| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20261102/SM21/20261102_082244_session135", |
| "session_id": "20261102_082244_session135", |
| "primitive": "SM21", |
| "batch": "20261102", |
| "participant": "wangzhixin", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "e17c9efadb69e7b1", |
| "left": "cc5681142208e29a", |
| "right": "a85418f7d807dff9" |
| }, |
| "generated_at_utc": "2026-11-03T22:07:14.336302+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": 152.15833333333333, |
| "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": -0.088616, |
| "rate": 0.0, |
| "global_lag_s": -0.09, |
| "peak_corr": 0.8104, |
| "reference_imu_first_sample_s": 9502.610798333, |
| "windows": { |
| "n_windows": 5, |
| "window_corr_median": 0.7836142924465288, |
| "drift_ppm": 24.7387938116551, |
| "drift_se_ppm": 11.633654745512917, |
| "drift_ms_over_take": 3.764007478443324, |
| "lag_scatter_ms": 1.1441272117732169, |
| "lag_range_ms": 4.948695846896223 |
| } |
| }, |
| "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": "e17c9efadb69e7b1", |
| "status": "ok", |
| "date": "2026-09-08" |
| }, |
| "streams": { |
| "sensors": { |
| "imu_head_right": { |
| "n_acc": 30581, |
| "n_gyro": 30575, |
| "t_start": -0.09559762495894344, |
| "t_end": 152.3685741950411 |
| }, |
| "imu_head_left": { |
| "n_acc": 30525, |
| "n_gyro": 30520, |
| "t_start": 0.01014175004081383, |
| "t_end": 152.5359232590398 |
| }, |
| "imu_wrist_right": { |
| "n_acc": 30072, |
| "n_gyro": 30072, |
| "t_start": -0.7763687119605742, |
| "t_end": 151.0822206290394 |
| }, |
| "imu_wrist_left": { |
| "n_acc": 30017, |
| "n_gyro": 30031, |
| "t_start": -0.8810715959590447, |
| "t_end": 151.08359988304062 |
| }, |
| "mag_head": { |
| "n": 15262, |
| "t_start": 0.08953633404041514, |
| "t_end": 152.6995339060394 |
| }, |
| "mag_wrist_right": { |
| "n": 15185, |
| "t_start": -0.7626326349601436, |
| "t_end": 151.07666288903954 |
| }, |
| "mag_wrist_left": { |
| "n": 15195, |
| "t_start": -0.8625786169596972, |
| "t_end": 151.07689667003967 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 9502.7417, |
| "frames": 4564, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0023423887986386703, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": 0.04462756783857233, |
| "t_end": 152.1446605678392, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 9502.741658, |
| "frames": 4564, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0019489646456461974, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": 0.0441921436866983, |
| "t_end": 152.1441701436869, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 9502.741686, |
| "frames": 4564, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0018171232386612972, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": 0.044088302278280506, |
| "t_end": 152.14409930227873, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 9502.741716, |
| "frames": 4564, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0017295646474508202, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": 0.044030743687355905, |
| "t_end": 152.14407474368807, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 30.0, |
| "start_device_s": 9502.741671, |
| "frames": 4564, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.001668932298833096, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": 0.04392511133835117, |
| "t_end": 152.14392511133872, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 9502.741641, |
| "frames": 4564, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0017169377622902274, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": 0.04394311680323201, |
| "t_end": 152.14389911680325, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "wrist_left": { |
| "fps": 30.0, |
| "start_device_s": 9501.816913, |
| "frames": 4558, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4", |
| "t_start": -0.8825018209591939, |
| "t_end": 151.0169771790405, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "wrist_right": { |
| "fps": 30.0, |
| "start_device_s": 9501.916818, |
| "frames": 4555, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4", |
| "t_start": -0.7825968209600682, |
| "t_end": 151.01668717904056, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "third_person": { |
| "file": "mocap/mocap-SM21-S01-wangzhixin-02p1-1.mp4", |
| "frames": 4565, |
| "fps": 30.0, |
| "clock": "nokov (frame index)", |
| "t_start": 0.0, |
| "t_end": 152.13333333333333 |
| } |
| } |
| }, |
| "flags": [], |
| "sanity": "no sanity report covers this session (run scripts/sanity_check.py)", |
| "rig_tracker": { |
| "definition": "e17c9efadb69e7b1/20261102-afternoon/labels-154230/session-01114e532d7cf05c", |
| "R_tracker0_imu0": [ |
| [ |
| -0.61331322, |
| 0.11991316, |
| -0.78068414 |
| ], |
| [ |
| 0.78966265, |
| 0.11402431, |
| -0.60285268 |
| ], |
| [ |
| 0.01672701, |
| -0.98621463, |
