| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20261028/SM21/20261028_020634_session9", |
| "session_id": "20261028_020634_session9", |
| "primitive": "SM21", |
| "batch": "20261028", |
| "participant": "mahui", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "e3296774a321bb51", |
| "left": "75b5984e04d1d236", |
| "right": "c84bc808cb6b47af" |
| }, |
| "generated_at_utc": "2026-10-30T07:33:24.853845+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": 159.39166666666668, |
| "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": -0.092256, |
| "rate": 0.0, |
| "global_lag_s": -0.095, |
| "peak_corr": 0.8672, |
| "reference_imu_first_sample_s": 4891.747360162, |
| "windows": { |
| "n_windows": 14, |
| "window_corr_median": 0.8988806023997205, |
| "drift_ppm": -314.0018202736043, |
| "drift_se_ppm": 181.6918651640399, |
| "drift_ms_over_take": -50.046656787941295, |
| "lag_scatter_ms": 25.371888191507534, |
| "lag_range_ms": 112.32121561997269 |
| } |
| }, |
| "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": 32169, |
| "n_gyro": 32164, |
| "t_start": -0.0992017090594308, |
| "t_end": 159.5680698519408 |
| }, |
| "imu_head_left": { |
| "n_acc": 32013, |
| "n_gyro": 32007, |
| "t_start": 0.006936899941050859, |
| "t_end": 159.73721105194082 |
| }, |
| "imu_wrist_right": { |
| "n_acc": 31965, |
| "n_gyro": 31964, |
| "t_start": -0.8119390020593491, |
| "t_end": 158.19639694094067 |
| }, |
| "imu_wrist_left": { |
| "n_acc": 32236, |
| "n_gyro": 32236, |
| "t_start": -0.8160026840597274, |
| "t_end": 158.2035277569411 |
| }, |
| "mag_head": { |
| "n": 15982, |
| "t_start": 0.08955416694052844, |
| "t_end": 159.89954836794087 |
| }, |
| "mag_wrist_right": { |
| "n": 15900, |
| "t_start": -0.800155569059003, |
| "t_end": 158.18997658894105 |
| }, |
| "mag_wrist_left": { |
| "n": 15901, |
| "t_start": -0.8033785890594081, |
| "t_end": 158.19701788694047 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 4891.877212, |
| "frames": 4781, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0025546514432425653, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": 0.0401509033844414, |
| "t_end": 159.3735399033848, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 4891.877194, |
| "frames": 4781, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002366886077403108, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": 0.039945138017996276, |
| "t_end": 159.3733011380181, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 4891.877206, |
| "frames": 4781, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0026728712083183277, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": 0.04026312314900139, |
| "t_end": 159.37364112314927, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 4891.877219, |
| "frames": 4781, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002595594493655556, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": 0.04019884643449047, |
| "t_end": 159.37359884643493, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 30.0, |
| "start_device_s": 4891.8772, |
| "frames": 4773, |
| "pts_gaps": 8, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002394386090989767, |
| "gap_test": { |
| "pts": { |
| "offset_ms": 26.6, |
| "corr": 0.825, |
| "err_ms": 24.3 |
| }, |
| "nominal": { |
| "offset_ms": 150.0, |
| "corr": 0.663, |
| "err_ms": 147.6 |
| } |
| }, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": 0.03997863803115621, |
| "t_end": 159.37334563803134, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 4891.877185, |
| "frames": 4781, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002315656053021164, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": 0.03988490799375001, |
| "t_end": 159.37321790799334, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "wrist_left": { |
| "fps": 30.0, |
| "start_device_s": 4891.02014, |
| "frames": 4770, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4", |
| "t_start": -0.8194757480597181, |
| "t_end": 158.14758125194012, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "wrist_right": { |
| "fps": 30.0, |
| "start_device_s": 4891.015188, |
| "frames": 4770, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4", |
| "t_start": -0.824427748059039, |
| "t_end": 158.142369251941, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "third_person": { |
| "file": "mocap/mocap-SM21-S01-mahui-02p1-1.mp4", |
| "frames": 4782, |
| "fps": 30.0, |
| "clock": "nokov (frame index)", |
| "t_start": 0.0, |
| "t_end": 159.36666666666667 |
| } |
| } |
| }, |
| "flags": [], |
| "sanity": "no sanity report covers this session (run scripts/sanity_check.py)", |
| "rig_tracker": { |
| "definition": "e3296774a321bb51/20261028-morning/labels-503412/session-c3d1da0075bcc23a", |
| "R_tracker0_imu0": [ |
| [ |
| -0.66235002, |
| 0.23490321, |
| -0.71141614 |
| ], |
| [ |
| 0.74837192, |
| 0.16295972, |
| -0.64294914 |
| ], |
| [ |
| -0.03509864, |
| -0.95826124, |
| -0.28373134 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| 0.022726699502412153, |
| 0.00024036270346023889, |
| -0.02360922924941237 |
