| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20261031/SM13/20261031_082911_session50", |
| "session_id": "20261031_082911_session50", |
| "primitive": "SM13", |
| "batch": "20261031", |
| "participant": "zhangxinxin", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "e3296774a321bb51", |
| "left": "39042f5fb5da3b12", |
| "right": "65a3481473d6e2a0" |
| }, |
| "generated_at_utc": "2026-11-03T05:54:31.682260+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": 128.225, |
| "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": -0.090678, |
| "rate": 0.0, |
| "global_lag_s": -0.09, |
| "peak_corr": 0.9983, |
| "reference_imu_first_sample_s": 11199.55549804, |
| "windows": { |
| "n_windows": 11, |
| "window_corr_median": 0.9989266000793052, |
| "drift_ppm": 1.2778372421325292, |
| "drift_se_ppm": 2.222227749936584, |
| "drift_ms_over_take": 0.1638400317287591, |
| "lag_scatter_ms": 0.2108190350829211, |
| "lag_range_ms": 0.835995765629094 |
| } |
| }, |
| "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": 25895, |
| "n_gyro": 25890, |
| "t_start": -0.0976246612599791, |
| "t_end": 128.42955014773995 |
| }, |
| "imu_head_left": { |
| "n_acc": 25771, |
| "n_gyro": 25764, |
| "t_start": 0.011477921739205865, |
| "t_end": 128.59763872874007 |
| }, |
| "imu_wrist_right": { |
| "n_acc": 25861, |
| "n_gyro": 25861, |
| "t_start": -0.7040281392610634, |
| "t_end": 126.76906440874059 |
| }, |
| "imu_wrist_left": { |
| "n_acc": 25728, |
| "n_gyro": 25740, |
| "t_start": -0.7211804992594264, |
| "t_end": 126.77245389373907 |
| }, |
| "mag_head": { |
| "n": 12867, |
| "t_start": 0.10083554673925371, |
| "t_end": 128.76088606673963 |
| }, |
| "mag_wrist_right": { |
| "n": 12746, |
| "t_start": -0.6859419562597762, |
| "t_end": 126.76411205874042 |
| }, |
| "mag_wrist_left": { |
| "n": 12748, |
| "t_start": -0.7044636522596559, |
| "t_end": 126.76601972674048 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 11199.683626, |
| "frames": 3846, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0025546514432425653, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": 0.040004817182270724, |
| "t_end": 128.2067378171823, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 11199.683569, |
| "frames": 3846, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002366886077403108, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": 0.03976005181808412, |
| "t_end": 128.20651605181862, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 11199.683609, |
| "frames": 3846, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0026728712083183277, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": 0.040106036948563795, |
| "t_end": 128.2068390369486, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 11199.683642, |
| "frames": 3846, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002595594493655556, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": 0.04006176023263813, |
| "t_end": 128.20678376023258, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 30.0, |
| "start_device_s": 11199.683589, |
| "frames": 3844, |
| "pts_gaps": 2, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002394386090989767, |
| "gap_test": { |
| "pts": { |
| "offset_ms": 29.5, |
| "corr": 0.983, |
| "err_ms": 27.1 |
| }, |
| "nominal": { |
| "offset_ms": 79.5, |
| "corr": 0.983, |
| "err_ms": 77.1 |
| } |
| }, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": 0.03980755183052659, |
| "t_end": 128.20655155183064, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 11199.683543, |
| "frames": 3846, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002315656053021164, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": 0.039682821791720724, |
| "t_end": 128.20643882179226, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "wrist_left": { |
| "fps": 30.0, |
| "start_device_s": 11198.916621, |
| "frames": 3824, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4", |
| "t_start": -0.7295548342599798, |
| "t_end": 126.70423416574063, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "wrist_right": { |
| "fps": 30.0, |
| "start_device_s": 11198.947715, |
| "frames": 3823, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4", |
| "t_start": -0.6984608342600407, |
| "t_end": 126.70160416573977, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "third_person": { |
| "file": "mocap/mocap-SM13-S01-zhangxinxin-02p3-1.mp4", |
| "frames": 3847, |
| "fps": 30.0, |
| "clock": "nokov (frame index)", |
| "t_start": 0.0, |
| "t_end": 128.2 |
| } |
| } |
| }, |
| "flags": [], |
| "sanity": "no sanity report covers this session (run scripts/sanity_check.py)", |
| "rig_tracker": { |
| "definition": "e3296774a321bb51/20261031-afternoon/labels-503412/session-8c5d0aad8d08d9c0", |
| "R_tracker0_imu0": [ |
| [ |
| -0.74131185, |
| 0.13568064, |
| -0.65730321 |
| ], |
| [ |
| 0.66699467, |
| 0.03998145, |
| -0.74398898 |
| ], |
| [ |
| -0.07466496, |
| -0.98994558, |
| -0.12013699 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| 0.020833471423272482, |
