| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20261020/SM21/20261020_120223_session80", |
| "session_id": "20261020_120223_session80", |
| "primitive": "SM21", |
| "batch": "20261020", |
| "participant": "yanyitong", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "c9205ac6e17d2d5c", |
| "left": "452031d7af00ef6f", |
| "right": "60a6f081bbe60b0d" |
| }, |
| "generated_at_utc": "2026-10-22T16:16:49.874455+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": 145.15833333333333, |
| "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": -0.089029, |
| "rate": 0.0, |
| "global_lag_s": -0.09, |
| "peak_corr": 0.8676, |
| "reference_imu_first_sample_s": 13621.500166836, |
| "windows": { |
| "n_windows": 10, |
| "window_corr_median": 0.6564653059508754, |
| "drift_ppm": 5.440991623941518, |
| "drift_se_ppm": 29.783785493937252, |
| "drift_ms_over_take": 0.7897599342151114, |
| "lag_scatter_ms": 2.888873664165005, |
| "lag_range_ms": 11.253442892412869 |
| } |
| }, |
| "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": 29527, |
| "n_gyro": 29521, |
| "t_start": -0.09592637150844666, |
| "t_end": 145.35099356249165 |
| }, |
| "imu_head_left": { |
| "n_acc": 29345, |
| "n_gyro": 29338, |
| "t_start": 0.008605669492774276, |
| "t_end": 145.51518778649196 |
| }, |
| "imu_wrist_right": { |
| "n_acc": 29264, |
| "n_gyro": 29276, |
| "t_start": -0.8797066775076905, |
| "t_end": 143.752857214493 |
| }, |
| "imu_wrist_left": { |
| "n_acc": 29265, |
| "n_gyro": 29265, |
| "t_start": -0.7832883675072457, |
| "t_end": 143.75705201749233 |
| }, |
| "mag_head": { |
| "n": 14559, |
| "t_start": 0.09878162849245428, |
| "t_end": 145.6787748224925 |
| }, |
| "mag_wrist_right": { |
| "n": 14462, |
| "t_start": -0.8621730775083938, |
| "t_end": 143.7475366254931 |
| }, |
| "mag_wrist_left": { |
| "n": 14453, |
| "t_start": -0.7704707835072417, |
| "t_end": 143.7492288454924 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 13621.627121, |
| "frames": 4354, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0026284356473863946, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": 0.04055365313988887, |
| "t_end": 145.1404866531394, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 13621.627092, |
| "frames": 4354, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0024181146161434135, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": 0.04031433210921251, |
| "t_end": 145.1402583321088, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 13621.627113, |
| "frames": 4354, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002458947067077895, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": 0.0403761645594409, |
| "t_end": 145.14030916455894, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 13621.627129, |
| "frames": 4354, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0021420814739499558, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": 0.040075298966351064, |
| "t_end": 145.14000829896585, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 60.0, |
| "start_device_s": 13621.627101, |
| "frames": 4253, |
| "pts_gaps": 4252, |
| "timing": "pts (gap undecided)", |
| "timeshift_cam_imu_s": 0.002801984596191448, |
| "gap_test": { |
| "pts": { |
| "offset_ms": -6.0, |
| "corr": 0.885, |
| "err_ms": 8.8 |
| }, |
| "nominal": { |
| "offset_ms": 150.0, |
| "corr": 0.382, |
| "err_ms": 147.2 |
| } |
| }, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": 0.04070720208810827, |
| "t_end": 145.12397420208808, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 13621.627078, |
| "frames": 4354, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002930366888236734, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": 0.0408125843806397, |
| "t_end": 145.14075658438023, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "wrist_left": { |
| "fps": 30.0, |
| "start_device_s": 13620.802342, |
| "frames": 4336, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4", |
| "t_start": -0.7868537825069302, |
| "t_end": 143.71282021749366, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "wrist_right": { |
| "fps": 30.0, |
| "start_device_s": 13620.701524, |
| "frames": 4339, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4", |
| "t_start": -0.8876717825077298, |
| "t_end": 143.71206821749192, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "third_person": { |
| "file": "mocap/mocap-SM21-S01-yanyitong-02p1-1.mp4", |
| "frames": 4355, |
| "fps": 30.0, |
| "clock": "nokov (frame index)", |
| "t_start": 0.0, |
| "t_end": 145.13333333333333 |
| } |
| } |
| }, |
| "flags": [], |
| "sanity": "no sanity report covers this session (run scripts/sanity_check.py)", |
| "rig_tracker": { |
| "definition": "c9205ac6e17d2d5c/20261020-afternoon/labels-235140/session-f798fbd746db6610", |
| "R_tracker0_imu0": [ |
| [ |
| -0.68110438, |
| -0.05097118, |
| -0.73040999 |
