| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20260924/DR10/20260924_040012_session61", |
| "session_id": "20260924_040012_session61", |
| "primitive": "DR10", |
| "batch": "20260924", |
| "participant": "gaoziyue", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "e17c9efadb69e7b1", |
| "left": "452031d7af00ef6f", |
| "right": "6ee5ee4472fe2ad7" |
| }, |
| "generated_at_utc": "2026-10-14T11:26:01.850090+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": -1.175127, |
| "rate": 0.0, |
| "global_lag_s": -1.175, |
| "peak_corr": 0.9945, |
| "reference_imu_first_sample_s": 12976.606125231, |
| "windows": { |
| "n_windows": 11, |
| "window_corr_median": 0.9988915519510784, |
| "drift_ppm": -122.25574233568376, |
| "drift_se_ppm": 74.10732516199282, |
| "drift_ms_over_take": -15.161749645330381, |
| "lag_scatter_ms": 7.030438164438117, |
| "lag_range_ms": 28.52108747659954 |
| } |
| }, |
| "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": 25259, |
| "t_start": -1.1817082689282923, |
| "t_end": 124.76739142307115 |
| }, |
| "imu_head_left": { |
| "n_acc": 25219, |
| "n_gyro": 25214, |
| "t_start": -1.068445476928633, |
| "t_end": 124.93767443007191 |
| }, |
| "imu_wrist_left": { |
| "n_acc": 24645, |
| "n_gyro": 24645, |
| "t_start": 0.19480147407220483, |
| "t_end": 121.91039529007166 |
| }, |
| "mag_head": { |
| "n": 12610, |
| "t_start": -0.9892538519286116, |
| "t_end": 125.1007862910722 |
| }, |
| "mag_wrist_right": { |
| "n": 12178, |
| "t_start": 0.1326020960716907, |
| "t_end": 121.90130283007083 |
| }, |
| "mag_wrist_left": { |
| "n": 12169, |
| "t_start": 0.21337478107151964, |
| "t_end": 121.89284649307255 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 12977.818635, |
| "frames": 3720, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0023423887986386703, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": 0.03972493286918888, |
| "t_end": 124.00643593286831, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 12977.818586, |
| "frames": 3720, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0019489646456461974, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": 0.039282508716764086, |
| "t_end": 124.00601550871606, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 12977.818617, |
| "frames": 3720, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0018171232386612972, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": 0.03918166731118089, |
| "t_end": 124.00590366731039, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 12977.818654, |
| "frames": 3720, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0017295646474508202, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": 0.03913110871898806, |
| "t_end": 124.00583110871985, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 30.0, |
| "start_device_s": 12977.818604, |
| "frames": 3720, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.001668932298833096, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": 0.039020476370109636, |
| "t_end": 124.00574247636932, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 12977.818565, |
| "frames": 3720, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0017169377622902274, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": 0.03902948183376265, |
| "t_end": 124.00576248183306, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "wrist_left": { |
| "fps": 30.0, |
| "start_device_s": 12977.972755, |
| "frames": 3651, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4", |
| "t_start": 0.19150254407240408, |
| "t_end": 121.85764854407198, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "wrist_right": { |
| "fps": 30.0, |
| "start_device_s": 12978.028038, |
| "frames": 3649, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4", |
| "t_start": 0.2467855440720943, |
| "t_end": 121.84548354407188, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "third_person": { |
