| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20261021/SM21/20261021_081649_session101", |
| "session_id": "20261021_081649_session101", |
| "primitive": "SM21", |
| "batch": "20261021", |
| "participant": "daihaoxiang", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "e3296774a321bb51", |
| "left": "75b5984e04d1d236", |
| "right": "c84bc808cb6b47af" |
| }, |
| "generated_at_utc": "2026-10-22T16:20:10.908761+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": 81.59166666666667, |
| "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": -0.087185, |
| "rate": 0.0, |
| "global_lag_s": -0.09, |
| "peak_corr": 0.7935, |
| "reference_imu_first_sample_s": 23805.593543301, |
| "windows": { |
| "n_windows": 7, |
| "window_corr_median": 0.6006099041481746, |
| "drift_ppm": -1148.1646686890042, |
| "drift_se_ppm": 643.2336128923753, |
| "drift_ms_over_take": -93.67110088721125, |
| "lag_scatter_ms": 28.766281676802727, |
| "lag_range_ms": 107.01651745209844 |
| } |
| }, |
| "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": 16496, |
| "n_gyro": 16491, |
| "t_start": -0.09413304686556934, |
| "t_end": 81.77586590713447 |
| }, |
| "imu_head_left": { |
| "n_acc": 16422, |
| "n_gyro": 16416, |
| "t_start": 0.010136721133061077, |
| "t_end": 81.94311240613509 |
| }, |
| "imu_wrist_right": { |
| "n_acc": 16251, |
| "n_gyro": 16251, |
| "t_start": -0.7711492778677681, |
| "t_end": 80.07333652813516 |
| }, |
| "imu_wrist_left": { |
| "n_acc": 16383, |
| "n_gyro": 16395, |
| "t_start": -0.789232782865544, |
| "t_end": 80.03560240913187 |
| }, |
| "mag_head": { |
| "n": 8202, |
| "t_start": 0.09230991113265496, |
| "t_end": 82.10230345013163 |
| }, |
| "mag_wrist_right": { |
| "n": 8083, |
| "t_start": -0.7542449578674465, |
| "t_end": 80.065902155134 |
| }, |
| "mag_wrist_left": { |
| "n": 8081, |
| "t_start": -0.7709264978681646, |
| "t_end": 80.02907190613162 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 23805.719034, |
| "frames": 2447, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0025546514432425653, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": 0.04086012857926413, |
| "t_end": 81.57423812857935, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 23805.719013, |
| "frames": 2447, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002366886077403108, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": 0.0406513632127129, |
| "t_end": 81.57400736321263, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 23805.719028, |
| "frames": 2447, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0026728712083183277, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": 0.04097234834018615, |
| "t_end": 81.57433934834019, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 23805.719041, |
| "frames": 2447, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002595594493655556, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": 0.04090807162840371, |
| "t_end": 81.57429707162858, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 30.0, |
| "start_device_s": 23805.719021, |
| "frames": 2441, |
| "pts_gaps": 5, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002394386090989767, |
| "gap_test": { |
| "pts": { |
| "offset_ms": 22.5, |
| "corr": 0.863, |
| "err_ms": 20.1 |
| }, |
| "nominal": { |
| "offset_ms": 99.6, |
| "corr": 0.815, |
| "err_ms": 97.3 |
| } |
| }, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": 0.04068686322473092, |
| "t_end": 81.59066486322384, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 23805.719002, |
| "frames": 2447, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002315656053021164, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": 0.04058913318778956, |
| "t_end": 81.57393313318728, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "wrist_left": { |
| "fps": 30.0, |
| "start_device_s": 23804.911233, |
