| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20260928/SM21/20260928_011929_session7", |
| "session_id": "20260928_011929_session7", |
| "primitive": "SM21", |
| "batch": "20260928", |
| "participant": "liujiaxin", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "e17c9efadb69e7b1", |
| "left": "452031d7af00ef6f", |
| "right": "6ee5ee4472fe2ad7" |
| }, |
| "generated_at_utc": "2026-10-14T11:29:32.069628+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": -1.170829, |
| "rate": 0.0, |
| "global_lag_s": -1.17, |
| "peak_corr": 0.7852, |
| "reference_imu_first_sample_s": 3430.422588756, |
| "windows": { |
| "n_windows": 12, |
| "window_corr_median": 0.9657953829585295, |
| "drift_ppm": -21.513995921586968, |
| "drift_se_ppm": 22.45186676741129, |
| "drift_ms_over_take": -3.3135139385230867, |
| "lag_scatter_ms": 2.731900077861287, |
| "lag_range_ms": 10.504932979719106 |
| } |
| }, |
| "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": 31262, |
| "n_gyro": 31257, |
| "t_start": -1.1778142440311183, |
| "t_end": 154.6886981659687 |
| }, |
| "imu_head_left": { |
| "n_acc": 31204, |
| "n_gyro": 31198, |
| "t_start": -1.0709262460312983, |
| "t_end": 154.85342362296896 |
| }, |
| "imu_wrist_left": { |
| "n_acc": 30461, |
| "n_gyro": 30461, |
| "t_start": 0.26024229596904314, |
| "t_end": 150.69320654496877 |
| }, |
| "mag_head": { |
| "n": 15602, |
| "t_start": -0.9892949520312084, |
| "t_end": 155.02070324696896 |
| }, |
| "mag_wrist_right": { |
| "n": 15060, |
| "t_start": 0.11877378996867827, |
| "t_end": 150.70778122496912 |
| }, |
| "mag_wrist_left": { |
| "n": 15043, |
| "t_start": 0.27857507196912246, |
| "t_end": 150.6976968249688 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 3431.63107, |
| "frames": 4620, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0023423887986386703, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": 0.03999463476755971, |
| "t_end": 154.00665063476762, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 3431.631016, |
| "frames": 4620, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0019489646456461974, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": 0.039547210614351735, |
| "t_end": 154.00620321061442, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 3431.631051, |
| "frames": 4620, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0018171232386612972, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": 0.0394503692073942, |
| "t_end": 154.00610636920746, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 3431.631085, |
| "frames": 4620, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0017295646474508202, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": 0.0393968106164595, |
| "t_end": 154.00605281061652, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 30.0, |
| "start_device_s": 3431.631036, |
| "frames": 4620, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.001668932298833096, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": 0.03928717826791961, |
| "t_end": 154.00594317826798, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 3431.630994, |
| "frames": 4620, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0017169377622902274, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": 0.03929318373146651, |
| "t_end": 154.00596018373162, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "wrist_left": { |
| "fps": 30.0, |
| "start_device_s": 3431.845256, |
| "frames": 4513, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4", |
| "t_start": 0.2518382459689621, |
| "t_end": 150.65099224596915, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "wrist_right": { |
| "fps": 30.0, |
| "start_device_s": 3431.814091, |
| "frames": 4514, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4", |
| "t_start": 0.22067324596908855, |
