| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20261020/DR10/20261020_093746_session18", |
| "session_id": "20261020_093746_session18", |
| "primitive": "DR10", |
| "batch": "20261020", |
| "participant": "lvaoshan", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "e3296774a321bb51", |
| "left": "75b5984e04d1d236", |
| "right": "c84bc808cb6b47af" |
| }, |
| "generated_at_utc": "2026-10-22T16:11:16.567454+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, |
| "mocap_rate_fix": null, |
| "first_solved_frame": 0, |
| "duration_s": 121.825, |
| "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": -0.09268, |
| "rate": 0.0, |
| "global_lag_s": -0.095, |
| "peak_corr": 0.9985, |
| "reference_imu_first_sample_s": 1999.098280629, |
| "windows": { |
| "n_windows": 11, |
| "window_corr_median": 0.998871020896662, |
| "drift_ppm": -3.5928505268204374, |
| "drift_se_ppm": 2.0947613418112105, |
| "drift_ms_over_take": -0.4376690750088429, |
| "lag_scatter_ms": 0.1987265098378179, |
| "lag_range_ms": 0.6939029369708583 |
| } |
| }, |
| "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": "e3296774a321bb51", |
| "status": "ok", |
| "date": "2026-10-21" |
| }, |
| "streams": { |
| "sensors": { |
| "imu_head_right": { |
| "n_acc": 24603, |
| "n_gyro": 24597, |
| "t_start": -0.09960162499185299, |
| "t_end": 122.01229425300819 |
| }, |
| "imu_head_left": { |
| "n_acc": 24485, |
| "n_gyro": 24480, |
| "t_start": 0.011842750008166147, |
| "t_end": 122.17911134700837 |
| }, |
| "imu_wrist_right": { |
| "n_acc": 24268, |
| "n_gyro": 24282, |
| "t_start": -0.8080371039917982, |
| "t_end": 119.9153094210081 |
| }, |
| "imu_wrist_left": { |
| "n_acc": 24427, |
| "n_gyro": 24441, |
| "t_start": -0.9109427729917361, |
| "t_end": 119.60084994300844 |
| }, |
| "mag_head": { |
| "n": 12226, |
| "t_start": 0.09116383400812356, |
| "t_end": 122.34115943400805 |
| }, |
| "mag_wrist_right": { |
| "n": 12071, |
| "t_start": -0.7911627009918238, |
| "t_end": 119.90912263700814 |
| }, |
| "mag_wrist_left": { |
| "n": 12045, |
| "t_start": -0.9027350679918318, |
| "t_end": 119.53735548200832 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 1999.228275, |
| "frames": 3654, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0025546514432425653, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": 0.03986882445139872, |
| "t_end": 121.80656882445176, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 1999.228258, |
| "frames": 3654, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002366886077403108, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": 0.03966405908574688, |
| "t_end": 121.80635305908557, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 1999.228269, |
| "frames": 3654, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0026728712083183277, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": 0.039981044216413464, |
| "t_end": 121.80667004421623, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 1999.22828, |
| "frames": 3654, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002595594493655556, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": 0.03991476750190759, |
| "t_end": 121.80662576750213, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 30.0, |
| "start_device_s": 1999.228264, |
| "frames": 3652, |
| "pts_gaps": 2, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002394386090989767, |
| "gap_test": { |
| "pts": { |
| "offset_ms": 21.6, |
| "corr": 0.965, |
| "err_ms": 19.2 |
| }, |
| "nominal": { |
| "offset_ms": 71.6, |
| "corr": 0.965, |
| "err_ms": 69.2 |
| } |
| }, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": 0.03969755909936157, |
| "t_end": 121.82301955909936, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 1999.228249, |
| "frames": 3654, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002315656053021164, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": 0.039603829061273244, |
| "t_end": 121.80627082906115, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "wrist_left": { |
| "fps": 30.0, |
| "start_device_s": 1998.276664, |
| "frames": 3619, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4", |
| "t_start": -0.9142968269917919, |
