| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20261012/DR10/20261012_114052_session62", |
| "session_id": "20261012_114052_session62", |
| "primitive": "DR10", |
| "batch": "20261012", |
| "participant": "zhangxinxin", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "e17c9efadb69e7b1", |
| "left": "cc5681142208e29a", |
| "right": "60a6f081bbe60b0d" |
| }, |
| "generated_at_utc": "2026-10-14T11:37:09.580539+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": 134.025, |
| "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": -1.171547, |
| "rate": 0.0, |
| "global_lag_s": -1.17, |
| "peak_corr": 0.9828, |
| "reference_imu_first_sample_s": 18215.83438699, |
| "windows": { |
| "n_windows": 11, |
| "window_corr_median": 0.9955608256612527, |
| "drift_ppm": 2.1277379631516657, |
| "drift_se_ppm": 1.9737981819117205, |
| "drift_ms_over_take": 0.2851523493617091, |
| "lag_scatter_ms": 0.18725093689021188, |
| "lag_range_ms": 0.6973242982497574 |
| } |
| }, |
| "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": 27274, |
| "n_gyro": 27267, |
| "t_start": -1.188092638046974, |
| "t_end": 134.780267478953 |
| }, |
| "imu_head_left": { |
| "n_acc": 27223, |
| "n_gyro": 27217, |
| "t_start": -1.0750244040461534, |
| "t_end": 134.94275554295407 |
| }, |
| "imu_wrist_right": { |
| "n_acc": 26799, |
| "n_gyro": 26809, |
| "t_start": 0.22918670995594725, |
| "t_end": 132.66882869395366 |
| }, |
| "imu_wrist_left": { |
| "n_acc": 26149, |
| "n_gyro": 26159, |
| "t_start": 0.2742344549554123, |
| "t_end": 132.6589685709553 |
| }, |
| "mag_head": { |
| "n": 13611, |
| "t_start": -0.9894291380439522, |
| "t_end": 135.11058155195522 |
| }, |
| "mag_wrist_right": { |
| "n": 13241, |
| "t_start": 0.24910197795569688, |
| "t_end": 132.64853139895447 |
| }, |
| "mag_wrist_left": { |
| "n": 13236, |
| "t_start": 0.2906921069555115, |
| "t_end": 132.64040932795277 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 18217.043786, |
| "frames": 4020, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0023423887986386703, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": 0.04019452475066787, |
| "t_end": 134.00683852475075, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 18217.043731, |
| "frames": 4020, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0019489646456461974, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": 0.03974610060348782, |
| "t_end": 134.006402100604, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 18217.043768, |
| "frames": 4020, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0018171232386612972, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": 0.03965125919447887, |
| "t_end": 134.00630725919498, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 18217.043804, |
| "frames": 4020, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0017295646474508202, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": 0.03959970060194751, |
| "t_end": 134.00624370060203, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 30.0, |
| "start_device_s": 18217.043753, |
| "frames": 4020, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.001668932298833096, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": 0.039488068254549535, |
| "t_end": 134.00614406825505, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 18217.043704, |
| "frames": 4020, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0017169377622902274, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": 0.03948707371481719, |
| "t_end": 134.0061540737154, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "wrist_left": { |
| "fps": 30.0, |
| "start_device_s": 18217.307635, |
| "frames": 3970, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4", |
| "t_start": 0.3017011359554904, |
| "t_end": 132.60144113595405, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "wrist_right": { |
| "fps": 30.0, |
| "start_device_s": 18217.264203, |
| "frames": 3972, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4", |
