| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20261027/LM21/20261027_035312_session43", |
| "session_id": "20261027_035312_session43", |
| "primitive": "LM21", |
| "batch": "20261027", |
| "participant": "wangjingjing", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "c9205ac6e17d2d5c", |
| "left": "452031d7af00ef6f", |
| "right": "60a6f081bbe60b0d" |
| }, |
| "generated_at_utc": "2026-10-28T19:50:38.179285+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": 131.95833333333334, |
| "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": -0.087932, |
| "rate": 0.0, |
| "global_lag_s": -0.09, |
| "peak_corr": 0.9863, |
| "reference_imu_first_sample_s": 12421.361745328, |
| "windows": { |
| "n_windows": 12, |
| "window_corr_median": 0.9869968563948541, |
| "drift_ppm": 8.729630427417755, |
| "drift_se_ppm": 4.295150193477779, |
| "drift_ms_over_take": 1.151874734897773, |
| "lag_scatter_ms": 0.46887356783644285, |
| "lag_range_ms": 1.7026345197017623 |
| } |
| }, |
| "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": 26844, |
| "n_gyro": 26839, |
| "t_start": -0.09483723846640567, |
| "t_end": 132.13386752853333 |
| }, |
| "imu_head_left": { |
| "n_acc": 26680, |
| "n_gyro": 26674, |
| "t_start": 0.008322053534376775, |
| "t_end": 132.29849383353397 |
| }, |
| "imu_wrist_right": { |
| "n_acc": 26590, |
| "n_gyro": 26604, |
| "t_start": -0.8645553414662376, |
| "t_end": 130.5507524605346 |
| }, |
| "imu_wrist_left": { |
| "n_acc": 26621, |
| "n_gyro": 26621, |
| "t_start": -0.9353662534667623, |
| "t_end": 130.54925877353347 |
| }, |
| "mag_head": { |
| "n": 13238, |
| "t_start": 0.09344613653413182, |
| "t_end": 132.46342949153407 |
| }, |
| "mag_wrist_right": { |
| "n": 13141, |
| "t_start": -0.8566267664664141, |
| "t_end": 130.54333760253397 |
| }, |
| "mag_wrist_left": { |
| "n": 13147, |
| "t_start": -0.9174050814653841, |
| "t_end": 130.54245990653365 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 12421.486896, |
| "frames": 3958, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0026284356473863946, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": 0.03984744318224477, |
| "t_end": 131.93988044318215, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 12421.486878, |
| "frames": 3958, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0024181146161434135, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": 0.03961912214983533, |
| "t_end": 131.93964112214965, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 12421.48689, |
| "frames": 3958, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002458947067077895, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": 0.03967195460065488, |
| "t_end": 131.93969395460047, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 12421.486902, |
| "frames": 3958, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0021420814739499558, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": 0.03936708900802989, |
| "t_end": 131.93941108900802, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 30.0, |
| "start_device_s": 12421.486885, |
| "frames": 3917, |
| "pts_gaps": 37, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002801984596191448, |
| "gap_test": { |
| "pts": { |
| "offset_ms": 29.9, |
| "corr": 0.658, |
| "err_ms": 27.1 |
| }, |
| "nominal": { |
| "offset_ms": 81.4, |
| "corr": 0.659, |
| "err_ms": 78.6 |
| } |
| }, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": 0.04000999212987301, |
| "t_end": 131.9566659921293, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 12421.486869, |
| "frames": 3958, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002930366888236734, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": 0.0401223744229552, |
| "t_end": 131.9401223744226, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "wrist_left": { |
| "fps": 30.0, |
| "start_device_s": 12420.51043, |
| "frames": 3944, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4", |
| "t_start": -0.9392469924659766, |
| "t_end": 130.49395600753454, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "wrist_right": { |
| "fps": 30.0, |
| "start_device_s": 12420.579535, |
| "frames": 3942, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4", |
| "t_start": -0.870141992465486, |
| "t_end": 130.49652500753476, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "third_person": { |
| "file": "mocap/mocap-LM21-S05-wangjingjing-01p1-1.mp4", |
| "frames": 3959, |
| "fps": 30.0, |
| "clock": "nokov (frame index)", |
| "t_start": 0.0, |
| "t_end": 131.93333333333334 |
| } |
| } |
| }, |
| "flags": [], |
| "sanity": "no sanity report covers this session (run scripts/sanity_check.py)", |
| "rig_tracker": { |
| "definition": "c9205ac6e17d2d5c/20261027-morning/labels-230415/session-3c7556827adcfbf6", |
| "R_tracker0_imu0": [ |
| [ |
| -0.66079658, |
| 0.37194244, |
| -0.65192538 |
| ], |
| [ |
| 0.73057381, |
| 0.11960487, |
