| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20260918/DR10/20260918_082125_session54", |
| "session_id": "20260918_082125_session54", |
| "primitive": "DR10", |
| "batch": "20260918", |
| "participant": "mahui", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "e17c9efadb69e7b1", |
| "left": "cc5681142208e29a", |
| "right": "60a6f081bbe60b0d" |
| }, |
| "generated_at_utc": "2026-10-14T11:13:30.550852+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": 130.19166666666666, |
| "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": -1.1711, |
| "rate": 0.0, |
| "global_lag_s": -1.17, |
| "peak_corr": 0.9936, |
| "reference_imu_first_sample_s": 10760.498844076, |
| "windows": { |
| "n_windows": 12, |
| "window_corr_median": 0.9972129791030013, |
| "drift_ppm": -60.448472702710426, |
| "drift_se_ppm": 29.237717333500306, |
| "drift_ms_over_take": -7.869383671347853, |
| "lag_scatter_ms": 3.191691145601524, |
| "lag_range_ms": 14.59171528324843 |
| } |
| }, |
| "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": 26502, |
| "n_gyro": 26496, |
| "t_start": -1.183056295017018, |
| "t_end": 130.94035995098346 |
| }, |
| "imu_head_left": { |
| "n_acc": 26454, |
| "n_gyro": 26449, |
| "t_start": -1.0684873620164628, |
| "t_end": 131.1107414399841 |
| }, |
| "imu_wrist_right": { |
| "n_acc": 25435, |
| "n_gyro": 25448, |
| "t_start": 0.31521613698459516, |
| "t_end": 126.01532542998319 |
| }, |
| "imu_wrist_left": { |
| "n_acc": 24834, |
| "n_gyro": 24847, |
| "t_start": 0.2988971949845971, |
| "t_end": 126.02651975198313 |
| }, |
| "mag_head": { |
| "n": 13227, |
| "t_start": -0.9895195700162778, |
| "t_end": 131.27047828498434 |
| }, |
| "mag_wrist_right": { |
| "n": 12569, |
| "t_start": 0.3284924649844423, |
| "t_end": 126.00791073198451 |
| }, |
| "mag_wrist_left": { |
| "n": 12571, |
| "t_start": 0.31209609098295443, |
| "t_end": 126.01168587898354 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 10761.707244, |
| "frames": 3905, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0023423887986386703, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": 0.039641938780909936, |
| "t_end": 130.1729529387805, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 10761.707187, |
| "frames": 3905, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0019489646456461974, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": 0.039191514629414836, |
| "t_end": 130.17248051462883, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 10761.707225, |
| "frames": 3905, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0018171232386612972, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": 0.03909767322256341, |
| "t_end": 130.17239767322206, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 10761.707263, |
| "frames": 3905, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0017295646474508202, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": 0.03904811463070912, |
| "t_end": 130.1723591146303, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 30.0, |
| "start_device_s": 10761.707206, |
| "frames": 3905, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.001668932298833096, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": 0.03893048228127993, |
| "t_end": 130.17223048228078, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 10761.707159, |
| "frames": 3905, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0017169377622902274, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": 0.038931487745862636, |
| "t_end": 130.17222048774528, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "wrist_left": { |
| "fps": 30.0, |
| "start_device_s": 10761.954512, |
| "frames": 3772, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4", |
| "t_start": 0.2845675499840534, |
| "t_end": 125.98417654998337, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "wrist_right": { |
| "fps": 30.0, |
| "start_device_s": 10761.969967, |
| "frames": 3771, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4", |
