| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20261030/DR10/20261030_053750_session70", |
| "session_id": "20261030_053750_session70", |
| "primitive": "DR10", |
| "batch": "20261030", |
| "participant": "huruoxuan", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "e3296774a321bb51", |
| "left": "39042f5fb5da3b12", |
| "right": "65a3481473d6e2a0" |
| }, |
| "generated_at_utc": "2026-11-03T05:45:23.270559+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": 136.95833333333334, |
| "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": -0.087665, |
| "rate": 0.0, |
| "global_lag_s": -0.085, |
| "peak_corr": 0.9629, |
| "reference_imu_first_sample_s": 17236.185068464, |
| "windows": { |
| "n_windows": 12, |
| "window_corr_median": 0.9975014737665716, |
| "drift_ppm": -400.2706941327701, |
| "drift_se_ppm": 235.81484839696728, |
| "drift_ms_over_take": -54.817071561482855, |
| "lag_scatter_ms": 25.742370891847592, |
| "lag_range_ms": 106.09655769227007 |
| } |
| }, |
| "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": 27650, |
| "n_gyro": 27645, |
| "t_start": -0.09461352865455129, |
| "t_end": 137.14414038434498 |
| }, |
| "imu_head_left": { |
| "n_acc": 27515, |
| "n_gyro": 27509, |
| "t_start": 0.0240334293443112, |
| "t_end": 137.31251995934454 |
| }, |
| "imu_wrist_right": { |
| "n_acc": 27608, |
| "n_gyro": 27621, |
| "t_start": -0.8271805326554358, |
| "t_end": 135.26125793634438 |
| }, |
| "imu_wrist_left": { |
| "n_acc": 27503, |
| "n_gyro": 27514, |
| "t_start": -0.9543562046534106, |
| "t_end": 135.3392594513456 |
| }, |
| "mag_head": { |
| "n": 13738, |
| "t_start": 0.10776222134464032, |
| "t_end": 137.47773257834652 |
| }, |
| "mag_wrist_right": { |
| "n": 13608, |
| "t_start": -0.8142846206543226, |
| "t_end": 135.2560362463477 |
| }, |
| "mag_wrist_left": { |
| "n": 13628, |
| "t_start": -0.9359160416539425, |
| "t_end": 135.33487806334543 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 17236.309941, |
| "frames": 4108, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0025546514432425653, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": 0.03976232178993368, |
| "t_end": 136.93970632179062, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 17236.309913, |
| "frames": 4108, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002366886077403108, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": 0.03954655642465067, |
| "t_end": 136.93949055642534, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 17236.309932, |
| "frames": 4108, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0026728712083183277, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": 0.039871541553478065, |
| "t_end": 136.93981554155417, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 17236.30995, |
| "frames": 4108, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002595594493655556, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": 0.039812264839750325, |
| "t_end": 136.93974526484035, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 30.0, |
| "start_device_s": 17236.309921, |
| "frames": 4107, |
| "pts_gaps": 1, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002394386090989767, |
| "gap_test": { |
| "pts": { |
| "offset_ms": 32.8, |
| "corr": 0.939, |
| "err_ms": 30.4 |
| }, |
| "nominal": { |
| "offset_ms": 82.8, |
| "corr": 0.939, |
| "err_ms": 80.4 |
| } |
| }, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": 0.03958205643666869, |
| "t_end": 136.95618205643714, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 17236.309898, |
| "frames": 4108, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002315656053021164, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": 0.03948032639837319, |
| "t_end": 136.9394363263995, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "wrist_left": { |
| "fps": 30.0, |
| "start_device_s": 17235.366401, |
| "frames": 4086, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4", |
| "t_start": -0.9063323296546486, |
| "t_end": 135.2611156703455, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "wrist_right": { |
| "fps": 30.0, |
| "start_device_s": 17235.433866, |
| "frames": 4084, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4", |
| "t_start": -0.8388673296545648, |
| "t_end": 135.2614586703452, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "third_person": { |
| "file": "mocap/mocap-DR10-S01-huruoxuan-02p2-1.mp4", |
| "frames": 4109, |
| "fps": 30.0, |
| "clock": "nokov (frame index)", |
| "t_start": 0.0, |
| "t_end": 136.93333333333334 |
| } |
| } |
| }, |
| "flags": [], |
| "sanity": "no sanity report covers this session (run scripts/sanity_check.py)", |
| "rig_tracker": { |
| "definition": "e3296774a321bb51/20261030-morning/labels-235140/session-a0076f1b2604347b", |
| "R_tracker0_imu0": [ |
| [ |
| -0.63302799, |
| 0.27873282, |
| -0.72220743 |
| ], |
| [ |
| 0.7737805, |
| 0.25581232, |
| -0.57950306 |
| ], |
| [ |
| 0.02322303, |
| -0.92567169, |
| -0.37761438 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| -0.15754106517450275, |
