| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20261028/SM21/20261028_023800_session17", |
| "session_id": "20261028_023800_session17", |
| "primitive": "SM21", |
| "batch": "20261028", |
| "participant": "wangmengli", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "c9205ac6e17d2d5c", |
| "left": "452031d7af00ef6f", |
| "right": "60a6f081bbe60b0d" |
| }, |
| "generated_at_utc": "2026-10-30T07:33:24.391593+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": 148.15833333333333, |
| "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": -0.087739, |
| "rate": 0.0, |
| "global_lag_s": -0.085, |
| "peak_corr": 0.9328, |
| "reference_imu_first_sample_s": 3281.070235223, |
| "windows": { |
| "n_windows": 7, |
| "window_corr_median": 0.9378732662617468, |
| "drift_ppm": 12.140777690239217, |
| "drift_se_ppm": 6.044595701483479, |
| "drift_ms_over_take": 1.79865621480894, |
| "lag_scatter_ms": 0.5152217838515551, |
| "lag_range_ms": 2.2236997672256678 |
| } |
| }, |
| "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": 30138, |
| "n_gyro": 30133, |
| "t_start": -0.09916684568541427, |
| "t_end": 148.35939885931478 |
| }, |
| "imu_head_left": { |
| "n_acc": 29952, |
| "n_gyro": 29945, |
| "t_start": 0.008785525314596046, |
| "t_end": 148.52721437431458 |
| }, |
| "imu_wrist_right": { |
| "n_acc": 29957, |
| "n_gyro": 29970, |
| "t_start": -0.8099334636853939, |
| "t_end": 147.24981807131465 |
| }, |
| "imu_wrist_left": { |
| "n_acc": 29997, |
| "n_gyro": 30008, |
| "t_start": -0.9148312986853682, |
| "t_end": 147.2474300693148 |
| }, |
| "mag_head": { |
| "n": 14861, |
| "t_start": 0.0944232343149622, |
| "t_end": 148.69441438831475 |
| }, |
| "mag_wrist_right": { |
| "n": 14805, |
| "t_start": -0.7932706696851539, |
| "t_end": 147.24650155331486 |
| }, |
| "mag_wrist_left": { |
| "n": 14815, |
| "t_start": -0.8971390316851113, |
| "t_end": 147.2426662933149 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 3281.196015, |
| "frames": 4444, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0026284356473863946, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": 0.040668939961977915, |
| "t_end": 148.14069093996207, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 3281.195998, |
| "frames": 4444, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0024181146161434135, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": 0.040441618930816506, |
| "t_end": 148.14045261893082, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 3281.19601, |
| "frames": 4444, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002458947067077895, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": 0.040494451382090804, |
| "t_end": 148.1405054513821, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 3281.196022, |
| "frames": 4444, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0021420814739499558, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": 0.040189585789011065, |
| "t_end": 148.1402225857892, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 60.0, |
| "start_device_s": 3281.246006, |
| "frames": 4291, |
| "pts_gaps": 4290, |
| "timing": "pts (gap undecided)", |
| "timeshift_cam_imu_s": 0.002801984596191448, |
| "gap_test": { |
| "pts": { |
| "offset_ms": -16.5, |
| "corr": 0.792, |
| "err_ms": 19.3 |
| }, |
| "nominal": { |
| "offset_ms": 150.0, |
| "corr": 0.273, |
| "err_ms": 147.2 |
| } |
| }, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": 0.09083348891091987, |
| "t_end": 148.1574894889109, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 3281.195989, |
| "frames": 4444, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002930366888236734, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": 0.04094487120302688, |
| "t_end": 148.14094487120295, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "wrist_left": { |
| "fps": 30.0, |
| "start_device_s": 3280.281236, |
| "frames": 4443, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4", |
| "t_start": -0.8767384956854414, |
| "t_end": 147.18973250431466, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "wrist_right": { |
| "fps": 30.0, |
| "start_device_s": 3280.394993, |
| "frames": 4440, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4", |
| "t_start": -0.7629814956853636, |
| "t_end": 147.20342450431465, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "third_person": { |
| "file": "mocap/mocap-SM21-S01-wangmengli-02p1-1.mp4", |
| "frames": 4445, |
| "fps": 30.0, |
| "clock": "nokov (frame index)", |
| "t_start": 0.0, |
