| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20261026/SM21/20261026_091727_session67", |
| "session_id": "20261026_091727_session67", |
| "primitive": "SM21", |
| "batch": "20261026", |
| "participant": "zhangxinxin", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "c9205ac6e17d2d5c", |
| "left": "452031d7af00ef6f", |
| "right": "60a6f081bbe60b0d" |
| }, |
| "generated_at_utc": "2026-10-27T04:57:17.917452+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": 153.15833333333333, |
| "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": -0.093032, |
| "rate": 0.0, |
| "global_lag_s": -0.095, |
| "peak_corr": 0.9716, |
| "reference_imu_first_sample_s": 15832.566958521, |
| "windows": { |
| "n_windows": 14, |
| "window_corr_median": 0.9212337576257164, |
| "drift_ppm": -17.960491479683, |
| "drift_se_ppm": 13.318080042602823, |
| "drift_ms_over_take": -2.7506492701134517, |
| "lag_scatter_ms": 1.8597686663703428, |
| "lag_range_ms": 8.609742824012779 |
| } |
| }, |
| "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": "c9205ac6e17d2d5c", |
| "status": "ok", |
| "date": "2026-10-21" |
| }, |
| "streams": { |
| "sensors": { |
| "imu_head_right": { |
| "n_acc": 31153, |
| "n_gyro": 31147, |
| "t_start": -0.09992922319030223, |
| "t_end": 153.36555739481048 |
| }, |
| "imu_head_left": { |
| "n_acc": 30961, |
| "n_gyro": 30955, |
| "t_start": 0.0053550568096757956, |
| "t_end": 153.5319828018088 |
| }, |
| "imu_wrist_right": { |
| "n_acc": 30940, |
| "n_gyro": 30940, |
| "t_start": -0.7844326391899452, |
| "t_end": 152.13585430280875 |
| }, |
| "imu_wrist_left": { |
| "n_acc": 30952, |
| "n_gyro": 30952, |
| "t_start": -0.7466575681904581, |
| "t_end": 152.13462650380973 |
| }, |
| "mag_head": { |
| "n": 15362, |
| "t_start": 0.08422356881022969, |
| "t_end": 153.69421147580908 |
| }, |
| "mag_wrist_right": { |
| "n": 15291, |
| "t_start": -0.7668921891894209, |
| "t_end": 152.13249681980926 |
| }, |
| "mag_wrist_left": { |
| "n": 15287, |
| "t_start": -0.7287460231894878, |
| "t_end": 152.13075872680895 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 15832.698207, |
| "frames": 4594, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0026284356473863946, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": 0.04084533145727581, |
| "t_end": 153.1409673314571, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 15832.698186, |
| "frames": 4594, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0024181146161434135, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": 0.040614010425669755, |
| "t_end": 153.14070301042523, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 15832.6982, |
| "frames": 4594, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002458947067077895, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": 0.04066884287716638, |
| "t_end": 153.1407798428769, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 15832.698214, |
| "frames": 4594, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0021420814739499558, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": 0.04036597728339947, |
| "t_end": 153.1404989772833, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 30.0, |
| "start_device_s": 15832.698193, |
| "frames": 4592, |
| "pts_gaps": 2, |
| "timing": "nominal", |
| "timeshift_cam_imu_s": 0.002801984596191448, |
| "gap_test": { |
| "pts": { |
| "offset_ms": -36.1, |
| "corr": 0.948, |
| "err_ms": 38.9 |
| }, |
| "nominal": { |
| "offset_ms": 13.8, |
| "corr": 0.948, |
| "err_ms": 11.0 |
| } |
| }, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": 0.04100488040570743, |
| "t_end": 153.07433821373854, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 15832.698176, |
| "frames": 4594, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002930366888236734, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": 0.04111626269845109, |
| "t_end": 153.14118326269784, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "wrist_left": { |