| "file": "mocap/mocap-DR10-S01-gaoziyue-02p2-1.mp4", |
| "frames": 3721, |
| "fps": 60.0, |
| "clock": "nokov (frame index)", |
| "t_start": 0.0, |
| "t_end": 62.0 |
| } |
| } |
| }, |
| "flags": [ |
| "wrist_right_imu empty" |
| ], |
| "sanity": { |
| "status": { |
| "structure": "FAIL", |
| "markers": "WARN", |
| "timing": "WARN" |
| }, |
| "verdict": "READY_WITH_WARNINGS", |
| "issues": [ |
| "FAIL S_DB_EMPTY", |
| "FAIL S_REPORT_EMPTY", |
| "WARN M_RIGID", |
| "WARN M_SPIKES", |
| "WARN M_TRACKER_LABELS", |
| "WARN S_PARTICIPANT", |
| "WARN S_VIDEO_FPS", |
| "WARN T_EMPTY" |
| ] |
| }, |
| "canonical": { |
| "generated_at_utc": "2026-10-14T13:43:05.476964+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": [ |
| [ |
| 1.0, |
| 0.0, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| -1.0 |
| ], |
| [ |
| 0.0, |
| 1.0, |
| 0.0 |
| ] |
| ], |
| "scale_nokov_to_canon": 0.001, |
| "T_canon_nokov_mm": [ |
| [ |
| 0.001, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| -0.001, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.001, |
| 0.0, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "block": "20260924-morning", |
| "block_assignment": "trc", |
| "tilt_removed_deg": null, |
| "plane_status": "contacts span only 0.91 m", |
| "floor": { |
| "sole_marker_p1_mm": 47.4, |
| "headtop_p95_mm": 1705.5 |
| }, |
| "gravity_check": { |
| "static_samples": 2365, |
| "g_world_mean_m_s2": [ |
| 0.1205, |
| -0.1456, |
| 9.7637 |
| ], |
| "tilt_from_z_deg": 1.109, |
| "tilt_from_z_deg_before_levelling": 1.109, |
| "magnitude_m_s2": 9.7655 |
| }, |
| "rig_tracker_definition": "e17c9efadb69e7b1/20260924-morning/labels-253140/session-17c78259d475353f", |
| "camera_pose_source": "provider T_tracker0_cam", |
| "files": [ |
| "mocap_zup.npz", |
| "tracker0_zup.npz", |
| "rig_zup.npz", |
| "cameras_zup.npz" |
| ] |
| }, |
| "smplx": { |
| "generated_at_utc": "2026-10-15T00:45:33.499423+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": [ |
| 0.06491035968065262, |
| 0.019398584961891174, |
| 0.017819764092564583 |
| ], |
| "LHandOut": [ |
| 0.06064947322010994, |
| 0.011816766113042831, |
| -0.023070966824889183 |
| ], |
| "LWristIn": [ |
| 0.007908912375569344, |
| 0.02819010056555271, |
| 0.040243007242679596 |
| ], |
| "LWristOut": [ |
| 0.003558882512152195, |
| 0.027219828218221664, |
| -0.023935478180646896 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.04603741317987442, |
| 0.0135916443541646, |
| 0.013467087410390377 |
| ], |
| "RHandOut": [ |
| -0.04069482535123825, |
| 0.01246029045432806, |
| -0.03450867161154747 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 6.13, |
| "p95_frame": 7.78 |
| }, |
| "worst_markers": [ |
| "LElbowIn 26mm", |
| "LElbow 21mm", |
| "LKneeIn 15mm", |
| "LShin 8mm", |
| "LKnee 8mm" |
| ], |
| "valid_fraction": 0.9997, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": 29.9, |
| "p5": -0.9 |
| }, |
| "frames_checked": 496, |
| "stature_mm": 1598.8 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 13.24 |
| }, |
| "shape_source": "participant median", |
| "wrist_correction": { |
| "left": { |
| "status": "corrected", |
| "Q_deg": 180.0, |
| "Q_rotvec": [ |
| -2.98794, |
| 0.42773, |
| 0.87113 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 175.1, |
| "opposite_sign_bend_deg": 19.4, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 1.29, |
| "hand_vs_marker_frame_deg": { |
| "before": 179.41, |
| "after": 1.29 |
| }, |
| "markers_on_wrist": [ |
| "LWristIn", |
| "LWristOut", |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -152.89, |
| "wrist_twist_deg_after": { |
| "median": -22.42, |
| "iqr": [ |
| -26.9, |
| 0.2 |
| ] |
| }, |
| "wrist_total_deg_median_after": 38.1, |
| "markers_on_forearm": [ |
| "LElbowIn", |
| "LForearm" |
| ] |
| }, |
| "frames_used": 1488 |
| }, |
| "right": { |
| "status": "corrected", |
| "Q_deg": 0.0, |
| "Q_rotvec": [ |
| 0.0, |
| 0.0, |