| ], |
| "rig_check": { |
| "gyro_samples": 438, |
| "gyro_max_deg": 2.5, |
| "status": "gyro_rotation", |
| "dropped_marker": null, |
| "gyro_deg": 0.0, |
| "video_solve": { |
| "status": "ok", |
| "reason": "", |
| "reprojection_px": 2.608, |
| "n_assoc": 1308, |
| "gyro_deg": 3.511 |
| } |
| }, |
| "file": "derived/rig_tracker_provider/rig_tracker.json", |
| "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" |
| }, |
| "canonical": { |
| "generated_at_utc": "2026-10-30T18:49:14.704067+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": [ |
| [ |
| 0.9999999999, |
| -1.6484e-05, |
| 1.4e-08 |
| ], |
| [ |
| -1.4e-08, |
| -0.0016934171, |
| -0.9999985662 |
| ], |
| [ |
| 1.6484e-05, |
| 0.999998566, |
| -0.0016934171 |
| ] |
| ], |
| "scale_nokov_to_canon": 0.001, |
| "T_canon_nokov_mm": [ |
| [ |
| 0.001, |
| -1.6484e-08, |
| 1.4e-11, |
| 0.0 |
| ], |
| [ |
| -1.4e-11, |
| -1.693417e-06, |
| -0.000999998566, |
| 0.0 |
| ], |
| [ |
| 1.6484e-08, |
| 0.000999998566, |
| -1.693417e-06, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "block": "20261028-morning", |
| "block_assignment": "trc", |
| "tilt_removed_deg": 0.09703029591991919, |
| "plane_status": "ok", |
| "floor": { |
| "sole_marker_p1_mm": 50.9, |
| "headtop_p95_mm": 1631.7 |
| }, |
| "gravity_check": { |
| "static_samples": 22210, |
| "g_world_mean_m_s2": [ |
| 0.0359, |
| -0.1219, |
| 9.7482 |
| ], |
| "tilt_from_z_deg": 0.747, |
| "tilt_from_z_deg_before_levelling": 0.655, |
| "magnitude_m_s2": 9.749 |
| }, |
| "rig_tracker_definition": "e3296774a321bb51/20261028-morning/labels-503412/session-c3d1da0075bcc23a", |
| "rig_check": { |
| "status": "gyro_rotation", |
| "dropped_marker": null, |
| "gyro_deg": 0.0 |
| }, |
| "camera_pose_source": "T_tracker0_imu0 @ inv(T_cam_imu)", |
| "files": [ |
| "mocap_zup.npz", |
| "tracker0_zup.npz", |
| "rig_zup.npz", |
| "cameras_zup.npz" |
| ] |
| }, |
| "smplx": { |
| "generated_at_utc": "2026-11-02T16:57:34.786431+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": [ |
| 0.05761124566197395, |
| -0.0033926423639059067, |
| 0.02931450493633747 |
| ], |
| "LHandOut": [ |
| 0.04187384620308876, |
| 0.03278951346874237, |
| 0.0419473722577095 |
| ], |
| "LWristOut": [ |
| -0.02055702544748783, |
| 0.0131689989939332, |
| 0.03357509896159172 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.05412878468632698, |
| 0.017494648694992065, |
| 0.009135914966464043 |
| ], |
| "RHandOut": [ |
| -0.03446459770202637, |
| 0.01859613135457039, |
| -0.04045623913407326 |
| ], |
| "RWristOut": [ |
| 0.01822739467024803, |
| 0.01811734214425087, |
| -0.025021078065037727 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 2.51, |
| "p95_frame": 6.47 |
| }, |
| "worst_markers": [ |
| "LElbowIn 8mm", |
| "RElbow 6mm", |
| "LForearm 6mm", |
| "RShoulderFront 6mm", |
| "LWristIn 5mm" |
| ], |
| "valid_fraction": 1.0, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": -32.6, |
| "p5": -38.8 |
| }, |
| "frames_checked": 638, |
| "stature_mm": 1631.4 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 12.71 |
| }, |
| "shape_source": "participant median", |
| "wrist_correction": { |
| "left": { |
| "status": "corrected", |
| "Q_deg": 118.41, |
| "Q_rotvec": [ |
| 2.04601, |
| -0.15132, |
| 0.24935 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 119.8, |
| "opposite_sign_bend_deg": 81.9, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 4.47, |
| "hand_vs_marker_frame_deg": { |
| "before": 117.14, |
| "after": 4.47 |
| }, |
| "markers_on_wrist": [ |
| "LWristOut", |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": 116.94, |
| "wrist_twist_deg_after": { |
| "median": -0.0, |
| "iqr": [ |
| -15.0, |
| 2.6 |
| ] |
| }, |
| "wrist_total_deg_median_after": 25.0, |
| "markers_on_forearm": [ |
| "LForearm", |
| "LWristIn" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "right": { |
| "status": "corrected", |
| "Q_deg": 21.93, |
| "Q_rotvec": [ |
| 0.21391, |
| -0.08356, |
| -0.30617 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 36.4, |
| "opposite_sign_bend_deg": 148.0, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 2.2, |
| "hand_vs_marker_frame_deg": { |
| "before": 22.04, |
| "after": 2.2 |
| }, |
| "markers_on_wrist": [ |
| "RWristOut", |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": 28.61, |
| "wrist_twist_deg_after": { |
| "median": -0.0, |
| "iqr": [ |
| -3.3, |
| 7.6 |
| ] |
| }, |
| "wrist_total_deg_median_after": 23.1, |
| "markers_on_forearm": [ |
| "RElbowIn", |
| "RForearm", |
| "RWristIn" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "generated_at_utc": "2026-11-02T16:57:38.154429+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "release": { |
| "release_path": "actions/static_manipulation/SM21/session_009", |
| "family": "static_manipulation", |
| "primitive": "SM21", |
| "source_session": "20261028/SM21/20261028_020634_session9" |
| }, |
| "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": "Table", |
| "object_type": "Table", |
| "source": "mocap", |
| "pose_frame": "rigid_body" |
| } |
| ] |
| } |
|
|