| -0.67227716 |
| ], |
| [ |
| -0.17207496, |
| -0.92051806, |
| -0.35076589 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| -0.11701839813701737, |
| -0.005735486281453288, |
| -0.12236719628022108 |
| ], |
| "rig_check": { |
| "gyro_samples": 4520, |
| "gyro_max_deg": 2.5, |
| "status": "ok", |
| "dropped_marker": null, |
| "gyro_deg": 2.097 |
| }, |
| "file": "derived/rig_tracker_provider/rig_tracker.json", |
| "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" |
| }, |
| "canonical": { |
| "generated_at_utc": "2026-10-28T23:23:28.599973+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": [ |
| [ |
| 0.9999917896, |
| 0.0040522361, |
| 1.40821e-05 |
| ], |
| [ |
| -1.40821e-05, |
| 0.0069501878, |
| -0.9999758471 |
| ], |
| [ |
| -0.0040522361, |
| 0.9999676366, |
| 0.0069501878 |
| ] |
| ], |
| "scale_nokov_to_canon": 0.001, |
| "T_canon_nokov_mm": [ |
| [ |
| 0.00099999179, |
| 4.052236e-06, |
| 1.4082e-08, |
| 0.0 |
| ], |
| [ |
| -1.4082e-08, |
| 6.950188e-06, |
| -0.000999975847, |
| 0.0 |
| ], |
| [ |
| -4.052236e-06, |
| 0.000999967637, |
| 6.950188e-06, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "block": "20261027-morning", |
| "block_assignment": "trc", |
| "tilt_removed_deg": 0.46096270469771533, |
| "plane_status": "ok", |
| "floor": { |
| "sole_marker_p1_mm": 27.6, |
| "headtop_p95_mm": 1517.8 |
| }, |
| "gravity_check": { |
| "static_samples": 770, |
| "g_world_mean_m_s2": [ |
| -0.062, |
| 0.0364, |
| 9.7408 |
| ], |
| "tilt_from_z_deg": 0.423, |
| "tilt_from_z_deg_before_levelling": 0.625, |
| "magnitude_m_s2": 9.741 |
| }, |
| "rig_tracker_definition": "c9205ac6e17d2d5c/20261027-morning/labels-230415/session-3c7556827adcfbf6", |
| "rig_check": { |
| "status": "ok", |
| "dropped_marker": null, |
| "gyro_deg": 2.097 |
| }, |
| "camera_pose_source": "provider T_tracker0_cam", |
| "files": [ |
| "mocap_zup.npz", |
| "tracker0_zup.npz", |
| "rig_zup.npz", |
| "cameras_zup.npz" |
| ] |
| }, |
| "smplx": { |
| "generated_at_utc": "2026-10-29T07:01:59.530647+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": [ |
| 0.05152636393904686, |
| 0.01938820257782936, |
| 0.02341017872095108 |
| ], |
| "LHandOut": [ |
| 0.045927874743938446, |
| 0.01693861186504364, |
| -0.029833655804395676 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.027948027476668358, |
| 0.029177086427807808, |
| 0.000963456928730011 |
| ], |
| "RHandOut": [ |
| -0.02096189372241497, |
| 0.011857070028781891, |
| -0.031232981011271477 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 3.39, |
| "p95_frame": 6.12 |
| }, |
| "worst_markers": [ |
| "RHeel 9mm", |
| "RThigh 9mm", |
| "RKnee 8mm", |
| "RKneeIn 7mm", |
| "LElbowIn 7mm" |
| ], |
| "valid_fraction": 1.0, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": 17.5, |
| "p5": 9.6 |
| }, |
| "frames_checked": 528, |
| "stature_mm": 1502.4 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 10.71 |
| }, |
| "shape_source": "participant median", |
| "wrist_correction": { |
| "left": { |
| "status": "corrected", |
| "Q_deg": 16.4, |
| "Q_rotvec": [ |
| 0.07496, |
| -0.17226, |
| 0.21597 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 26.3, |
| "opposite_sign_bend_deg": 170.9, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 1.87, |
| "hand_vs_marker_frame_deg": { |
| "before": 17.06, |
| "after": 1.87 |
| }, |
| "markers_on_wrist": [ |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": 13.6, |
| "wrist_twist_deg_after": { |
| "median": 0.0, |
| "iqr": [ |
| -4.7, |
| 2.7 |
| ] |
| }, |
| "wrist_total_deg_median_after": 22.1, |
| "markers_on_forearm": [ |
| "LForearm", |
| "LWristIn", |
| "LWristOut" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "right": { |
| "status": "corrected", |
| "Q_deg": 48.22, |
| "Q_rotvec": [ |
| -0.186, |
| -0.13807, |
| -0.80911 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 72.4, |
| "opposite_sign_bend_deg": 121.4, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 2.14, |
| "hand_vs_marker_frame_deg": { |
| "before": 48.18, |
| "after": 2.14 |
| }, |
| "markers_on_wrist": [ |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": 49.72, |
| "wrist_twist_deg_after": { |
| "median": 0.0, |
| "iqr": [ |
| -3.7, |
| 2.2 |
| ] |
| }, |
| "wrist_total_deg_median_after": 53.4, |
| "markers_on_forearm": [ |
| "RForearm", |
| "RWristIn", |
| "RWristOut" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "generated_at_utc": "2026-10-29T07:02:02.583444+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "release": { |
| "release_path": "actions/locomanipulation/LM21/session_032", |
| "family": "locomanipulation", |
| "primitive": "LM21", |
| "source_session": "20261027/LM21/20261027_035312_session43" |
| }, |
| "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": "BigBox2", |
| "object_type": "BigBox", |
| "source": "mocap", |
| "pose_frame": "rigid_body" |
| } |
| ] |
| } |
|
|
