| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20260915/SM21/20260915_051555_session58", |
| "session_id": "20260915_051555_session58", |
| "primitive": "SM21", |
| "batch": "20260915", |
| "participant": "wangyang", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "e17c9efadb69e7b1", |
| "left": "cc5681142208e29a", |
| "right": "60a6f081bbe60b0d" |
| }, |
| "generated_at_utc": "2026-10-14T11:08:51.258411+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, |
| "first_solved_frame": 0, |
| "duration_s": 154.025, |
| "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": -1.1719, |
| "rate": 0.0, |
| "global_lag_s": -1.17, |
| "peak_corr": 0.8968, |
| "reference_imu_first_sample_s": 16472.054154306, |
| "windows": { |
| "n_windows": 13, |
| "window_corr_median": 0.9894441352038871, |
| "drift_ppm": 11.857792293942145, |
| "drift_se_ppm": 8.124722292918328, |
| "drift_ms_over_take": 1.8262976431386562, |
| "lag_scatter_ms": 1.0082515211942296, |
| "lag_range_ms": 3.3831733912590423 |
| } |
| }, |
| "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": 31281, |
| "n_gyro": 31276, |
| "t_start": -1.1788864839090194, |
| "t_end": 154.78160506309183 |
| }, |
| "imu_head_left": { |
| "n_acc": 31223, |
| "n_gyro": 31217, |
| "t_start": -1.071888400909239, |
| "t_end": 154.94822958409173 |
| }, |
| "imu_wrist_right": { |
| "n_acc": 30300, |
| "n_gyro": 30313, |
| "t_start": 0.42139067209251957, |
| "t_end": 150.16877693809334 |
| }, |
| "imu_wrist_left": { |
| "n_acc": 29621, |
| "n_gyro": 29633, |
| "t_start": 0.20882688709213548, |
| "t_end": 150.1784413680926 |
| }, |
| "mag_head": { |
| "n": 15611, |
| "t_start": -0.9897057759061965, |
| "t_end": 155.11029817409332 |
| }, |
| "mag_wrist_right": { |
| "n": 14975, |
| "t_start": 0.4296904800922392, |
| "t_end": 150.16904457909374 |
| }, |
| "mag_wrist_left": { |
| "n": 14995, |
| "t_start": 0.22516832509251694, |
| "t_end": 150.16437762609172 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 16473.26334, |
| "frames": 4620, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0023423887986386703, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": 0.03962792589124442, |
| "t_end": 154.00633892589218, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 16473.26329, |
| "frames": 4620, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0019489646456461974, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": 0.03918450173848109, |
| "t_end": 154.00589550173942, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 16473.263321, |
| "frames": 4620, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0018171232386612972, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": 0.03908366033107891, |
| "t_end": 154.00579466033201, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 16473.263353, |
| "frames": 4620, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0017295646474508202, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": 0.0390281017371934, |
| "t_end": 154.00573910173813, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 30.0, |
| "start_device_s": 16473.263305, |
| "frames": 4620, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.001668932298833096, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": 0.038919469390811035, |
| "t_end": 154.00561946939166, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 16473.263266, |
| "frames": 4620, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0017169377622902274, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": 0.038928474854464046, |
| "t_end": 154.0056394748554, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "wrist_left": { |
| "fps": 30.0, |
| "start_device_s": 16473.421567, |
| "frames": 4499, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4", |
| "t_start": 0.19551253709329908, |
| "t_end": 150.1280645370917, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "wrist_right": { |
| "fps": 30.0, |
| "start_device_s": 16473.643845, |
| "frames": 4492, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4", |
| "t_start": 0.4177905370907582, |
| "t_end": 150.11713953708937, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "third_person": { |
| "file": "mocap/mocap-SM21-S02-wangyang-02p1-1.mp4", |
| "frames": 4621, |
