| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20261008/SM21/20261008_041616_session56", |
| "session_id": "20261008_041616_session56", |
| "primitive": "SM21", |
| "batch": "20261008", |
| "participant": "gaoziyue", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "e17c9efadb69e7b1", |
| "left": "cc5681142208e29a", |
| "right": "60a6f081bbe60b0d" |
| }, |
| "generated_at_utc": "2026-10-14T11:34:43.418154+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": 144.025, |
| "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": -1.171507, |
| "rate": 0.0, |
| "global_lag_s": -1.17, |
| "peak_corr": 0.9946, |
| "reference_imu_first_sample_s": 14070.122345508, |
| "windows": { |
| "n_windows": 12, |
| "window_corr_median": 0.8415562080103998, |
| "drift_ppm": -4.778056490277106, |
| "drift_se_ppm": 4.161721382365918, |
| "drift_ms_over_take": -0.6881197688747414, |
| "lag_scatter_ms": 0.4543080136881402, |
| "lag_range_ms": 1.4350122398154586 |
| } |
| }, |
| "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": 29277, |
| "n_gyro": 29271, |
| "t_start": -1.1784880734211107, |
| "t_end": 144.78076325857924 |
| }, |
| "imu_head_left": { |
| "n_acc": 29223, |
| "n_gyro": 29218, |
| "t_start": -1.07000119842073, |
| "t_end": 144.94557129057844 |
| }, |
| "imu_wrist_right": { |
| "n_acc": 28136, |
| "n_gyro": 28136, |
| "t_start": 0.2891854545797763, |
| "t_end": 139.3429391345782 |
| }, |
| "imu_wrist_left": { |
| "n_acc": 27477, |
| "n_gyro": 27477, |
| "t_start": 0.2339150215795165, |
| "t_end": 139.34262576557936 |
| }, |
| "mag_head": { |
| "n": 14611, |
| "t_start": -0.989800698420229, |
| "t_end": 145.1102142045785 |
| }, |
| "mag_wrist_right": { |
| "n": 13906, |
| "t_start": 0.29739183757933674, |
| "t_end": 139.3462808115784 |
| }, |
| "mag_wrist_left": { |
| "n": 13911, |
| "t_start": 0.25013775857965115, |
| "t_end": 139.34921846857847 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 14071.330888, |
| "frames": 4320, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0023423887986386703, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": 0.039377732377172237, |
| "t_end": 144.00594473237666, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 14071.33085, |
| "frames": 4320, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0019489646456461974, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": 0.03894630822483336, |
| "t_end": 144.0055243082244, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 14071.330876, |
| "frames": 4320, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0018171232386612972, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": 0.038840466817557484, |
| "t_end": 144.00540746681705, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 14071.3309, |
| "frames": 4320, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0017295646474508202, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": 0.03877690822642066, |
| "t_end": 144.0053439082259, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 30.0, |
| "start_device_s": 14071.330864, |
| "frames": 4320, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.001668932298833096, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": 0.038680275876824766, |
| "t_end": 144.0052582758764, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 14071.330828, |
| "frames": 4320, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0017169377622902274, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": 0.038692281341493384, |
| "t_end": 144.00528128134115, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "wrist_left": { |
| "fps": 30.0, |
| "start_device_s": 14071.513859, |
| "frames": 4173, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4", |
| "t_start": 0.22000634357950943, |
