| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20261028/SM09/20261028_075741_session92", |
| "session_id": "20261028_075741_session92", |
| "primitive": "SM09", |
| "batch": "20261028", |
| "participant": "yanyitong", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "c9205ac6e17d2d5c", |
| "left": "452031d7af00ef6f", |
| "right": "60a6f081bbe60b0d" |
| }, |
| "generated_at_utc": "2026-10-30T07:31:56.197332+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": 7, |
| "duration_s": 118.76666666666667, |
| "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": -0.084044, |
| "rate": 0.0, |
| "global_lag_s": -0.085, |
| "peak_corr": 0.9812, |
| "reference_imu_first_sample_s": 22462.613097776, |
| "windows": { |
| "n_windows": 10, |
| "window_corr_median": 0.9789223808374121, |
| "drift_ppm": 7.515221734843177, |
| "drift_se_ppm": 27.493609010270443, |
| "drift_ms_over_take": 0.8929335957949501, |
| "lag_scatter_ms": 2.2335913548148234, |
| "lag_range_ms": 8.594919942237016 |
| } |
| }, |
| "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": "c9205ac6e17d2d5c", |
| "status": "ok", |
| "date": "2026-10-21" |
| }, |
| "streams": { |
| "sensors": { |
| "imu_head_right": { |
| "n_acc": 24182, |
| "n_gyro": 24177, |
| "t_start": -0.14887888131655044, |
| "t_end": 118.96824724768355 |
| }, |
| "imu_head_left": { |
| "n_acc": 24035, |
| "n_gyro": 24029, |
| "t_start": -0.04097208931655613, |
| "t_end": 119.13490738868329 |
| }, |
| "imu_wrist_right": { |
| "n_acc": 24059, |
| "n_gyro": 24059, |
| "t_start": -0.8431894813164311, |
| "t_end": 118.05951335368643 |
| }, |
| "imu_wrist_left": { |
| "n_acc": 24109, |
| "n_gyro": 24120, |
| "t_start": -1.0128881133149028, |
| "t_end": 118.05823436368352 |
| }, |
| "mag_head": { |
| "n": 11924, |
| "t_start": 0.06565441068430092, |
| "t_end": 119.29565321768511 |
| }, |
| "mag_wrist_right": { |
| "n": 11889, |
| "t_start": -0.8251619213168218, |
| "t_end": 118.05452370368418 |
| }, |
| "mag_wrist_left": { |
| "n": 11906, |
| "t_start": -0.9952497483153186, |
| "t_end": 118.05426789968458 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 22462.734531, |
| "frames": 3564, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0026284356473863946, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": -0.018315488670696406, |
| "t_end": 118.74828451132832, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 22462.734484, |
| "frames": 3564, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0024181146161434135, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": -0.018572809700190457, |
| "t_end": 118.74802719029883, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 22462.734516, |
| "frames": 3564, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002458947067077895, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": -0.01849997724805716, |
| "t_end": 118.74808902275088, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 22462.734545, |
| "frames": 3564, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0021420814739499558, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": -0.018787842842203, |
| "t_end": 118.74781215715682, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 60.0, |
| "start_device_s": 22462.734497, |
| "frames": 3537, |
| "pts_gaps": 3536, |
| "timing": "pts (gap undecided)", |
| "timeshift_cam_imu_s": 0.002801984596191448, |
| "gap_test": { |
| "pts": { |
| "offset_ms": -3.1, |
| "corr": 0.858, |
| "err_ms": 5.9 |
| }, |
| "nominal": { |
| "offset_ms": 90.5, |
| "corr": 0.092, |
| "err_ms": 87.7 |
| } |
| }, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": -0.018175939718121564, |
| "t_end": 118.7484240602809, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 22462.734461, |
| "frames": 3564, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002930366888236734, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": -0.01808355742635312, |
| "t_end": 118.74851644257267, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "wrist_left": { |
| "fps": 30.0, |
| "start_device_s": 22461.788544, |
| "frames": 3570, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4", |
| "t_start": -0.9669309243161754, |
| "t_end": 117.99928007568285, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "wrist_right": { |
| "fps": 30.0, |
| "start_device_s": 22461.907069, |
| "frames": 3567, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4", |
| "t_start": -0.8484059243144932, |
| "t_end": 118.01793507568634, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "third_person": { |
| "file": "mocap/mocap-SM09-S01-yanyitong-02p1-1.mp4", |
| "frames": 3565, |
| "fps": 30.0, |
| "clock": "nokov (frame index)", |
| "t_start": -0.058333333333333334, |
| "t_end": 118.74166666666666 |
| } |
| } |
| }, |
| "flags": [], |
| "sanity": "no sanity report covers this session (run scripts/sanity_check.py)", |
| "rig_tracker": { |
| "definition": "c9205ac6e17d2d5c/20261028-afternoon/labels-235140/session-a3754ba4cfe4edc5", |
| "R_tracker0_imu0": [ |
| [ |
| -0.67266641, |
| 0.0121348, |
| -0.73984637 |
| ], |
| [ |
| 0.73363337, |
| 0.14126285, |
| -0.6647006 |
| ], |
| [ |
| 0.09644679, |
| -0.98989775, |