| "fps": 30.0, |
| "clock": "nokov (frame index)", |
| "t_start": 0.0, |
| "t_end": 154.0 |
| } |
| } |
| }, |
| "flags": [], |
| "sanity": { |
| "status": { |
| "structure": "WARN", |
| "markers": "WARN", |
| "timing": "WARN" |
| }, |
| "verdict": "READY_WITH_WARNINGS", |
| "issues": [ |
| "WARN M_BODY_ID", |
| "WARN M_TRACKER_LABELS", |
| "WARN S_INDEX_STALE", |
| "WARN S_PARTICIPANT", |
| "WARN S_REPORT_TIMING", |
| "WARN T_UNITS" |
| ] |
| }, |
| "canonical": { |
| "generated_at_utc": "2026-10-14T12:19:43.718802+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": [ |
| [ |
| 0.9999194082, |
| -0.0126954662, |
| -4.65246e-05 |
| ], |
| [ |
| 4.65246e-05, |
| 0.0073289328, |
| -0.9999731419 |
| ], |
| [ |
| 0.0126954662, |
| 0.9998925502, |
| 0.0073289328 |
| ] |
| ], |
| "scale_nokov_to_canon": 0.001, |
| "T_canon_nokov_mm": [ |
| [ |
| 0.000999919408, |
| -1.2695466e-05, |
| -4.6525e-08, |
| 0.0 |
| ], |
| [ |
| 4.6525e-08, |
| 7.328933e-06, |
| -0.000999973142, |
| 0.0 |
| ], |
| [ |
| 1.2695466e-05, |
| 0.00099989255, |
| 7.328933e-06, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "block": "20260915morning", |
| "block_assignment": "trc", |
| "tilt_removed_deg": 0.8399325083958641, |
| "plane_status": "ok", |
| "floor": { |
| "sole_marker_p1_mm": 34.6, |
| "headtop_p95_mm": 1760.2 |
| }, |
| "gravity_check": { |
| "static_samples": 18465, |
| "g_world_mean_m_s2": [ |
| 0.2358, |
| 0.181, |
| 9.7799 |
| ], |
| "tilt_from_z_deg": 1.741, |
| "tilt_from_z_deg_before_levelling": 2.203, |
| "magnitude_m_s2": 9.7844 |
| }, |
| "rig_tracker_definition": "e17c9efadb69e7b1/20260915morning/labels-530412/session-e2d2e0bb31d9e61e", |
| "camera_pose_source": "provider T_tracker0_cam", |
| "files": [ |
| "mocap_zup.npz", |
| "tracker0_zup.npz", |
| "rig_zup.npz", |
| "cameras_zup.npz" |
| ] |
| }, |
| "smplx": { |
| "generated_at_utc": "2026-10-14T23:47:18.695271+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": { |
| "observed": true, |
| "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", |
| "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", |
| "hand_marker_offsets_m": { |
| "left": { |
| "LHandIn": [ |
| 0.05331631749868393, |
| 0.033188458532094955, |
| 0.021105825901031494 |
| ], |
| "LHandOut": [ |
| 0.0699709877371788, |
| 0.012661431916058064, |
| -0.018390847370028496 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.0626588985323906, |
| 0.019409673288464546, |
| 0.028850331902503967 |
| ], |
| "RHandOut": [ |
| -0.06095803156495094, |
| 0.02042331174015999, |
| -0.023852529004216194 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 4.76, |
| "p95_frame": 6.66 |
| }, |
| "worst_markers": [ |
| "RShin 13mm", |
| "RKneeIn 11mm", |
| "RElbow 10mm", |
| "LKneeIn 9mm", |
| "RThigh 9mm" |
| ], |
| "valid_fraction": 1.0, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": 1.2, |
| "p5": -5.8 |
| }, |
| "frames_checked": 617, |
| "stature_mm": 1765.5 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 13.26 |
| }, |
| "shape_source": "participant median", |
| "wrist_correction": { |
| "left": { |
| "status": "corrected", |
| "Q_deg": 180.0, |
| "Q_rotvec": [ |
| 3.02706, |
| -0.2415, |
| -0.80509 |
| ], |
| "in_out_sign": -1, |
| "q_source": "markers (sign flipped by GSI)", |
| "gsi": { |
| "reliable": true, |
| "frames": 3000, |
| "inlier_frac": 0.995, |
| "inlier_spread_deg": 4.98, |
| "marker_Q_to_gsi_deg": { |
| "1": 173.8, |
| "-1": 12.5 |
| } |
| }, |
| "wrist_bend_deg_median": 176.5, |
| "opposite_sign_bend_deg": 26.9, |
| "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 1.56, |
| "hand_vs_marker_frame_deg": { |
| "before": 179.39, |
| "after": 1.56 |
| }, |
| "markers_on_wrist": [ |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -175.99, |
| "wrist_twist_deg_after": { |
| "median": -0.5, |
| "iqr": [ |
| -2.1, |
| 0.3 |
| ] |
| }, |
| "wrist_total_deg_median_after": 12.9, |
| "markers_on_forearm": [ |
| "LForearm", |
| "LWristIn", |
| "LWristOut" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "right": { |
| "status": "corrected", |
| "Q_deg": 0.0, |
| "Q_rotvec": [ |
| -0.0, |
| 0.0, |
| -0.0 |
| ], |
| "in_out_sign": 1, |
| "q_source": "markers (GSI confirms)", |
| "gsi": { |
| "reliable": true, |
| "frames": 3000, |
