| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20261015/LM21/20261015_095536_session53", |
| "session_id": "20261015_095536_session53", |
| "primitive": "LM21", |
| "batch": "20261015", |
| "participant": "lvaoshan", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "e3296774a321bb51", |
| "left": "75b5984e04d1d236", |
| "right": "c84bc808cb6b47af" |
| }, |
| "generated_at_utc": "2026-10-22T15:42:41.589787+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, |
| "mocap_rate_fix": null, |
| "first_solved_frame": 0, |
| "duration_s": 141.225, |
| "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": -0.089549, |
| "rate": 0.0, |
| "global_lag_s": -0.09, |
| "peak_corr": 0.9926, |
| "reference_imu_first_sample_s": 12325.982016121, |
| "windows": { |
| "n_windows": 13, |
| "window_corr_median": 0.9970015232635321, |
| "drift_ppm": -332.75267428523864, |
| "drift_se_ppm": 192.83180704062437, |
| "drift_ms_over_take": -46.990223486980454, |
| "lag_scatter_ms": 23.929797939408303, |
| "lag_range_ms": 101.43738181456489 |
| } |
| }, |
| "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": "e3296774a321bb51", |
| "status": "ok", |
| "date": "2026-10-21" |
| }, |
| "streams": { |
| "sensors": { |
| "imu_head_right": { |
| "n_acc": 28516, |
| "n_gyro": 28510, |
| "t_start": -0.10106479404503066, |
| "t_end": 141.42884467195353 |
| }, |
| "imu_head_left": { |
| "n_acc": 28378, |
| "n_gyro": 28372, |
| "t_start": 0.005955197954519598, |
| "t_end": 141.59473800295444 |
| }, |
| "imu_wrist_right": { |
| "n_acc": 28230, |
| "n_gyro": 28230, |
| "t_start": -0.792674790044928, |
| "t_end": 139.6497647809544 |
| }, |
| "imu_wrist_left": { |
| "n_acc": 28474, |
| "n_gyro": 28487, |
| "t_start": -0.8295702280459389, |
| "t_end": 139.64850427095433 |
| }, |
| "mag_head": { |
| "n": 14168, |
| "t_start": 0.08449228095442063, |
| "t_end": 141.7545858899545 |
| }, |
| "mag_wrist_right": { |
| "n": 14043, |
| "t_start": -0.7758233610450569, |
| "t_end": 139.64445273495465 |
| }, |
| "mag_wrist_left": { |
| "n": 14047, |
| "t_start": -0.8165187680454418, |
| "t_end": 139.6435460109539 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 12326.108807, |
| "frames": 4236, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0025546514432425653, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": 0.039796056397519486, |
| "t_end": 141.206463056397, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 12326.108788, |
| "frames": 4236, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002366886077403108, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": 0.039589291031645324, |
| "t_end": 141.20625629103114, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 12326.108802, |
| "frames": 4236, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0026728712083183277, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": 0.039909276164237006, |
| "t_end": 141.20657627616373, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 12326.108814, |
| "frames": 4236, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002595594493655556, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": 0.03984399944665906, |
| "t_end": 141.20651099944615, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 30.0, |
| "start_device_s": 12326.108795, |
| "frames": 4232, |
| "pts_gaps": 4, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002394386090989767, |
| "gap_test": { |
| "pts": { |
| "offset_ms": 35.6, |
| "corr": 0.913, |
| "err_ms": 33.2 |
| }, |
| "nominal": { |
| "offset_ms": 107.3, |
| "corr": 0.909, |
| "err_ms": 104.9 |
| } |
| }, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": 0.0396237910451438, |
| "t_end": 141.2229457910459, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 12326.108779, |
| "frames": 4236, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002315656053021164, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": 0.03952906100739906, |
| "t_end": 141.2061960610069, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "wrist_left": { |
| "fps": 30.0, |
| "start_device_s": 12325.229748, |
| "frames": 4214, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4", |
