| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20261029/SM21/20261029_074559_session91", |
| "session_id": "20261029_074559_session91", |
| "primitive": "SM21", |
| "batch": "20261029", |
| "participant": "wangjingjing", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "c9205ac6e17d2d5c", |
| "left": "cc5681142208e29a", |
| "right": "a85418f7d807dff9" |
| }, |
| "generated_at_utc": "2026-10-30T22:59:21.492562+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": 128.95833333333334, |
| "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": -0.094095, |
| "rate": 0.0, |
| "global_lag_s": -0.095, |
| "peak_corr": 0.9364, |
| "reference_imu_first_sample_s": 25976.864200612, |
| "windows": { |
| "n_windows": 8, |
| "window_corr_median": 0.8728140956914734, |
| "drift_ppm": -17.496147869809636, |
| "drift_se_ppm": 18.901653114425798, |
| "drift_ms_over_take": -2.256128267811953, |
| "lag_scatter_ms": 1.4081414424845102, |
| "lag_range_ms": 4.63461832314846 |
| } |
| }, |
| "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": 26239, |
| "n_gyro": 26234, |
| "t_start": -0.1009907068135592, |
| "t_end": 129.14933033518645 |
| }, |
| "imu_head_left": { |
| "n_acc": 26079, |
| "n_gyro": 26072, |
| "t_start": 0.003283334187630993, |
| "t_end": 129.3153953681878 |
| }, |
| "imu_wrist_right": { |
| "n_acc": 25521, |
| "n_gyro": 25533, |
| "t_start": -0.7851318488126937, |
| "t_end": 128.11021173018634 |
| }, |
| "imu_wrist_left": { |
| "n_acc": 25469, |
| "n_gyro": 25469, |
| "t_start": -0.8361088468144091, |
| "t_end": 128.11701342518535 |
| }, |
| "mag_head": { |
| "n": 12940, |
| "t_start": 0.08639958418750643, |
| "t_end": 129.4763952711848 |
| }, |
| "mag_wrist_right": { |
| "n": 12888, |
| "t_start": -0.7612344588149655, |
| "t_end": 128.10829974818733 |
| }, |
| "mag_wrist_left": { |
| "n": 12895, |
| "t_start": -0.8276795468144202, |
| "t_end": 128.11187476018785 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 25976.995063, |
| "frames": 3868, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0026284356473863946, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": 0.039395968830990336, |
| "t_end": 128.93953996883027, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 25976.995044, |
| "frames": 3868, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0024181146161434135, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": 0.03916664780006135, |
| "t_end": 128.93928864779917, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 25976.995058, |
| "frames": 3868, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002458947067077895, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": 0.03922148025337696, |
| "t_end": 128.93935448025258, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 25976.995069, |
| "frames": 3868, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0021420814739499558, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": 0.03891561466041343, |
| "t_end": 128.93907161466012, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 30.0, |
| "start_device_s": 25976.995051, |
| "frames": 3857, |
| "pts_gaps": 11, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002801984596191448, |
| "gap_test": { |
| "pts": { |
| "offset_ms": -5.2, |
| "corr": 0.86, |
| "err_ms": 8.0 |
| }, |
| "nominal": { |
| "offset_ms": 62.9, |
| "corr": 0.782, |
| "err_ms": 60.1 |
| } |
| }, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": 0.039557517783737006, |
| "t_end": 128.956213517785, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 25976.995036, |
| "frames": 3868, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002930366888236734, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": 0.039670900075338744, |
| "t_end": 128.93978190007437, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "wrist_left": { |
| "fps": 30.0, |
| "start_device_s": 25976.118858, |
| "frames": 3868, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4", |
| "t_start": -0.8394374668121829, |
| "t_end": 128.0601065331877, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "wrist_right": { |
| "fps": 30.0, |
| "start_device_s": 25976.185228, |
| "frames": 3866, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4", |
| "t_start": -0.7730674668153599, |
| "t_end": 128.05981053318573, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "third_person": { |
| "file": "mocap/mocap-SM21-S01-wangjingjing-02p1-1.mp4", |
| "frames": 3869, |
| "fps": 30.0, |
| "clock": "nokov (frame index)", |
| "t_start": 0.0, |
| "t_end": 128.93333333333334 |
| } |
| } |
| }, |
| "flags": [], |
| "sanity": "no sanity report covers this session (run scripts/sanity_check.py)", |
| "rig_tracker": { |
| "definition": "c9205ac6e17d2d5c/20261029-afternoon/labels-503412/session-184de9716e2828a4", |
| "R_tracker0_imu0": [ |
| [ |
| -0.6365569, |
| 0.30033065, |
| -0.71034979 |