| "inlier_frac": 0.988, |
| "inlier_spread_deg": 6.88, |
| "marker_Q_to_gsi_deg": { |
| "1": 9.3, |
| "-1": 177.5 |
| } |
| }, |
| "wrist_bend_deg_median": 23.4, |
| "opposite_sign_bend_deg": 173.4, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 2.29, |
| "hand_vs_marker_frame_deg": { |
| "before": 2.29, |
| "after": 2.29 |
| }, |
| "markers_on_wrist": [ |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": 0.0, |
| "wrist_twist_deg_after": { |
| "median": -0.0, |
| "iqr": [ |
| -7.2, |
| 5.9 |
| ] |
| }, |
| "wrist_total_deg_median_after": 22.8, |
| "markers_on_forearm": [ |
| "RForearm", |
| "RWristIn", |
| "RWristOut" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "generated_at_utc": "2026-11-06T13:42:19.047109+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "rig_tracker": { |
| "definition": "e17c9efadb69e7b1/20260915morning/labels-530412/session-e2d2e0bb31d9e61e", |
| "R_tracker0_imu0": [ |
| [ |
| -0.6102865, |
| 0.20228425, |
| -0.76591871 |
| ], |
| [ |
| 0.78434409, |
| 0.28995541, |
| -0.54838874 |
| ], |
| [ |
| 0.11115187, |
| -0.93541806, |
| -0.33561633 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| -0.1783912357716033, |
| -0.0023407031929332453, |
| -0.016579230775216548 |
| ], |
| "rig_check": { |
| "gyro_samples": 1537, |
| "gyro_max_deg": 2.5, |
| "status": "ok", |
| "dropped_marker": null, |
| "gyro_deg": 1.28 |
| }, |
| "file": "derived/rig_tracker_provider/rig_tracker.json", |
| "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" |
| }, |
| "rig_calibration_repair": { |
| "version": 2, |
| "applied_at_utc": "2026-10-18T18:53:52.340078+00:00", |
| "generated_by": "scripts/correct_processed_rig.py", |
| "remaining_gyro_frame_deg": 1.3305186252985 |
| }, |
| "hands_registration": { |
| "cameras": {}, |
| "hands": { |
| "left": { |
| "offset_deg": 12.35, |
| "offset_rotvec": [ |
| -0.1008, |
| -0.1685, |
| 0.0888 |
| ], |
| "dev_deg": { |
| "median": 5.0, |
| "p90": 15.06 |
| }, |
| "samples": 4595, |
| "accepted": 4574, |
| "wrist_pos_err_mm_median": 66.0, |
| "per_camera": { |
| "head": { |
| "samples": 4595, |
| "accepted": 4574, |
| "gate_deg": 30.0, |
| "offset_deg": 12.35, |
| "tier": "primary", |
| "dev_deg_median": 5.0, |
| "wrist_pos_err_mm_median": 66.0 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 18312, |
| "interpolated": 160, |
| "mean_hand": 12, |
| "no_body_fit": 0 |
| }, |
| "observed_fraction": 0.9994, |
| "observed_fraction_of_valid": 0.9994, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 11.1, |
| "smplx": 1.66 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 6.5, |
| "p90": 7.1 |
| }, |
| "registered": { |
| "median": 6.1, |
| "p90": 6.8 |
| } |
| } |
| }, |
| "right": { |
| "offset_deg": 9.57, |
| "offset_rotvec": [ |
| -0.0494, |
| -0.1459, |
| 0.0645 |
| ], |
| "dev_deg": { |
| "median": 6.91, |
| "p90": 13.87 |
| }, |
| "samples": 4554, |
| "accepted": 4498, |
| "wrist_pos_err_mm_median": 23.3, |
| "per_camera": { |
| "head": { |
| "samples": 4554, |
| "accepted": 4498, |
| "gate_deg": 30.0, |
| "offset_deg": 9.57, |
| "tier": "primary", |
| "dev_deg_median": 6.91, |
| "wrist_pos_err_mm_median": 23.3 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 18012, |
| "interpolated": 308, |
| "mean_hand": 164, |
| "no_body_fit": 0 |
| }, |
| "observed_fraction": 0.9911, |
| "observed_fraction_of_valid": 0.9911, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 11.32, |
| "smplx": 1.35 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 6.7, |
| "p90": 11.6 |
| }, |
| "registered": { |
| "median": 5.7, |
| "p90": 10.5 |
| } |
| } |
| } |
| }, |
| "max_dev_deg": 30.0, |
| "max_gap_s": 1.0, |
| "cameras_used": [ |
| "head" |
| ], |
| "generated_at_utc": "2026-11-06T14:41:19.437266+00:00", |
| "generated_by": "scripts/register_hands_smplx.py", |
| "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", |
| "wrist_flip_suspect": [] |
| }, |
| "release": { |
| "release_path": "actions/static_manipulation/SM21/session_001", |
| "family": "static_manipulation", |
| "primitive": "SM21", |
| "source_session": "20260915/SM21/20260915_051555_session58" |
| }, |
| "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." |
| } |
| } |
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|
