| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20261027/SM21/20261027_114926_session77", |
| "session_id": "20261027_114926_session77", |
| "primitive": "SM21", |
| "batch": "20261027", |
| "participant": "lvaoshan", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "e3296774a321bb51", |
| "left": "39042f5fb5da3b12", |
| "right": "65a3481473d6e2a0" |
| }, |
| "generated_at_utc": "2026-10-28T20:00:49.690002+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": 146.15833333333333, |
| "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": -0.077452, |
| "rate": 0.0, |
| "global_lag_s": -0.08, |
| "peak_corr": 0.9755, |
| "reference_imu_first_sample_s": 13375.135707748, |
| "windows": { |
| "n_windows": 13, |
| "window_corr_median": 0.9940655371971923, |
| "drift_ppm": -296.376922489756, |
| "drift_se_ppm": 176.5633716799507, |
| "drift_ms_over_take": -43.315487221877845, |
| "lag_scatter_ms": 21.91093820383972, |
| "lag_range_ms": 93.43035417433796 |
| } |
| }, |
| "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": 29503, |
| "n_gyro": 29496, |
| "t_start": -0.08936165638423736, |
| "t_end": 146.34713686561574 |
| }, |
| "imu_head_left": { |
| "n_acc": 29359, |
| "n_gyro": 29353, |
| "t_start": 0.021171411615985194, |
| "t_end": 146.51104624061574 |
| }, |
| "imu_wrist_right": { |
| "n_acc": 29640, |
| "n_gyro": 29639, |
| "t_start": -0.7887702403839215, |
| "t_end": 145.31572856361547 |
| }, |
| "imu_wrist_left": { |
| "n_acc": 29509, |
| "n_gyro": 29523, |
| "t_start": -0.9219507283849383, |
| "t_end": 145.30901106261646 |
| }, |
| "mag_head": { |
| "n": 14657, |
| "t_start": 0.1109626206163808, |
| "t_end": 146.67089631561632 |
| }, |
| "mag_wrist_right": { |
| "n": 14609, |
| "t_start": -0.7709644233835137, |
| "t_end": 145.30889454061636 |
| }, |
| "mag_wrist_left": { |
| "n": 14622, |
| "t_start": -0.9050372333838753, |
| "t_end": 145.30485542361586 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 13375.250994, |
| "frames": 4384, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0025546514432425653, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": 0.04038910305844874, |
| "t_end": 146.14053310305846, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 13375.250965, |
| "frames": 4384, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002366886077403108, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": 0.0401723376928272, |
| "t_end": 146.14028333769258, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 13375.250983, |
| "frames": 4384, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0026728712083183277, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": 0.04049632282495404, |
| "t_end": 146.1406183228248, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 13375.251004, |
| "frames": 4384, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002595594493655556, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": 0.040440046108603925, |
| "t_end": 146.14059604610904, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 30.0, |
| "start_device_s": 13375.250973, |
| "frames": 4383, |
| "pts_gaps": 1, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002394386090989767, |
| "gap_test": { |
| "pts": { |
| "offset_ms": 33.2, |
| "corr": 0.976, |
| "err_ms": 30.8 |
| }, |
| "nominal": { |
| "offset_ms": 83.1, |
| "corr": 0.976, |
| "err_ms": 80.7 |
| } |
| }, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": 0.04020783770666421, |
| "t_end": 146.15686383770682, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 13375.250951, |
| "frames": 4384, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002315656053021164, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": 0.040107107668707245, |
| "t_end": 146.1401961076683, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "wrist_left": { |
| "fps": 30.0, |
| "start_device_s": 13374.287653, |
| "frames": 4386, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4", |
| "t_start": -0.925506548384685, |
| "t_end": 145.24102945161596, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "wrist_right": { |
| "fps": 30.0, |
| "start_device_s": 13374.416142, |
| "frames": 4382, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4", |
| "t_start": -0.7970175483840579, |
| "t_end": 145.23618545161682, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "third_person": { |
| "file": "mocap/mocap-SM21-S01-lvaoshan-02p1-1.mp4", |
| "frames": 4385, |
| "fps": 30.0, |
| "clock": "nokov (frame index)", |
| "t_start": 0.0, |
| "t_end": 146.13333333333333 |
| } |
| } |
| }, |
| "flags": [], |
| "sanity": "no sanity report covers this session (run scripts/sanity_check.py)", |
| "rig_tracker": { |
| "definition": "e3296774a321bb51/20261027-afternoon/labels-235140/session-82327a04637187a0", |
| "R_tracker0_imu0": [ |
| [ |
| -0.57881306, |
| 0.00946305, |
| -0.81540536 |
| ], |
| [ |
| 0.81501964, |
| -0.02615388, |
| -0.57884278 |
| ], |
| [ |
| -0.02680363, |
| -0.99961314, |
| 0.00742564 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| -0.18246759125698653, |
| 0.0005364234139888054, |
| 0.018126063450760014 |
| ], |
| "rig_check": { |
