| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20261024/SM39/20261024_024605_session17", |
| "session_id": "20261024_024605_session17", |
| "primitive": "SM39", |
| "batch": "20261024", |
| "participant": "yanyitong", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "c9205ac6e17d2d5c", |
| "left": "452031d7af00ef6f", |
| "right": "60a6f081bbe60b0d" |
| }, |
| "generated_at_utc": "2026-10-26T05:08:37.429316+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": 749, |
| "duration_s": 138.71666666666667, |
| "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": -0.081725, |
| "rate": 0.0, |
| "global_lag_s": -0.08, |
| "peak_corr": 0.9665, |
| "reference_imu_first_sample_s": 3699.551784782, |
| "windows": { |
| "n_windows": 13, |
| "window_corr_median": 0.9631284577766701, |
| "drift_ppm": -8.58119158717433, |
| "drift_se_ppm": 12.459950840714736, |
| "drift_ms_over_take": -1.2438437205609187, |
| "lag_scatter_ms": 1.5462392357835928, |
| "lag_range_ms": 6.239810154070685 |
| } |
| }, |
| "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": 29492, |
| "n_gyro": 29485, |
| "t_start": -6.339759446140455, |
| "t_end": 138.92532441585928 |
| }, |
| "imu_head_left": { |
| "n_acc": 29309, |
| "n_gyro": 29303, |
| "t_start": -6.228084779140467, |
| "t_end": 139.09086720785928 |
| }, |
| "imu_wrist_right": { |
| "n_acc": 29224, |
| "n_gyro": 29224, |
| "t_start": -7.0913645411407416, |
| "t_end": 137.32963250785934 |
| }, |
| "imu_wrist_left": { |
| "n_acc": 29264, |
| "n_gyro": 29274, |
| "t_start": -7.184202658140897, |
| "t_end": 137.34150250185922 |
| }, |
| "mag_head": { |
| "n": 14541, |
| "t_start": -6.145327112140571, |
| "t_end": 139.25466312385907 |
| }, |
| "mag_wrist_right": { |
| "n": 14441, |
| "t_start": -7.0737555771408225, |
| "t_end": 137.3256217188594 |
| }, |
| "mag_wrist_left": { |
| "n": 14451, |
| "t_start": -7.166467695140604, |
| "t_end": 137.3330747618591 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 3699.6697, |
| "frames": 4348, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0026284356473863946, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": -6.202847564493517, |
| "t_end": 138.69714143550647, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 3699.66966, |
| "frames": 4348, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0024181146161434135, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": -6.203097885524734, |
| "t_end": 138.69689111447525, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 3699.669686, |
| "frames": 4348, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002458947067077895, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": -6.203031053073268, |
| "t_end": 138.69695794692672, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 3699.669712, |
| "frames": 4348, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0021420814739499558, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": -6.20332191866661, |
| "t_end": 138.69666708133337, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 30.0, |
| "start_device_s": 3699.669673, |
| "frames": 4348, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002801984596191448, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": -6.202701015544484, |
| "t_end": 138.69729898445559, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 3699.669637, |
| "frames": 4348, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002930366888236734, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": -6.202608633252261, |
| "t_end": 138.6973913667478, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "wrist_left": { |
| "fps": 30.0, |
| "start_device_s": 3698.728252, |
| "frames": 4334, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4", |
| "t_start": -7.1469240001407925, |
| "t_end": 137.28595399985926, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "wrist_right": { |