| "fps": 30.0, |
| "start_device_s": 15831.916417, |
| "frames": 4586, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4", |
| "t_start": -0.7435731041899638, |
| "t_end": 152.08923889581058, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "wrist_right": { |
| "fps": 30.0, |
| "start_device_s": 15831.87209, |
| "frames": 4587, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4", |
| "t_start": -0.7879001041895757, |
| "t_end": 152.07818089581053, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "third_person": { |
| "file": "mocap/mocap-SM21-S01-zhangxinxin-02p1-1.mp4", |
| "frames": 4595, |
| "fps": 30.0, |
| "clock": "nokov (frame index)", |
| "t_start": 0.0, |
| "t_end": 153.13333333333333 |
| } |
| } |
| }, |
| "flags": [], |
| "sanity": "no sanity report covers this session (run scripts/sanity_check.py)", |
| "rig_tracker": { |
| "definition": "c9205ac6e17d2d5c/20261026-afternoon/labels-503412/session-faa6e45d9834e16b", |
| "R_tracker0_imu0": [ |
| [ |
| -0.64314126, |
| 0.00412494, |
| -0.76573644 |
| ], |
| [ |
| 0.76438088, |
| -0.05625955, |
| -0.64230579 |
| ], |
| [ |
| -0.04572945, |
| -0.99840766, |
| 0.03302981 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| 0.01798847152367945, |
| -0.009882514433677048, |
| -0.01074269623154328 |
| ], |
| "rig_check": { |
| "gyro_samples": 1054, |
| "gyro_max_deg": 2.5, |
| "status": "ok", |
| "dropped_marker": null, |
| "gyro_deg": 2.293 |
| }, |
| "file": "derived/rig_tracker_provider/rig_tracker.json", |
| "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" |
| }, |
| "canonical": { |
| "generated_at_utc": "2026-10-28T23:22:42.926167+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": [ |
| [ |
| 0.9999789449, |
| 0.0064891782, |
| 1.5185e-05 |
| ], |
| [ |
| -1.5185e-05, |
| 0.0046800169, |
| -0.9999890485 |
| ], |
| [ |
| -0.0064891782, |
| 0.9999679935, |
| 0.0046800169 |
| ] |
| ], |
| "scale_nokov_to_canon": 0.001, |
| "T_canon_nokov_mm": [ |
| [ |
| 0.000999978945, |
| 6.489178e-06, |
| 1.5185e-08, |
| 0.0 |
| ], |
| [ |
| -1.5185e-08, |
| 4.680017e-06, |
| -0.000999989049, |
| 0.0 |
| ], |
| [ |
| -6.489178e-06, |
| 0.000999967993, |
| 4.680017e-06, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "block": "20261026-afternoon", |
| "block_assignment": "trc", |
| "tilt_removed_deg": 0.458414067009704, |
| "plane_status": "ok", |
| "floor": { |
| "sole_marker_p1_mm": 28.4, |
| "headtop_p95_mm": 1615.0 |
| }, |
| "gravity_check": { |
| "static_samples": 8359, |
| "g_world_mean_m_s2": [ |
| -0.1162, |
| -0.2441, |
| 9.8007 |
| ], |
| "tilt_from_z_deg": 1.58, |
| "tilt_from_z_deg_before_levelling": 1.994, |
| "magnitude_m_s2": 9.8044 |
| }, |
| "rig_tracker_definition": "c9205ac6e17d2d5c/20261026-afternoon/labels-503412/session-faa6e45d9834e16b", |
| "rig_check": { |
| "status": "ok", |
| "dropped_marker": null, |
| "gyro_deg": 2.293 |
| }, |
| "camera_pose_source": "provider T_tracker0_cam", |
| "files": [ |
| "mocap_zup.npz", |
| "tracker0_zup.npz", |
| "rig_zup.npz", |
| "cameras_zup.npz" |
| ] |
| }, |
| "smplx": { |
| "generated_at_utc": "2026-10-29T05:41:52.164102+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": [ |
| 0.05877215787768364, |
| 0.023818721994757652, |
| 0.014850001782178879 |
| ], |
| "LHandOut": [ |
| 0.05917355418205261, |
| 0.007528470363467932, |
| -0.030913759022951126 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.029067590832710266, |
| 0.002028432674705982, |
| 0.029924115166068077 |
| ], |
| "RHandOut": [ |
| -0.02336948737502098, |
| 0.04889155179262161, |
| -0.00713775772601366 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 1.52, |
| "p95_frame": 5.43 |
| }, |
| "worst_markers": [ |
| "LElbowIn 7mm", |
| "RElbowIn 4mm", |
| "CLAV 4mm", |
| "LShoulderFront 4mm", |
| "LWristOut 3mm" |
| ], |
| "valid_fraction": 1.0, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": -2.7, |
| "p5": -3.2 |
| }, |
| "frames_checked": 613, |