| "t_start": 0.25826913595327783, |
| "t_end": 132.6243501359534, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "third_person": { |
| "file": "mocap/mocap-DR10-S01-zhangxinxin-02p1-1.mp4", |
| "frames": 4021, |
| "fps": 30.0, |
| "clock": "nokov (frame index)", |
| "t_start": 0.0, |
| "t_end": 134.0 |
| } |
| } |
| }, |
| "flags": [], |
| "sanity": { |
| "status": { |
| "structure": "FAIL", |
| "markers": "WARN", |
| "timing": "WARN" |
| }, |
| "verdict": "READY_WITH_WARNINGS", |
| "issues": [ |
| "FAIL S_MANIFEST_SIZE", |
| "WARN M_BODY_ID", |
| "WARN M_SPIKES", |
| "WARN M_TRACKER_LABELS", |
| "WARN T_UNITS" |
| ] |
| }, |
| "canonical": { |
| "generated_at_utc": "2026-10-14T12:23:13.490984+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": [ |
| [ |
| 0.9999055821, |
| -0.0137411271, |
| -9.13302e-05 |
| ], |
| [ |
| 9.13302e-05, |
| 0.0132917582, |
| -0.9999116565 |
| ], |
| [ |
| 0.0137411271, |
| 0.9998172386, |
| 0.0132917582 |
| ] |
| ], |
| "scale_nokov_to_canon": 0.001, |
| "T_canon_nokov_mm": [ |
| [ |
| 0.000999905582, |
| -1.3741127e-05, |
| -9.133e-08, |
| 0.0 |
| ], |
| [ |
| 9.133e-08, |
| 1.3291758e-05, |
| -0.000999911657, |
| 0.0 |
| ], |
| [ |
| 1.3741127e-05, |
| 0.000999817239, |
| 1.3291758e-05, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "block": "20261012-afternoon", |
| "block_assignment": "trc", |
| "tilt_removed_deg": 1.0954346900576917, |
| "plane_status": "contacts span only 0.66 m", |
| "floor": { |
| "sole_marker_p1_mm": 41.4, |
| "headtop_p95_mm": 1695.0 |
| }, |
| "gravity_check": { |
| "static_samples": 2003, |
| "g_world_mean_m_s2": [ |
| 0.1366, |
| -0.0986, |
| 9.6838 |
| ], |
| "tilt_from_z_deg": 0.997, |
| "tilt_from_z_deg_before_levelling": 2.087, |
| "magnitude_m_s2": 9.6853 |
| }, |
| "rig_tracker_definition": "e17c9efadb69e7b1/20261012-afternoon/labels-035142/session-b066458e40bd77b6", |
| "camera_pose_source": "provider T_tracker0_cam", |
| "files": [ |
| "mocap_zup.npz", |
| "tracker0_zup.npz", |
| "rig_zup.npz", |
| "cameras_zup.npz" |
| ] |
| }, |
| "smplx": { |
| "generated_at_utc": "2026-10-15T09:56:41.243434+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": [ |
| 0.06722476333379745, |
| 0.011093009263277054, |
| 0.012770535424351692 |
| ], |
| "LHandOut": [ |
| 0.05370611697435379, |
| 0.012710193172097206, |
| -0.025181151926517487 |
| ], |
| "LWristOut": [ |
| -0.009632145054638386, |
| 0.023501383140683174, |
| -0.01659836433827877 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.07242782413959503, |
| 0.0064691295847296715, |
| 0.015831442549824715 |
| ], |
| "RHandOut": [ |
| -0.05764278024435043, |
| 0.022081151604652405, |
| -0.012561127543449402 |
| ], |
| "RWristOut": [ |
| 0.011325705796480179, |
| 0.019730892032384872, |
| -0.008288690820336342 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 4.06, |
| "p95_frame": 6.66 |
| }, |
| "worst_markers": [ |
| "LShin 13mm", |
| "RThigh 10mm", |
| "LKneeIn 10mm", |
| "RHeel 9mm", |
| "RKneeIn 9mm" |
| ], |
| "valid_fraction": 0.9998, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": 12.1, |
| "p5": -18.4 |
| }, |
| "frames_checked": 536, |
| "stature_mm": 1627.7 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 12.17 |
| }, |
| "shape_source": "participant median", |
| "wrist_correction": { |
| "left": { |
| "status": "corrected", |
| "Q_deg": 180.0, |
| "Q_rotvec": [ |
| -2.98601, |
| 0.43444, |
| 0.87442 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 179.0, |
| "opposite_sign_bend_deg": 36.3, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 0.75, |
| "hand_vs_marker_frame_deg": { |
| "before": 179.63, |
| "after": 0.75 |
| }, |
| "markers_on_wrist": [ |
| "LWristOut", |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": 174.52, |
| "wrist_twist_deg_after": { |
| "median": 5.23, |
| "iqr": [ |
| 4.1, |
| 6.2 |
| ] |
| }, |
| "wrist_total_deg_median_after": 6.6, |
| "markers_on_forearm": [ |
| "LElbow", |
| "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": 4.0, |
