| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20261017/SM21/20261017_053230_session66", |
| "session_id": "20261017_053230_session66", |
| "primitive": "SM21", |
| "batch": "20261017", |
| "participant": "fengyixuan", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "e3296774a321bb51", |
| "left": "75b5984e04d1d236", |
| "right": "c84bc808cb6b47af" |
| }, |
| "generated_at_utc": "2026-10-22T16:02:44.843878+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": 146.15833333333333, |
| "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": -0.084447, |
| "rate": 0.0, |
| "global_lag_s": -0.085, |
| "peak_corr": 0.7164, |
| "reference_imu_first_sample_s": 17552.234208736, |
| "windows": { |
| "n_windows": 13, |
| "window_corr_median": 0.8484584088288384, |
| "drift_ppm": -338.2992192024121, |
| "drift_se_ppm": 203.30537967468146, |
| "drift_ms_over_take": -49.44243088643252, |
| "lag_scatter_ms": 25.229534122370595, |
| "lag_range_ms": 106.89826459834535 |
| } |
| }, |
| "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": "e3296774a321bb51", |
| "status": "ok", |
| "date": "2026-10-21" |
| }, |
| "streams": { |
| "sensors": { |
| "imu_head_right": { |
| "n_acc": 29506, |
| "n_gyro": 29501, |
| "t_start": -0.09596071309253697, |
| "t_end": 146.35439226091066 |
| }, |
| "imu_head_left": { |
| "n_acc": 29362, |
| "n_gyro": 29356, |
| "t_start": 0.012671655907141907, |
| "t_end": 146.5177577449077 |
| }, |
| "imu_wrist_right": { |
| "n_acc": 29349, |
| "n_gyro": 29349, |
| "t_start": -0.8494827260901011, |
| "t_end": 145.16141695390715 |
| }, |
| "imu_wrist_left": { |
| "n_acc": 29579, |
| "n_gyro": 29579, |
| "t_start": -0.7684930320928479, |
| "t_end": 145.16295029790953 |
| }, |
| "mag_head": { |
| "n": 14659, |
| "t_start": 0.09940091590858989, |
| "t_end": 146.6793958609097 |
| }, |
| "mag_wrist_right": { |
| "n": 14600, |
| "t_start": -0.8325384090921225, |
| "t_end": 145.15722941390877 |
| }, |
| "mag_wrist_left": { |
| "n": 14593, |
| "t_start": -0.7602504870909988, |
| "t_end": 145.15989091991023 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 17552.356875, |
| "frames": 4384, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0025546514432425653, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": 0.040774073354513315, |
| "t_end": 146.14081807335342, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 17552.356836, |
| "frames": 4384, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002366886077403108, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": 0.04054730798550642, |
| "t_end": 146.1405913079844, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 17552.356861, |
| "frames": 4384, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0026728712083183277, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": 0.040878293116365025, |
| "t_end": 146.14092229311527, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 17552.35689, |
| "frames": 4384, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002595594493655556, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": 0.0408300164027232, |
| "t_end": 146.14088601640205, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 30.0, |
| "start_device_s": 17552.356848, |
| "frames": 4382, |
| "pts_gaps": 2, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002394386090989767, |
| "gap_test": { |
| "pts": { |
| "offset_ms": 28.6, |
| "corr": 0.822, |
| "err_ms": 26.2 |
| }, |
| "nominal": { |
| "offset_ms": 107.2, |
| "corr": 0.795, |
| "err_ms": 104.8 |
| } |
| }, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": 0.04058680799887858, |
| "t_end": 146.15714280799975, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 17552.356814, |
| "frames": 4384, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002315656053021164, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": 0.040474077960497165, |
| "t_end": 146.1405070779593, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "wrist_left": { |
| "fps": 30.0, |
