| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20261022/DR10/20261022_120744_session57", |
| "session_id": "20261022_120744_session57", |
| "primitive": "DR10", |
| "batch": "20261022", |
| "participant": "wangjingjing", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "e3296774a321bb51", |
| "left": "39042f5fb5da3b12", |
| "right": "65a3481473d6e2a0" |
| }, |
| "generated_at_utc": "2026-10-26T04:52:17.559108+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": 121.025, |
| "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": -0.088248, |
| "rate": 0.0, |
| "global_lag_s": -0.09, |
| "peak_corr": 0.9985, |
| "reference_imu_first_sample_s": 8860.520368847, |
| "windows": { |
| "n_windows": 11, |
| "window_corr_median": 0.9986355491320273, |
| "drift_ppm": -4.263700542303555, |
| "drift_se_ppm": 3.7403136653057527, |
| "drift_ms_over_take": -0.5159788272944351, |
| "lag_scatter_ms": 0.3548373103745667, |
| "lag_range_ms": 1.429780347513454 |
| } |
| }, |
| "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": 24443, |
| "n_gyro": 24437, |
| "t_start": -0.09976364237580895, |
| "t_end": 121.2170797926233 |
| }, |
| "imu_head_left": { |
| "n_acc": 24327, |
| "n_gyro": 24321, |
| "t_start": 0.009918550622852823, |
| "t_end": 121.3879160246238 |
| }, |
| "imu_wrist_right": { |
| "n_acc": 24461, |
| "n_gyro": 24461, |
| "t_start": -0.7707534083760842, |
| "t_end": 119.80476451562437 |
| }, |
| "imu_wrist_left": { |
| "n_acc": 24335, |
| "n_gyro": 24334, |
| "t_start": -0.7717421133761385, |
| "t_end": 119.81302320062288 |
| }, |
| "mag_head": { |
| "n": 12147, |
| "t_start": 0.08804817562350906, |
| "t_end": 121.54803610862338 |
| }, |
| "mag_wrist_right": { |
| "n": 12057, |
| "t_start": -0.7578526813754146, |
| "t_end": 119.80187645062371 |
| }, |
| "mag_wrist_left": { |
| "n": 12057, |
| "t_start": -0.7548583013772153, |
| "t_end": 119.80515833362416 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 8860.645784, |
| "frames": 3630, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0025546514432425653, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": 0.03972168706651388, |
| "t_end": 121.0063996870672, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 8860.645767, |
| "frames": 3630, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002366886077403108, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": 0.03951692170131679, |
| "t_end": 121.006194921702, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 8860.645779, |
| "frames": 3630, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0026728712083183277, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": 0.039834906833231404, |
| "t_end": 121.00650190683383, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 8860.645791, |
| "frames": 3630, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002595594493655556, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": 0.03976963011747245, |
| "t_end": 121.00644763011816, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 30.0, |
| "start_device_s": 8860.645773, |
| "frames": 3625, |
| "pts_gaps": 5, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002394386090989767, |
| "gap_test": { |
| "pts": { |
| "offset_ms": 25.4, |
| "corr": 0.961, |
| "err_ms": 23.0 |
| }, |
| "nominal": { |
| "offset_ms": 77.1, |
| "corr": 0.96, |
| "err_ms": 74.7 |
| } |
| }, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": 0.03955042171447673, |
| "t_end": 121.02287242171452, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 8860.645758, |
| "frames": 3630, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002315656053021164, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": 0.03945669167707053, |
| "t_end": 121.00612369167767, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "wrist_left": { |
| "fps": 30.0, |
| "start_device_s": 8859.833318, |
| "frames": 3617, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4", |
