| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20261017/SM13/20261017_110030_session13", |
| "session_id": "20261017_110030_session13", |
| "primitive": "SM13", |
| "batch": "20261017", |
| "participant": "gaoziyue", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "c9205ac6e17d2d5c", |
| "left": "452031d7af00ef6f", |
| "right": "a85418f7d807dff9" |
| }, |
| "generated_at_utc": "2026-10-22T16:02:18.733893+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": 125.925, |
| "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": -0.088572, |
| "rate": 0.0, |
| "global_lag_s": -0.09, |
| "peak_corr": 0.9129, |
| "reference_imu_first_sample_s": 3983.519963601, |
| "windows": { |
| "n_windows": 11, |
| "window_corr_median": 0.7767963300253352, |
| "drift_ppm": 10.752572480743778, |
| "drift_se_ppm": 22.796893206732424, |
| "drift_ms_over_take": 1.3539280848669872, |
| "lag_scatter_ms": 2.162703183266827, |
| "lag_range_ms": 8.604105479502271 |
| } |
| }, |
| "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": 25627, |
| "n_gyro": 25621, |
| "t_start": -0.10001087667470479, |
| "t_end": 126.13377067932569 |
| }, |
| "imu_head_left": { |
| "n_acc": 25469, |
| "n_gyro": 25463, |
| "t_start": 0.011062730325275466, |
| "t_end": 126.29651783432573 |
| }, |
| "imu_wrist_right": { |
| "n_acc": 24897, |
| "n_gyro": 24909, |
| "t_start": -0.8296204476745601, |
| "t_end": 124.90496802232528 |
| }, |
| "imu_wrist_left": { |
| "n_acc": 25459, |
| "n_gyro": 25459, |
| "t_start": -0.825739046674616, |
| "t_end": 124.90889661432547 |
| }, |
| "mag_head": { |
| "n": 12637, |
| "t_start": 0.09503737432541179, |
| "t_end": 126.45503355932496 |
| }, |
| "mag_wrist_right": { |
| "n": 12572, |
| "t_start": -0.8106642766746603, |
| "t_end": 124.8988397543254 |
| }, |
| "mag_wrist_left": { |
| "n": 12572, |
| "t_start": -0.8079715456746357, |
| "t_end": 124.901609366325 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 3983.646343, |
| "frames": 3777, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0026284356473863946, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": 0.0404354119724217, |
| "t_end": 125.90704641197235, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 3983.646286, |
| "frames": 3777, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0024181146161434135, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": 0.040168090941361284, |
| "t_end": 125.90681209094154, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 3983.646323, |
| "frames": 3777, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002458947067077895, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": 0.04024592339245878, |
| "t_end": 125.90686792339247, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 3983.646358, |
| "frames": 3777, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0021420814739499558, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": 0.039964057799434655, |
| "t_end": 125.90656405779927, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 30.0, |
| "start_device_s": 3983.646306, |
| "frames": 3776, |
| "pts_gaps": 1, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002801984596191448, |
| "gap_test": { |
| "pts": { |
| "offset_ms": -10.0, |
| "corr": 0.824, |
| "err_ms": 12.8 |
| }, |
| "nominal": { |
| "offset_ms": 39.9, |
| "corr": 0.824, |
| "err_ms": 37.1 |
| } |
| }, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": 0.0405719609217072, |
| "t_end": 125.92377196092102, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 3983.646255, |
| "frames": 3777, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002930366888236734, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": 0.04064934321385458, |
| "t_end": 125.9073053432131, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "wrist_left": { |
| "fps": 30.0, |
| "start_device_s": 3982.779372, |
| "frames": 3772, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4", |
| "t_start": -0.8291640236747384, |
| "t_end": 124.8704449763255, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "wrist_right": { |
| "fps": 30.0, |
| "start_device_s": 3982.775059, |
| "frames": 3772, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4", |