| "start_device_s": 17551.546663, |
| "frames": 4378, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4", |
| "t_start": -0.7719925780901767, |
| "t_end": 145.12813742191165, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "wrist_right": { |
| "fps": 30.0, |
| "start_device_s": 17551.465715, |
| "frames": 4380, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4", |
| "t_start": -0.8529405780927127, |
| "t_end": 145.11353042190703, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "third_person": { |
| "file": "mocap/mocap-SM21-S01-fengyixuan-02p1-1.mp4", |
| "frames": 4385, |
| "fps": 30.0, |
| "clock": "nokov (frame index)", |
| "t_start": 0.0, |
| "t_end": 146.13333333333333 |
| } |
| } |
| }, |
| "flags": [], |
| "sanity": { |
| "status": { |
| "structure": "WARN", |
| "markers": "WARN", |
| "timing": "WARN" |
| }, |
| "verdict": "READY_WITH_WARNINGS", |
| "issues": [ |
| "WARN M_BODY_ID", |
| "WARN M_SPIKES", |
| "WARN M_TRACKER_LABELS", |
| "WARN S_CALIB", |
| "WARN S_REPORT_TIMING", |
| "WARN T_FRAMES", |
| "WARN T_IMU_PAIR", |
| "WARN T_LAG_OUTLIER", |
| "WARN T_LAG_SCATTER", |
| "WARN T_PTS", |
| "WARN T_UNITS" |
| ] |
| }, |
| "rig_tracker": { |
| "definition": "e3296774a321bb51/20261017-morning/labels-235140/session-0a4be9985d976c01", |
| "R_tracker0_imu0": [ |
| [ |
| -0.61521763, |
| 0.15534807, |
| -0.77289989 |
| ], |
| [ |
| 0.78519749, |
| 0.03305445, |
| -0.61836261 |
| ], |
| [ |
| -0.07051366, |
| -0.98730663, |
| -0.14231459 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| 0.014042183060046615, |
| -0.005555571478308985, |
| -0.03364190225221115 |
| ], |
| "rig_check": { |
| "gyro_samples": 38, |
| "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": "2026-10-22T17:38:23.604367+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": [ |
| [ |
| 0.9999941336, |
| -0.0034252867, |
| -1.38614e-05 |
| ], |
| [ |
| 1.38614e-05, |
| 0.0080934184, |
| -0.9999672477 |
| ], |
| [ |
| 0.0034252867, |
| 0.9999613812, |
| 0.0080934184 |
| ] |
| ], |
| "scale_nokov_to_canon": 0.001, |
| "T_canon_nokov_mm": [ |
| [ |
| 0.000999994134, |
| -3.425287e-06, |
| -1.3861e-08, |
| 0.0 |
| ], |
| [ |
| 1.3861e-08, |
| 8.093418e-06, |
| -0.000999967248, |
| 0.0 |
| ], |
| [ |
| 3.425287e-06, |
| 0.000999961381, |
| 8.093418e-06, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "block": "20261017-morning", |
| "block_assignment": "trc", |
| "tilt_removed_deg": 0.5035448256779972, |
| "plane_status": "ok", |
| "floor": { |
| "sole_marker_p1_mm": 27.0, |
| "headtop_p95_mm": 1625.8 |
| }, |
| "gravity_check": { |
| "static_samples": 21372, |
| "g_world_mean_m_s2": [ |
| 0.2471, |
| 0.0142, |
| 9.7293 |
| ], |
| "tilt_from_z_deg": 1.457, |
| "tilt_from_z_deg_before_levelling": 1.694, |
| "magnitude_m_s2": 9.7325 |
| }, |
| "rig_tracker_definition": "e3296774a321bb51/20261017-morning/labels-235140/session-0a4be9985d976c01", |
| "camera_pose_source": "provider T_tracker0_cam", |
| "files": [ |
| "mocap_zup.npz", |
| "tracker0_zup.npz", |
| "rig_zup.npz", |
| "cameras_zup.npz" |
| ] |
| }, |
| "smplx": { |
| "generated_at_utc": "2026-10-23T04:53:31.548300+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": [ |
| 0.07244876772165298, |
| -0.002606286434456706, |
| 0.03774402663111687 |
| ], |
| "LHandOut": [ |
| 0.06786168366670609, |
| 0.031905271112918854, |
| 0.012082108296453953 |
| ], |
| "LWristOut": [ |
| -0.004330730065703392, |
| 0.02743878960609436, |
| -0.0012047217460349202 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.0695628970861435, |
| 0.0059614889323711395, |
| 0.036902569234371185 |
| ], |
| "RHandOut": [ |
| -0.06625805795192719, |
| 0.017104685306549072, |
| -0.00456429785117507 |
| ], |
| "RWristIn": [ |
| 0.013798116706311703, |
| -0.022039370611310005, |
| 0.02436601184308529 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 1.62, |
| "p95_frame": 4.42 |
| }, |
| "worst_markers": [ |
| "LShin 4mm", |
| "RElbowIn 4mm", |
| "RElbow 4mm", |
| "WaistLSide 4mm", |
| "LKneeIn 4mm" |