| "fps": 30.0, |
| "start_device_s": 3698.78037, |
| "frames": 4332, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4", |
| "t_start": -7.0948060001407285, |
| "t_end": 137.2712099998592, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "third_person": { |
| "file": "mocap/mocap-SM39-S01-yanyitong-02p2-1.mp4", |
| "frames": 4349, |
| "fps": 30.0, |
| "clock": "nokov (frame index)", |
| "t_start": -6.241666666666666, |
| "t_end": 138.69166666666666 |
| } |
| } |
| }, |
| "flags": [], |
| "sanity": "no sanity report covers this session (run scripts/sanity_check.py)", |
| "rig_tracker": { |
| "definition": "c9205ac6e17d2d5c/20261024-morning/labels-053142/session-e9f1648174754811", |
| "R_tracker0_imu0": [ |
| [ |
| -0.59871555, |
| 0.5018796, |
| -0.62422476 |
| ], |
| [ |
| 0.76419413, |
| 0.12451671, |
| -0.632853 |
| ], |
| [ |
| -0.2398896, |
| -0.85592783, |
| -0.45808353 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| -0.15761662720492006, |
| -0.00555037382951681, |
| -0.08658664339030873 |
| ], |
| "rig_check": { |
| "gyro_samples": 9371, |
| "gyro_max_deg": 2.5, |
| "status": "dropped_marker", |
| "dropped_marker": 1, |
| "gyro_deg": 2.192 |
| }, |
| "file": "derived/rig_tracker_provider/rig_tracker.json", |
| "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" |
| }, |
| "canonical": { |
| "generated_at_utc": "2026-10-26T10:26:46.123029+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": [ |
| [ |
| 0.9999642225, |
| 0.0084589401, |
| 5.2449e-06 |
| ], |
| [ |
| -5.2449e-06, |
| 0.0012400595, |
| -0.9999992311 |
| ], |
| [ |
| -0.0084589401, |
| 0.9999634536, |
| 0.0012400595 |
| ] |
| ], |
| "scale_nokov_to_canon": 0.001, |
| "T_canon_nokov_mm": [ |
| [ |
| 0.000999964223, |
| 8.45894e-06, |
| 5.245e-09, |
| 0.0 |
| ], |
| [ |
| -5.245e-09, |
| 1.240059e-06, |
| -0.000999999231, |
| 0.0 |
| ], |
| [ |
| -8.45894e-06, |
| 0.000999963454, |
| 1.240059e-06, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "block": "20261024-morning", |
| "block_assignment": "trc", |
| "tilt_removed_deg": 0.48984774059510355, |
| "plane_status": "ok", |
| "floor": { |
| "sole_marker_p1_mm": 32.0, |
| "headtop_p95_mm": 1592.0 |
| }, |
| "gravity_check": { |
| "static_samples": 838, |
| "g_world_mean_m_s2": [ |
| -0.1668, |
| -0.2012, |
| 9.7504 |
| ], |
| "tilt_from_z_deg": 1.535, |
| "tilt_from_z_deg_before_levelling": 1.928, |
| "magnitude_m_s2": 9.7539 |
| }, |
| "rig_tracker_definition": "c9205ac6e17d2d5c/20261024-morning/labels-053142/session-e9f1648174754811", |
| "rig_check": { |
| "status": "dropped_marker", |
| "dropped_marker": 1, |
| "gyro_deg": 2.192 |
| }, |
| "camera_pose_source": "provider T_tracker0_cam", |
| "files": [ |
| "mocap_zup.npz", |
| "tracker0_zup.npz", |
| "rig_zup.npz", |
| "cameras_zup.npz" |
| ] |
| }, |
| "smplx": { |
| "generated_at_utc": "2026-10-26T18:35:57.981487+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": [ |
| 0.06372388452291489, |
| 0.028988590463995934, |
| 0.020697925239801407 |
| ], |
| "LHandOut": [ |
| 0.0464278981089592, |
| 0.02013542316854, |
| -0.031068891286849976 |
| ], |
| "LWristOut": [ |
| -0.005130792502313852, |
| 0.026060275733470917, |
| -0.005658681970089674 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.05237690731883049, |
| 0.007956940680742264, |
| 0.044653359800577164 |
| ], |
| "RHandOut": [ |
| -0.07117017358541489, |
| 0.021701902151107788, |
| 0.00037840832374058664 |
| ], |
| "RWristIn": [ |
| 0.018665319308638573, |
| -0.01011698879301548, |
| 0.03882494941353798 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 5.54, |
| "p95_frame": 9.69 |
| }, |
| "worst_markers": [ |
| "RThigh 28mm", |
| "RElbowIn 10mm", |
| "RKneeIn 9mm", |
| "RKnee 8mm", |
| "RUArmHigh 8mm" |
| ], |
| "valid_fraction": 1.0, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": 7.1, |
