| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20260916/DR10/20260916_010312_session6", |
| "session_id": "20260916_010312_session6", |
| "primitive": "DR10", |
| "batch": "20260916", |
| "participant": "wangzhixin", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "e17c9efadb69e7b1", |
| "left": null, |
| "right": null |
| }, |
| "generated_at_utc": "2026-10-14T11:09:21.401679+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": 124.025, |
| "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": -1.165611, |
| "rate": 0.0, |
| "global_lag_s": -1.165, |
| "peak_corr": 0.9956, |
| "reference_imu_first_sample_s": 2737.135813768, |
| "windows": { |
| "n_windows": 11, |
| "window_corr_median": 0.9983612088090498, |
| "drift_ppm": -2.523391091543699, |
| "drift_se_ppm": 2.233485126068766, |
| "drift_ms_over_take": -0.31294255186961106, |
| "lag_scatter_ms": 0.21188700355456844, |
| "lag_range_ms": 0.75786756014673 |
| } |
| }, |
| "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": 25264, |
| "n_gyro": 25257, |
| "t_start": -1.1775657580755285, |
| "t_end": 124.78184239792435 |
| }, |
| "imu_head_left": { |
| "n_acc": 25219, |
| "n_gyro": 25212, |
| "t_start": -1.0697378340754802, |
| "t_end": 124.9476668529247 |
| }, |
| "mag_head": { |
| "n": 12611, |
| "t_start": -0.9895709180754273, |
| "t_end": 125.1104286839246 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 2738.338579, |
| "frames": 3720, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0023423887986386703, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": 0.03949620872353643, |
| "t_end": 124.00611820872345, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 2738.338529, |
| "frames": 3720, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0019489646456461974, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": 0.039052784570318355, |
| "t_end": 124.0056967845704, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 2738.338562, |
| "frames": 3720, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0018171232386612972, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": 0.038953943163138494, |
| "t_end": 124.00558694316314, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 2738.338597, |
| "frames": 3720, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0017295646474508202, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": 0.03890138457208758, |
| "t_end": 124.00551238457192, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 30.0, |
| "start_device_s": 2738.338546, |
| "frames": 3720, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.001668932298833096, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": 0.03878975222332537, |
| "t_end": 124.00543375222341, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 2738.338508, |
| "frames": 3720, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0017169377622902274, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": 0.03879975768686217, |
| "t_end": 124.00545575768692, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "third_person": { |
| "file": "mocap/mocap-DR10-S01-wangzhixin-02p1-1.mp4", |
| "frames": 3721, |
| "fps": 60.0, |
| "clock": "nokov (frame index)", |
| "t_start": 0.0, |
| "t_end": 62.0 |
| } |
| } |
| }, |
| "flags": [], |
| "sanity": { |
| "status": { |
| "structure": "FAIL", |
| "markers": "WARN", |
| "timing": "PASS" |
| }, |
| "verdict": "READY", |
| "issues": [ |
| "FAIL S_MISSING", |
| "WARN M_BODY_ID", |
| "WARN M_SPIKES", |
| "WARN M_TRACKER_LABELS", |
| "WARN S_INDEX_STALE", |
| "WARN S_PARTICIPANT", |
| "WARN S_REPORT_TIMING", |
| "WARN S_VIDEO_FPS" |
| ] |