| "opposite_sign_bend_deg": 178.5, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 1.24, |
| "hand_vs_marker_frame_deg": { |
| "before": 1.24, |
| "after": 1.24 |
| }, |
| "markers_on_wrist": [ |
| "RWristOut", |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -0.0, |
| "wrist_twist_deg_after": { |
| "median": 0.0, |
| "iqr": [ |
| -1.3, |
| 1.7 |
| ] |
| }, |
| "wrist_total_deg_median_after": 3.9, |
| "markers_on_forearm": [ |
| "RUArmHigh", |
| "RElbowIn", |
| "RForearm", |
| "RWristIn" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "generated_at_utc": "2026-10-28T06:35:34.932804+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "rig_tracker": { |
| "definition": "e17c9efadb69e7b1/20261012-afternoon/labels-035142/session-b066458e40bd77b6", |
| "R_tracker0_imu0": [ |
| [ |
| -0.64979902, |
| 0.20382857, |
| -0.73226713 |
| ], |
| [ |
| 0.75989206, |
| 0.15134076, |
| -0.63218671 |
| ], |
| [ |
| -0.01803585, |
| -0.96723828, |
| -0.25322879 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| 0.012928952779504212, |
| 0.0032765904409385867, |
| -0.034871226184709773 |
| ], |
| "rig_check": { |
| "gyro_samples": 3552, |
| "gyro_max_deg": 2.5, |
| "status": "ok", |
| "dropped_marker": null, |
| "gyro_deg": 0.669 |
| }, |
| "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": "2026-10-18T19:10:10.383182+00:00", |
| "generated_by": "scripts/correct_processed_rig.py", |
| "remaining_gyro_frame_deg": 0.8398497248145755 |
| }, |
| "hands_registration": { |
| "cameras": {}, |
| "hands": { |
| "left": { |
| "offset_deg": 33.9, |
| "offset_rotvec": [ |
| 0.5706, |
| -0.103, |
| 0.1182 |
| ], |
| "dev_deg": { |
| "median": 11.98, |
| "p90": 26.95 |
| }, |
| "samples": 3385, |
| "accepted": 3154, |
| "wrist_pos_err_mm_median": 67.2, |
| "per_camera": { |
| "head": { |
| "samples": 3385, |
| "accepted": 3154, |
| "gate_deg": 30.0, |
| "offset_deg": 33.9, |
| "tier": "primary", |
| "dev_deg_median": 11.98, |
| "wrist_pos_err_mm_median": 67.2 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 12832, |
| "interpolated": 3236, |
| "mean_hand": 12, |
| "no_body_fit": 4 |
| }, |
| "observed_fraction": 0.999, |
| "observed_fraction_of_valid": 0.9993, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 34.54, |
| "smplx": 0.62 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 5.2, |
| "p90": 5.8 |
| }, |
| "registered": { |
| "median": 4.6, |
| "p90": 5.1 |
| } |
| } |
| }, |
| "right": { |
| "offset_deg": 10.29, |
| "offset_rotvec": [ |
| 0.1482, |
| 0.0578, |
| -0.0833 |
| ], |
| "dev_deg": { |
| "median": 13.97, |
| "p90": 32.37 |
| }, |
| "samples": 3213, |
| "accepted": 2824, |
| "wrist_pos_err_mm_median": 59.7, |
| "per_camera": { |
| "head": { |
| "samples": 3213, |
| "accepted": 2824, |
| "gate_deg": 30.0, |
| "offset_deg": 10.29, |
| "tier": "primary", |
| "dev_deg_median": 13.97, |
| "wrist_pos_err_mm_median": 59.7 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 11474, |
| "interpolated": 4334, |
| "mean_hand": 272, |
| "no_body_fit": 4 |
| }, |
| "observed_fraction": 0.9828, |
| "observed_fraction_of_valid": 0.9831, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 11.19, |
| "smplx": 1.17 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 5.7, |
| "p90": 6.6 |
| }, |
| "registered": { |
| "median": 5.5, |
| "p90": 6.3 |
| } |
| } |
| } |
| }, |
| "max_dev_deg": 30.0, |
| "max_gap_s": 1.0, |
| "cameras_used": [ |
| "head" |
| ], |
| "generated_at_utc": "2026-11-03T22:11:36.316424+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_005", |
| "family": "dynamic_recovery", |
| "primitive": "DR10", |
| "source_session": "20261012/DR10/20261012_114052_session62" |
| }, |
| "task": { |
| "primitive": "DR10", |
| "instruction": "Walk across the mats at a normal pace. They may not all feel the same underfoot. Carry on afterwards." |
| }, |
| "objects": [ |
| { |
| "name": "HighStep", |
| "object_type": "HighStep", |
| "source": "mocap", |
| "pose_frame": "mesh" |
| } |
| ] |
| } |
|
|