| "frames": 2424, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4", |
| "t_start": -0.7694955228677615, |
| "t_end": 79.99717147713211, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "wrist_right": { |
| "fps": 30.0, |
| "start_device_s": 23804.905371, |
| "frames": 2425, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4", |
| "t_start": -0.7753575228659216, |
| "t_end": 80.02477247713371, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "third_person": { |
| "file": "mocap/mocap-SM21-S01-daihaoxiang-02p1-1.mp4", |
| "frames": 2448, |
| "fps": 30.0, |
| "clock": "nokov (frame index)", |
| "t_start": 0.0, |
| "t_end": 81.56666666666666 |
| } |
| } |
| }, |
| "flags": [], |
| "sanity": "no sanity report covers this session (run scripts/sanity_check.py)", |
| "rig_tracker": { |
| "definition": "e3296774a321bb51/20261021-afternoon/labels-235140/session-73583c9a0ef4ddac", |
| "R_tracker0_imu0": [ |
| [ |
| -0.71381655, |
| 0.14751581, |
| -0.68462035 |
| ], |
| [ |
| 0.67973547, |
| -0.08940619, |
| -0.72798779 |
| ], |
| [ |
| -0.16859901, |
| -0.98501047, |
| -0.03645211 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| -0.17097942172762387, |
| -0.027706872452196243, |
| 2.173252874761215e-05 |
| ], |
| "rig_check": { |
| "gyro_samples": 251, |
| "gyro_max_deg": 2.5, |
| "status": "video_solve", |
| "dropped_marker": null, |
| "gyro_deg": 1.858, |
| "video_solve": { |
| "status": "ok", |
| "reason": "", |
| "reprojection_px": 2.805, |
| "n_assoc": 1173, |
| "gyro_deg": 1.858 |
| } |
| }, |
| "file": "derived/rig_tracker_provider/rig_tracker.json", |
| "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" |
| }, |
| "canonical": { |
| "generated_at_utc": "2026-10-26T10:25:11.473529+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": [ |
| [ |
| 0.9999396337, |
| -0.0109876357, |
| -2.8623e-05 |
| ], |
| [ |
| 2.8623e-05, |
| 0.0052098365, |
| -0.9999864283 |
| ], |
| [ |
| 0.0109876357, |
| 0.999926062, |
| 0.0052098365 |
| ] |
| ], |
| "scale_nokov_to_canon": 0.001, |
| "T_canon_nokov_mm": [ |
| [ |
| 0.000999939634, |
| -1.0987636e-05, |
| -2.8623e-08, |
| 0.0 |
| ], |
| [ |
| 2.8623e-08, |
| 5.209836e-06, |
| -0.000999986428, |
| 0.0 |
| ], |
| [ |
| 1.0987636e-05, |
| 0.000999926062, |
| 5.209836e-06, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "block": "20261021-afternoon", |
| "block_assignment": "trc", |
| "tilt_removed_deg": 0.6967454765505616, |
| "plane_status": "ok", |
| "floor": { |
| "sole_marker_p1_mm": 24.5, |
| "headtop_p95_mm": 1727.7 |
| }, |
| "gravity_check": { |
| "static_samples": 12712, |
| "g_world_mean_m_s2": [ |
| 0.4152, |
| 0.0298, |
| 9.7419 |
| ], |
| "tilt_from_z_deg": 2.447, |
| "tilt_from_z_deg_before_levelling": 3.073, |
| "magnitude_m_s2": 9.7508 |
| }, |
| "rig_tracker_definition": "e3296774a321bb51/20261021-afternoon/labels-235140/session-73583c9a0ef4ddac", |
| "rig_check": { |
| "status": "video_solve", |
| "dropped_marker": null, |
| "gyro_deg": 1.858 |
| }, |
| "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": "2026-10-26T13:45:31.736451+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": [ |
| 0.04637675732374191, |
| -0.01834341697394848, |
| 0.009347324259579182 |
| ], |
| "LHandOut": [ |
| 0.028426378965377808, |
| 0.004050580784678459, |
| 0.037111908197402954 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.05238965526223183, |
| 0.022532837465405464, |
| 0.01246489305049181 |
| ], |
| "RHandOut": [ |
| -0.03413383662700653, |
| 0.01858878694474697, |
| -0.03791427239775658 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 1.89, |
| "p95_frame": 6.37 |
| }, |
| "worst_markers": [ |
| "RElbow 8mm", |
| "WaistRFront 6mm", |
| "RShoulderFront 6mm", |
| "LHeadBack 5mm", |
| "RKnee 5mm" |
| ], |
| "valid_fraction": 1.0, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": 0.4, |
| "p5": 0.2 |
| }, |
| "frames_checked": 327, |