| }, |
| "canonical": { |
| "generated_at_utc": "2026-10-14T12:19:48.664065+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": [ |
| [ |
| 0.9999290743, |
| -0.011909827, |
| -4.93881e-05 |
| ], |
| [ |
| 4.93881e-05, |
| 0.0082932301, |
| -0.9999656094 |
| ], |
| [ |
| 0.011909827, |
| 0.9998946836, |
| 0.0082932301 |
| ] |
| ], |
| "scale_nokov_to_canon": 0.001, |
| "T_canon_nokov_mm": [ |
| [ |
| 0.000999929074, |
| -1.1909827e-05, |
| -4.9388e-08, |
| 0.0 |
| ], |
| [ |
| 4.9388e-08, |
| 8.29323e-06, |
| -0.000999965609, |
| 0.0 |
| ], |
| [ |
| 1.1909827e-05, |
| 0.000999894684, |
| 8.29323e-06, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "block": "20260916-morning", |
| "block_assignment": "trc", |
| "tilt_removed_deg": 0.8315519343591652, |
| "plane_status": "ok", |
| "floor": { |
| "sole_marker_p1_mm": 26.2, |
| "headtop_p95_mm": 1644.6 |
| }, |
| "gravity_check": { |
| "static_samples": 4540, |
| "g_world_mean_m_s2": [ |
| -0.0128, |
| 0.0276, |
| 9.7522 |
| ], |
| "tilt_from_z_deg": 0.179, |
| "tilt_from_z_deg_before_levelling": 0.683, |
| "magnitude_m_s2": 9.7522 |
| }, |
| "rig_tracker_definition": "e17c9efadb69e7b1/20260916-morning/labels-530412/session-bb0f24c725881399", |
| "camera_pose_source": "provider T_tracker0_cam", |
| "files": [ |
| "mocap_zup.npz", |
| "tracker0_zup.npz", |
| "rig_zup.npz", |
| "cameras_zup.npz" |
| ] |
| }, |
| "smplx": { |
| "generated_at_utc": "2026-10-15T00:20:02.192026+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": [ |
| 0.0874059647321701, |
| 0.013463372364640236, |
| 0.01948263682425022 |
| ], |
| "LHandOut": [ |
| 0.0851081982254982, |
| 0.010325418785214424, |
| -0.03175504505634308 |
| ], |
| "LWristOut": [ |
| 0.007055400870740414, |
| 0.016997110098600388, |
| -0.03360141068696976 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.047863688319921494, |
| 0.00859885849058628, |
| 0.02746662124991417 |
| ], |
| "RHandOut": [ |
| -0.03837032988667488, |
| 0.03373026102781296, |
| -0.020474733784794807 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 4.31, |
| "p95_frame": 9.42 |
| }, |
| "worst_markers": [ |
| "LShin 21mm", |
| "RKneeIn 12mm", |
| "LKneeIn 11mm", |
| "LKnee 9mm", |
| "LThigh 8mm" |
| ], |
| "valid_fraction": 1.0, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": 20.1, |
| "p5": 12.0 |
| }, |
| "frames_checked": 497, |
| "stature_mm": 1582.0 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 13.34 |
| }, |
| "shape_source": "participant median", |
| "wrist_correction": { |
| "left": { |
| "status": "corrected", |
| "Q_deg": 180.0, |
| "Q_rotvec": [ |
| -2.98447, |
| 0.44488, |
| 0.87443 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 173.9, |
| "opposite_sign_bend_deg": 29.2, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 1.04, |
| "hand_vs_marker_frame_deg": { |
| "before": 179.29, |
| "after": 1.04 |
| }, |
| "markers_on_wrist": [ |
| "LWristOut", |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -173.39, |
| "wrist_twist_deg_after": { |
| "median": -0.44, |
| "iqr": [ |
| -2.1, |
| 1.8 |
| ] |
| }, |
| "wrist_total_deg_median_after": 23.6, |
| "markers_on_forearm": [ |
| "LForearm", |
| "LWristIn" |
| ] |
| }, |
| "frames_used": 1489 |
| }, |
| "right": { |
| "status": "corrected", |
| "Q_deg": 0.0, |
| "Q_rotvec": [ |
| 0.0, |
| 0.0, |
| -0.0 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 17.0, |
| "opposite_sign_bend_deg": 175.4, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 1.27, |
| "hand_vs_marker_frame_deg": { |
| "before": 1.27, |
| "after": 1.27 |
| }, |
| "markers_on_wrist": [ |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -0.0, |