| -0.10392527 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| -0.18183788214133126, |
| -0.013764688822902445, |
| 0.0049565717603538345 |
| ], |
| "rig_check": { |
| "gyro_samples": 3195, |
| "gyro_max_deg": 2.5, |
| "status": "ok", |
| "dropped_marker": null, |
| "gyro_deg": 2.08 |
| }, |
| "file": "derived/rig_tracker_provider/rig_tracker.json", |
| "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" |
| }, |
| "canonical": { |
| "generated_at_utc": "2026-10-30T18:48:45.199265+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": [ |
| [ |
| 0.9999849425, |
| 0.0054876377, |
| 2.47109e-05 |
| ], |
| [ |
| -2.47109e-05, |
| 0.0090057756, |
| -0.9999594469 |
| ], |
| [ |
| -0.0054876377, |
| 0.9999443894, |
| 0.0090057756 |
| ] |
| ], |
| "scale_nokov_to_canon": 0.001, |
| "T_canon_nokov_mm": [ |
| [ |
| 0.000999984942, |
| 5.487638e-06, |
| 2.4711e-08, |
| 0.0 |
| ], |
| [ |
| -2.4711e-08, |
| 9.005776e-06, |
| -0.000999959447, |
| 0.0 |
| ], |
| [ |
| -5.487638e-06, |
| 0.000999944389, |
| 9.005776e-06, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "block": "20261028-afternoon", |
| "block_assignment": "trc", |
| "tilt_removed_deg": 0.6042526163605274, |
| "plane_status": "ok", |
| "floor": { |
| "sole_marker_p1_mm": 33.4, |
| "headtop_p95_mm": 1624.6 |
| }, |
| "gravity_check": { |
| "static_samples": 3026, |
| "g_world_mean_m_s2": [ |
| 0.1028, |
| 0.1407, |
| 9.7555 |
| ], |
| "tilt_from_z_deg": 1.023, |
| "tilt_from_z_deg_before_levelling": 0.424, |
| "magnitude_m_s2": 9.7571 |
| }, |
| "rig_tracker_definition": "c9205ac6e17d2d5c/20261028-afternoon/labels-235140/session-a3754ba4cfe4edc5", |
| "rig_check": { |
| "status": "ok", |
| "dropped_marker": null, |
| "gyro_deg": 2.08 |
| }, |
| "camera_pose_source": "provider T_tracker0_cam", |
| "files": [ |
| "mocap_zup.npz", |
| "tracker0_zup.npz", |
| "rig_zup.npz", |
| "cameras_zup.npz" |
| ] |
| }, |
| "smplx": { |
| "generated_at_utc": "2026-11-02T16:50:26.329900+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": false, |
| "hand_pose": "flat (zeros, flat_hand_mean=True)", |
| "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", |
| "hand_marker_offsets_m": { |
| "left": { |
| "LHandIn": [ |
| 0.060411643236875534, |
| 0.012628133408725262, |
| 0.028569236397743225 |
| ], |
| "LHandOut": [ |
| 0.0563306026160717, |
| 0.019292963668704033, |
| -0.021190792322158813 |
| ], |
| "LWristOut": [ |
| -0.009725288487970829, |
| 0.032979171723127365, |
| -0.004084773361682892 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.06829569488763809, |
| 0.009267037734389305, |
| 0.02559729665517807 |
| ], |
| "RHandOut": [ |
| -0.05469748005270958, |
| 0.019633391872048378, |
| -0.01735031045973301 |
| ], |
| "RWristOut": [ |
| 0.011223402805626392, |
| 0.030311323702335358, |
| -0.015388255938887596 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 4.2, |
| "p95_frame": 6.81 |
| }, |
| "worst_markers": [ |
| "RKneeIn 13mm", |
| "RElbowIn 11mm", |
| "LElbowIn 9mm", |
| "RShin 8mm", |
| "LThigh 7mm" |
| ], |
| "valid_fraction": 1.0, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": 17.7, |
| "p5": 11.2 |
| }, |
| "frames_checked": 476, |
| "stature_mm": 1600.3 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 12.84 |
| }, |
| "shape_source": "participant median", |
| "wrist_correction": { |
| "left": { |
| "status": "corrected", |
| "Q_deg": 23.91, |
| "Q_rotvec": [ |
| 0.25457, |
| -0.22674, |
| 0.24059 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 26.8, |
| "opposite_sign_bend_deg": 175.0, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 2.06, |
| "hand_vs_marker_frame_deg": { |
| "before": 24.14, |
| "after": 2.06 |
| }, |
| "markers_on_wrist": [ |
| "LWristOut", |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": 7.37, |
| "wrist_twist_deg_after": { |
| "median": 0.0, |
| "iqr": [ |
| -6.1, |
| 2.1 |
| ] |
| }, |
| "wrist_total_deg_median_after": 25.5, |
| "markers_on_forearm": [ |
| "LForearm", |
| "LWristIn" |
| ] |
| }, |
| "frames_used": 1426 |
| }, |
| "right": { |
| "status": "corrected", |
| "Q_deg": 18.76, |
| "Q_rotvec": [ |
| 0.32679, |
| -0.00068, |
| -0.02052 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 21.1, |
| "opposite_sign_bend_deg": 170.8, |
| "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": 19.46, |
| "after": 2.47 |
| }, |
| "markers_on_wrist": [ |
| "RWristOut", |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -11.97, |
| "wrist_twist_deg_after": { |
| "median": -0.0, |
| "iqr": [ |
| -3.0, |
| 11.3 |
| ] |
| }, |
| "wrist_total_deg_median_after": 16.6, |
| "markers_on_forearm": [ |
| "RElbow", |
| "RForearm", |
| "RWristIn" |
| ] |
| }, |
| "frames_used": 1426 |
| }, |
| "generated_at_utc": "2026-11-02T16:50:29.527358+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "release": { |
| "release_path": "actions/static_manipulation/SM09/session_005", |
| "family": "static_manipulation", |
| "primitive": "SM09", |
| "source_session": "20261028/SM09/20261028_075741_session92" |
| }, |
| "task": { |
| "primitive": "SM09", |
| "instruction": "Slide the object into the slot on the shelf in front of you. It is a close fit, so take the time you need. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator." |
| } |
| } |
|
|