| "t_start": -0.7752989643754412, |
| "t_end": 119.75803403562396, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "wrist_right": { |
| "fps": 30.0, |
| "start_device_s": 8859.829413, |
| "frames": 3617, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4", |
| "t_start": -0.779203964376837, |
| "t_end": 119.75386903562368, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "third_person": { |
| "file": "mocap/mocap-DR10-S01-wangjingjing-02p1-1.mp4", |
| "frames": 3631, |
| "fps": 30.0, |
| "clock": "nokov (frame index)", |
| "t_start": 0.0, |
| "t_end": 121.0 |
| } |
| } |
| }, |
| "flags": [], |
| "sanity": "no sanity report covers this session (run scripts/sanity_check.py)", |
| "rig_tracker": { |
| "definition": "e3296774a321bb51/20261022-afternoon/labels-503412/session-724a0ddc1f40941d", |
| "R_tracker0_imu0": [ |
| [ |
| -0.58937688, |
| 0.13226338, |
| -0.79695752 |
| ], |
| [ |
| 0.79733109, |
| -0.06350271, |
| -0.60019208 |
| ], |
| [ |
| -0.1299924, |
| -0.98917835, |
| -0.06803068 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| 0.013683874735332249, |
| -0.013433327745111889, |
| -0.016919026105865 |
| ], |
| "rig_check": { |
| "gyro_samples": 3663, |
| "gyro_max_deg": 2.5, |
| "status": "video_solve", |
| "dropped_marker": null, |
| "gyro_deg": 2.275, |
| "video_solve": { |
| "status": "ok", |
| "reason": "", |
| "reprojection_px": 2.926, |
| "n_assoc": 672, |
| "gyro_deg": 2.275 |
| } |
| }, |
| "file": "derived/rig_tracker_provider/rig_tracker.json", |
| "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" |
| }, |
| "canonical": { |
| "generated_at_utc": "2026-10-26T10:25:14.589815+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": [ |
| [ |
| 0.9999851379, |
| 0.0054519001, |
| 2.63344e-05 |
| ], |
| [ |
| -2.63344e-05, |
| 0.0096603389, |
| -0.9999533375 |
| ], |
| [ |
| -0.0054519001, |
| 0.9999384754, |
| 0.0096603389 |
| ] |
| ], |
| "scale_nokov_to_canon": 0.001, |
| "T_canon_nokov_mm": [ |
| [ |
| 0.000999985138, |
| 5.4519e-06, |
| 2.6334e-08, |
| 0.0 |
| ], |
| [ |
| -2.6334e-08, |
| 9.660339e-06, |
| -0.000999953337, |
| 0.0 |
| ], |
| [ |
| -5.4519e-06, |
| 0.000999938475, |
| 9.660339e-06, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "block": "20261022-afternoon", |
| "block_assignment": "trc", |
| "tilt_removed_deg": 0.6355711327322124, |
| "plane_status": "ok", |
| "floor": { |
| "sole_marker_p1_mm": 32.7, |
| "headtop_p95_mm": 1531.2 |
| }, |
| "gravity_check": { |
| "static_samples": 942, |
| "g_world_mean_m_s2": [ |
| 0.2521, |
| -0.0024, |
| 9.7 |
| ], |
| "tilt_from_z_deg": 1.489, |
| "tilt_from_z_deg_before_levelling": 1.306, |
| "magnitude_m_s2": 9.7033 |
| }, |
| "rig_tracker_definition": "e3296774a321bb51/20261022-afternoon/labels-503412/session-724a0ddc1f40941d", |
| "rig_check": { |
| "status": "video_solve", |
| "dropped_marker": null, |
| "gyro_deg": 2.275 |
| }, |
| "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": "2026-10-26T13:50:37.385556+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": [ |
| 0.04692283272743225, |
| 0.022664397954940796, |
| -0.002825818257406354 |
| ], |
| "LHandOut": [ |
| 0.04249321296811104, |
| 0.0008540175040252507, |
| -0.03208456560969353 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.03134728595614433, |
| 0.01856866292655468, |
| 0.018230285495519638 |
| ], |
| "RHandOut": [ |
| -0.049595147371292114, |
| 0.022528285160660744, |
| -0.023579640313982964 |
| ], |
| "RWristIn": [ |
| 0.041172511875629425, |
| -0.002190191065892577, |
| 0.013583189807832241 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 3.86, |
| "p95_frame": 7.21 |
| }, |
| "worst_markers": [ |
| "LAnkleOut 18mm", |
| "RElbowIn 11mm", |
| "LHeel 8mm", |
| "RThigh 7mm", |
| "LKneeIn 7mm" |
| ], |
| "valid_fraction": 0.9999, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": 28.8, |
| "p5": 10.8 |
| }, |
| "frames_checked": 485, |