| "t_start": -0.8334770236746494, |
| "t_end": 124.86600197632569, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "third_person": { |
| "file": "mocap/mocap-SM13-S01-gaoziyue-02p1-1.mp4", |
| "frames": 3778, |
| "fps": 30.0, |
| "clock": "nokov (frame index)", |
| "t_start": 0.0, |
| "t_end": 125.9 |
| } |
| } |
| }, |
| "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_CALIB", |
| "WARN S_REPORT_TIMING", |
| "WARN T_LAG_OUTLIER", |
| "WARN T_PTS", |
| "WARN T_RIG_TRACKER" |
| ] |
| }, |
| "rig_tracker": { |
| "definition": "c9205ac6e17d2d5c/20261017-afternoon/labels-053142/session-c618c40ce5cb831f", |
| "R_tracker0_imu0": [ |
| [ |
| -0.75975443, |
| 0.1914932, |
| -0.62137232 |
| ], |
| [ |
| 0.64093027, |
| 0.0596817, |
| -0.76527543 |
| ], |
| [ |
| -0.10946049, |
| -0.97967773, |
| -0.16807723 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| -0.17341097765669403, |
| -0.03789019792824922, |
| -0.02862271553318776 |
| ], |
| "rig_check": { |
| "gyro_samples": 345, |
| "gyro_max_deg": 2.5, |
| "status": "ok", |
| "dropped_marker": null, |
| "gyro_deg": 1.601 |
| }, |
| "file": "derived/rig_tracker_provider/rig_tracker.json", |
| "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" |
| }, |
| "canonical": { |
| "generated_at_utc": "2026-10-22T17:38:22.710897+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": [ |
| [ |
| 0.9999950396, |
| 0.0031496627, |
| 1.73969e-05 |
| ], |
| [ |
| -1.73969e-05, |
| 0.0110464775, |
| -0.9999389857 |
| ], |
| [ |
| -0.0031496627, |
| 0.9999340253, |
| 0.0110464775 |
| ] |
| ], |
| "scale_nokov_to_canon": 0.001, |
| "T_canon_nokov_mm": [ |
| [ |
| 0.00099999504, |
| 3.149663e-06, |
| 1.7397e-08, |
| 0.0 |
| ], |
| [ |
| -1.7397e-08, |
| 1.1046477e-05, |
| -0.000999938986, |
| 0.0 |
| ], |
| [ |
| -3.149663e-06, |
| 0.000999934025, |
| 1.1046477e-05, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "block": "20261017-afternoon", |
| "block_assignment": "trc", |
| "tilt_removed_deg": 0.6581558054705959, |
| "plane_status": "ok", |
| "floor": { |
| "sole_marker_p1_mm": 37.7, |
| "headtop_p95_mm": 1631.9 |
| }, |
| "gravity_check": { |
| "static_samples": 15031, |
| "g_world_mean_m_s2": [ |
| 0.1317, |
| -0.0241, |
| 9.7756 |
| ], |
| "tilt_from_z_deg": 0.785, |
| "tilt_from_z_deg_before_levelling": 0.974, |
| "magnitude_m_s2": 9.7766 |
| }, |
| "rig_tracker_definition": "c9205ac6e17d2d5c/20261017-afternoon/labels-053142/session-c618c40ce5cb831f", |
| "camera_pose_source": "provider T_tracker0_cam", |
| "files": [ |
| "mocap_zup.npz", |
| "tracker0_zup.npz", |
| "rig_zup.npz", |
| "cameras_zup.npz" |
| ] |
| }, |
| "smplx": { |
| "generated_at_utc": "2026-10-23T04:51:15.298981+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": [ |
| 0.04516647756099701, |
| -0.021852483972907066, |
| -0.048377860337495804 |
| ], |
| "LHandOut": [ |
| 0.05428621545433998, |
| 0.010416666977107525, |
| -0.027116771787405014 |
| ], |
| "LWristIn": [ |
| -0.00814015232026577, |
| -0.01589050702750683, |
| -0.024449802935123444 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.04275716841220856, |
| 0.031063148751854897, |
| -0.007052699103951454 |
| ], |
| "RHandOut": [ |
| -0.03122003935277462, |
| -0.0048884241841733456, |
| -0.05243320390582085 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 3.8, |
| "p95_frame": 11.15 |
| }, |
| "worst_markers": [ |
| "LElbowIn 16mm", |
| "LWristOut 13mm", |
| "LForearm 12mm", |
| "LElbow 12mm", |
| "RShin 12mm" |
| ], |
| "valid_fraction": 0.9995, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": -5.5, |
| "p5": -8.3 |
| }, |
| "frames_checked": 504, |
| "stature_mm": 1598.8 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 12.61 |
| }, |
| "shape_source": "participant median", |
| "wrist_correction": { |
| "left": { |
| "status": "corrected", |
| "Q_deg": 180.0, |
| "Q_rotvec": [ |
| 2.98794, |
| -0.42773, |
| -0.87113 |
| ], |
| "in_out_sign": -1, |
| "q_source": "markers (sign flipped by GSI)", |
| "gsi": { |
| "reliable": true, |
| "frames": 3000, |
| "inlier_frac": 0.827, |
| "inlier_spread_deg": 8.68, |
| "marker_Q_to_gsi_deg": { |
| "1": 178.2, |
| "-1": 9.1 |
| } |
| }, |
| "wrist_bend_deg_median": 157.0, |
| "opposite_sign_bend_deg": 59.5, |
