| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20261103/SM13/20261103_080511_session204", |
| "session_id": "20261103_080511_session204", |
| "primitive": "SM13", |
| "batch": "20261103", |
| "participant": "yanyitong", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "e17c9efadb69e7b1", |
| "left": "cc5681142208e29a", |
| "right": "60a6f081bbe60b0d" |
| }, |
| "generated_at_utc": "2026-11-03T22:22:28.827458+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": 127.95833333333333, |
| "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": -0.084772, |
| "rate": 0.0, |
| "global_lag_s": -0.085, |
| "peak_corr": 0.7511, |
| "reference_imu_first_sample_s": 27252.219557206, |
| "windows": { |
| "n_windows": 11, |
| "window_corr_median": 0.7724791088531331, |
| "drift_ppm": -507.70601775248906, |
| "drift_se_ppm": 256.96288059142404, |
| "drift_ms_over_take": -64.96098497143097, |
| "lag_scatter_ms": 24.377639303603253, |
| "lag_range_ms": 104.30967079755517 |
| } |
| }, |
| "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": 25724, |
| "n_gyro": 25718, |
| "t_start": -0.09175656109208231, |
| "t_end": 128.14782008790874 |
| }, |
| "imu_head_left": { |
| "n_acc": 25677, |
| "n_gyro": 25670, |
| "t_start": 0.022886272907741464, |
| "t_end": 128.3158324819074 |
| }, |
| "imu_wrist_right": { |
| "n_acc": 25780, |
| "n_gyro": 25791, |
| "t_start": -0.928225692093732, |
| "t_end": 126.47452283590839 |
| }, |
| "imu_wrist_left": { |
| "n_acc": 25137, |
| "n_gyro": 25136, |
| "t_start": -0.7843542340938106, |
| "t_end": 126.47569846390844 |
| }, |
| "mag_head": { |
| "n": 12837, |
| "t_start": 0.11550539790779711, |
| "t_end": 128.47554170890592 |
| }, |
| "mag_wrist_right": { |
| "n": 12739, |
| "t_start": -0.9087659610936347, |
| "t_end": 126.4705877209076 |
| }, |
| "mag_wrist_left": { |
| "n": 12725, |
| "t_start": -0.7690987810942564, |
| "t_end": 126.47013333390579 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 27252.34134, |
| "frames": 3838, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0023423887986386703, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": 0.03935333570417841, |
| "t_end": 127.93938633570589, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 27252.341286, |
| "frames": 3838, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0019489646456461974, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": 0.03890591155369892, |
| "t_end": 127.9389499115555, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 27252.34132, |
| "frames": 3838, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0018171232386612972, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": 0.03880807014731234, |
| "t_end": 127.93885207014911, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 27252.341359, |
| "frames": 3838, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0017295646474508202, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": 0.03875951155215861, |
| "t_end": 127.93879251155387, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 30.0, |
| "start_device_s": 27252.341303, |
| "frames": 3838, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.001668932298833096, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": 0.038642879206705935, |
| "t_end": 127.9386868792085, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 27252.341264, |
| "frames": 3838, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0017169377622902274, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": 0.03865188466672097, |
| "t_end": 127.93869588466852, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "wrist_left": { |
| "fps": 30.0, |
| "start_device_s": 27251.521301, |
| "frames": 3817, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4", |
| "t_start": -0.783028053092024, |
| "t_end": 126.41619094690624, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "wrist_right": { |
| "fps": 30.0, |
| "start_device_s": 27251.441084, |
| "frames": 3820, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4", |
| "t_start": -0.8632450530944729, |
| "t_end": 126.43610394690633, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "third_person": { |
| "file": "mocap/mocap-SM13-S03-yanyitong-02p1-1.mp4", |
| "frames": 3839, |
| "fps": 30.0, |
| "clock": "nokov (frame index)", |
| "t_start": 0.0, |
| "t_end": 127.93333333333334 |
| } |
| } |
| }, |
| "flags": [], |
| "sanity": "no sanity report covers this session (run scripts/sanity_check.py)", |
| "rig_tracker": { |
| "definition": "e17c9efadb69e7b1/20261103-afternoon/labels-352410/session-bc8227335dac803e", |
| "R_tracker0_imu0": [ |
| [ |
| -0.67389457, |
| 0.22751853, |
| -0.70292349 |
| ], |
| [ |
| 0.73845887, |
| 0.17736786, |
| -0.65055295 |
| ], |
| [ |
| -0.02333682, |
| -0.95748418, |
| -0.28754031 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| -0.17344937738936425, |
| -0.019470514792861954, |
| -0.025048012686230376 |
| ], |
| "rig_check": { |
| "gyro_samples": 227, |
| "gyro_max_deg": 2.5, |
| "status": "ok", |
| "dropped_marker": null, |
| "gyro_deg": 1.374 |
| }, |