| "p5": 5.2 |
| }, |
| "frames_checked": 555, |
| "stature_mm": 1600.3 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 14.41 |
| }, |
| "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": 171.1, |
| "opposite_sign_bend_deg": 49.2, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 3.55, |
| "hand_vs_marker_frame_deg": { |
| "before": 178.44, |
| "after": 3.55 |
| }, |
| "markers_on_wrist": [ |
| "LWristOut", |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -161.29, |
| "wrist_twist_deg_after": { |
| "median": -16.93, |
| "iqr": [ |
| -23.7, |
| -6.0 |
| ] |
| }, |
| "wrist_total_deg_median_after": 35.1, |
| "markers_on_forearm": [ |
| "LElbow", |
| "LForearm", |
| "LWristIn" |
| ] |
| }, |
| "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": 55.6, |
| "opposite_sign_bend_deg": 169.4, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 2.55, |
| "hand_vs_marker_frame_deg": { |
| "before": 2.55, |
| "after": 2.55 |
| }, |
| "markers_on_wrist": [ |
| "RWristIn", |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -0.0, |
| "wrist_twist_deg_after": { |
| "median": -0.0, |
| "iqr": [ |
| -9.9, |
| 10.7 |
| ] |
| }, |
| "wrist_total_deg_median_after": 55.4, |
| "markers_on_forearm": [ |
| "RForearm", |
| "RWristOut" |
| ] |
| }, |
| "frames_used": 1499 |
| }, |
| "generated_at_utc": "2026-10-28T06:50:01.441513+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "hands_registration": { |
| "cameras": {}, |
| "hands": { |
| "left": { |
| "offset_deg": 20.53, |
| "offset_rotvec": [ |
| 0.069, |
| -0.0952, |
| 0.3384 |
| ], |
| "dev_deg": { |
| "median": 9.3, |
| "p90": 21.14 |
| }, |
| "samples": 4096, |
| "accepted": 3816, |
| "wrist_pos_err_mm_median": 29.2, |
| "per_camera": { |
| "head": { |
| "samples": 4096, |
| "accepted": 3816, |
| "gate_deg": 30.0, |
| "offset_deg": 20.53, |
| "tier": "primary", |
| "dev_deg_median": 9.3, |
| "wrist_pos_err_mm_median": 29.2 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 15310, |
| "interpolated": 586, |
| "mean_hand": 751, |
| "no_body_fit": 0 |
| }, |
| "observed_fraction": 0.9549, |
| "observed_fraction_of_valid": 0.9549, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 10.17, |
| "smplx": 2.67 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 8.2, |
| "p90": 9.6 |
| }, |
| "registered": { |
| "median": 7.8, |
| "p90": 9.2 |
| } |
| } |
| }, |
| "right": { |
| "offset_deg": 33.08, |
| "offset_rotvec": [ |
| 0.323, |
| -0.467, |
| 0.1042 |
| ], |
| "dev_deg": { |
| "median": 17.19, |
| "p90": 38.57 |
| }, |
| "samples": 3805, |
| "accepted": 2984, |
| "wrist_pos_err_mm_median": 42.4, |
| "per_camera": { |
| "head": { |
| "samples": 3805, |
| "accepted": 2984, |
| "gate_deg": 30.0, |
| "offset_deg": 33.08, |
| "tier": "primary", |
| "dev_deg_median": 17.19, |
| "wrist_pos_err_mm_median": 42.4 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 12086, |
| "interpolated": 3462, |
| "mean_hand": 1099, |
| "no_body_fit": 0 |
| }, |
| "observed_fraction": 0.934, |
| "observed_fraction_of_valid": 0.934, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 38.75, |
| "smplx": 1.71 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 14.0, |
| "p90": 22.1 |
| }, |
| "registered": { |
| "median": 13.0, |
| "p90": 19.5 |
| } |
| } |
| } |
| }, |
| "max_dev_deg": 30.0, |
| "max_gap_s": 1.0, |
| "cameras_used": [ |
| "head" |
| ], |
| "generated_at_utc": "2026-11-03T17:34:08.641601+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/SM39/session_005", |
| "family": "static_manipulation", |
| "primitive": "SM39", |
| "source_session": "20261024/SM39/20261024_024605_session17" |
| }, |
| "task": { |
| "primitive": "SM39", |
| "instruction": "Cover the whole panel with the brush or roller, using long strokes. 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." |
| } |
| } |
|
|