| "t_start": 0.30002254998471, |
| "t_end": 125.9661035499841, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "third_person": { |
| "file": "mocap/mocap-DR10-S01-mahui-02p2-1.mp4", |
| "frames": 3906, |
| "fps": 30.0, |
| "clock": "nokov (frame index)", |
| "t_start": 0.0, |
| "t_end": 130.16666666666666 |
| } |
| } |
| }, |
| "flags": [], |
| "sanity": { |
| "status": { |
| "structure": "WARN", |
| "markers": "WARN", |
| "timing": "WARN" |
| }, |
| "verdict": "READY_WITH_WARNINGS", |
| "issues": [ |
| "WARN M_BODY_ID", |
| "WARN M_FLOOR_SHIFT", |
| "WARN M_SPIKES", |
| "WARN M_TRACKER_LABELS", |
| "WARN S_INDEX_STALE", |
| "WARN S_PARTICIPANT", |
| "WARN S_REPORT_TIMING", |
| "WARN T_RIG_TRACKER", |
| "WARN T_UNITS" |
| ] |
| }, |
| "canonical": { |
| "generated_at_utc": "2026-10-14T12:20:17.588766+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": [ |
| [ |
| 0.9999034979, |
| -0.0138921311, |
| -5.96602e-05 |
| ], |
| [ |
| 5.96602e-05, |
| 0.0085884965, |
| -0.9999631164 |
| ], |
| [ |
| 0.0138921311, |
| 0.9998666143, |
| 0.0085884965 |
| ] |
| ], |
| "scale_nokov_to_canon": 0.001, |
| "T_canon_nokov_mm": [ |
| [ |
| 0.000999903498, |
| -1.3892131e-05, |
| -5.966e-08, |
| 0.0 |
| ], |
| [ |
| 5.966e-08, |
| 8.588497e-06, |
| -0.000999963116, |
| 0.0 |
| ], |
| [ |
| 1.3892131e-05, |
| 0.000999866614, |
| 8.588497e-06, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "block": "20260918-afternoon", |
| "block_assignment": "trc", |
| "tilt_removed_deg": 0.9358302314630588, |
| "plane_status": "contacts span only 0.58 m", |
| "floor": { |
| "sole_marker_p1_mm": 46.0, |
| "headtop_p95_mm": 1686.4 |
| }, |
| "gravity_check": { |
| "static_samples": 6910, |
| "g_world_mean_m_s2": [ |
| 0.003, |
| 0.0529, |
| 9.7583 |
| ], |
| "tilt_from_z_deg": 0.311, |
| "tilt_from_z_deg_before_levelling": 0.834, |
| "magnitude_m_s2": 9.7584 |
| }, |
| "rig_tracker_definition": "e17c9efadb69e7b1/20260918-afternoon/labels-530412/session-d937a77794817b6c", |
| "camera_pose_source": "provider T_tracker0_cam", |
| "files": [ |
| "mocap_zup.npz", |
| "tracker0_zup.npz", |
| "rig_zup.npz", |
| "cameras_zup.npz" |
| ] |
| }, |
| "smplx": { |
| "generated_at_utc": "2026-10-15T03:17:31.507155+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": [ |
| 0.0462983101606369, |
| 0.025715461000800133, |
| 0.021423624828457832 |
| ], |
| "LHandOut": [ |
| 0.047326065599918365, |
| 0.001791174989193678, |
| -0.034911900758743286 |
| ], |
| "LWristOut": [ |
| -0.02344638481736183, |
| -0.007144204806536436, |
| -0.03737175837159157 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.048902880400419235, |
| -0.02500210516154766, |
| 0.024864064529538155 |
| ], |
| "RHandOut": [ |
| -0.05007578432559967, |
| 0.019731970503926277, |
| -0.025485703721642494 |
| ], |
| "RWristIn": [ |
| 0.009003776125609875, |
| -0.032644469290971756, |
| 0.02482750080525875 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 4.32, |
| "p95_frame": 7.94 |
| }, |
| "worst_markers": [ |
| "LShin 19mm", |
| "LKneeIn 13mm", |
| "RKneeIn 12mm", |
| "LKnee 8mm", |
| "LHeel 7mm" |
| ], |
| "valid_fraction": 1.0, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": 10.7, |
| "p5": -0.9 |
| }, |
| "frames_checked": 521, |
| "stature_mm": 1631.4 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 12.99 |
| }, |
| "shape_source": "participant median", |
| "wrist_correction": { |
| "left": { |
| "status": "corrected", |
| "Q_deg": 180.0, |
| "Q_rotvec": [ |
| 2.98498, |
| -0.43373, |
| -0.87829 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 176.6, |
| "opposite_sign_bend_deg": 18.7, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 0.51, |
| "hand_vs_marker_frame_deg": { |
| "before": 179.76, |
| "after": 0.51 |
| }, |
| "markers_on_wrist": [ |
| "LWristOut", |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -176.41, |
| "wrist_twist_deg_after": { |
| "median": -0.14, |
| "iqr": [ |
| -1.0, |
| 0.6 |