| "t_start": -0.8418175950458116, |
| "t_end": 139.5915804049534, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "wrist_right": { |
| "fps": 30.0, |
| "start_device_s": 12325.275512, |
| "frames": 4212, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4", |
| "t_start": -0.796053595045394, |
| "t_end": 139.57087340495372, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "third_person": { |
| "file": "mocap/mocap-LM21-S02-lvaoshan-01p1-1.mp4", |
| "frames": 4237, |
| "fps": 30.0, |
| "clock": "nokov (frame index)", |
| "t_start": 0.0, |
| "t_end": 141.2 |
| } |
| } |
| }, |
| "flags": [], |
| "sanity": { |
| "status": { |
| "structure": "WARN", |
| "markers": "WARN", |
| "timing": "WARN" |
| }, |
| "verdict": "READY_WITH_WARNINGS", |
| "issues": [ |
| "WARN M_SPIKES", |
| "WARN M_TRACKER_GEOM", |
| "WARN S_CALIB", |
| "WARN S_REPORT_TIMING", |
| "WARN T_FRAMES", |
| "WARN T_LAG_OUTLIER", |
| "WARN T_LAG_SCATTER", |
| "WARN T_PTS", |
| "WARN T_UNITS" |
| ] |
| }, |
| "rig_tracker": { |
| "definition": "e3296774a321bb51/20261015-afternoon/labels-235410/session-3a8fc1edd99801ae", |
| "R_tracker0_imu0": [ |
| [ |
| -0.59954539, |
| 0.2175832, |
| -0.77019665 |
| ], |
| [ |
| 0.7615958, |
| -0.14069147, |
| -0.63259604 |
| ], |
| [ |
| -0.24600237, |
| -0.96584857, |
| -0.08135953 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| 0.019812411030832103, |
| -0.014017322947754195, |
| -0.028176566070212045 |
| ], |
| "rig_check": { |
| "gyro_samples": 8789, |
| "gyro_max_deg": 2.5, |
| "status": "dropped_marker", |
| "dropped_marker": 0, |
| "gyro_deg": 2.315 |
| }, |
| "file": "derived/rig_tracker_provider/rig_tracker.json", |
| "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" |
| }, |
| "canonical": { |
| "generated_at_utc": "2026-10-24T05:11:08.562357+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": [ |
| [ |
| 0.999907077, |
| -0.0136318504, |
| -0.00010024 |
| ], |
| [ |
| 0.00010024, |
| 0.0147052486, |
| -0.999891867 |
| ], |
| [ |
| 0.0136318504, |
| 0.9997989439, |
| 0.0147052486 |
| ] |
| ], |
| "scale_nokov_to_canon": 0.001, |
| "T_canon_nokov_mm": [ |
| [ |
| 0.000999907077, |
| -1.363185e-05, |
| -1.0024e-07, |
| 0.0 |
| ], |
| [ |
| 1.0024e-07, |
| 1.4705249e-05, |
| -0.000999891867, |
| 0.0 |
| ], |
| [ |
| 1.363185e-05, |
| 0.000999798944, |
| 1.4705249e-05, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "block": "20261015-afternoon", |
| "block_assignment": "trc", |
| "tilt_removed_deg": 1.1489562255076442, |
| "plane_status": "ok", |
| "floor": { |
| "sole_marker_p1_mm": 28.9, |
| "headtop_p95_mm": 1679.4 |
| }, |
| "gravity_check": { |
| "static_samples": 1115, |
| "g_world_mean_m_s2": [ |
| -0.1013, |
| 0.2151, |
| 9.7957 |
| ], |
| "tilt_from_z_deg": 1.391, |
| "tilt_from_z_deg_before_levelling": 0.456, |
| "magnitude_m_s2": 9.7986 |
| }, |
| "rig_tracker_definition": "e3296774a321bb51/20261015-afternoon/labels-235410/session-3a8fc1edd99801ae", |
| "rig_check": { |
| "status": "dropped_marker", |
| "dropped_marker": 0, |
| "gyro_deg": 2.315 |
| }, |
| "camera_pose_source": "provider T_tracker0_cam", |
| "files": [ |
| "mocap_zup.npz", |
| "tracker0_zup.npz", |
| "rig_zup.npz", |
| "cameras_zup.npz" |
| ] |
| }, |
| "smplx": { |
| "generated_at_utc": "2026-10-23T00:12:35.781178+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": [ |
| 0.0887930691242218, |
| 0.008065302856266499, |
| 0.029341483488678932 |
| ], |
| "LHandOut": [ |
| 0.08591100573539734, |
| 0.01616585999727249, |
| -0.009519738145172596 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.06382071226835251, |
| -0.023607302457094193, |
| 0.008822050876915455 |
| ], |
| "RHandOut": [ |
| -0.06709601730108261, |
| 0.01182466372847557, |
| -0.010199030861258507 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 4.71, |
| "p95_frame": 8.1 |
| }, |
| "worst_markers": [ |
| "LShin 11mm", |
| "RThigh 10mm", |
| "LHeel 9mm", |
| "RHeel 9mm", |
| "RShin 9mm" |
| ], |
| "valid_fraction": 0.9999, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": 15.6, |
| "p5": 7.4 |
| }, |
| "frames_checked": 565, |