| "t_end": 150.65303024596923, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "third_person": { |
| "file": "mocap/mocap-SM21-S02-liujiaxin-02p1-1.mp4", |
| "frames": 4621, |
| "fps": 60.0, |
| "clock": "nokov (frame index)", |
| "t_start": 0.0, |
| "t_end": 77.0 |
| } |
| } |
| }, |
| "flags": [ |
| "wrist_right_imu empty" |
| ], |
| "sanity": { |
| "status": { |
| "structure": "FAIL", |
| "markers": "WARN", |
| "timing": "WARN" |
| }, |
| "verdict": "READY_WITH_WARNINGS", |
| "issues": [ |
| "FAIL S_DB_EMPTY", |
| "FAIL S_REPORT_EMPTY", |
| "WARN M_TRACKER_LABELS", |
| "WARN S_VIDEO_FPS", |
| "WARN T_EMPTY" |
| ] |
| }, |
| "canonical": { |
| "generated_at_utc": "2026-10-14T12:22:17.820461+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": [ |
| [ |
| 0.9999923994, |
| -0.0038988195, |
| -1.78677e-05 |
| ], |
| [ |
| 1.78677e-05, |
| 0.0091654922, |
| -0.9999579958 |
| ], |
| [ |
| 0.0038988195, |
| 0.9999503952, |
| 0.0091654922 |
| ] |
| ], |
| "scale_nokov_to_canon": 0.001, |
| "T_canon_nokov_mm": [ |
| [ |
| 0.000999992399, |
| -3.89882e-06, |
| -1.7868e-08, |
| 0.0 |
| ], |
| [ |
| 1.7868e-08, |
| 9.165492e-06, |
| -0.000999957996, |
| 0.0 |
| ], |
| [ |
| 3.89882e-06, |
| 0.000999950395, |
| 9.165492e-06, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "block": "20260928-morning", |
| "block_assignment": "trc", |
| "tilt_removed_deg": 0.5706910507262971, |
| "plane_status": "ok", |
| "floor": { |
| "sole_marker_p1_mm": 62.7, |
| "headtop_p95_mm": 1663.6 |
| }, |
| "gravity_check": { |
| "static_samples": 14104, |
| "g_world_mean_m_s2": [ |
| 0.259, |
| 0.1801, |
| 9.7597 |
| ], |
| "tilt_from_z_deg": 1.851, |
| "tilt_from_z_deg_before_levelling": 1.823, |
| "magnitude_m_s2": 9.7648 |
| }, |
| "rig_tracker_definition": "e17c9efadb69e7b1/20260928-morning/labels-352410/session-1c898c14ffccf015", |
| "camera_pose_source": "provider T_tracker0_cam", |
| "files": [ |
| "mocap_zup.npz", |
| "tracker0_zup.npz", |
| "rig_zup.npz", |
| "cameras_zup.npz" |
| ] |
| }, |
| "smplx": { |
| "generated_at_utc": "2026-10-15T04:04:00.678276+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": 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": [ |
| 0.06806617975234985, |
| -0.013015823438763618, |
| 0.03919679671525955 |
| ], |
| "LHandOut": [ |
| 0.0618877150118351, |
| 0.03020084835588932, |
| -0.005255594849586487 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.050021830946207047, |
| 0.009939273819327354, |
| 0.04486959055066109 |
| ], |
| "RHandOut": [ |
| -0.06378781795501709, |
| 0.018954521045088768, |
| -0.010281918570399284 |
| ], |
| "RWristIn": [ |
| 0.023038364946842194, |
| -0.012779970653355122, |
| 0.02654447965323925 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 1.56, |
| "p95_frame": 4.23 |
| }, |
| "worst_markers": [ |
| "RElbowIn 5mm", |
| "RElbow 5mm", |
| "CLAV 4mm", |
| "RShoulderFront 3mm", |
| "RWristIn 3mm" |
| ], |
| "valid_fraction": 1.0, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": 27.6, |
| "p5": 26.6 |
| }, |
| "frames_checked": 617, |
| "stature_mm": 1614.2 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 13.98 |
| }, |
| "shape_source": "participant median", |
| "wrist_correction": { |
| "left": { |
| "status": "corrected", |
| "Q_deg": 180.0, |
| "Q_rotvec": [ |
| -2.98662, |
| 0.4392, |
| 0.86995 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 179.3, |
| "opposite_sign_bend_deg": 32.6, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 0.26, |
| "hand_vs_marker_frame_deg": { |
| "before": 179.87, |
| "after": 0.26 |
| }, |
| "markers_on_wrist": [ |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -178.28, |
| "wrist_twist_deg_after": { |
| "median": -1.08, |
| "iqr": [ |
| -1.9, |
| -0.3 |
| ] |
| }, |
| "wrist_total_deg_median_after": 6.7, |
| "markers_on_forearm": [ |
| "LElbowIn", |
