| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20261021/LM21/20261021_050852_session65", |
| "session_id": "20261021_050852_session65", |
| "primitive": "LM21", |
| "batch": "20261021", |
| "participant": "wangzhixin", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "e3296774a321bb51", |
| "left": "75b5984e04d1d236", |
| "right": "c84bc808cb6b47af" |
| }, |
| "generated_at_utc": "2026-10-22T16:17:50.610490+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": 112.79166666666667, |
| "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": -0.087681, |
| "rate": 0.0, |
| "global_lag_s": -0.09, |
| "peak_corr": 0.995, |
| "reference_imu_first_sample_s": 12528.341659367, |
| "windows": { |
| "n_windows": 10, |
| "window_corr_median": 0.9973891854832884, |
| "drift_ppm": -231.68458224283145, |
| "drift_se_ppm": 138.02442327169103, |
| "drift_ms_over_take": -26.130159467287342, |
| "lag_scatter_ms": 11.213157154369474, |
| "lag_range_ms": 44.28253009614272 |
| } |
| }, |
| "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": 22787, |
| "n_gyro": 22782, |
| "t_start": -0.09463013656994579, |
| "t_end": 113.0002936574304 |
| }, |
| "imu_head_left": { |
| "n_acc": 22680, |
| "n_gyro": 22673, |
| "t_start": 0.009719155429878557, |
| "t_end": 113.16735361743059 |
| }, |
| "imu_wrist_right": { |
| "n_acc": 22690, |
| "n_gyro": 22704, |
| "t_start": -0.7856528565704923, |
| "t_end": 112.09872171342914 |
| }, |
| "imu_wrist_left": { |
| "n_acc": 22873, |
| "n_gyro": 22886, |
| "t_start": -0.8336125915708965, |
| "t_end": 112.01634860242967 |
| }, |
| "mag_head": { |
| "n": 11325, |
| "t_start": 0.09106557243041036, |
| "t_end": 113.33106700143009 |
| }, |
| "mag_wrist_right": { |
| "n": 11287, |
| "t_start": -0.7687251245703794, |
| "t_end": 112.09110154843012 |
| }, |
| "mag_wrist_left": { |
| "n": 11284, |
| "t_start": -0.8205822905699154, |
| "t_end": 112.00917232043076 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 12528.466967, |
| "frames": 3383, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0025546514432425653, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": 0.04018104187281435, |
| "t_end": 112.77349204187277, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 12528.466944, |
| "frames": 3383, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002366886077403108, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": 0.039970276507405034, |
| "t_end": 112.77327027650728, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 12528.46696, |
| "frames": 3383, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0026728712083183277, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": 0.0402922616388548, |
| "t_end": 112.77359226163873, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 12528.466974, |
| "frames": 3383, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002595594493655556, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": 0.040228984923772915, |
| "t_end": 112.77355098492382, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 30.0, |
| "start_device_s": 12528.466954, |
| "frames": 3374, |
| "pts_gaps": 8, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002394386090989767, |
| "gap_test": { |
| "pts": { |
| "offset_ms": 35.5, |
| "corr": 0.836, |
| "err_ms": 33.1 |
| }, |
| "nominal": { |
| "offset_ms": 150.0, |
| "corr": 0.827, |
| "err_ms": 147.6 |
| } |
| }, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": 0.040007776520100125, |
| "t_end": 112.75660777651984, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 12528.466934, |
| "frames": 3383, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002315656053021164, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": 0.03990904648282023, |
| "t_end": 112.77318704648252, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "wrist_left": { |
| "fps": 30.0, |
| "start_device_s": 12527.582864, |
| "frames": 3385, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4", |
| "t_start": -0.84647660957006, |