| "t_end": 148.13333333333333 |
| } |
| } |
| }, |
| "flags": [], |
| "sanity": "no sanity report covers this session (run scripts/sanity_check.py)", |
| "rig_tracker": { |
| "definition": "c9205ac6e17d2d5c/20261028-morning/labels-053142/session-85ab8a5444b4e5ce", |
| "R_tracker0_imu0": [ |
| [ |
| -0.65798986, |
| 0.21861868, |
| -0.72059365 |
| ], |
| [ |
| 0.74443432, |
| 0.0447006, |
| -0.66619772 |
| ], |
| [ |
| -0.1134323, |
| -0.97478599, |
| -0.19215979 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| -0.17880191061719777, |
| -0.011715483326149467, |
| -0.03173057055743972 |
| ], |
| "rig_check": { |
| "gyro_samples": 620, |
| "gyro_max_deg": 2.5, |
| "status": "ok", |
| "dropped_marker": null, |
| "gyro_deg": 1.571 |
| }, |
| "file": "derived/rig_tracker_provider/rig_tracker.json", |
| "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" |
| }, |
| "canonical": { |
| "generated_at_utc": "2026-10-30T18:49:16.993825+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": 37.8, |
| "headtop_p95_mm": 1641.9 |
| }, |
| "gravity_check": { |
| "static_samples": 24673, |
| "g_world_mean_m_s2": [ |
| -0.2798, |
| -0.1238, |
| 9.7853 |
| ], |
| "tilt_from_z_deg": 1.791, |
| "tilt_from_z_deg_before_levelling": 1.753, |
| "magnitude_m_s2": 9.7901 |
| }, |
| "rig_tracker_definition": "c9205ac6e17d2d5c/20261028-morning/labels-053142/session-85ab8a5444b4e5ce", |
| "rig_check": { |
| "status": "ok", |
| "dropped_marker": null, |
| "gyro_deg": 1.571 |
| }, |
| "camera_pose_source": "provider T_tracker0_cam", |
| "files": [ |
| "mocap_zup.npz", |
| "tracker0_zup.npz", |
| "rig_zup.npz", |
| "cameras_zup.npz" |
| ] |
| }, |
| "smplx": { |
| "generated_at_utc": "2026-11-02T16:57:51.215694+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": [ |
| 0.09256365895271301, |
| 0.021355360746383667, |
| 0.004149410407990217 |
| ], |
| "LHandOut": [ |
| 0.0825057104229927, |
| -0.006670291535556316, |
| -0.035737719386816025 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.07158324867486954, |
| 0.013854543678462505, |
| 0.031511709094047546 |
| ], |
| "RHandOut": [ |
| -0.0741329938173294, |
| 0.026251627132296562, |
| -0.012933922000229359 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 2.04, |
| "p95_frame": 5.24 |
| }, |
| "worst_markers": [ |
| "LElbowIn 8mm", |
| "LShoulderFront 5mm", |
| "LElbow 5mm", |
| "LShoulderBack 4mm", |
| "RElbowIn 4mm" |
| ], |
| "valid_fraction": 0.9998, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": 10.8, |
| "p5": 10.3 |
| }, |
| "frames_checked": 593, |
| "stature_mm": 1616.5 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 15.57 |
| }, |
| "shape_source": "participant median", |
| "wrist_correction": { |
| "left": { |
| "status": "corrected", |
| "Q_deg": 28.52, |
| "Q_rotvec": [ |
| -0.48936, |
| -0.05331, |
| 0.07415 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 73.6, |
| "opposite_sign_bend_deg": 108.3, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 1.64, |
| "hand_vs_marker_frame_deg": { |
| "before": 28.65, |
| "after": 1.64 |
| }, |
| "markers_on_wrist": [ |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -72.98, |
| "wrist_twist_deg_after": { |
| "median": 0.0, |
| "iqr": [ |
| -3.0, |
| 5.1 |
| ] |
| }, |
| "wrist_total_deg_median_after": 12.2, |
| "markers_on_forearm": [ |
| "LElbow", |
| "LForearm", |
| "LWristIn", |
| "LWristOut" |
| ] |
| }, |
| "frames_used": 1499 |
| }, |
| "right": { |
| "status": "corrected", |
| "Q_deg": 33.01, |
| "Q_rotvec": [ |
| 0.38173, |
| 0.36942, |
| -0.22325 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 39.1, |
| "opposite_sign_bend_deg": 154.8, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 1.42, |
| "hand_vs_marker_frame_deg": { |
| "before": 32.82, |
| "after": 1.42 |
| }, |
| "markers_on_wrist": [ |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -29.85, |
| "wrist_twist_deg_after": { |
| "median": -0.0, |
| "iqr": [ |
| -4.1, |
| 7.7 |
| ] |
| }, |
| "wrist_total_deg_median_after": 26.4, |
| "markers_on_forearm": [ |
| "RForearm", |
| "RWristIn", |
| "RWristOut" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "generated_at_utc": "2026-11-02T16:57:54.695076+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "release": { |
| "release_path": "actions/static_manipulation/SM21/session_010", |
| "family": "static_manipulation", |
| "primitive": "SM21", |
| "source_session": "20261028/SM21/20261028_023800_session17" |
| }, |
| "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" |
| } |
| ] |
| } |
|
|