| "t_end": 139.28576134357914, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "wrist_right": { |
| "fps": 30.0, |
| "start_device_s": 14071.579277, |
| "frames": 4171, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4", |
| "t_start": 0.2854243435796455, |
| "t_end": 139.2843173435796, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "third_person": { |
| "file": "mocap/mocap-SM21-S02-gaoziyue-02p2-1.mp4", |
| "frames": 4321, |
| "fps": 30.0, |
| "clock": "nokov (frame index)", |
| "t_start": 0.0, |
| "t_end": 144.0 |
| } |
| } |
| }, |
| "flags": [], |
| "sanity": { |
| "status": { |
| "structure": "PASS", |
| "markers": "WARN", |
| "timing": "PASS" |
| }, |
| "verdict": "READY", |
| "issues": [ |
| "WARN M_BODY_ID", |
| "WARN M_TRACKER_LABELS" |
| ] |
| }, |
| "canonical": { |
| "generated_at_utc": "2026-10-14T12:22:57.219749+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": [ |
| [ |
| 0.9999946774, |
| -0.0032627035, |
| 5.0113e-06 |
| ], |
| [ |
| -5.0113e-06, |
| -0.0030718258, |
| -0.9999952819 |
| ], |
| [ |
| 0.0032627035, |
| 0.9999899593, |
| -0.0030718258 |
| ] |
| ], |
| "scale_nokov_to_canon": 0.001, |
| "T_canon_nokov_mm": [ |
| [ |
| 0.000999994677, |
| -3.262703e-06, |
| 5.011e-09, |
| 0.0 |
| ], |
| [ |
| -5.011e-09, |
| -3.071826e-06, |
| -0.000999995282, |
| 0.0 |
| ], |
| [ |
| 3.262703e-06, |
| 0.000999989959, |
| -3.071826e-06, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "block": "20261008-morning", |
| "block_assignment": "trc", |
| "tilt_removed_deg": 0.2567559484663804, |
| "plane_status": "ok", |
| "floor": { |
| "sole_marker_p1_mm": 28.0, |
| "headtop_p95_mm": 1612.5 |
| }, |
| "gravity_check": { |
| "static_samples": 25684, |
| "g_world_mean_m_s2": [ |
| 0.0532, |
| 0.0184, |
| 9.7727 |
| ], |
| "tilt_from_z_deg": 0.33, |
| "tilt_from_z_deg_before_levelling": 0.574, |
| "magnitude_m_s2": 9.7729 |
| }, |
| "rig_tracker_definition": "e17c9efadb69e7b1/20261008-morning/labels-530412/session-628cacb0e103187b", |
| "camera_pose_source": "provider T_tracker0_cam", |
| "files": [ |
| "mocap_zup.npz", |
| "tracker0_zup.npz", |
| "rig_zup.npz", |
| "cameras_zup.npz" |
| ] |
| }, |
| "smplx": { |
| "generated_at_utc": "2026-10-15T08:16:50.870410+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": [ |
| 0.0627715140581131, |
| 0.015639252960681915, |
| 0.017180519178509712 |
| ], |
| "LHandOut": [ |
| 0.05264504998922348, |
| 0.01177237369120121, |
| -0.0341179221868515 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.06853741407394409, |
| 0.003202454885467887, |
| 0.0357104167342186 |
| ], |
| "RHandOut": [ |
| -0.06821057200431824, |
| 0.014559534378349781, |
| -0.014663138426840305 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 2.26, |
| "p95_frame": 5.41 |
| }, |
| "worst_markers": [ |
| "RElbowIn 7mm", |
| "LElbowIn 7mm", |
| "LWristIn 5mm", |
| "RWristOut 5mm", |
| "LWristOut 5mm" |
| ], |
| "valid_fraction": 0.9995, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": -1.8, |
| "p5": -2.7 |
| }, |
| "frames_checked": 576, |
| "stature_mm": 1598.8 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 11.41 |
| }, |
| "shape_source": "participant median", |
| "wrist_correction": { |
| "left": { |
| "status": "corrected", |
| "Q_deg": 180.0, |
| "Q_rotvec": [ |
| -2.98794, |
| 0.42773, |
| 0.87113 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 171.6, |
| "opposite_sign_bend_deg": 29.1, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 2.76, |
| "hand_vs_marker_frame_deg": { |
| "before": 179.7, |
| "after": 2.76 |
| }, |
| "markers_on_wrist": [ |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -165.09, |
| "wrist_twist_deg_after": { |
| "median": -5.62, |
| "iqr": [ |
| -12.4, |
| 2.0 |
| ] |
| }, |
| "wrist_total_deg_median_after": 20.2, |