| "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, |
| "wrist_bend_deg_median": 23.1, |
| "opposite_sign_bend_deg": 174.5, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 1.43, |
| "hand_vs_marker_frame_deg": { |
| "before": 1.43, |
| "after": 1.43 |
| }, |
| "markers_on_wrist": [ |
| "RWristIn", |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -0.0, |
| "wrist_twist_deg_after": { |
| "median": -0.0, |
| "iqr": [ |
| -5.9, |
| 5.4 |
| ] |
| }, |
| "wrist_total_deg_median_after": 22.6, |
| "markers_on_forearm": [ |
| "RElbowIn", |
| "RForearm", |
| "RWristOut" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "generated_at_utc": "2026-10-28T06:30:21.883656+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "rig_tracker": { |
| "definition": "e17c9efadb69e7b1/20260928-morning/labels-352410/session-1c898c14ffccf015", |
| "R_tracker0_imu0": [ |
| [ |
| -0.62463781, |
| 0.23396661, |
| -0.74504176 |
| ], |
| [ |
| 0.77826328, |
| 0.26506089, |
| -0.56925302 |
| ], |
| [ |
| 0.06429523, |
| -0.9354156, |
| -0.34765468 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| -0.17702232888095645, |
| -0.005374939752541518, |
| -0.023361224331598207 |
| ], |
| "rig_check": { |
| "gyro_samples": 532, |
| "gyro_max_deg": 2.5, |
| "status": "ok", |
| "dropped_marker": null, |
| "gyro_deg": 1.257 |
| }, |
| "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": "2026-10-18T19:05:54.662828+00:00", |
| "generated_by": "scripts/correct_processed_rig.py", |
| "remaining_gyro_frame_deg": 1.3415840659877434 |
| }, |
| "hands_registration": { |
| "cameras": {}, |
| "hands": { |
| "left": { |
| "offset_deg": 36.66, |
| "offset_rotvec": [ |
| 0.5999, |
| -0.2, |
| 0.098 |
| ], |
| "dev_deg": { |
| "median": 10.3, |
| "p90": 21.77 |
| }, |
| "samples": 4398, |
| "accepted": 4270, |
| "wrist_pos_err_mm_median": 157.8, |
| "per_camera": { |
| "head": { |
| "samples": 4398, |
| "accepted": 4270, |
| "gate_deg": 30.0, |
| "offset_deg": 36.66, |
| "tier": "primary", |
| "dev_deg_median": 10.3, |
| "wrist_pos_err_mm_median": 157.8 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 17200, |
| "interpolated": 1252, |
| "mean_hand": 32, |
| "no_body_fit": 0 |
| }, |
| "observed_fraction": 0.9983, |
| "observed_fraction_of_valid": 0.9983, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 30.25, |
| "smplx": 0.23 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 5.5, |
| "p90": 6.1 |
| }, |
| "registered": { |
| "median": 6.0, |
| "p90": 8.0 |
| } |
| } |
| }, |
| "right": { |
| "offset_deg": 22.51, |
| "offset_rotvec": [ |
| -0.0979, |
| -0.3778, |
| 0.0447 |
| ], |
| "dev_deg": { |
| "median": 13.59, |
| "p90": 26.51 |
| }, |
| "samples": 4480, |
| "accepted": 4154, |
| "wrist_pos_err_mm_median": 52.7, |
| "per_camera": { |
| "head": { |
| "samples": 4480, |
| "accepted": 4154, |
| "gate_deg": 30.0, |
| "offset_deg": 22.51, |
| "tier": "primary", |
| "dev_deg_median": 13.59, |
| "wrist_pos_err_mm_median": 52.7 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 16688, |
| "interpolated": 1192, |
| "mean_hand": 604, |
| "no_body_fit": 0 |
| }, |
| "observed_fraction": 0.9673, |
| "observed_fraction_of_valid": 0.9673, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 25.23, |
| "smplx": 0.93 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 10.8, |
| "p90": 14.4 |
| }, |
| "registered": { |
| "median": 9.5, |
| "p90": 12.2 |
| } |
| } |
| } |
| }, |
| "max_dev_deg": 30.0, |
| "max_gap_s": 1.0, |
| "cameras_used": [ |
| "head" |
| ], |
| "generated_at_utc": "2026-11-03T22:28:50.896125+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_002", |
| "family": "static_manipulation", |
| "primitive": "SM21", |
| "source_session": "20260928/SM21/20260928_011929_session7" |
| }, |
| "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." |
| } |
| } |
|
|