| "t_end": 111.95326339043032, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "wrist_right": { |
| "fps": 30.0, |
| "start_device_s": 12527.640147, |
| "frames": 3386, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4", |
| "t_start": -0.7891936095699623, |
| "t_end": 112.04394439043, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "third_person": { |
| "file": "mocap/mocap-LM21-S07-wangzhixin-01p1-1.mp4", |
| "frames": 3384, |
| "fps": 30.0, |
| "clock": "nokov (frame index)", |
| "t_start": 0.0, |
| "t_end": 112.76666666666667 |
| } |
| } |
| }, |
| "flags": [], |
| "sanity": "no sanity report covers this session (run scripts/sanity_check.py)", |
| "rig_tracker": { |
| "definition": "e3296774a321bb51/20261021-morning/labels-320145/session-2bbd11d1bac3c80a", |
| "R_tracker0_imu0": [ |
| [ |
| -0.69144463, |
| 0.15350293, |
| -0.70593284 |
| ], |
| [ |
| 0.72012056, |
| 0.06838752, |
| -0.69047052 |
| ], |
| [ |
| -0.05771225, |
| -0.98577888, |
| -0.1578268 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| -0.03993440241281014, |
| -0.011838654079595754, |
| -0.08746307575437011 |
| ], |
| "rig_check": { |
| "gyro_samples": 2724, |
| "gyro_max_deg": 2.5, |
| "status": "video_solve", |
| "dropped_marker": null, |
| "gyro_deg": 1.777, |
| "video_solve": { |
| "status": "ok", |
| "reason": "", |
| "reprojection_px": 2.763, |
| "n_assoc": 615, |
| "gyro_deg": 1.777 |
| } |
| }, |
| "file": "derived/rig_tracker_provider/rig_tracker.json", |
| "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" |
| }, |
| "canonical": { |
| "generated_at_utc": "2026-10-26T10:24:47.146537+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": [ |
| [ |
| 0.9999996167, |
| -0.0008755721, |
| -3.761e-06 |
| ], |
| [ |
| 3.761e-06, |
| 0.0085906853, |
| -0.9999630994 |
| ], |
| [ |
| 0.0008755721, |
| 0.9999627161, |
| 0.0085906853 |
| ] |
| ], |
| "scale_nokov_to_canon": 0.001, |
| "T_canon_nokov_mm": [ |
| [ |
| 0.000999999617, |
| -8.75572e-07, |
| -3.761e-09, |
| 0.0 |
| ], |
| [ |
| 3.761e-09, |
| 8.590685e-06, |
| -0.000999963099, |
| 0.0 |
| ], |
| [ |
| 8.75572e-07, |
| 0.000999962716, |
| 8.590685e-06, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "block": "20261021-morning", |
| "block_assignment": "trc", |
| "tilt_removed_deg": 0.4947660703921395, |
| "plane_status": "ok", |
| "floor": { |
| "sole_marker_p1_mm": 28.8, |
| "headtop_p95_mm": 1586.8 |
| }, |
| "gravity_check": { |
| "static_samples": 6680, |
| "g_world_mean_m_s2": [ |
| 0.1803, |
| 0.0362, |
| 9.7389 |
| ], |
| "tilt_from_z_deg": 1.082, |
| "tilt_from_z_deg_before_levelling": 1.145, |
| "magnitude_m_s2": 9.7406 |
| }, |
| "rig_tracker_definition": "e3296774a321bb51/20261021-morning/labels-320145/session-2bbd11d1bac3c80a", |
| "rig_check": { |
| "status": "video_solve", |
| "dropped_marker": null, |
| "gyro_deg": 1.777 |
| }, |
| "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": "2026-10-26T12:17:00.125028+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": [ |
| 0.09007000178098679, |
| 0.01846594735980034, |
| 0.003678883658722043 |
| ], |
| "LHandOut": [ |
| 0.07479679584503174, |
| -0.0014106956077739596, |
| -0.04893861338496208 |
| ], |
| "LWristOut": [ |
| 0.0012668403796851635, |
| 0.02188067138195038, |
| -0.030938010662794113 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.009347235783934593, |
| 0.015005446039140224, |
| 0.023419750854372978 |
| ], |
| "RHandOut": [ |
| -0.0060982839204370975, |
| 0.038292352110147476, |
| -0.020623307675123215 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 3.24, |
| "p95_frame": 5.46 |
| }, |
| "worst_markers": [ |
| "LKneeIn 10mm", |
| "RKnee 7mm", |
| "RKneeIn 7mm", |
| "LThigh 7mm", |
| "WaistRBack 6mm" |
| ], |
| "valid_fraction": 1.0, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": 11.8, |
| "p5": -2.5 |
| }, |
| "frames_checked": 452, |
| "stature_mm": 1582.0 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 13.09 |
| }, |
| "shape_source": "participant median", |
| "wrist_correction": { |
| "left": { |
| "status": "corrected", |
