| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20261009/DR10/20261009_033819_session55", |
| "session_id": "20261009_033819_session55", |
| "primitive": "DR10", |
| "batch": "20261009", |
| "participant": "daihaoxiang", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "e17c9efadb69e7b1", |
| "left": "cc5681142208e29a", |
| "right": "60a6f081bbe60b0d" |
| }, |
| "generated_at_utc": "2026-10-14T11:35:08.473599+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": 139.025, |
| "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": -1.16492, |
| "rate": 0.0, |
| "global_lag_s": -1.165, |
| "peak_corr": 0.9885, |
| "reference_imu_first_sample_s": 997.116424648, |
| "windows": { |
| "n_windows": 12, |
| "window_corr_median": 0.9933829746656593, |
| "drift_ppm": 4.186910380181394, |
| "drift_se_ppm": 2.7276791931869706, |
| "drift_ms_over_take": 0.5820503246848836, |
| "lag_scatter_ms": 0.2977629693054461, |
| "lag_range_ms": 1.0340144909573024 |
| } |
| }, |
| "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": 28251, |
| "n_gyro": 28245, |
| "t_start": -1.1815015265303077, |
| "t_end": 139.67249205346977 |
| }, |
| "imu_head_left": { |
| "n_acc": 28200, |
| "n_gyro": 28194, |
| "t_start": -1.0684728595303272, |
| "t_end": 139.8463482724696 |
| }, |
| "imu_wrist_right": { |
| "n_acc": 27218, |
| "n_gyro": 27231, |
| "t_start": 0.3646437004697032, |
| "t_end": 134.88667200846973 |
| }, |
| "imu_wrist_left": { |
| "n_acc": 26580, |
| "n_gyro": 26593, |
| "t_start": 0.3190062054696523, |
| "t_end": 134.89690812046976 |
| }, |
| "mag_head": { |
| "n": 14101, |
| "t_start": -0.9882329425303555, |
| "t_end": 140.01177499946968 |
| }, |
| "mag_wrist_right": { |
| "n": 13452, |
| "t_start": 0.3802880374696156, |
| "t_end": 134.88984883646978 |
| }, |
| "mag_wrist_left": { |
| "n": 13457, |
| "t_start": 0.328186905469654, |
| "t_end": 134.88746554546967 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 998.31885, |
| "frames": 4170, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0023423887986386703, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": 0.039848179268308304, |
| "t_end": 139.00651517926846, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 998.318805, |
| "frames": 4170, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0019489646456461974, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": 0.03940975511530498, |
| "t_end": 139.00607675511534, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 998.318836, |
| "frames": 4170, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0018171232386612972, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": 0.03930891370835754, |
| "t_end": 139.0059759137084, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 998.318866, |
| "frames": 4170, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0017295646474508202, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": 0.03925135511709188, |
| "t_end": 139.00591835511702, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 30.0, |
| "start_device_s": 998.31882, |
| "frames": 4170, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.001668932298833096, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": 0.03914472276843073, |
| "t_end": 139.00581172276836, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 998.318784, |
| "frames": 4170, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0017169377622902274, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": 0.03915672823196248, |
| "t_end": 139.0058237282319, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "wrist_left": { |
| "fps": 30.0, |
| "start_device_s": 998.599003, |
| "frames": 4037, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4", |
| "t_start": 0.31765879046971124, |
| "t_end": 134.8502757904698, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "wrist_right": { |