| "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 3.63, |
| "hand_vs_marker_frame_deg": { |
| "before": 177.8, |
| "after": 3.63 |
| }, |
| "markers_on_wrist": [ |
| "LWristIn", |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -155.11, |
| "wrist_twist_deg_after": { |
| "median": -1.88, |
| "iqr": [ |
| -7.6, |
| 1.6 |
| ] |
| }, |
| "wrist_total_deg_median_after": 49.3, |
| "markers_on_forearm": [ |
| "LElbowIn", |
| "LForearm", |
| "LWristOut" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "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": 0.914, |
| "inlier_spread_deg": 6.68, |
| "marker_Q_to_gsi_deg": { |
| "1": 12.1, |
| "-1": 174.2 |
| } |
| }, |
| "wrist_bend_deg_median": 31.0, |
| "opposite_sign_bend_deg": 170.3, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 2.82, |
| "hand_vs_marker_frame_deg": { |
| "before": 2.82, |
| "after": 2.82 |
| }, |
| "markers_on_wrist": [ |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": 0.0, |
| "wrist_twist_deg_after": { |
| "median": 0.0, |
| "iqr": [ |
| -2.6, |
| 4.5 |
| ] |
| }, |
| "wrist_total_deg_median_after": 30.9, |
| "markers_on_forearm": [ |
| "RElbowIn", |
| "RForearm", |
| "RWristIn", |
| "RWristOut" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "generated_at_utc": "2026-11-06T14:08:35.837417+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "hands_registration": { |
| "cameras": {}, |
| "hands": { |
| "left": { |
| "offset_deg": 9.53, |
| "offset_rotvec": [ |
| -0.0133, |
| -0.1604, |
| -0.0424 |
| ], |
| "dev_deg": { |
| "median": 9.53, |
| "p90": 160.08 |
| }, |
| "samples": 3483, |
| "accepted": 2883, |
| "wrist_pos_err_mm_median": 51.4, |
| "per_camera": { |
| "head": { |
| "samples": 3483, |
| "accepted": 2883, |
| "gate_deg": 30.0, |
| "offset_deg": 9.53, |
| "tier": "primary", |
| "dev_deg_median": 9.53, |
| "wrist_pos_err_mm_median": 51.4 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 11580, |
| "interpolated": 1004, |
| "mean_hand": 2521, |
| "no_body_fit": 7 |
| }, |
| "observed_fraction": 0.8327, |
| "observed_fraction_of_valid": 0.8331, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 12.99, |
| "smplx": 2.72 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 12.6, |
| "p90": 14.1 |
| }, |
| "registered": { |
| "median": 12.3, |
| "p90": 13.4 |
| } |
| } |
| }, |
| "right": { |
| "offset_deg": 12.31, |
| "offset_rotvec": [ |
| 0.1383, |
| -0.1628, |
| -0.0228 |
| ], |
| "dev_deg": { |
| "median": 7.13, |
| "p90": 21.39 |
| }, |
| "samples": 3645, |
| "accepted": 3330, |
| "wrist_pos_err_mm_median": 31.6, |
| "per_camera": { |
| "head": { |
| "samples": 3645, |
| "accepted": 3330, |
| "gate_deg": 30.0, |
| "offset_deg": 12.31, |
| "tier": "primary", |
| "dev_deg_median": 7.13, |
| "wrist_pos_err_mm_median": 31.6 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 13342, |
| "interpolated": 338, |
| "mean_hand": 1425, |
| "no_body_fit": 7 |
| }, |
| "observed_fraction": 0.9052, |
| "observed_fraction_of_valid": 0.9057, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 12.46, |
| "smplx": 0.85 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 13.9, |
| "p90": 23.6 |
| }, |
| "registered": { |
| "median": 13.5, |
| "p90": 22.9 |
| } |
| } |
| } |
| }, |
| "max_dev_deg": 30.0, |
| "max_gap_s": 1.0, |
| "cameras_used": [ |
| "head" |
| ], |
| "generated_at_utc": "2026-11-06T15:34:53.635526+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/static_manipulation/SM13/session_002", |
| "family": "static_manipulation", |
| "primitive": "SM13", |
| "source_session": "20261017/SM13/20261017_110030_session13" |
| }, |
| "task": { |
| "primitive": "SM13", |
| "instruction": "Hold two objects, then put just one of them on the shelf while still holding the other. 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." |
| }, |
| "objects": [ |
| { |
| "name": "LittleBox1", |
| "object_type": "LittleBox", |
| "source": "mocap", |
| "pose_frame": "rigid_body" |
| }, |
| { |
| "name": "LittleBox2", |
| "object_type": "LittleBox", |
| "source": "mocap", |
| "pose_frame": "mesh" |
| }, |
| { |
| "name": "Desk", |
| "object_type": "Desk", |
| "source": "mocap", |
| "pose_frame": "rigid_body" |
| } |
| ] |
| } |
|
|