| ], |
| [ |
| 0.71619907, |
| 0.16094563, |
| -0.67908424 |
| ], |
| [ |
| 0.15217002, |
| -0.98564621, |
| -0.07311526 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| -0.17866957110610163, |
| -0.017717561585307233, |
| 0.013502665902016984 |
| ], |
| "rig_check": { |
| "gyro_samples": 208, |
| "gyro_max_deg": 2.5, |
| "status": "ok", |
| "dropped_marker": null, |
| "gyro_deg": 1.907 |
| }, |
| "file": "derived/rig_tracker_provider/rig_tracker.json", |
| "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" |
| }, |
| "canonical": { |
| "generated_at_utc": "2026-10-26T10:24:38.002879+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": [ |
| [ |
| 0.9999961192, |
| 0.002785949, |
| 8.8845e-06 |
| ], |
| [ |
| -8.8845e-06, |
| 0.0063779982, |
| -0.9999796603 |
| ], |
| [ |
| -0.002785949, |
| 0.9999757795, |
| 0.0063779982 |
| ] |
| ], |
| "scale_nokov_to_canon": 0.001, |
| "T_canon_nokov_mm": [ |
| [ |
| 0.000999996119, |
| 2.785949e-06, |
| 8.884e-09, |
| 0.0 |
| ], |
| [ |
| -8.884e-09, |
| 6.377998e-06, |
| -0.00099997966, |
| 0.0 |
| ], |
| [ |
| -2.785949e-06, |
| 0.00099997578, |
| 6.377998e-06, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "block": "20261020-afternoon", |
| "block_assignment": "trc", |
| "tilt_removed_deg": 0.398776794692196, |
| "plane_status": "ok", |
| "floor": { |
| "sole_marker_p1_mm": 41.2, |
| "headtop_p95_mm": 1615.5 |
| }, |
| "gravity_check": { |
| "static_samples": 16582, |
| "g_world_mean_m_s2": [ |
| -0.083, |
| -0.0497, |
| 9.7747 |
| ], |
| "tilt_from_z_deg": 0.567, |
| "tilt_from_z_deg_before_levelling": 0.921, |
| "magnitude_m_s2": 9.7752 |
| }, |
| "rig_tracker_definition": "c9205ac6e17d2d5c/20261020-afternoon/labels-235140/session-f798fbd746db6610", |
| "rig_check": { |
| "status": "ok", |
| "dropped_marker": null, |
| "gyro_deg": 1.907 |
| }, |
| "camera_pose_source": "provider T_tracker0_cam", |
| "files": [ |
| "mocap_zup.npz", |
| "tracker0_zup.npz", |
| "rig_zup.npz", |
| "cameras_zup.npz" |
| ] |
| }, |
| "smplx": { |
| "generated_at_utc": "2026-10-23T08:19:34.221878+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": [ |
| 0.06716776639223099, |
| 0.02086443267762661, |
| 0.004929411690682173 |
| ], |
| "LHandOut": [ |
| 0.048688098788261414, |
| 0.0050352043472230434, |
| -0.040889907628297806 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.0697014331817627, |
| -0.02827046625316143, |
| 0.011449398472905159 |
| ], |
| "RHandOut": [ |
| -0.06553437560796738, |
| 0.014797921292483807, |
| 0.020483560860157013 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 2.29, |
| "p95_frame": 4.19 |
| }, |
| "worst_markers": [ |
| "RElbowIn 11mm", |
| "RWristOut 7mm", |
| "RWristIn 6mm", |
| "RElbow 5mm", |
| "RForearm 4mm" |
| ], |
| "valid_fraction": 0.9998, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": 8.9, |
| "p5": 8.1 |
| }, |
| "frames_checked": 581, |
| "stature_mm": 1600.3 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 10.6 |
| }, |
| "shape_source": "participant median", |
| "wrist_correction": { |
| "left": { |
| "status": "corrected", |
| "Q_deg": 180.0, |
| "Q_rotvec": [ |
| 2.98163, |
| -0.44128, |
| -0.88585 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 175.7, |
| "opposite_sign_bend_deg": 35.8, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 0.27, |
| "hand_vs_marker_frame_deg": { |
| "before": 179.82, |
| "after": 0.27 |
| }, |
| "markers_on_wrist": [ |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -175.8, |
| "wrist_twist_deg_after": { |
| "median": -0.0, |
| "iqr": [ |
| -0.5, |
| 0.4 |
| ] |
| }, |
| "wrist_total_deg_median_after": 13.0, |
| "markers_on_forearm": [ |
| "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": 25.4, |
| "opposite_sign_bend_deg": 168.3, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 2.76, |
| "hand_vs_marker_frame_deg": { |
| "before": 2.76, |
| "after": 2.76 |
| }, |
| "markers_on_wrist": [ |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -0.0, |
| "wrist_twist_deg_after": { |
| "median": -0.0, |
| "iqr": [ |
| -9.9, |
| 9.8 |
| ] |
| }, |
| "wrist_total_deg_median_after": 25.9, |
| "markers_on_forearm": [ |
| "RForearm", |
| "RWristIn", |
| "RWristOut" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "generated_at_utc": "2026-10-28T06:44:27.894404+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "release": { |
| "release_path": "actions/static_manipulation/SM21/session_005", |
| "family": "static_manipulation", |
| "primitive": "SM21", |
| "source_session": "20261020/SM21/20261020_120223_session80" |
| }, |
| "task": { |
| "primitive": "SM21", |
| "instruction": "Open and close the tool in your hand, without cutting anything. 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": "Table2", |
| "object_type": "Table", |
| "source": "mocap", |
| "pose_frame": "rigid_body" |
| } |
| ] |
| } |
|
|