| "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, |
| "wrist_bend_deg_median": 19.3, |
| "opposite_sign_bend_deg": 168.6, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 2.54, |
| "hand_vs_marker_frame_deg": { |
| "before": 2.54, |
| "after": 2.54 |
| }, |
| "markers_on_wrist": [ |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -0.0, |
| "wrist_twist_deg_after": { |
| "median": -0.0, |
| "iqr": [ |
| -10.4, |
| 8.4 |
| ] |
| }, |
| "wrist_total_deg_median_after": 20.2, |
| "markers_on_forearm": [ |
| "RForearm", |
| "RWristIn", |
| "RWristOut" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "generated_at_utc": "2026-10-28T06:33:22.883432+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "rig_tracker": { |
| "definition": "e17c9efadb69e7b1/20261008-morning/labels-530412/session-628cacb0e103187b", |
| "R_tracker0_imu0": [ |
| [ |
| -0.66413453, |
| 0.15344723, |
| -0.73169616 |
| ], |
| [ |
| 0.74584936, |
| 0.06880402, |
| -0.66255169 |
| ], |
| [ |
| -0.05132309, |
| -0.98575857, |
| -0.16014364 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| -0.1773731603910019, |
| -0.017934592165525867, |
| -0.007667782215004536 |
| ], |
| "rig_check": { |
| "gyro_samples": 243, |
| "gyro_max_deg": 2.5, |
| "status": "ok", |
| "dropped_marker": null, |
| "gyro_deg": 1.996 |
| }, |
| "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": "2026-10-18T19:08:55.810853+00:00", |
| "generated_by": "scripts/correct_processed_rig.py", |
| "remaining_gyro_frame_deg": null |
| }, |
| "hands_registration": { |
| "cameras": {}, |
| "hands": { |
| "left": { |
| "offset_deg": 31.72, |
| "offset_rotvec": [ |
| 0.4829, |
| 0.2654, |
| -0.0529 |
| ], |
| "dev_deg": { |
| "median": 9.92, |
| "p90": 18.81 |
| }, |
| "samples": 4181, |
| "accepted": 4044, |
| "wrist_pos_err_mm_median": 27.2, |
| "per_camera": { |
| "head": { |
| "samples": 4181, |
| "accepted": 4044, |
| "gate_deg": 30.0, |
| "offset_deg": 31.72, |
| "tier": "primary", |
| "dev_deg_median": 9.92, |
| "wrist_pos_err_mm_median": 27.2 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 16210, |
| "interpolated": 626, |
| "mean_hand": 440, |
| "no_body_fit": 8 |
| }, |
| "observed_fraction": 0.9741, |
| "observed_fraction_of_valid": 0.9745, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 33.36, |
| "smplx": 0.61 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 7.4, |
| "p90": 12.9 |
| }, |
| "registered": { |
| "median": 7.0, |
| "p90": 11.9 |
| } |
| } |
| }, |
| "right": { |
| "offset_deg": 27.73, |
| "offset_rotvec": [ |
| 0.4427, |
| -0.1776, |
| 0.0817 |
| ], |
| "dev_deg": { |
| "median": 12.03, |
| "p90": 18.53 |
| }, |
| "samples": 3876, |
| "accepted": 3826, |
| "wrist_pos_err_mm_median": 19.2, |
| "per_camera": { |
| "head": { |
| "samples": 3876, |
| "accepted": 3826, |
| "gate_deg": 30.0, |
| "offset_deg": 27.73, |
| "tier": "primary", |
| "dev_deg_median": 12.03, |
| "wrist_pos_err_mm_median": 19.2 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 15304, |
| "interpolated": 120, |
| "mean_hand": 1852, |
| "no_body_fit": 8 |
| }, |
| "observed_fraction": 0.8924, |
| "observed_fraction_of_valid": 0.8928, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 29.01, |
| "smplx": 1.15 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 5.7, |
| "p90": 8.1 |
| }, |
| "registered": { |
| "median": 4.1, |
| "p90": 6.6 |
| } |
| } |
| } |
| }, |
| "max_dev_deg": 30.0, |
| "max_gap_s": 1.0, |
| "cameras_used": [ |
| "head" |
| ], |
| "generated_at_utc": "2026-11-03T22:19:02.893178+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_003", |
| "family": "static_manipulation", |
| "primitive": "SM21", |
| "source_session": "20261008/SM21/20261008_041616_session56" |
| }, |
| "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." |
| } |
| } |
|
|