| ], |
| "valid_fraction": 0.9995, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": 7.6, |
| "p5": 6.9 |
| }, |
| "frames_checked": 585, |
| "stature_mm": 1593.9 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 11.74 |
| }, |
| "shape_source": "participant median", |
| "wrist_correction": { |
| "left": { |
| "status": "corrected", |
| "Q_deg": 180.0, |
| "Q_rotvec": [ |
| -2.98442, |
| 0.43848, |
| 0.87784 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 177.2, |
| "opposite_sign_bend_deg": 25.7, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 0.31, |
| "hand_vs_marker_frame_deg": { |
| "before": 179.76, |
| "after": 0.31 |
| }, |
| "markers_on_wrist": [ |
| "LWristOut", |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -177.06, |
| "wrist_twist_deg_after": { |
| "median": -0.02, |
| "iqr": [ |
| -0.3, |
| 0.3 |
| ] |
| }, |
| "wrist_total_deg_median_after": 17.3, |
| "markers_on_forearm": [ |
| "LElbow", |
| "LElbowIn", |
| "LForearm", |
| "LWristIn" |
| ] |
| }, |
| "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": 11.3, |
| "opposite_sign_bend_deg": 176.8, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 1.52, |
| "hand_vs_marker_frame_deg": { |
| "before": 1.52, |
| "after": 1.52 |
| }, |
| "markers_on_wrist": [ |
| "RWristIn", |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -0.0, |
| "wrist_twist_deg_after": { |
| "median": 0.0, |
| "iqr": [ |
| -2.8, |
| 2.3 |
| ] |
| }, |
| "wrist_total_deg_median_after": 12.0, |
| "markers_on_forearm": [ |
| "RForearm", |
| "RWristOut" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "generated_at_utc": "2026-10-28T06:41:59.425030+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "hands_registration": { |
| "cameras": {}, |
| "hands": { |
| "left": { |
| "offset_deg": 37.88, |
| "offset_rotvec": [ |
| 0.6231, |
| -0.218, |
| 0.0378 |
| ], |
| "dev_deg": { |
| "median": 13.67, |
| "p90": 25.13 |
| }, |
| "samples": 1172, |
| "accepted": 1098, |
| "wrist_pos_err_mm_median": 382.8, |
| "per_camera": { |
| "head": { |
| "samples": 1172, |
| "accepted": 1098, |
| "gate_deg": 30.0, |
| "offset_deg": 37.88, |
| "tier": "primary", |
| "dev_deg_median": 13.67, |
| "wrist_pos_err_mm_median": 382.8 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 4449, |
| "interpolated": 3174, |
| "mean_hand": 9909, |
| "no_body_fit": 8 |
| }, |
| "observed_fraction": 0.4346, |
| "observed_fraction_of_valid": 0.4348, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 33.79, |
| "smplx": 0.26 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 6.1, |
| "p90": 7.9 |
| }, |
| "registered": { |
| "median": 5.5, |
| "p90": 6.2 |
| } |
| } |
| }, |
| "right": { |
| "offset_deg": 21.15, |
| "offset_rotvec": [ |
| 0.1235, |
| -0.1703, |
| 0.3032 |
| ], |
| "dev_deg": { |
| "median": 21.61, |
| "p90": 35.01 |
| }, |
| "samples": 4204, |
| "accepted": 3320, |
| "wrist_pos_err_mm_median": 28.9, |
| "per_camera": { |
| "head": { |
| "samples": 4204, |
| "accepted": 3320, |
| "gate_deg": 30.0, |
| "offset_deg": 21.15, |
| "tier": "primary", |
| "dev_deg_median": 21.61, |
| "wrist_pos_err_mm_median": 28.9 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 13598, |
| "interpolated": 3206, |
| "mean_hand": 728, |
| "no_body_fit": 8 |
| }, |
| "observed_fraction": 0.958, |
| "observed_fraction_of_valid": 0.9585, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 18.85, |
| "smplx": 1.39 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 6.1, |
| "p90": 7.4 |
| }, |
| "registered": { |
| "median": 6.7, |
| "p90": 8.5 |
| } |
| } |
| } |
| }, |
| "max_dev_deg": 30.0, |
| "max_gap_s": 1.0, |
| "cameras_used": [ |
| "head" |
| ], |
| "generated_at_utc": "2026-11-03T21:37:44.588923+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_004", |
| "family": "static_manipulation", |
| "primitive": "SM21", |
| "source_session": "20261017/SM21/20261017_053230_session66" |
| }, |
| "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" |
| } |
| ] |
| } |
|
|