| "stature_mm": 1502.4 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 11.42 |
| }, |
| "shape_source": "participant median", |
| "wrist_correction": { |
| "left": { |
| "status": "corrected", |
| "Q_deg": 180.0, |
| "Q_rotvec": [ |
| 2.99022, |
| -0.44902, |
| -0.85238 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 176.7, |
| "opposite_sign_bend_deg": 25.1, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 1.02, |
| "hand_vs_marker_frame_deg": { |
| "before": 179.35, |
| "after": 1.02 |
| }, |
| "markers_on_wrist": [ |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -176.23, |
| "wrist_twist_deg_after": { |
| "median": -0.54, |
| "iqr": [ |
| -2.1, |
| 0.9 |
| ] |
| }, |
| "wrist_total_deg_median_after": 17.9, |
| "markers_on_forearm": [ |
| "LElbowIn", |
| "LForearm", |
| "LWristIn", |
| "LWristOut" |
| ] |
| }, |
| "frames_used": 1453 |
| }, |
| "right": { |
| "status": "corrected", |
| "Q_deg": 0.0, |
| "Q_rotvec": [ |
| -0.0, |
| -0.0, |
| 0.0 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 28.8, |
| "opposite_sign_bend_deg": 175.0, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 2.3, |
| "hand_vs_marker_frame_deg": { |
| "before": 2.3, |
| "after": 2.3 |
| }, |
| "markers_on_wrist": [ |
| "RWristIn", |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": 0.0, |
| "wrist_twist_deg_after": { |
| "median": -0.0, |
| "iqr": [ |
| -3.1, |
| 4.9 |
| ] |
| }, |
| "wrist_total_deg_median_after": 28.7, |
| "markers_on_forearm": [ |
| "RForearm", |
| "RWristOut" |
| ] |
| }, |
| "frames_used": 1453 |
| }, |
| "generated_at_utc": "2026-10-28T06:46:14.023264+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "hands_registration": { |
| "cameras": {}, |
| "hands": { |
| "left": { |
| "offset_deg": 23.35, |
| "offset_rotvec": [ |
| 0.3745, |
| -0.1597, |
| 0.0174 |
| ], |
| "dev_deg": { |
| "median": 13.9, |
| "p90": 26.83 |
| }, |
| "samples": 3032, |
| "accepted": 2835, |
| "wrist_pos_err_mm_median": 62.6, |
| "per_camera": { |
| "head": { |
| "samples": 3032, |
| "accepted": 2835, |
| "gate_deg": 30.0, |
| "offset_deg": 23.35, |
| "tier": "primary", |
| "dev_deg_median": 13.9, |
| "wrist_pos_err_mm_median": 62.6 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 11566, |
| "interpolated": 2658, |
| "mean_hand": 298, |
| "no_body_fit": 2 |
| }, |
| "observed_fraction": 0.9793, |
| "observed_fraction_of_valid": 0.9795, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 24.4, |
| "smplx": 0.74 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 9.4, |
| "p90": 13.7 |
| }, |
| "registered": { |
| "median": 9.1, |
| "p90": 13.1 |
| } |
| } |
| }, |
| "right": { |
| "offset_deg": 18.51, |
| "offset_rotvec": [ |
| 0.1216, |
| 0.0348, |
| 0.2973 |
| ], |
| "dev_deg": { |
| "median": 14.58, |
| "p90": 27.97 |
| }, |
| "samples": 2934, |
| "accepted": 2697, |
| "wrist_pos_err_mm_median": 62.3, |
| "per_camera": { |
| "head": { |
| "samples": 2934, |
| "accepted": 2697, |
| "gate_deg": 30.0, |
| "offset_deg": 18.51, |
| "tier": "primary", |
| "dev_deg_median": 14.58, |
| "wrist_pos_err_mm_median": 62.3 |
| } |
| }, |
| "frames_by_state": { |
| "ace_sample": 10994, |
| "interpolated": 3030, |
| "mean_hand": 498, |
| "no_body_fit": 2 |
| }, |
| "observed_fraction": 0.9656, |
| "observed_fraction_of_valid": 0.9657, |
| "palm_axis_vs_markers_deg": { |
| "gsi": 16.91, |
| "smplx": 1.47 |
| }, |
| "hand_marker_to_mesh_mm": { |
| "flat": { |
| "median": 18.0, |
| "p90": 30.5 |
| }, |
| "registered": { |
| "median": 17.7, |
| "p90": 30.0 |
| } |
| } |
| } |
| }, |
| "max_dev_deg": 30.0, |
| "max_gap_s": 1.0, |
| "cameras_used": [ |
| "head" |
| ], |
| "generated_at_utc": "2026-11-03T18:38:26.659023+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_007", |
| "family": "dynamic_recovery", |
| "primitive": "DR10", |
| "source_session": "20261022/DR10/20261022_120744_session57" |
| }, |
| "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" |
| } |
| ] |
| } |
|
|