| "t_end": 119.6857681730083, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "wrist_right": { |
| "fps": 30.0, |
| "start_device_s": 1998.384698, |
| "frames": 3621, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4", |
| "t_start": -0.8062628269917032, |
| "t_end": 119.86066417300829, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "third_person": { |
| "file": "mocap/mocap-DR10-S01-lvaoshan-02p2-1.mp4", |
| "frames": 3655, |
| "fps": 30.0, |
| "clock": "nokov (frame index)", |
| "t_start": 0.0, |
| "t_end": 121.8 |
| } |
| } |
| }, |
| "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_GEOM", |
| "WARN S_CALIB", |
| "WARN S_INDEX", |
| "WARN S_REPORT_TIMING", |
| "WARN T_FRAMES", |
| "WARN T_LAG_OUTLIER", |
| "WARN T_PTS", |
| "WARN T_RIG_TRACKER", |
| "WARN T_UNITS" |
| ] |
| }, |
| "rig_tracker": { |
| "definition": "e3296774a321bb51/20261020-afternoon/labels-503412/session-c0e270676484f098", |
| "R_tracker0_imu0": [ |
| [ |
| -0.58141068, |
| 0.19265772, |
| -0.79047114 |
| ], |
| [ |
| 0.79700886, |
| -0.06039865, |
| -0.60094 |
| ], |
| [ |
| -0.16351912, |
| -0.97940543, |
| -0.11843349 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| 0.012431320661818427, |
| -0.008819129967168425, |
| -0.016472282197805756 |
| ], |
| "rig_check": { |
| "gyro_samples": 2937, |
| "gyro_max_deg": 2.5, |
| "status": "video_solve", |
| "dropped_marker": null, |
| "gyro_deg": 1.974, |
| "video_solve": { |
| "status": "ok", |
| "reason": "", |
| "reprojection_px": 2.851, |
| "n_assoc": 540, |
| "gyro_deg": 1.974 |
| } |
| }, |
| "file": "derived/rig_tracker_provider/rig_tracker.json", |
| "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" |
| }, |
| "canonical": { |
| "generated_at_utc": "2026-10-26T10:24:09.527579+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": [ |
| [ |
| 0.9999961192, |
| 0.002785949, |
| 8.8845e-06 |
| ], |
| [ |
| -8.8845e-06, |
| 0.0063779982, |
| -0.9999796603 |
| ], |
| [ |
| -0.002785949, |
| 0.9999757795, |
| 0.0063779982 |
| ] |
| ], |
| "scale_nokov_to_canon": 0.001, |
| "T_canon_nokov_mm": [ |
| [ |
| 0.000999996119, |
| 2.785949e-06, |
| 8.884e-09, |
| 0.0 |
| ], |
| [ |
| -8.884e-09, |
| 6.377998e-06, |
| -0.00099997966, |
| 0.0 |
| ], |
| [ |
| -2.785949e-06, |
| 0.00099997578, |
| 6.377998e-06, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "block": "20261020-afternoon", |
| "block_assignment": "trc", |
| "tilt_removed_deg": 0.398776794692196, |
| "plane_status": "ok", |
| "floor": { |
| "sole_marker_p1_mm": 32.6, |
| "headtop_p95_mm": 1708.4 |
| }, |
| "gravity_check": { |
| "static_samples": 3396, |
| "g_world_mean_m_s2": [ |
| 0.2727, |
| -0.1719, |
| 9.7015 |
| ], |
| "tilt_from_z_deg": 1.903, |
| "tilt_from_z_deg_before_levelling": 2.002, |
| "magnitude_m_s2": 9.7069 |
| }, |
| "rig_tracker_definition": "e3296774a321bb51/20261020-afternoon/labels-503412/session-c0e270676484f098", |
| "rig_check": { |
| "status": "video_solve", |
| "dropped_marker": null, |
| "gyro_deg": 1.974 |
| }, |
| "camera_pose_source": "T_tracker0_imu0 @ inv(T_cam_imu)", |
| "files": [ |
| "mocap_zup.npz", |
| "tracker0_zup.npz", |
| "rig_zup.npz", |
| "cameras_zup.npz" |
| ] |
| }, |
| "smplx": { |
| "generated_at_utc": "2026-10-23T06:48:42.124208+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": [ |
| 0.08500514924526215, |
| 0.013667277060449123, |
| 0.025098120793700218 |
| ], |
| "LHandOut": [ |
| 0.08084320276975632, |
| 0.011452023871243, |
| -0.014140660874545574 |
| ], |
| "LWristIn": [ |
| -0.005046722013503313, |
| 0.01609104685485363, |
| 0.028655976057052612 |
| ], |
| "LWristOut": [ |
| 0.005003045778721571, |
| 0.025980429723858833, |
| -0.01427161693572998 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.054547958076000214, |
| -0.028601232916116714, |
| 0.006731225643306971 |
| ], |
| "RHandOut": [ |
| -0.06383297592401505, |
| 0.024984722957015038, |
| -0.007697075139731169 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 3.76, |
| "p95_frame": 5.6 |
| }, |
| "worst_markers": [ |
| "RKneeIn 11mm", |
| "LKneeIn 8mm", |
| "RThigh 7mm", |
| "LShin 7mm", |
| "RKnee 7mm" |
| ], |
| "valid_fraction": 1.0, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": 31.8, |