| "Q_deg": 180.0, |
| "Q_rotvec": [ |
| -2.98447, |
| 0.44488, |
| 0.87443 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 175.8, |
| "opposite_sign_bend_deg": 33.8, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 0.5, |
| "hand_vs_marker_frame_deg": { |
| "before": 179.67, |
| "after": 0.5 |
| }, |
| "markers_on_wrist": [ |
| "LWristOut", |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -175.73, |
| "wrist_twist_deg_after": { |
| "median": -0.0, |
| "iqr": [ |
| -0.7, |
| 0.6 |
| ] |
| }, |
| "wrist_total_deg_median_after": 14.7, |
| "markers_on_forearm": [ |
| "LForearm", |
| "LWristIn" |
| ] |
| }, |
| "frames_used": 1354 |
| }, |
| "right": { |
| "status": "corrected", |
| "Q_deg": 0.0, |
| "Q_rotvec": [ |
| -0.0, |
| 0.0, |
| 0.0 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 45.1, |
| "opposite_sign_bend_deg": 169.0, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 5.39, |
| "hand_vs_marker_frame_deg": { |
| "before": 5.39, |
| "after": 5.39 |
| }, |
| "markers_on_wrist": [ |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -0.0, |
| "wrist_twist_deg_after": { |
| "median": -0.0, |
| "iqr": [ |
| -1.3, |
| 1.7 |
| ] |
| }, |
| "wrist_total_deg_median_after": 45.1, |
| "markers_on_forearm": [ |
| "RForearm", |
| "RWristIn", |
| "RWristOut" |
| ] |
| }, |
| "frames_used": 1354 |
| }, |
| "generated_at_utc": "2026-10-28T06:44:58.054207+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "hands_registration": { |
| "cameras": {}, |
| "hands": { |
| "left": { |
| "offset_deg": 59.2, |
| "offset_rotvec": [ |
| 0.9443, |
| -0.419, |
| -0.0203 |
| ], |
| "dev_deg": { |
| "median": 12.21, |
| "p90": 26.18 |
| }, |
| "samples": 2754, |
| "accepted": 2587, |
| "wrist_pos_err_mm_median": 46.4, |
| "per_camera": { |
| "head": { |
| "samples": 2754, |
| "accepted": 2587, |
| "gate_deg": 30.0, |
| "offset_deg": 59.2, |
| "tier": "primary", |
| "dev_deg_median": 12.21, |
| "wrist_pos_err_mm_median": 46.4 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 10564, |
| "interpolated": 2832, |
| "mean_hand": 140, |
| "no_body_fit": 0 |
| }, |
| "observed_fraction": 0.9897, |
| "observed_fraction_of_valid": 0.9897, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 60.29, |
| "smplx": 0.42 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 16.7, |
| "p90": 17.8 |
| }, |
| "registered": { |
| "median": 15.3, |
| "p90": 17.5 |
| } |
| } |
| }, |
| "right": { |
| "offset_deg": 47.03, |
| "offset_rotvec": [ |
| 0.7102, |
| 0.404, |
| 0.0781 |
| ], |
| "dev_deg": { |
| "median": 48.37, |
| "p90": 82.56 |
| }, |
| "samples": 2052, |
| "accepted": 348, |
| "wrist_pos_err_mm_median": 118.5, |
| "per_camera": { |
| "head": { |
| "samples": 2052, |
| "accepted": 348, |
| "gate_deg": 30.0, |
| "offset_deg": 47.03, |
| "tier": "primary", |
| "dev_deg_median": 48.37, |
| "wrist_pos_err_mm_median": 118.5 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 1316, |
| "interpolated": 888, |
| "mean_hand": 11332, |
| "no_body_fit": 0 |
| }, |
| "observed_fraction": 0.1628, |
| "observed_fraction_of_valid": 0.1628, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 78.41, |
| "smplx": 0.93 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 15.2, |
| "p90": 23.5 |
| }, |
| "registered": { |
| "median": 15.3, |
| "p90": 23.5 |
| } |
| } |
| } |
| }, |
| "max_dev_deg": 30.0, |
| "max_gap_s": 1.0, |
| "cameras_used": [ |
| "head" |
| ], |
| "generated_at_utc": "2026-11-03T20:12:00.100978+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/locomanipulation/LM21/session_030", |
| "family": "locomanipulation", |
| "primitive": "LM21", |
| "source_session": "20261021/LM21/20261021_050852_session65" |
| }, |
| "task": { |
| "primitive": "LM21", |
| "instruction": "Carry the box straight from one end of the room to the other, set it down, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips." |
| }, |
| "objects": [ |
| { |
| "name": "BigBox", |
| "object_type": "BigBox", |
| "source": "mocap", |
| "pose_frame": "mesh" |
| } |
| ] |
| } |
|
|
