Datasets:

BitRobot
/

robomocap

@@ -44609,3 +44609,14 @@ actions/locomanipulation/LM17/session_051/raw/sensors/robocap_mag_middle.db filt
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+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261027/LM17/20261027_043335_session40",
+ "session_id": "20261027_043335_session40",
+ "primitive": "LM17",
+ "batch": "20261027",
+ "participant": "xiaobo",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e3296774a321bb51",
+  "left": "75b5984e04d1d236",
+  "right": "c84bc808cb6b47af"
+ },
+ "generated_at_utc": "2026-10-28T19:50:29.461135+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": 155.35833333333332,
+  "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": -0.08362,
+  "rate": 0.0,
+  "global_lag_s": -0.085,
+  "peak_corr": 0.9749,
+  "reference_imu_first_sample_s": 12406.663872409,
+  "windows": {
+   "n_windows": 14,
+   "window_corr_median": 0.9963326926900021,
+   "drift_ppm": -287.4583745887216,
+   "drift_se_ppm": 165.26172677015745,
+   "drift_ms_over_take": -44.6566584923579,
+   "lag_scatter_ms": 23.077544226662344,
+   "lag_range_ms": 100.72897247483301
+  }
+ },
+ "units": {
+  "mocap": "millimetres, Nokov world, Y-up (unchanged)",
+  "y_up_to_z_up": [
+   [
+    1.0,
+    0.0,
+    0.0
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+   [
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+  ],
+  "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": {
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+    "t_start": -0.6957364961204425,
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+    "pts_gaps": 0,
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+    "frames": 4659,
+    "pts_gaps": 1,
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+    "gap_test": {
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+      "offset_ms": 0.0,
+      "corr": 0.851,
+      "err_ms": 2.4
+     },
+     "nominal": {
+      "offset_ms": 50.0,
+      "corr": 0.851,
+      "err_ms": 47.6
+     }
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+    "file": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4",
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+   "third_person": {
+    "file": "mocap/mocap-LM17-S04-xiaobo-01p2-1.mp4",
+    "frames": 4661,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
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+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "e3296774a321bb51/20261027-morning/labels-235140/session-4865107f924fc403",
+  "R_tracker0_imu0": [
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+  "rig_check": {
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+   "gyro_max_deg": 2.5,
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 1.984,
+   "video_solve": {
+    "status": "ok",
+    "reason": "",
+    "reprojection_px": 3.102,
+    "n_assoc": 509,
+    "gyro_deg": 1.984
+   }
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-28T23:23:28.638099+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": [
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+    1.40821e-05
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+  "T_canon_nokov_mm": [
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+  "block_assignment": "trc",
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+  "plane_status": "ok",
+  "floor": {
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+   "headtop_p95_mm": 1720.3
+  },
+  "gravity_check": {
+   "static_samples": 1106,
+   "g_world_mean_m_s2": [
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+   "tilt_from_z_deg": 1.061,
+   "tilt_from_z_deg_before_levelling": 1.358,
+   "magnitude_m_s2": 9.7502
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+  "rig_check": {
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 1.984
+  },
+  "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": "2026-10-29T07:01:59.249753+00:00",
+  "generated_by": "scripts/fit_smplx_dataset.py",
+  "file": "smplx.npz",
+  "gender": "male",
+  "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": {
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+   "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": {
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+  },
+  "marker_rmse_mm": {
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+   "p95_frame": 9.84
+  },
+  "worst_markers": [
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+   "LThigh 12mm",
+   "LKneeIn 12mm",
+   "RHeadBack 11mm",
+   "RKneeIn 10mm"
+  ],
+  "valid_fraction": 0.9996,
+  "qc": {
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+    "median": 5.2,
+    "p5": -6.5
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+   "stature_mm": 1700.1
+  },
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