| "p5": 13.2 |
| }, |
| "frames_checked": 488, |
| "stature_mm": 1659.4 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 12.73 |
| }, |
| "shape_source": "participant median", |
| "wrist_correction": { |
| "left": { |
| "status": "corrected", |
| "Q_deg": 180.0, |
| "Q_rotvec": [ |
| -2.98315, |
| 0.44501, |
| 0.87886 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 177.3, |
| "opposite_sign_bend_deg": 28.0, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 0.69, |
| "hand_vs_marker_frame_deg": { |
| "before": 179.59, |
| "after": 0.69 |
| }, |
| "markers_on_wrist": [ |
| "LWristIn", |
| "LWristOut", |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -177.1, |
| "wrist_twist_deg_after": { |
| "median": -0.31, |
| "iqr": [ |
| -1.4, |
| 0.7 |
| ] |
| }, |
| "wrist_total_deg_median_after": 14.7, |
| "markers_on_forearm": [ |
| "LForearm" |
| ] |
| }, |
| "frames_used": 1462 |
| }, |
| "right": { |
| "status": "corrected", |
| "Q_deg": 0.0, |
| "Q_rotvec": [ |
| 0.0, |
| 0.0, |
| -0.0 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 9.9, |
| "opposite_sign_bend_deg": 178.5, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 0.49, |
| "hand_vs_marker_frame_deg": { |
| "before": 0.49, |
| "after": 0.49 |
| }, |
| "markers_on_wrist": [ |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -0.0, |
| "wrist_twist_deg_after": { |
| "median": -0.0, |
| "iqr": [ |
| -0.7, |
| 1.0 |
| ] |
| }, |
| "wrist_total_deg_median_after": 9.9, |
| "markers_on_forearm": [ |
| "RForearm", |
| "RWristIn", |
| "RWristOut" |
| ] |
| }, |
| "frames_used": 1462 |
| }, |
| "generated_at_utc": "2026-10-28T06:43:22.520174+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "hands_registration": { |
| "cameras": {}, |
| "hands": { |
| "left": { |
| "offset_deg": 13.12, |
| "offset_rotvec": [ |
| 0.0489, |
| -0.1253, |
| 0.1853 |
| ], |
| "dev_deg": { |
| "median": 13.82, |
| "p90": 27.46 |
| }, |
| "samples": 2906, |
| "accepted": 2695, |
| "wrist_pos_err_mm_median": 53.2, |
| "per_camera": { |
| "head": { |
| "samples": 2906, |
| "accepted": 2695, |
| "gate_deg": 30.0, |
| "offset_deg": 13.12, |
| "tier": "primary", |
| "dev_deg_median": 13.82, |
| "wrist_pos_err_mm_median": 53.2 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 11102, |
| "interpolated": 3502, |
| "mean_hand": 16, |
| "no_body_fit": 0 |
| }, |
| "observed_fraction": 0.9989, |
| "observed_fraction_of_valid": 0.9989, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 12.81, |
| "smplx": 0.52 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 13.8, |
| "p90": 15.8 |
| }, |
| "registered": { |
| "median": 12.0, |
| "p90": 13.8 |
| } |
| } |
| }, |
| "right": { |
| "offset_deg": 9.76, |
| "offset_rotvec": [ |
| -0.0804, |
| 0.1501, |
| 0.0031 |
| ], |
| "dev_deg": { |
| "median": 12.25, |
| "p90": 28.64 |
| }, |
| "samples": 2528, |
| "accepted": 2307, |
| "wrist_pos_err_mm_median": 66.1, |
| "per_camera": { |
| "head": { |
| "samples": 2528, |
| "accepted": 2307, |
| "gate_deg": 30.0, |
| "offset_deg": 9.76, |
| "tier": "primary", |
| "dev_deg_median": 12.25, |
| "wrist_pos_err_mm_median": 66.1 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 9586, |
| "interpolated": 4874, |
| "mean_hand": 160, |
| "no_body_fit": 0 |
| }, |
| "observed_fraction": 0.9891, |
| "observed_fraction_of_valid": 0.9891, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 12.89, |
| "smplx": 0.32 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 13.8, |
| "p90": 21.2 |
| }, |
| "registered": { |
| "median": 13.3, |
| "p90": 19.7 |
| } |
| } |
| } |
| }, |
| "max_dev_deg": 30.0, |
| "max_gap_s": 1.0, |
| "cameras_used": [ |
| "head" |
| ], |
| "generated_at_utc": "2026-11-03T20:57:58.643923+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_006", |
| "family": "dynamic_recovery", |
| "primitive": "DR10", |
| "source_session": "20261020/DR10/20261020_093746_session18" |
| }, |
| "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": "Cushion", |
| "object_type": "Cushion", |
| "source": "mocap", |
| "pose_frame": "rigid_body" |
| }, |
| { |
| "name": "LowStep", |
| "object_type": "LowStep", |
| "source": "mocap", |
| "pose_frame": "rigid_body" |
| } |
| ] |
| } |
|
|