| -0.0 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 23.2, |
| "opposite_sign_bend_deg": 176.2, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 0.66, |
| "hand_vs_marker_frame_deg": { |
| "before": 0.66, |
| "after": 0.66 |
| }, |
| "markers_on_wrist": [ |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -0.0, |
| "wrist_twist_deg_after": { |
| "median": 0.0, |
| "iqr": [ |
| -1.1, |
| 1.2 |
| ] |
| }, |
| "wrist_total_deg_median_after": 23.2, |
| "markers_on_forearm": [ |
| "RElbowIn", |
| "RForearm", |
| "RWristIn", |
| "RWristOut" |
| ] |
| }, |
| "frames_used": 1488 |
| }, |
| "generated_at_utc": "2026-10-28T06:27:42.245428+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "rig_tracker": { |
| "definition": "e17c9efadb69e7b1/20260924-morning/labels-253140/session-17c78259d475353f", |
| "R_tracker0_imu0": [ |
| [ |
| -0.57246579, |
| 0.08726066, |
| -0.81527204 |
| ], |
| [ |
| 0.81556762, |
| 0.16301644, |
| -0.55522527 |
| ], |
| [ |
| 0.08445342, |
| -0.98275695, |
| -0.16448831 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| 0.008267254056858147, |
| 0.003080966220745789, |
| -0.03659537856427637 |
| ], |
| "rig_check": { |
| "gyro_samples": 4059, |
| "gyro_max_deg": 2.5, |
| "status": "ok", |
| "dropped_marker": null, |
| "gyro_deg": 0.673 |
| }, |
| "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": "2026-10-18T19:03:29.985720+00:00", |
| "generated_by": "scripts/correct_processed_rig.py", |
| "remaining_gyro_frame_deg": 0.7166081622036082 |
| }, |
| "hands_registration": { |
| "cameras": {}, |
| "hands": { |
| "left": { |
| "offset_deg": 14.61, |
| "offset_rotvec": [ |
| 0.2308, |
| -0.078, |
| -0.0754 |
| ], |
| "dev_deg": { |
| "median": 15.76, |
| "p90": 35.21 |
| }, |
| "samples": 2066, |
| "accepted": 1756, |
| "wrist_pos_err_mm_median": 206.7, |
| "per_camera": { |
| "head": { |
| "samples": 2066, |
| "accepted": 1756, |
| "gate_deg": 30.0, |
| "offset_deg": 14.61, |
| "tier": "primary", |
| "dev_deg_median": 15.76, |
| "wrist_pos_err_mm_median": 206.7 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 7400, |
| "interpolated": 7068, |
| "mean_hand": 412, |
| "no_body_fit": 4 |
| }, |
| "observed_fraction": 0.9721, |
| "observed_fraction_of_valid": 0.9723, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 23.81, |
| "smplx": 1.17 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 17.5, |
| "p90": 21.6 |
| }, |
| "registered": { |
| "median": 16.7, |
| "p90": 20.8 |
| } |
| } |
| }, |
| "right": { |
| "offset_deg": 13.29, |
| "offset_rotvec": [ |
| 0.0775, |
| -0.0687, |
| 0.2076 |
| ], |
| "dev_deg": { |
| "median": 23.65, |
| "p90": 48.36 |
| }, |
| "samples": 1979, |
| "accepted": 1150, |
| "wrist_pos_err_mm_median": 375.8, |
| "per_camera": { |
| "head": { |
| "samples": 1979, |
| "accepted": 1150, |
| "gate_deg": 30.0, |
| "offset_deg": 13.29, |
| "tier": "primary", |
| "dev_deg_median": 23.65, |
| "wrist_pos_err_mm_median": 375.8 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 4692, |
| "interpolated": 5568, |
| "mean_hand": 4620, |
| "no_body_fit": 4 |
| }, |
| "observed_fraction": 0.6893, |
| "observed_fraction_of_valid": 0.6895, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 27.62, |
| "smplx": 0.57 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 10.2, |
| "p90": 15.9 |
| }, |
| "registered": { |
| "median": 10.0, |
| "p90": 15.4 |
| } |
| } |
| } |
| }, |
| "max_dev_deg": 30.0, |
| "max_gap_s": 1.0, |
| "cameras_used": [ |
| "head" |
| ], |
| "generated_at_utc": "2026-11-03T22:37:06.933090+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_003", |
| "family": "dynamic_recovery", |
| "primitive": "DR10", |
| "source_session": "20260924/DR10/20260924_040012_session61" |
| }, |
| "task": { |
| "primitive": "DR10", |
| "instruction": "Walk across the mats at a normal pace. They may not all feel the same underfoot. Carry on afterwards." |
| } |
| } |
|
|