| "stature_mm": 1627.7 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 12.47 |
| }, |
| "shape_source": "participant median", |
| "wrist_correction": { |
| "left": { |
| "status": "corrected", |
| "Q_deg": 23.16, |
| "Q_rotvec": [ |
| -0.23024, |
| -0.2566, |
| 0.21103 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 30.6, |
| "opposite_sign_bend_deg": 160.3, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 1.2, |
| "hand_vs_marker_frame_deg": { |
| "before": 23.01, |
| "after": 1.2 |
| }, |
| "markers_on_wrist": [ |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -16.29, |
| "wrist_twist_deg_after": { |
| "median": -0.0, |
| "iqr": [ |
| -2.9, |
| 2.3 |
| ] |
| }, |
| "wrist_total_deg_median_after": 25.9, |
| "markers_on_forearm": [ |
| "LElbow", |
| "LForearm", |
| "LWristIn", |
| "LWristOut" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "right": { |
| "status": "corrected", |
| "Q_deg": 65.37, |
| "Q_rotvec": [ |
| 1.05023, |
| 0.34422, |
| -0.28343 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 64.3, |
| "opposite_sign_bend_deg": 126.5, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 2.94, |
| "hand_vs_marker_frame_deg": { |
| "before": 65.54, |
| "after": 2.94 |
| }, |
| "markers_on_wrist": [ |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -60.84, |
| "wrist_twist_deg_after": { |
| "median": -0.0, |
| "iqr": [ |
| -1.6, |
| 3.0 |
| ] |
| }, |
| "wrist_total_deg_median_after": 22.7, |
| "markers_on_forearm": [ |
| "RForearm", |
| "RWristIn", |
| "RWristOut" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "generated_at_utc": "2026-10-29T05:41:55.451245+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "hands_registration": { |
| "cameras": {}, |
| "hands": { |
| "left": { |
| "offset_deg": 27.01, |
| "offset_rotvec": [ |
| 0.0455, |
| 0.4618, |
| -0.0837 |
| ], |
| "dev_deg": { |
| "median": 4.82, |
| "p90": 10.34 |
| }, |
| "samples": 4490, |
| "accepted": 4360, |
| "wrist_pos_err_mm_median": 25.4, |
| "per_camera": { |
| "head": { |
| "samples": 4490, |
| "accepted": 4360, |
| "gate_deg": 30.0, |
| "offset_deg": 27.01, |
| "tier": "primary", |
| "dev_deg_median": 4.82, |
| "wrist_pos_err_mm_median": 25.4 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 17442, |
| "interpolated": 398, |
| "mean_hand": 540, |
| "no_body_fit": 0 |
| }, |
| "observed_fraction": 0.9706, |
| "observed_fraction_of_valid": 0.9706, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 28.98, |
| "smplx": 0.77 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 9.9, |
| "p90": 17.2 |
| }, |
| "registered": { |
| "median": 8.2, |
| "p90": 15.7 |
| } |
| } |
| }, |
| "right": { |
| "offset_deg": 28.53, |
| "offset_rotvec": [ |
| -0.0038, |
| -0.464, |
| 0.1808 |
| ], |
| "dev_deg": { |
| "median": 4.18, |
| "p90": 9.28 |
| }, |
| "samples": 4545, |
| "accepted": 4514, |
| "wrist_pos_err_mm_median": 16.2, |
| "per_camera": { |
| "head": { |
| "samples": 4545, |
| "accepted": 4514, |
| "gate_deg": 30.0, |
| "offset_deg": 28.53, |
| "tier": "primary", |
| "dev_deg_median": 4.18, |
| "wrist_pos_err_mm_median": 16.2 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 18082, |
| "interpolated": 286, |
| "mean_hand": 12, |
| "no_body_fit": 0 |
| }, |
| "observed_fraction": 0.9993, |
| "observed_fraction_of_valid": 0.9993, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 29.05, |
| "smplx": 0.84 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 14.2, |
| "p90": 28.2 |
| }, |
| "registered": { |
| "median": 14.1, |
| "p90": 27.7 |
| } |
| } |
| } |
| }, |
| "max_dev_deg": 30.0, |
| "max_gap_s": 1.0, |
| "cameras_used": [ |
| "head" |
| ], |
| "generated_at_utc": "2026-11-03T17:29:55.970729+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_007", |
| "family": "static_manipulation", |
| "primitive": "SM21", |
| "source_session": "20261026/SM21/20261026_091727_session67" |
| }, |
| "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" |
| } |
| ] |
| } |
|
|