| "stature_mm": 1770.9 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 11.5 |
| }, |
| "shape_source": "participant median", |
| "wrist_correction": { |
| "left": { |
| "status": "corrected", |
| "Q_deg": 180.0, |
| "Q_rotvec": [ |
| 3.02575, |
| -0.26943, |
| -0.80116 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 173.0, |
| "opposite_sign_bend_deg": 45.7, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 0.3, |
| "hand_vs_marker_frame_deg": { |
| "before": 179.87, |
| "after": 0.3 |
| }, |
| "markers_on_wrist": [ |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -172.84, |
| "wrist_twist_deg_after": { |
| "median": -0.01, |
| "iqr": [ |
| -0.7, |
| 0.1 |
| ] |
| }, |
| "wrist_total_deg_median_after": 23.4, |
| "markers_on_forearm": [ |
| "LForearm", |
| "LWristIn", |
| "LWristOut" |
| ] |
| }, |
| "frames_used": 980 |
| }, |
| "right": { |
| "status": "corrected", |
| "Q_deg": 0.0, |
| "Q_rotvec": [ |
| -0.0, |
| -0.0, |
| 0.0 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 17.5, |
| "opposite_sign_bend_deg": 176.0, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 3.75, |
| "hand_vs_marker_frame_deg": { |
| "before": 3.75, |
| "after": 3.75 |
| }, |
| "markers_on_wrist": [ |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": 0.0, |
| "wrist_twist_deg_after": { |
| "median": -0.0, |
| "iqr": [ |
| -3.5, |
| 2.8 |
| ] |
| }, |
| "wrist_total_deg_median_after": 17.5, |
| "markers_on_forearm": [ |
| "RElbowIn", |
| "RForearm", |
| "RWristIn", |
| "RWristOut" |
| ] |
| }, |
| "frames_used": 980 |
| }, |
| "generated_at_utc": "2026-10-28T06:46:07.193767+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "hands_registration": { |
| "cameras": {}, |
| "hands": { |
| "left": { |
| "offset_deg": 31.11, |
| "offset_rotvec": [ |
| -0.115, |
| -0.5303, |
| -0.0212 |
| ], |
| "dev_deg": { |
| "median": 3.61, |
| "p90": 13.26 |
| }, |
| "samples": 2295, |
| "accepted": 2262, |
| "wrist_pos_err_mm_median": 35.5, |
| "per_camera": { |
| "head": { |
| "samples": 2295, |
| "accepted": 2262, |
| "gate_deg": 30.0, |
| "offset_deg": 31.11, |
| "tier": "primary", |
| "dev_deg_median": 3.61, |
| "wrist_pos_err_mm_median": 35.5 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 9070, |
| "interpolated": 238, |
| "mean_hand": 484, |
| "no_body_fit": 0 |
| }, |
| "observed_fraction": 0.9506, |
| "observed_fraction_of_valid": 0.9506, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 28.94, |
| "smplx": 0.26 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 5.9, |
| "p90": 7.1 |
| }, |
| "registered": { |
| "median": 6.1, |
| "p90": 7.5 |
| } |
| } |
| }, |
| "right": { |
| "offset_deg": 8.08, |
| "offset_rotvec": [ |
| -0.0127, |
| 0.0703, |
| 0.1216 |
| ], |
| "dev_deg": { |
| "median": 4.06, |
| "p90": 13.66 |
| }, |
| "samples": 2383, |
| "accepted": 2357, |
| "wrist_pos_err_mm_median": 20.9, |
| "per_camera": { |
| "head": { |
| "samples": 2383, |
| "accepted": 2357, |
| "gate_deg": 30.0, |
| "offset_deg": 8.08, |
| "tier": "primary", |
| "dev_deg_median": 4.06, |
| "wrist_pos_err_mm_median": 20.9 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 9440, |
| "interpolated": 60, |
| "mean_hand": 292, |
| "no_body_fit": 0 |
| }, |
| "observed_fraction": 0.9702, |
| "observed_fraction_of_valid": 0.9702, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 4.34, |
| "smplx": 0.96 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 5.7, |
| "p90": 6.5 |
| }, |
| "registered": { |
| "median": 6.9, |
| "p90": 8.4 |
| } |
| } |
| } |
| }, |
| "max_dev_deg": 30.0, |
| "max_gap_s": 1.0, |
| "cameras_used": [ |
| "head" |
| ], |
| "generated_at_utc": "2026-11-03T18:37:56.940156+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_006", |
| "family": "static_manipulation", |
| "primitive": "SM21", |
| "source_session": "20261021/SM21/20261021_081649_session101" |
| }, |
| "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" |
| } |
| ] |
| } |
|
|