| "fps": 30.0, |
| "start_device_s": 998.632482, |
| "frames": 4035, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4", |
| "t_start": 0.3511377904696542, |
| "t_end": 134.8173487904696, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "third_person": { |
| "file": "mocap/mocap-DR10-S01-daihaoxiang-02p1-1.mp4", |
| "frames": 4171, |
| "fps": 30.0, |
| "clock": "nokov (frame index)", |
| "t_start": 0.0, |
| "t_end": 139.0 |
| } |
| } |
| }, |
| "flags": [], |
| "sanity": { |
| "status": { |
| "structure": "PASS", |
| "markers": "WARN", |
| "timing": "WARN" |
| }, |
| "verdict": "READY_WITH_WARNINGS", |
| "issues": [ |
| "WARN M_SPIKES", |
| "WARN M_TRACKER_LABELS", |
| "WARN T_RIG_TRACKER", |
| "WARN T_UNITS" |
| ] |
| }, |
| "canonical": { |
| "generated_at_utc": "2026-10-14T12:22:59.527856+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": [ |
| [ |
| 0.9999224264, |
| -0.0124552848, |
| -8.4556e-05 |
| ], |
| [ |
| 8.4556e-05, |
| 0.0135763823, |
| -0.9999078331 |
| ], |
| [ |
| 0.0124552848, |
| 0.9998302595, |
| 0.0135763823 |
| ] |
| ], |
| "scale_nokov_to_canon": 0.001, |
| "T_canon_nokov_mm": [ |
| [ |
| 0.000999922426, |
| -1.2455285e-05, |
| -8.4556e-08, |
| 0.0 |
| ], |
| [ |
| 8.4556e-08, |
| 1.3576382e-05, |
| -0.000999907833, |
| 0.0 |
| ], |
| [ |
| 1.2455285e-05, |
| 0.000999830259, |
| 1.3576382e-05, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "block": "20261009-morning", |
| "block_assignment": "trc", |
| "tilt_removed_deg": 1.0556903911986237, |
| "plane_status": "contacts span only 0.92 m", |
| "floor": { |
| "sole_marker_p1_mm": 18.2, |
| "headtop_p95_mm": 1877.0 |
| }, |
| "gravity_check": { |
| "static_samples": 777, |
| "g_world_mean_m_s2": [ |
| -0.3205, |
| 0.3705, |
| 9.7248 |
| ], |
| "tilt_from_z_deg": 2.884, |
| "tilt_from_z_deg_before_levelling": 1.829, |
| "magnitude_m_s2": 9.7371 |
| }, |
| "rig_tracker_definition": "e17c9efadb69e7b1/20261009-morning/labels-035142/session-0469403b8ae08b64", |
| "camera_pose_source": "provider T_tracker0_cam", |
| "files": [ |
| "mocap_zup.npz", |
| "tracker0_zup.npz", |
| "rig_zup.npz", |
| "cameras_zup.npz" |
| ] |
| }, |
| "smplx": { |
| "generated_at_utc": "2026-10-15T08:33:50.192036+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": [ |
| 0.04158063232898712, |
| -0.021204274147748947, |
| -0.004425751976668835 |
| ], |
| "LHandOut": [ |
| 0.045041024684906006, |
| 0.027511630207300186, |
| -0.018209772184491158 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.053888387978076935, |
| 0.017541861161589622, |
| 0.019368205219507217 |
| ], |
| "RHandOut": [ |
| -0.06022060289978981, |
| 0.027287283912301064, |
| -0.028439801186323166 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 4.04, |
| "p95_frame": 6.31 |
| }, |
| "worst_markers": [ |
| "LKneeIn 10mm", |
| "RKneeIn 8mm", |
| "RShin 8mm", |
| "LHeel 7mm", |
| "RKnee 7mm" |
| ], |
| "valid_fraction": 1.0, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": 58.6, |
| "p5": -18.0 |
| }, |
| "frames_checked": 557, |
| "stature_mm": 1770.9 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 12.65 |
| }, |
| "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": 178.2, |
| "opposite_sign_bend_deg": 26.2, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 2.1, |
| "hand_vs_marker_frame_deg": { |
| "before": 179.69, |
| "after": 2.1 |
| }, |
| "markers_on_wrist": [ |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": 174.28, |
| "wrist_twist_deg_after": { |
| "median": 5.2, |
| "iqr": [ |
| 3.7, |
| 6.8 |
| ] |
| }, |
| "wrist_total_deg_median_after": 12.7, |
| "markers_on_forearm": [ |
| "LForearm", |
| "LWristIn", |
| "LWristOut" |
| ] |
| }, |
| "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": 10.9, |