| ] |
| }, |
| "wrist_total_deg_median_after": 25.7, |
| "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": 14.4, |
| "opposite_sign_bend_deg": 178.1, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 0.67, |
| "hand_vs_marker_frame_deg": { |
| "before": 0.67, |
| "after": 0.67 |
| }, |
| "markers_on_wrist": [ |
| "RWristIn", |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -0.0, |
| "wrist_twist_deg_after": { |
| "median": 0.0, |
| "iqr": [ |
| -1.4, |
| 3.0 |
| ] |
| }, |
| "wrist_total_deg_median_after": 14.4, |
| "markers_on_forearm": [ |
| "RElbow", |
| "RElbowIn", |
| "RForearm", |
| "RWristOut" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "generated_at_utc": "2026-10-28T06:19:16.190281+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "rig_tracker": { |
| "definition": "e17c9efadb69e7b1/20260918-afternoon/labels-530412/session-d937a77794817b6c", |
| "R_tracker0_imu0": [ |
| [ |
| -0.69440271, |
| 0.03244329, |
| -0.71885486 |
| ], |
| [ |
| 0.70259407, |
| 0.24638346, |
| -0.66757529 |
| ], |
| [ |
| 0.15545561, |
| -0.96862925, |
| -0.19388381 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| -0.17660701928622216, |
| -0.0269785348642512, |
| 0.008751204878683952 |
| ], |
| "rig_check": { |
| "gyro_samples": 2719, |
| "gyro_max_deg": 2.5, |
| "status": "ok", |
| "dropped_marker": null, |
| "gyro_deg": 1.098 |
| }, |
| "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": "2026-10-18T18:56:18.800725+00:00", |
| "generated_by": "scripts/correct_processed_rig.py", |
| "remaining_gyro_frame_deg": 1.213286237233967 |
| }, |
| "hands_registration": { |
| "cameras": {}, |
| "hands": { |
| "left": { |
| "offset_deg": 4.64, |
| "offset_rotvec": [ |
| 0.0074, |
| -0.0619, |
| -0.0517 |
| ], |
| "dev_deg": { |
| "median": 10.23, |
| "p90": 29.27 |
| }, |
| "samples": 3353, |
| "accepted": 3037, |
| "wrist_pos_err_mm_median": 83.6, |
| "per_camera": { |
| "head": { |
| "samples": 3353, |
| "accepted": 3037, |
| "gate_deg": 30.0, |
| "offset_deg": 4.64, |
| "tier": "primary", |
| "dev_deg_median": 10.23, |
| "wrist_pos_err_mm_median": 83.6 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 12356, |
| "interpolated": 3120, |
| "mean_hand": 148, |
| "no_body_fit": 0 |
| }, |
| "observed_fraction": 0.9905, |
| "observed_fraction_of_valid": 0.9905, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 8.22, |
| "smplx": 0.38 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 9.1, |
| "p90": 18.1 |
| }, |
| "registered": { |
| "median": 9.2, |
| "p90": 17.4 |
| } |
| } |
| }, |
| "right": { |
| "offset_deg": 11.29, |
| "offset_rotvec": [ |
| -0.1125, |
| -0.1446, |
| -0.0727 |
| ], |
| "dev_deg": { |
| "median": 7.99, |
| "p90": 19.1 |
| }, |
| "samples": 3438, |
| "accepted": 3298, |
| "wrist_pos_err_mm_median": 64.7, |
| "per_camera": { |
| "head": { |
| "samples": 3438, |
| "accepted": 3298, |
| "gate_deg": 30.0, |
| "offset_deg": 11.29, |
| "tier": "primary", |
| "dev_deg_median": 7.99, |
| "wrist_pos_err_mm_median": 64.7 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 13312, |
| "interpolated": 1580, |
| "mean_hand": 732, |
| "no_body_fit": 0 |
| }, |
| "observed_fraction": 0.9531, |
| "observed_fraction_of_valid": 0.9531, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 13.72, |
| "smplx": 0.35 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 12.5, |
| "p90": 16.0 |
| }, |
| "registered": { |
| "median": 12.9, |
| "p90": 15.4 |
| } |
| } |
| } |
| }, |
| "max_dev_deg": 30.0, |
| "max_gap_s": 1.0, |
| "cameras_used": [ |
| "head" |
| ], |
| "generated_at_utc": "2026-11-03T23:00:43.957913+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_002", |
| "family": "dynamic_recovery", |
| "primitive": "DR10", |
| "source_session": "20260918/DR10/20260918_082125_session54" |
| }, |
| "task": { |
| "primitive": "DR10", |
| "instruction": "Walk across the mats at a normal pace. They may not all feel the same underfoot. Carry on afterwards." |
| } |
| } |
|
|