| -0.0013829892263840984, |
| -0.024997305731376606 |
| ], |
| "rig_check": { |
| "gyro_samples": 4276, |
| "gyro_max_deg": 2.5, |
| "status": "gyro_rotation", |
| "dropped_marker": null, |
| "gyro_deg": 0.0, |
| "video_solve": { |
| "status": "ok", |
| "reason": "", |
| "reprojection_px": 2.392, |
| "n_assoc": 718, |
| "gyro_deg": 2.586 |
| } |
| }, |
| "file": "derived/rig_tracker_provider/rig_tracker.json", |
| "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" |
| }, |
| "canonical": { |
| "generated_at_utc": "2026-11-03T09:18:14.975417+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": [ |
| [ |
| 0.9999980753, |
| 0.0019619693, |
| 8.2636e-06 |
| ], |
| [ |
| -8.2636e-06, |
| 0.0084236237, |
| -0.9999645206 |
| ], |
| [ |
| -0.0019619693, |
| 0.9999625959, |
| 0.0084236237 |
| ] |
| ], |
| "scale_nokov_to_canon": 0.001, |
| "T_canon_nokov_mm": [ |
| [ |
| 0.000999998075, |
| 1.961969e-06, |
| 8.264e-09, |
| 0.0 |
| ], |
| [ |
| -8.264e-09, |
| 8.423624e-06, |
| -0.000999964521, |
| 0.0 |
| ], |
| [ |
| -1.961969e-06, |
| 0.000999962596, |
| 8.423624e-06, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "block": "20261031-afternoon", |
| "block_assignment": "trc", |
| "tilt_removed_deg": 0.4955625379774218, |
| "plane_status": "ok", |
| "floor": { |
| "sole_marker_p1_mm": 37.3, |
| "headtop_p95_mm": 1628.9 |
| }, |
| "gravity_check": { |
| "static_samples": 7000, |
| "g_world_mean_m_s2": [ |
| 0.1051, |
| -0.0437, |
| 9.7499 |
| ], |
| "tilt_from_z_deg": 0.669, |
| "tilt_from_z_deg_before_levelling": 0.896, |
| "magnitude_m_s2": 9.7506 |
| }, |
| "rig_tracker_definition": "e3296774a321bb51/20261031-afternoon/labels-503412/session-8c5d0aad8d08d9c0", |
| "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": "2026-11-03T13:16:50.442273+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": [ |
| 0.05677231401205063, |
| 0.004683482460677624, |
| 0.028011729940772057 |
| ], |
| "LHandOut": [ |
| 0.05510169640183449, |
| 0.031173884868621826, |
| -0.0015210907440632582 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.08018774539232254, |
| 0.014766198582947254, |
| -0.0008287355885840952 |
| ], |
| "RHandOut": [ |
| -0.07378619909286499, |
| 0.004866599105298519, |
| -0.04212936386466026 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 3.56, |
| "p95_frame": 5.32 |
| }, |
| "worst_markers": [ |
| "RElbowIn 12mm", |
| "LElbowIn 10mm", |
| "LElbow 6mm", |
| "RElbow 6mm", |
| "LWristIn 6mm" |
| ], |
| "valid_fraction": 0.9997, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": 4.2, |
| "p5": 3.0 |
| }, |
| "frames_checked": 513, |
| "stature_mm": 1627.7 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 12.8 |
| }, |
| "shape_source": "participant median", |
| "wrist_correction": { |
| "left": { |
| "status": "corrected", |
| "Q_deg": 52.05, |
| "Q_rotvec": [ |
| 0.84769, |
| -0.30737, |
| 0.11038 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 43.6, |
| "opposite_sign_bend_deg": 152.3, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 4.35, |
| "hand_vs_marker_frame_deg": { |
| "before": 52.48, |
| "after": 4.35 |
| }, |
| "markers_on_wrist": [ |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": 35.27, |
| "wrist_twist_deg_after": { |
| "median": 0.0, |
| "iqr": [ |
| -8.7, |
| 6.2 |
| ] |
| }, |
| "wrist_total_deg_median_after": 24.5, |
| "markers_on_forearm": [ |
| "LForearm", |
| "LWristIn", |
| "LWristOut" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "right": { |
| "status": "corrected", |
| "Q_deg": 10.96, |
| "Q_rotvec": [ |
| -0.13829, |
| 0.12916, |
| -0.02802 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 41.0, |
| "opposite_sign_bend_deg": 145.2, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 1.99, |
| "hand_vs_marker_frame_deg": { |
| "before": 11.59, |
| "after": 1.99 |
| }, |
| "markers_on_wrist": [ |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": 29.74, |
| "wrist_twist_deg_after": { |
| "median": 0.0, |
| "iqr": [ |
| -2.4, |
| 5.5 |
| ] |
| }, |
| "wrist_total_deg_median_after": 27.9, |
| "markers_on_forearm": [ |
| "RForearm", |
| "RWristIn", |
| "RWristOut" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "generated_at_utc": "2026-11-03T13:16:53.515499+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "release": { |
| "release_path": "actions/static_manipulation/SM13/session_005", |
| "family": "static_manipulation", |
| "primitive": "SM13", |
| "source_session": "20261031/SM13/20261031_082911_session50" |
| }, |
| "task": { |
| "primitive": "SM13", |
| "instruction": "Hold two objects, then put just one of them on the shelf while still holding the other. 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": "LittleBox1", |
| "object_type": "LittleBox", |
| "source": "mocap", |
| "pose_frame": "rigid_body" |
| }, |
| { |
| "name": "LittleBox3", |
| "object_type": "LittleBox", |
| "source": "mocap", |
| "pose_frame": "mesh" |
| }, |
| { |
| "name": "Table", |
| "object_type": "Table", |
| "source": "mocap", |
| "pose_frame": "rigid_body" |
| } |
| ] |
| } |
|
|