| "opposite_sign_bend_deg": 178.3, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 0.99, |
| "hand_vs_marker_frame_deg": { |
| "before": 0.99, |
| "after": 0.99 |
| }, |
| "markers_on_wrist": [ |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": 0.0, |
| "wrist_twist_deg_after": { |
| "median": 0.0, |
| "iqr": [ |
| -1.5, |
| 1.8 |
| ] |
| }, |
| "wrist_total_deg_median_after": 11.0, |
| "markers_on_forearm": [ |
| "RElbowIn", |
| "RForearm", |
| "RWristIn", |
| "RWristOut" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "generated_at_utc": "2026-10-28T06:33:35.642214+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "rig_tracker": { |
| "definition": "e17c9efadb69e7b1/20261009-morning/labels-035142/session-0469403b8ae08b64", |
| "R_tracker0_imu0": [ |
| [ |
| -0.71995269, |
| 0.24839323, |
| -0.64805009 |
| ], |
| [ |
| 0.65589564, |
| -0.06171683, |
| -0.75232436 |
| ], |
| [ |
| -0.22686788, |
| -0.96669118, |
| -0.11848684 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| 0.015948304317237035, |
| -0.003767742420786802, |
| -0.03362997931742647 |
| ], |
| "rig_check": { |
| "gyro_samples": 7775, |
| "gyro_max_deg": 2.5, |
| "status": "ok", |
| "dropped_marker": null, |
| "gyro_deg": 1.559 |
| }, |
| "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": "2026-10-18T19:09:07.903871+00:00", |
| "generated_by": "scripts/correct_processed_rig.py", |
| "remaining_gyro_frame_deg": 1.552298504789178 |
| }, |
| "hands_registration": { |
| "cameras": {}, |
| "hands": { |
| "left": { |
| "offset_deg": 21.88, |
| "offset_rotvec": [ |
| 0.364, |
| 0.0613, |
| 0.098 |
| ], |
| "dev_deg": { |
| "median": 13.78, |
| "p90": 25.5 |
| }, |
| "samples": 3562, |
| "accepted": 3373, |
| "wrist_pos_err_mm_median": 62.0, |
| "per_camera": { |
| "head": { |
| "samples": 3562, |
| "accepted": 3373, |
| "gate_deg": 30.0, |
| "offset_deg": 21.88, |
| "tier": "primary", |
| "dev_deg_median": 13.78, |
| "wrist_pos_err_mm_median": 62.0 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 13656, |
| "interpolated": 2588, |
| "mean_hand": 440, |
| "no_body_fit": 0 |
| }, |
| "observed_fraction": 0.9736, |
| "observed_fraction_of_valid": 0.9736, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 21.79, |
| "smplx": 0.95 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 10.7, |
| "p90": 11.8 |
| }, |
| "registered": { |
| "median": 10.6, |
| "p90": 12.0 |
| } |
| } |
| }, |
| "right": { |
| "offset_deg": 17.79, |
| "offset_rotvec": [ |
| 0.2759, |
| -0.035, |
| 0.1378 |
| ], |
| "dev_deg": { |
| "median": 11.1, |
| "p90": 37.36 |
| }, |
| "samples": 3721, |
| "accepted": 3230, |
| "wrist_pos_err_mm_median": 62.7, |
| "per_camera": { |
| "head": { |
| "samples": 3721, |
| "accepted": 3230, |
| "gate_deg": 30.0, |
| "offset_deg": 17.79, |
| "tier": "primary", |
| "dev_deg_median": 11.1, |
| "wrist_pos_err_mm_median": 62.7 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 13014, |
| "interpolated": 1862, |
| "mean_hand": 1808, |
| "no_body_fit": 0 |
| }, |
| "observed_fraction": 0.8916, |
| "observed_fraction_of_valid": 0.8916, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 16.42, |
| "smplx": 0.7 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 11.3, |
| "p90": 15.9 |
| }, |
| "registered": { |
| "median": 11.1, |
| "p90": 14.9 |
| } |
| } |
| } |
| }, |
| "max_dev_deg": 30.0, |
| "max_gap_s": 1.0, |
| "cameras_used": [ |
| "head" |
| ], |
| "generated_at_utc": "2026-11-03T22:18:29.835678+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_004", |
| "family": "dynamic_recovery", |
| "primitive": "DR10", |
| "source_session": "20261009/DR10/20261009_033819_session55" |
| }, |
| "task": { |
| "primitive": "DR10", |
| "instruction": "Walk across the mats at a normal pace. They may not all feel the same underfoot. Carry on afterwards." |
| } |
| } |
|
|