| "file": "derived/rig_tracker_provider/rig_tracker.json", |
| "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" |
| }, |
| "canonical": { |
| "generated_at_utc": "2026-11-04T04:13:20.852730+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": [ |
| [ |
| 0.9999997836, |
| 0.0006578614, |
| 1.2188e-06 |
| ], |
| [ |
| -1.2188e-06, |
| 0.0037053978, |
| -0.999993135 |
| ], |
| [ |
| -0.0006578614, |
| 0.9999929186, |
| 0.0037053978 |
| ] |
| ], |
| "scale_nokov_to_canon": 0.001, |
| "T_canon_nokov_mm": [ |
| [ |
| 0.000999999784, |
| 6.57861e-07, |
| 1.219e-09, |
| 0.0 |
| ], |
| [ |
| -1.219e-09, |
| 3.705398e-06, |
| -0.000999993135, |
| 0.0 |
| ], |
| [ |
| -6.57861e-07, |
| 0.000999992919, |
| 3.705398e-06, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "block": "20261103-afternoon", |
| "block_assignment": "trc", |
| "tilt_removed_deg": 0.21562421060799886, |
| "plane_status": "ok", |
| "floor": { |
| "sole_marker_p1_mm": 36.0, |
| "headtop_p95_mm": 1604.0 |
| }, |
| "gravity_check": { |
| "static_samples": 9650, |
| "g_world_mean_m_s2": [ |
| -0.048, |
| -0.2187, |
| 9.7631 |
| ], |
| "tilt_from_z_deg": 1.314, |
| "tilt_from_z_deg_before_levelling": 1.529, |
| "magnitude_m_s2": 9.7656 |
| }, |
| "rig_tracker_definition": "e17c9efadb69e7b1/20261103-afternoon/labels-352410/session-bc8227335dac803e", |
| "rig_check": { |
| "status": "ok", |
| "dropped_marker": null, |
| "gyro_deg": 1.374 |
| }, |
| "camera_pose_source": "provider T_tracker0_cam", |
| "files": [ |
| "mocap_zup.npz", |
| "tracker0_zup.npz", |
| "rig_zup.npz", |
| "cameras_zup.npz" |
| ] |
| }, |
| "smplx": { |
| "generated_at_utc": "2026-11-04T06:17:10.453588+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": [ |
| 0.06599828600883484, |
| 0.024343349039554596, |
| -6.0740749177057296e-05 |
| ], |
| "LHandOut": [ |
| 0.05678985267877579, |
| -0.013510404154658318, |
| -0.04257814958691597 |
| ], |
| "LWristOut": [ |
| -0.0039655063301324844, |
| 0.0010864217765629292, |
| -0.04052972421050072 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.034308601170778275, |
| -0.006741558201611042, |
| 0.05564609542489052 |
| ], |
| "RHandOut": [ |
| -0.03381708636879921, |
| 0.04455159232020378, |
| 0.02683728188276291 |
| ], |
| "RWristOut": [ |
| 0.03730230778455734, |
| 0.030304277315735817, |
| 0.01624932885169983 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 3.39, |
| "p95_frame": 5.85 |
| }, |
| "worst_markers": [ |
| "LShin 12mm", |
| "LElbowIn 8mm", |
| "LElbow 7mm", |
| "RElbowIn 7mm", |
| "LKneeIn 6mm" |
| ], |
| "valid_fraction": 0.9995, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": 10.8, |
| "p5": 10.0 |
| }, |
| "frames_checked": 512, |
| "stature_mm": 1600.3 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 13.31 |
| }, |
| "shape_source": "participant median", |
| "wrist_correction": { |
| "left": { |
| "status": "corrected", |
| "Q_deg": 36.44, |
| "Q_rotvec": [ |
| -0.53496, |
| -0.01142, |
| 0.34369 |
| ], |
| "in_out_sign": 1, |
| "q_source": "markers", |
| "gsi": null, |
| "wrist_bend_deg_median": 84.2, |
| "opposite_sign_bend_deg": 98.8, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 3.26, |
| "hand_vs_marker_frame_deg": { |
| "before": 37.54, |
| "after": 3.26 |
| }, |
| "markers_on_wrist": [ |
| "LWristOut", |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -79.64, |
| "wrist_twist_deg_after": { |
| "median": -0.0, |
| "iqr": [ |
| -3.4, |
| 9.0 |
| ] |
| }, |
| "wrist_total_deg_median_after": 29.9, |
| "markers_on_forearm": [ |
| "LElbowIn", |
| "LForearm", |
| "LWristIn" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "right": { |
| "status": "corrected", |
| "Q_deg": 83.36, |
| "Q_rotvec": [ |
| 1.18082, |
| 0.64116, |
| -0.55787 |
| ], |
| "in_out_sign": 1, |
| "q_source": "markers", |
| "gsi": null, |
| "wrist_bend_deg_median": 86.7, |
| "opposite_sign_bend_deg": 111.2, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 2.91, |
| "hand_vs_marker_frame_deg": { |
| "before": 82.69, |
| "after": 2.91 |
| }, |
| "markers_on_wrist": [ |
| "RWristOut", |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -81.66, |
| "wrist_twist_deg_after": { |
| "median": -0.0, |
| "iqr": [ |
| -5.5, |
| 3.4 |
| ] |
| }, |
| "wrist_total_deg_median_after": 31.3, |
| "markers_on_forearm": [ |
| "RElbowIn", |
| "RForearm", |
| "RWristIn" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "generated_at_utc": "2026-11-04T06:17:13.263714+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "release": { |
| "release_path": "actions/static_manipulation/SM13/session_006", |
| "family": "static_manipulation", |
| "primitive": "SM13", |
| "source_session": "20261103/SM13/20261103_080511_session204" |
| }, |
| "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": "LittleBox5", |
| "object_type": "LittleBox", |
| "source": "mocap", |
| "pose_frame": "mesh" |
| }, |
| { |
| "name": "LittleBox6", |
| "object_type": "LittleBox", |
| "source": "mocap", |
| "pose_frame": "mesh" |
| }, |
| { |
| "name": "Table", |
| "object_type": "Table", |
| "source": "mocap", |
| "pose_frame": "rigid_body" |
| } |
| ] |
| } |
|
|