| ], |
| [ |
| 0.7552219, |
| 0.05605505, |
| -0.65306792 |
| ], |
| [ |
| -0.15631763, |
| -0.95218661, |
| -0.26249851 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| 0.01852993304256075, |
| -0.008677052988142376, |
| -0.006900172062881703 |
| ], |
| "rig_check": { |
| "gyro_samples": 224, |
| "gyro_max_deg": 2.5, |
| "status": "ok", |
| "dropped_marker": null, |
| "gyro_deg": 1.672 |
| }, |
| "file": "derived/rig_tracker_provider/rig_tracker.json", |
| "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" |
| }, |
| "canonical": { |
| "generated_at_utc": "2026-11-03T09:17:37.494991+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": [ |
| [ |
| 0.9999956317, |
| 0.0029557594, |
| -5.102e-07 |
| ], |
| [ |
| 5.102e-07, |
| -0.0003452029, |
| -0.9999999404 |
| ], |
| [ |
| -0.0029557594, |
| 0.9999955722, |
| -0.0003452029 |
| ] |
| ], |
| "scale_nokov_to_canon": 0.001, |
| "T_canon_nokov_mm": [ |
| [ |
| 0.000999995632, |
| 2.955759e-06, |
| -5.1e-10, |
| 0.0 |
| ], |
| [ |
| 5.1e-10, |
| -3.45203e-07, |
| -0.00099999994, |
| 0.0 |
| ], |
| [ |
| -2.955759e-06, |
| 0.000999995572, |
| -3.45203e-07, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "block": "20261029-afternoon", |
| "block_assignment": "trc", |
| "tilt_removed_deg": 0.17050385347658925, |
| "plane_status": "ok", |
| "floor": { |
| "sole_marker_p1_mm": 36.1, |
| "headtop_p95_mm": 1510.7 |
| }, |
| "gravity_check": { |
| "static_samples": 20546, |
| "g_world_mean_m_s2": [ |
| -0.0358, |
| -0.1449, |
| 9.7898 |
| ], |
| "tilt_from_z_deg": 0.874, |
| "tilt_from_z_deg_before_levelling": 0.911, |
| "magnitude_m_s2": 9.791 |
| }, |
| "rig_tracker_definition": "c9205ac6e17d2d5c/20261029-afternoon/labels-503412/session-184de9716e2828a4", |
| "rig_check": { |
| "status": "ok", |
| "dropped_marker": null, |
| "gyro_deg": 1.672 |
| }, |
| "camera_pose_source": "provider T_tracker0_cam", |
| "files": [ |
| "mocap_zup.npz", |
| "tracker0_zup.npz", |
| "rig_zup.npz", |
| "cameras_zup.npz" |
| ] |
| }, |
| "smplx": { |
| "generated_at_utc": "2026-11-02T18:39:08.829363+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": [ |
| 0.05674237757921219, |
| 0.011349080130457878, |
| -0.02818957529962063 |
| ], |
| "LHandOut": [ |
| 0.05130002275109291, |
| -0.03468768298625946, |
| -0.028074637055397034 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.028733696788549423, |
| 0.03854867070913315, |
| 0.0006812734645791352 |
| ], |
| "RHandOut": [ |
| -0.061208777129650116, |
| 0.0104060722514987, |
| -0.027742937207221985 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 2.01, |
| "p95_frame": 5.38 |
| }, |
| "worst_markers": [ |
| "RElbowIn 7mm", |
| "RKneeIn 5mm", |
| "LShin 5mm", |
| "CLAV 5mm", |
| "LThigh 5mm" |
| ], |
| "valid_fraction": 1.0, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": 3.6, |
| "p5": 0.9 |
| }, |
| "frames_checked": 516, |
| "stature_mm": 1502.4 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 11.79 |
| }, |
| "shape_source": "participant median", |
| "wrist_correction": { |
| "left": { |
| "status": "corrected", |
| "Q_deg": 83.21, |
| "Q_rotvec": [ |
| -1.38997, |
| 0.16218, |
| 0.38859 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 96.3, |
| "opposite_sign_bend_deg": 85.2, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 1.76, |
| "hand_vs_marker_frame_deg": { |
| "before": 83.72, |
| "after": 1.76 |
| }, |
| "markers_on_wrist": [ |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -89.48, |
| "wrist_twist_deg_after": { |
| "median": -0.0, |
| "iqr": [ |
| -2.2, |
| 5.0 |
| ] |
| }, |
| "wrist_total_deg_median_after": 41.1, |
| "markers_on_forearm": [ |
| "LForearm", |
| "LWristIn", |
| "LWristOut" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "right": { |
| "status": "corrected", |
| "Q_deg": 79.73, |
| "Q_rotvec": [ |
| -0.75257, |
| 0.60083, |
| -1.00454 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 82.5, |
| "opposite_sign_bend_deg": 120.0, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 1.46, |
| "hand_vs_marker_frame_deg": { |
| "before": 80.21, |
| "after": 1.46 |
| }, |
| "markers_on_wrist": [ |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": 56.44, |
| "wrist_twist_deg_after": { |
| "median": 0.0, |
| "iqr": [ |
| -3.1, |
| 2.4 |
| ] |
| }, |
| "wrist_total_deg_median_after": 62.9, |
| "markers_on_forearm": [ |
| "RForearm", |
| "RWristIn", |
| "RWristOut" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "generated_at_utc": "2026-11-02T18:39:12.197187+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "release": { |
| "release_path": "actions/static_manipulation/SM21/session_011", |
| "family": "static_manipulation", |
| "primitive": "SM21", |
| "source_session": "20261029/SM21/20261029_074559_session91" |
| }, |
| "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" |
| } |
| ] |
| } |
|
|