| "stature_mm": 1659.4 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 14.78 |
| }, |
| "shape_source": "participant median", |
| "wrist_correction": { |
| "left": { |
| "status": "corrected", |
| "Q_deg": 180.0, |
| "Q_rotvec": [ |
| 2.98315, |
| -0.44501, |
| -0.87886 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 177.8, |
| "opposite_sign_bend_deg": 30.1, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 1.0, |
| "hand_vs_marker_frame_deg": { |
| "before": 179.28, |
| "after": 1.0 |
| }, |
| "markers_on_wrist": [ |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": 177.06, |
| "wrist_twist_deg_after": { |
| "median": 1.03, |
| "iqr": [ |
| -1.1, |
| 2.2 |
| ] |
| }, |
| "wrist_total_deg_median_after": 11.7, |
| "markers_on_forearm": [ |
| "LElbow", |
| "LElbowIn", |
| "LForearm", |
| "LWristIn", |
| "LWristOut" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "right": { |
| "status": "corrected", |
| "Q_deg": 0.0, |
| "Q_rotvec": [ |
| 0.0, |
| 0.0, |
| -0.0 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 23.9, |
| "opposite_sign_bend_deg": 174.5, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 1.95, |
| "hand_vs_marker_frame_deg": { |
| "before": 1.95, |
| "after": 1.95 |
| }, |
| "markers_on_wrist": [ |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -0.0, |
| "wrist_twist_deg_after": { |
| "median": -0.0, |
| "iqr": [ |
| -8.5, |
| 4.0 |
| ] |
| }, |
| "wrist_total_deg_median_after": 23.8, |
| "markers_on_forearm": [ |
| "RElbowIn", |
| "RForearm", |
| "RWristIn", |
| "RWristOut" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "generated_at_utc": "2026-10-28T06:38:11.238404+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "hands_registration": { |
| "cameras": {}, |
| "hands": { |
| "left": { |
| "offset_deg": 27.36, |
| "offset_rotvec": [ |
| 0.4425, |
| -0.1162, |
| 0.1367 |
| ], |
| "dev_deg": { |
| "median": 13.54, |
| "p90": 26.88 |
| }, |
| "samples": 3482, |
| "accepted": 3274, |
| "wrist_pos_err_mm_median": 46.7, |
| "per_camera": { |
| "head": { |
| "samples": 3482, |
| "accepted": 3274, |
| "gate_deg": 30.0, |
| "offset_deg": 27.36, |
| "tier": "primary", |
| "dev_deg_median": 13.54, |
| "wrist_pos_err_mm_median": 46.7 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 13389, |
| "interpolated": 3517, |
| "mean_hand": 40, |
| "no_body_fit": 2 |
| }, |
| "observed_fraction": 0.9975, |
| "observed_fraction_of_valid": 0.9976, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 24.59, |
| "smplx": 1.08 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 9.1, |
| "p90": 13.3 |
| }, |
| "registered": { |
| "median": 8.0, |
| "p90": 9.9 |
| } |
| } |
| }, |
| "right": { |
| "offset_deg": 21.38, |
| "offset_rotvec": [ |
| 0.3449, |
| -0.0646, |
| -0.1267 |
| ], |
| "dev_deg": { |
| "median": 13.74, |
| "p90": 27.44 |
| }, |
| "samples": 3616, |
| "accepted": 3330, |
| "wrist_pos_err_mm_median": 45.2, |
| "per_camera": { |
| "head": { |
| "samples": 3616, |
| "accepted": 3330, |
| "gate_deg": 30.0, |
| "offset_deg": 21.38, |
| "tier": "primary", |
| "dev_deg_median": 13.74, |
| "wrist_pos_err_mm_median": 45.2 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 13529, |
| "interpolated": 2977, |
| "mean_hand": 440, |
| "no_body_fit": 2 |
| }, |
| "observed_fraction": 0.9739, |
| "observed_fraction_of_valid": 0.974, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 20.23, |
| "smplx": 1.53 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 8.6, |
| "p90": 13.4 |
| }, |
| "registered": { |
| "median": 8.6, |
| "p90": 13.9 |
| } |
| } |
| } |
| }, |
| "max_dev_deg": 30.0, |
| "max_gap_s": 1.0, |
| "cameras_used": [ |
| "head" |
| ], |
| "generated_at_utc": "2026-11-03T21:52:30.206173+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_024", |
| "family": "locomanipulation", |
| "primitive": "LM21", |
| "source_session": "20261015/LM21/20261015_095536_session53" |
| }, |
| "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." |
| }, |
| "objects": [ |
| { |
| "name": "BigBox", |
| "object_type": "BigBox", |
| "source": "mocap", |
| "pose_frame": "mesh" |
| } |
| ] |
| } |
|
|
