| "reliable": true, |
| "frames": 3000, |
| "inlier_frac": 0.998, |
| "inlier_spread_deg": 6.22, |
| "marker_Q_to_gsi_deg": { |
| "1": 10.9, |
| "-1": 178.9 |
| } |
| }, |
| "wrist_bend_deg_median": 28.2, |
| "opposite_sign_bend_deg": 176.4, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 2.47, |
| "hand_vs_marker_frame_deg": { |
| "before": 2.47, |
| "after": 2.47 |
| }, |
| "markers_on_wrist": [ |
| "RWristOut", |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -0.0, |
| "wrist_twist_deg_after": { |
| "median": -0.0, |
| "iqr": [ |
| -2.5, |
| 2.8 |
| ] |
| }, |
| "wrist_total_deg_median_after": 28.2, |
| "markers_on_forearm": [ |
| "RForearm", |
| "RWristIn" |
| ] |
| }, |
| "frames_used": 1489 |
| }, |
| "generated_at_utc": "2026-11-06T13:55:10.734929+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "rig_tracker": { |
| "definition": "e17c9efadb69e7b1/20260922-morning/labels-352410/session-2c45d11274a663aa", |
| "R_tracker0_imu0": [ |
| [ |
| -0.63409423, |
| 0.14149553, |
| -0.76019966 |
| ], |
| [ |
| 0.76689713, |
| 0.24089556, |
| -0.59484294 |
| ], |
| [ |
| 0.0989611, |
| -0.96018141, |
| -0.261263 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| -0.17817808400094126, |
| -0.009766751176259445, |
| -0.0067726591620028455 |
| ], |
| "rig_check": { |
| "gyro_samples": 6775, |
| "gyro_max_deg": 2.5, |
| "status": "ok", |
| "dropped_marker": null, |
| "gyro_deg": 0.572 |
| }, |
| "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": "2026-10-18T19:01:10.112350+00:00", |
| "generated_by": "scripts/correct_processed_rig.py", |
| "remaining_gyro_frame_deg": 0.673374884085813 |
| }, |
| "hands_registration": { |
| "cameras": {}, |
| "hands": { |
| "left": { |
| "offset_deg": 14.78, |
| "offset_rotvec": [ |
| -0.1587, |
| 0.1955, |
| 0.0558 |
| ], |
| "dev_deg": { |
| "median": 7.02, |
| "p90": 12.89 |
| }, |
| "samples": 3714, |
| "accepted": 3635, |
| "wrist_pos_err_mm_median": 41.1, |
| "per_camera": { |
| "head": { |
| "samples": 3714, |
| "accepted": 3635, |
| "gate_deg": 30.0, |
| "offset_deg": 14.78, |
| "tier": "primary", |
| "dev_deg_median": 7.02, |
| "wrist_pos_err_mm_median": 41.1 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 14544, |
| "interpolated": 16, |
| "mean_hand": 324, |
| "no_body_fit": 0 |
| }, |
| "observed_fraction": 0.9782, |
| "observed_fraction_of_valid": 0.9782, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 17.29, |
| "smplx": 2.73 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 9.0, |
| "p90": 14.2 |
| }, |
| "registered": { |
| "median": 8.0, |
| "p90": 14.0 |
| } |
| } |
| }, |
| "right": { |
| "offset_deg": 11.02, |
| "offset_rotvec": [ |
| 0.0211, |
| -0.1712, |
| -0.0851 |
| ], |
| "dev_deg": { |
| "median": 6.2, |
| "p90": 10.72 |
| }, |
| "samples": 3659, |
| "accepted": 3647, |
| "wrist_pos_err_mm_median": 23.9, |
| "per_camera": { |
| "head": { |
| "samples": 3659, |
| "accepted": 3647, |
| "gate_deg": 30.0, |
| "offset_deg": 11.02, |
| "tier": "primary", |
| "dev_deg_median": 6.2, |
| "wrist_pos_err_mm_median": 23.9 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 14608, |
| "interpolated": 264, |
| "mean_hand": 12, |
| "no_body_fit": 0 |
| }, |
| "observed_fraction": 0.9992, |
| "observed_fraction_of_valid": 0.9992, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 12.57, |
| "smplx": 1.35 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 9.3, |
| "p90": 14.5 |
| }, |
| "registered": { |
| "median": 8.8, |
| "p90": 14.0 |
| } |
| } |
| } |
| }, |
| "max_dev_deg": 30.0, |
| "max_gap_s": 1.0, |
| "cameras_used": [ |
| "head" |
| ], |
| "generated_at_utc": "2026-11-06T15:07:00.847249+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_014", |
| "family": "locomanipulation", |
| "primitive": "LM21", |
| "source_session": "20260922/LM21/20260922_014743_session4" |
| }, |
| "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." |
| } |
| } |
|
|
