| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20261028/LM21/20261028_060008_session73", |
| "session_id": "20261028_060008_session73", |
| "primitive": "LM21", |
| "batch": "20261028", |
| "participant": "wangmengli", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "c9205ac6e17d2d5c", |
| "left": "cc5681142208e29a", |
| "right": "a85418f7d807dff9" |
| }, |
| "generated_at_utc": "2026-10-30T07:23:43.174719+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": 125.725, |
| "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": -0.089789, |
| "rate": 0.0, |
| "global_lag_s": -0.09, |
| "peak_corr": 0.9728, |
| "reference_imu_first_sample_s": 15409.229935296, |
| "windows": { |
| "n_windows": 11, |
| "window_corr_median": 0.9709247972080888, |
| "drift_ppm": -466.4745918365185, |
| "drift_se_ppm": 264.60884721689024, |
| "drift_ms_over_take": -58.64363077038099, |
| "lag_scatter_ms": 25.102999387106394, |
| "lag_range_ms": 102.21634124132572 |
| } |
| }, |
| "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": 25587, |
| "n_gyro": 25581, |
| "t_start": -0.10121840792766368, |
| "t_end": 125.9347436360718 |
| }, |
| "imu_head_left": { |
| "n_acc": 25430, |
| "n_gyro": 25423, |
| "t_start": 0.00783497707248837, |
| "t_end": 126.09894796907298 |
| }, |
| "imu_wrist_right": { |
| "n_acc": 24860, |
| "n_gyro": 24860, |
| "t_start": -0.893582957927211, |
| "t_end": 124.65614608907214 |
| }, |
| "imu_wrist_left": { |
| "n_acc": 24803, |
| "n_gyro": 24817, |
| "t_start": -0.917147719928326, |
| "t_end": 124.6566252330727 |
| }, |
| "mag_head": { |
| "n": 12618, |
| "t_start": 0.08839301807216482, |
| "t_end": 126.25838387007258 |
| }, |
| "mag_wrist_right": { |
| "n": 12554, |
| "t_start": -0.8798063129283407, |
| "t_end": 124.64935777907209 |
| }, |
| "mag_wrist_left": { |
| "n": 12556, |
| "t_start": -0.8986808019284951, |
| "t_end": 124.65094165807255 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 15409.356463, |
| "frames": 3771, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0026284356473863946, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": 0.03936760772063219, |
| "t_end": 125.7059676077211, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 15409.356432, |
| "frames": 3771, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0024181146161434135, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": 0.039126286689278755, |
| "t_end": 125.70571528668967, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 15409.356451, |
| "frames": 3771, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002458947067077895, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": 0.03918611913883008, |
| "t_end": 125.70577511913922, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 15409.356473, |
| "frames": 3771, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0021420814739499558, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": 0.038891253545952464, |
| "t_end": 125.70550225354651, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 30.0, |
| "start_device_s": 15409.356442, |
| "frames": 3770, |
| "pts_gaps": 1, |
| "timing": "pts (gap undecided)", |
| "timeshift_cam_imu_s": 0.002801984596191448, |
| "gap_test": {}, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": 0.03952015666851305, |
| "t_end": 125.72274215666818, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 15409.356414, |
| "frames": 3771, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002930366888236734, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": 0.03962053896117079, |
| "t_end": 125.70620953896156, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "wrist_left": { |
| "fps": 30.0, |
| "start_device_s": 15408.407841, |
| "frames": 3766, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4", |
| "t_start": -0.9118828279274027, |
| "t_end": 124.58772617207302, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "wrist_right": { |
| "fps": 30.0, |
| "start_device_s": 15408.422165, |
| "frames": 3766, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4", |
| "t_start": -0.8975588279276423, |
| "t_end": 124.60159517207154, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "third_person": { |
| "file": "mocap/mocap-LM21-S06-wangmengli-01p-1.mp4", |
| "frames": 3772, |
| "fps": 30.0, |
| "clock": "nokov (frame index)", |
| "t_start": 0.0, |
| "t_end": 125.7 |
| } |
| } |
| }, |
| "flags": [], |
| "sanity": "no sanity report covers this session (run scripts/sanity_check.py)", |