| -0.16462356 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| 0.006215980919735419, |
| 0.0020513155202093888, |
| -0.03849427657759524 |
| ], |
| "rig_check": { |
| "gyro_samples": 160, |
| "gyro_max_deg": 2.5, |
| "status": "unchecked", |
| "dropped_marker": null, |
| "gyro_deg": null |
| }, |
| "file": "derived/rig_tracker_provider/rig_tracker.json", |
| "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" |
| }, |
| "canonical": { |
| "generated_at_utc": "2026-11-04T04:10:44.227649+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": [ |
| [ |
| 0.9999989577, |
| 0.0014438356, |
| -2.2061e-06 |
| ], |
| [ |
| 2.2061e-06, |
| -0.0030559472, |
| -0.9999953306 |
| ], |
| [ |
| -0.0014438356, |
| 0.9999942882, |
| -0.0030559472 |
| ] |
| ], |
| "scale_nokov_to_canon": 0.001, |
| "T_canon_nokov_mm": [ |
| [ |
| 0.000999998958, |
| 1.443836e-06, |
| -2.206e-09, |
| 0.0 |
| ], |
| [ |
| 2.206e-09, |
| -3.055947e-06, |
| -0.000999995331, |
| 0.0 |
| ], |
| [ |
| -1.443836e-06, |
| 0.000999994288, |
| -3.055947e-06, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "block": "20261102-afternoon", |
| "block_assignment": "trc", |
| "tilt_removed_deg": 0.19365225661101543, |
| "plane_status": "contacts span only 0.73 m", |
| "floor": { |
| "sole_marker_p1_mm": 52.0, |
| "headtop_p95_mm": 1568.9 |
| }, |
| "gravity_check": { |
| "static_samples": 27037, |
| "g_world_mean_m_s2": [ |
| -0.1237, |
| -0.2261, |
| 9.7627 |
| ], |
| "tilt_from_z_deg": 1.512, |
| "tilt_from_z_deg_before_levelling": 1.407, |
| "magnitude_m_s2": 9.7661 |
| }, |
| "rig_tracker_definition": "e17c9efadb69e7b1/20261102-afternoon/labels-154230/session-01114e532d7cf05c", |
| "rig_check": { |
| "status": "unchecked", |
| "dropped_marker": null, |
| "gyro_deg": null |
| }, |
| "camera_pose_source": "provider T_tracker0_cam", |
| "files": [ |
| "mocap_zup.npz", |
| "tracker0_zup.npz", |
| "rig_zup.npz", |
| "cameras_zup.npz" |
| ] |
| }, |
| "smplx": { |
| "generated_at_utc": "2026-11-04T05:29:39.502743+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": [ |
| 0.07218758016824722, |
| 0.011624155566096306, |
| -0.013242274522781372 |
| ], |
| "LHandOut": [ |
| 0.05000310018658638, |
| -0.02580096945166588, |
| -0.04813970625400543 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.04673134535551071, |
| 0.005178957711905241, |
| 0.0233028344810009 |
| ], |
| "RHandOut": [ |
| -0.029593301936984062, |
| 0.04515456408262253, |
| 0.011462205089628696 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 1.6, |
| "p95_frame": 3.08 |
| }, |
| "worst_markers": [ |
| "LThigh 7mm", |
| "WaistLFront 4mm", |
| "STRN 3mm", |
| "RElbow 3mm", |
| "WaistLSide 3mm" |
| ], |
| "valid_fraction": 0.9998, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": 3.4, |
| "p5": 3.0 |
| }, |
| "frames_checked": 609, |
| "stature_mm": 1582.0 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 14.4 |
| }, |
| "shape_source": "participant median", |
| "wrist_correction": { |
| "left": { |
| "status": "corrected", |
| "Q_deg": 41.76, |
| "Q_rotvec": [ |
| -0.71513, |
| 0.14001, |
| 0.01297 |
| ], |
| "in_out_sign": 1, |
| "q_source": "markers", |
| "gsi": null, |
| "wrist_bend_deg_median": 25.5, |
| "opposite_sign_bend_deg": 155.1, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 0.52, |
| "hand_vs_marker_frame_deg": { |
| "before": 41.54, |
| "after": 0.52 |
| }, |
| "markers_on_wrist": [ |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -21.47, |
| "wrist_twist_deg_after": { |
| "median": -0.0, |
| "iqr": [ |
| -1.7, |
| 0.9 |
| ] |
| }, |
| "wrist_total_deg_median_after": 13.4, |
| "markers_on_forearm": [ |
| "LElbow", |
| "LElbowIn", |
| "LForearm", |
| "LWristIn", |
| "LWristOut" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "right": { |
| "status": "corrected", |
| "Q_deg": 86.61, |
| "Q_rotvec": [ |
| 1.45841, |
| 0.13819, |
| -0.37254 |
| ], |
| "in_out_sign": 1, |
| "q_source": "markers", |
| "gsi": null, |
| "wrist_bend_deg_median": 111.4, |
| "opposite_sign_bend_deg": 81.3, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 3.52, |
| "hand_vs_marker_frame_deg": { |
| "before": 86.5, |
| "after": 3.52 |
| }, |
| "markers_on_wrist": [ |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -110.36, |
| "wrist_twist_deg_after": { |
| "median": -0.0, |
| "iqr": [ |
| -2.2, |
| 2.2 |
| ] |
| }, |
| "wrist_total_deg_median_after": 17.3, |
| "markers_on_forearm": [ |
| "RElbowIn", |
| "RForearm", |
| "RWristIn", |
| "RWristOut" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "generated_at_utc": "2026-11-04T05:29:42.760327+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "release": { |
| "release_path": "actions/static_manipulation/SM21/session_012", |
| "family": "static_manipulation", |
| "primitive": "SM21", |
| "source_session": "20261102/SM21/20261102_082244_session135" |
| }, |
| "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" |
| } |
| ] |
| } |
|
|