| "gyro_samples": 1769, |
| "gyro_max_deg": 2.5, |
| "status": "video_solve", |
| "dropped_marker": null, |
| "gyro_deg": 1.631, |
| "video_solve": { |
| "status": "ok", |
| "reason": "", |
| "reprojection_px": 2.848, |
| "n_assoc": 938, |
| "gyro_deg": 1.631 |
| } |
| }, |
| "file": "derived/rig_tracker_provider/rig_tracker.json", |
| "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" |
| }, |
| "canonical": { |
| "generated_at_utc": "2026-10-28T23:24:02.260243+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": [ |
| [ |
| 0.9999951019, |
| 0.0031298597, |
| 1.01836e-05 |
| ], |
| [ |
| -1.01836e-05, |
| 0.0065073133, |
| -0.9999788272 |
| ], |
| [ |
| -0.0031298597, |
| 0.9999739291, |
| 0.0065073133 |
| ] |
| ], |
| "scale_nokov_to_canon": 0.001, |
| "T_canon_nokov_mm": [ |
| [ |
| 0.000999995102, |
| 3.12986e-06, |
| 1.0184e-08, |
| 0.0 |
| ], |
| [ |
| -1.0184e-08, |
| 6.507313e-06, |
| -0.000999978827, |
| 0.0 |
| ], |
| [ |
| -3.12986e-06, |
| 0.000999973929, |
| 6.507313e-06, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "block": "20261027-afternoon", |
| "block_assignment": "trc", |
| "tilt_removed_deg": 0.413729700581665, |
| "plane_status": "ok", |
| "floor": { |
| "sole_marker_p1_mm": 37.7, |
| "headtop_p95_mm": 1684.5 |
| }, |
| "gravity_check": { |
| "static_samples": 16517, |
| "g_world_mean_m_s2": [ |
| 0.3554, |
| 0.0462, |
| 9.7558 |
| ], |
| "tilt_from_z_deg": 2.104, |
| "tilt_from_z_deg_before_levelling": 1.91, |
| "magnitude_m_s2": 9.7623 |
| }, |
| "rig_tracker_definition": "e3296774a321bb51/20261027-afternoon/labels-235140/session-82327a04637187a0", |
| "rig_check": { |
| "status": "video_solve", |
| "dropped_marker": null, |
| "gyro_deg": 1.631 |
| }, |
| "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": "2026-10-29T08:02:47.680124+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": [ |
| 0.07839987426996231, |
| -0.036144036799669266, |
| 0.01433450449258089 |
| ], |
| "LHandOut": [ |
| 0.06678903847932816, |
| 0.015790004283189774, |
| 0.025198988616466522 |
| ], |
| "LWristIn": [ |
| -0.0026896873023360968, |
| -0.040450140833854675, |
| 0.00893322005867958 |
| ], |
| "LWristOut": [ |
| -0.002963106380775571, |
| -0.002237375359982252, |
| 0.030948763713240623 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.050942543894052505, |
| 0.028103122487664223, |
| 0.025527937337756157 |
| ], |
| "RHandOut": [ |
| -0.06864218413829803, |
| 0.012568602338433266, |
| -0.019318850710988045 |
| ], |
| "RWristOut": [ |
| 0.003888375125825405, |
| 0.003224348882213235, |
| -0.03208404406905174 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 2.75, |
| "p95_frame": 5.76 |
| }, |
| "worst_markers": [ |
| "RHeadBack 10mm", |
| "RElbow 9mm", |
| "RElbowIn 5mm", |
| "RWristIn 5mm", |
| "RUArmHigh 5mm" |
| ], |
| "valid_fraction": 0.9997, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": 15.4, |
| "p5": 14.1 |
| }, |
| "frames_checked": 585, |
| "stature_mm": 1659.4 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 15.51 |
| }, |
| "shape_source": "participant median", |
| "wrist_correction": { |
| "left": { |
| "status": "corrected", |
| "Q_deg": 108.48, |
| "Q_rotvec": [ |
| 1.88873, |
| -0.13241, |
| -0.00933 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 101.3, |
| "opposite_sign_bend_deg": 84.2, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 0.23, |
| "hand_vs_marker_frame_deg": { |
| "before": 108.53, |
| "after": 0.23 |
| }, |
| "markers_on_wrist": [ |
| "LForearm", |
| "LWristIn", |
| "LWristOut", |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": 100.75, |
| "wrist_twist_deg_after": { |
| "median": 0.0, |
| "iqr": [ |
| -0.4, |
| 0.4 |
| ] |
| }, |
| "wrist_total_deg_median_after": 11.7, |
| "markers_on_forearm": [] |
| }, |
| "frames_used": 1500 |
| }, |
| "right": { |
| "status": "corrected", |
| "Q_deg": 44.34, |
| "Q_rotvec": [ |
| -0.22701, |
| 0.56842, |
| -0.47357 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 41.3, |
| "opposite_sign_bend_deg": 153.8, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 2.31, |
| "hand_vs_marker_frame_deg": { |
| "before": 44.6, |
| "after": 2.31 |
| }, |
| "markers_on_wrist": [ |
| "RWristOut", |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": 20.24, |
| "wrist_twist_deg_after": { |
| "median": 0.0, |
| "iqr": [ |
| -9.3, |
| 14.1 |
| ] |
| }, |
| "wrist_total_deg_median_after": 32.2, |
| "markers_on_forearm": [ |
| "RForearm", |
| "RWristIn" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "generated_at_utc": "2026-10-29T08:02:50.884772+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "release": { |
| "release_path": "actions/static_manipulation/SM21/session_008", |
| "family": "static_manipulation", |
| "primitive": "SM21", |
| "source_session": "20261027/SM21/20261027_114926_session77" |
| }, |
| "task": { |
| "primitive": "SM21", |
| "instruction": "Open and close the tool in your hand, without cutting anything. 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": "Table", |
| "object_type": "Table", |
| "source": "mocap", |
| "pose_frame": "rigid_body" |
| } |
| ] |
| } |
|
|