| "wrist_twist_deg_after": { |
| "median": -0.0, |
| "iqr": [ |
| -1.1, |
| 1.0 |
| ] |
| }, |
| "wrist_total_deg_median_after": 16.9, |
| "markers_on_forearm": [ |
| "RForearm", |
| "RWristIn", |
| "RWristOut" |
| ] |
| }, |
| "frames_used": 1489 |
| }, |
| "generated_at_utc": "2026-10-28T06:16:44.349323+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "rig_tracker": { |
| "definition": "e17c9efadb69e7b1/20260916-morning/labels-530412/session-bb0f24c725881399", |
| "R_tracker0_imu0": [ |
| [ |
| -0.56836139, |
| 0.16133723, |
| -0.80680582 |
| ], |
| [ |
| 0.81743327, |
| -0.00087341, |
| -0.57602265 |
| ], |
| [ |
| -0.09363857, |
| -0.98689895, |
| -0.131386 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| -0.17887370214438877, |
| 0.0032824052302230975, |
| -0.007833787946444097 |
| ], |
| "rig_check": { |
| "gyro_samples": 2600, |
| "gyro_max_deg": 2.5, |
| "status": "ok", |
| "dropped_marker": null, |
| "gyro_deg": 0.56 |
| }, |
| "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": "2026-10-18T18:54:14.293221+00:00", |
| "generated_by": "scripts/correct_processed_rig.py", |
| "remaining_gyro_frame_deg": 0.5874745949635516 |
| }, |
| "hands_registration": { |
| "cameras": {}, |
| "hands": { |
| "left": { |
| "offset_deg": 24.37, |
| "offset_rotvec": [ |
| 0.4077, |
| -0.0861, |
| 0.085 |
| ], |
| "dev_deg": { |
| "median": 14.37, |
| "p90": 32.18 |
| }, |
| "samples": 1791, |
| "accepted": 1566, |
| "wrist_pos_err_mm_median": 92.9, |
| "per_camera": { |
| "head": { |
| "samples": 1791, |
| "accepted": 1566, |
| "gate_deg": 30.0, |
| "offset_deg": 24.37, |
| "tier": "primary", |
| "dev_deg_median": 14.37, |
| "wrist_pos_err_mm_median": 92.9 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 6506, |
| "interpolated": 5930, |
| "mean_hand": 2448, |
| "no_body_fit": 0 |
| }, |
| "observed_fraction": 0.8355, |
| "observed_fraction_of_valid": 0.8355, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 26.81, |
| "smplx": 1.04 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 12.5, |
| "p90": 16.7 |
| }, |
| "registered": { |
| "median": 13.1, |
| "p90": 17.5 |
| } |
| } |
| }, |
| "right": { |
| "offset_deg": 21.95, |
| "offset_rotvec": [ |
| 0.1971, |
| 0.29, |
| 0.1544 |
| ], |
| "dev_deg": { |
| "median": 25.66, |
| "p90": 40.17 |
| }, |
| "samples": 770, |
| "accepted": 496, |
| "wrist_pos_err_mm_median": 218.4, |
| "per_camera": { |
| "head": { |
| "samples": 770, |
| "accepted": 496, |
| "gate_deg": 30.0, |
| "offset_deg": 21.95, |
| "tier": "primary", |
| "dev_deg_median": 25.66, |
| "wrist_pos_err_mm_median": 218.4 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 1950, |
| "interpolated": 2198, |
| "mean_hand": 10736, |
| "no_body_fit": 0 |
| }, |
| "observed_fraction": 0.2787, |
| "observed_fraction_of_valid": 0.2787, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 35.21, |
| "smplx": 0.54 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 10.6, |
| "p90": 14.6 |
| }, |
| "registered": { |
| "median": 10.5, |
| "p90": 13.8 |
| } |
| } |
| } |
| }, |
| "max_dev_deg": 30.0, |
| "max_gap_s": 1.0, |
| "cameras_used": [ |
| "head" |
| ], |
| "generated_at_utc": "2026-11-03T23:08:06.351106+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/dynamic_recovery/DR10/session_001", |
| "family": "dynamic_recovery", |
| "primitive": "DR10", |
| "source_session": "20260916/DR10/20260916_010312_session6" |
| }, |
| "task": { |
| "primitive": "DR10", |
| "instruction": "Walk across the mats at a normal pace. They may not all feel the same underfoot. Carry on afterwards." |
| } |
| } |
|
|