| "rig_tracker": { |
| "definition": "c9205ac6e17d2d5c/20261028-morning/labels-053142/session-d65fbbccfcb21229", |
| "R_tracker0_imu0": [ |
| [ |
| -0.65802702, |
| 0.2186563, |
| -0.7205483 |
| ], |
| [ |
| 0.74441419, |
| 0.04485773, |
| -0.66620965 |
| ], |
| [ |
| -0.11334878, |
| -0.97477034, |
| -0.19228845 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| -0.17881146254692484, |
| -0.011711336369910078, |
| -0.031731827930189936 |
| ], |
| "rig_check": { |
| "gyro_samples": 2846, |
| "gyro_max_deg": 2.5, |
| "status": "ok", |
| "dropped_marker": null, |
| "gyro_deg": 2.035 |
| }, |
| "file": "derived/rig_tracker_provider/rig_tracker.json", |
| "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" |
| }, |
| "canonical": { |
| "generated_at_utc": "2026-10-30T18:45:53.995772+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": 41.8, |
| "headtop_p95_mm": 1642.4 |
| }, |
| "gravity_check": { |
| "static_samples": 3827, |
| "g_world_mean_m_s2": [ |
| -0.1113, |
| 0.0447, |
| 9.7719 |
| ], |
| "tilt_from_z_deg": 0.703, |
| "tilt_from_z_deg_before_levelling": 0.744, |
| "magnitude_m_s2": 9.7726 |
| }, |
| "rig_tracker_definition": "c9205ac6e17d2d5c/20261028-morning/labels-053142/session-d65fbbccfcb21229", |
| "rig_check": { |
| "status": "ok", |
| "dropped_marker": null, |
| "gyro_deg": 2.035 |
| }, |
| "camera_pose_source": "provider T_tracker0_cam", |
| "files": [ |
| "mocap_zup.npz", |
| "tracker0_zup.npz", |
| "rig_zup.npz", |
| "cameras_zup.npz" |
| ] |
| }, |
| "smplx": { |
| "generated_at_utc": "2026-11-02T15:41:20.493653+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": [ |
| 0.09292032569646835, |
| 0.005290032364428043, |
| 0.02393357828259468 |
| ], |
| "LHandOut": [ |
| 0.08518151938915253, |
| 0.014648177661001682, |
| -0.02327643148601055 |
| ], |
| "LWristIn": [ |
| 0.00843076128512621, |
| 0.0021370251197367907, |
| 0.03708745539188385 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.05056862160563469, |
| 0.00898347795009613, |
| -0.03382200747728348 |
| ], |
| "RHandOut": [ |
| -0.059794019907712936, |
| -0.032971519976854324, |
| -0.013061106204986572 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 3.18, |
| "p95_frame": 5.09 |
| }, |
| "worst_markers": [ |
| "RKneeIn 8mm", |
| "RHeel 8mm", |
| "RThigh 8mm", |
| "LKneeIn 7mm", |
| "LHeel 6mm" |
| ], |
| "valid_fraction": 1.0, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": 16.9, |
| "p5": 12.8 |
| }, |
| "frames_checked": 503, |
| "stature_mm": 1616.5 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 13.13 |
| }, |
| "shape_source": "participant median", |
| "wrist_correction": { |
| "left": { |
| "status": "corrected", |
| "Q_deg": 18.62, |
| "Q_rotvec": [ |
| 0.29453, |
| -0.13466, |
| 0.02666 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 13.3, |
| "opposite_sign_bend_deg": 177.7, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 0.58, |
| "hand_vs_marker_frame_deg": { |
| "before": 18.69, |
| "after": 0.58 |
| }, |
| "markers_on_wrist": [ |
| "LWristIn", |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -0.82, |
| "wrist_twist_deg_after": { |
| "median": 0.0, |
| "iqr": [ |
| -0.9, |
| 0.7 |
| ] |
| }, |
| "wrist_total_deg_median_after": 13.3, |
| "markers_on_forearm": [ |
| "LElbowIn", |
| "LForearm", |
| "LWristOut" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "right": { |
| "status": "corrected", |
| "Q_deg": 113.25, |
| "Q_rotvec": [ |
| -1.85369, |
| -0.06467, |
| -0.6829 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 134.7, |
| "opposite_sign_bend_deg": 46.5, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 0.89, |
| "hand_vs_marker_frame_deg": { |
| "before": 113.29, |
| "after": 0.89 |
| }, |
| "markers_on_wrist": [ |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": 132.84, |
| "wrist_twist_deg_after": { |
| "median": 0.0, |
| "iqr": [ |
| -2.8, |
| 3.2 |
| ] |
| }, |
| "wrist_total_deg_median_after": 30.7, |
| "markers_on_forearm": [ |
| "RForearm", |
| "RWristIn", |
| "RWristOut" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "generated_at_utc": "2026-11-02T15:41:23.536913+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "release": { |
| "release_path": "actions/locomanipulation/LM21/session_034", |
| "family": "locomanipulation", |
| "primitive": "LM21", |
| "source_session": "20261028/LM21/20261028_060008_session73" |
| }, |
| "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" |
| } |
| ] |
| } |
|
|