| 0.22111754373767747, |
| -0.025589073603415332 |
| ], |
| "rig_check": { |
| "gyro_samples": 2699, |
| "gyro_max_deg": 2.5, |
| "status": "video_solve", |
| "dropped_marker": null, |
| "gyro_deg": 0.364, |
| "video_solve": { |
| "status": "ok", |
| "reason": "", |
| "reprojection_px": 3.421, |
| "n_assoc": 286, |
| "gyro_deg": 0.364 |
| } |
| }, |
| "file": "derived/rig_tracker_provider/rig_tracker.json", |
| "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" |
| }, |
| "canonical": { |
| "generated_at_utc": "2026-11-03T09:17:41.900643+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": [ |
| [ |
| 0.9999994811, |
| -0.0010186764, |
| -5.0019e-06 |
| ], |
| [ |
| 5.0019e-06, |
| 0.0098201105, |
| -0.9999517815 |
| ], |
| [ |
| 0.0010186764, |
| 0.9999512627, |
| 0.0098201105 |
| ] |
| ], |
| "scale_nokov_to_canon": 0.001, |
| "T_canon_nokov_mm": [ |
| [ |
| 0.000999999481, |
| -1.018676e-06, |
| -5.002e-09, |
| 0.0 |
| ], |
| [ |
| 5.002e-09, |
| 9.82011e-06, |
| -0.000999951782, |
| 0.0 |
| ], |
| [ |
| 1.018676e-06, |
| 0.000999951263, |
| 9.82011e-06, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "block": "20261030-morning", |
| "block_assignment": "trc", |
| "tilt_removed_deg": 0.5656792281808913, |
| "plane_status": "ok", |
| "floor": { |
| "sole_marker_p1_mm": 49.6, |
| "headtop_p95_mm": 1684.2 |
| }, |
| "gravity_check": { |
| "static_samples": 4429, |
| "g_world_mean_m_s2": [ |
| -0.0003, |
| 0.0163, |
| 9.7462 |
| ], |
| "tilt_from_z_deg": 0.096, |
| "tilt_from_z_deg_before_levelling": 0.47, |
| "magnitude_m_s2": 9.7462 |
| }, |
| "rig_tracker_definition": "e3296774a321bb51/20261030-morning/labels-235140/session-a0076f1b2604347b", |
| "rig_check": { |
| "status": "video_solve", |
| "dropped_marker": null, |
| "gyro_deg": 0.364 |
| }, |
| "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": "2026-11-03T10:35:12.017981+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": false, |
| "hand_pose": "flat (zeros, flat_hand_mean=True)", |
| "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", |
| "hand_marker_offsets_m": { |
| "left": { |
| "LHandIn": [ |
| 0.07623503357172012, |
| 0.008818890899419785, |
| 0.022899078205227852 |
| ], |
| "LHandOut": [ |
| 0.06633242219686508, |
| 0.004743659868836403, |
| -0.02829824946820736 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.047389548271894455, |
| 0.009525601752102375, |
| 0.015182205475866795 |
| ], |
| "RHandOut": [ |
| -0.05071711540222168, |
| 0.02947315014898777, |
| -0.009878487326204777 |
| ], |
| "RWristOut": [ |
| 0.018557731062173843, |
| 0.0419401116669178, |
| -0.0020586189348250628 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 3.46, |
| "p95_frame": 6.36 |
| }, |
| "worst_markers": [ |
| "LShin 9mm", |
| "RKneeIn 8mm", |
| "LHeel 8mm", |
| "LKneeIn 7mm", |
| "RThigh 7mm" |
| ], |
| "valid_fraction": 1.0, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": 25.7, |
| "p5": 19.7 |
| }, |
| "frames_checked": 548, |
| "stature_mm": 1572.8 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 12.38 |
| }, |
| "shape_source": "participant median", |
| "wrist_correction": { |
| "left": { |
| "status": "corrected", |
| "Q_deg": 6.94, |
| "Q_rotvec": [ |
| 0.01118, |
| -0.10092, |
| 0.06608 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 16.9, |
| "opposite_sign_bend_deg": 170.5, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 0.87, |
| "hand_vs_marker_frame_deg": { |
| "before": 7.09, |
| "after": 0.87 |
| }, |
| "markers_on_wrist": [ |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -6.6, |
| "wrist_twist_deg_after": { |
| "median": 0.0, |
| "iqr": [ |
| -2.3, |
| 1.9 |
| ] |
| }, |
| "wrist_total_deg_median_after": 15.6, |
| "markers_on_forearm": [ |
| "LForearm", |
| "LWristIn", |
| "LWristOut" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "right": { |
| "status": "corrected", |
| "Q_deg": 50.86, |
| "Q_rotvec": [ |
| 0.76065, |
| 0.45099, |
| -0.07774 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 45.3, |
| "opposite_sign_bend_deg": 144.8, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 1.39, |
| "hand_vs_marker_frame_deg": { |
| "before": 50.75, |
| "after": 1.39 |
| }, |
| "markers_on_wrist": [ |
| "RWristOut", |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -40.96, |
| "wrist_twist_deg_after": { |
| "median": -0.0, |
| "iqr": [ |
| -2.2, |
| 2.3 |
| ] |
| }, |
| "wrist_total_deg_median_after": 19.7, |
| "markers_on_forearm": [ |
| "RForearm", |
| "RWristIn" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "generated_at_utc": "2026-11-03T10:35:15.258579+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "release": { |
| "release_path": "actions/dynamic_recovery/DR10/session_008", |
| "family": "dynamic_recovery", |
| "primitive": "DR10", |
| "source_session": "20261030/DR10/20261030_053750_session70" |
| }, |
| "task": { |
| "primitive": "DR10", |
| "instruction": "Walk across the mats at a normal pace. They may not all feel the same underfoot. Carry on afterwards." |
| } |
| } |
|
|
