| { |
| "schema_version": 1, |
| "session": "EgoMotionActions/20261030/DR10/20261030_103618_session19", |
| "session_id": "20261030_103618_session19", |
| "primitive": "DR10", |
| "batch": "20261030", |
| "participant": "liujiaxin", |
| "participant_source": "manifest", |
| "device_ids": { |
| "main": "e3296774a321bb51", |
| "left": "75b5984e04d1d236", |
| "right": "c84bc808cb6b47af" |
| }, |
| "generated_at_utc": "2026-11-03T05:44:58.318257+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": 126.825, |
| "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": -0.084198, |
| "rate": 0.0, |
| "global_lag_s": -0.085, |
| "peak_corr": 0.9859, |
| "reference_imu_first_sample_s": 4289.082602083, |
| "windows": { |
| "n_windows": 11, |
| "window_corr_median": 0.9977717751599844, |
| "drift_ppm": -462.13577286967575, |
| "drift_se_ppm": 264.76309418306, |
| "drift_ms_over_take": -58.60651826275604, |
| "lag_scatter_ms": 25.117632539164415, |
| "lag_range_ms": 101.60335412928183 |
| } |
| }, |
| "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": 25612, |
| "n_gyro": 25605, |
| "t_start": -0.10065395897089353, |
| "t_end": 127.02139142402922 |
| }, |
| "imu_head_left": { |
| "n_acc": 25490, |
| "n_gyro": 25484, |
| "t_start": 0.008543649029719866, |
| "t_end": 127.19259138802937 |
| }, |
| "imu_wrist_right": { |
| "n_acc": 25393, |
| "n_gyro": 25393, |
| "t_start": -0.8650729679704326, |
| "t_end": 125.46616053102917 |
| }, |
| "imu_wrist_left": { |
| "n_acc": 25600, |
| "n_gyro": 25613, |
| "t_start": -0.8370075829708966, |
| "t_end": 125.46434636302894 |
| }, |
| "mag_head": { |
| "n": 12727, |
| "t_start": 0.08930912502893455, |
| "t_end": 127.3492827270291 |
| }, |
| "mag_wrist_right": { |
| "n": 12632, |
| "t_start": -0.8481757969704503, |
| "t_end": 125.46155572002937 |
| }, |
| "mag_wrist_left": { |
| "n": 12629, |
| "t_start": -0.8191206579705849, |
| "t_end": 125.46142844302977 |
| } |
| }, |
| "videos": { |
| "left": { |
| "fps": 30.0, |
| "start_device_s": 4289.204169, |
| "frames": 3804, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0025546514432425653, |
| "file": "robocap_segment1_video_left.mp4", |
| "t_start": 0.039923273472426565, |
| "t_end": 126.80654527347252, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right": { |
| "fps": 30.0, |
| "start_device_s": 4289.204147, |
| "frames": 3804, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002366886077403108, |
| "file": "robocap_segment1_video_right.mp4", |
| "t_start": 0.039713508107355786, |
| "t_end": 126.80633550810745, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_front": { |
| "fps": 30.0, |
| "start_device_s": 4289.204163, |
| "frames": 3804, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.0026728712083183277, |
| "file": "robocap_segment1_video_left_front.mp4", |
| "t_start": 0.040035493237896055, |
| "t_end": 126.8066464932379, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_front": { |
| "fps": 30.0, |
| "start_device_s": 4289.204176, |
| "frames": 3804, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002595594493655556, |
| "file": "robocap_segment1_video_right_front.mp4", |
| "t_start": 0.03997121652338513, |
| "t_end": 126.80659321652348, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "left_eye": { |
| "fps": 60.0, |
| "start_device_s": 4289.204154, |
| "frames": 3705, |
| "pts_gaps": 3704, |
| "timing": "pts (gap undecided)", |
| "timeshift_cam_imu_s": 0.002394386090989767, |
| "gap_test": { |
| "pts": { |
| "offset_ms": -1.1, |
| "corr": 0.935, |
| "err_ms": 3.5 |
| }, |
| "nominal": { |
| "offset_ms": -136.3, |
| "corr": -0.052, |
| "err_ms": 138.7 |
| } |
| }, |
| "file": "robocap_segment1_video_left_eye.mp4", |
| "t_start": 0.039748008119944764, |
| "t_end": 126.82301500811974, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "right_eye": { |
| "fps": 30.0, |
| "start_device_s": 4289.204137, |
| "frames": 3804, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": 0.002315656053021164, |
| "file": "robocap_segment1_video_right_eye.mp4", |
| "t_start": 0.03965227808186149, |
| "t_end": 126.80627427808196, |
| "clock": "device", |
| "calibrated": true |
| }, |
| "wrist_left": { |
| "fps": 30.0, |
| "start_device_s": 4288.366164, |
| "frames": 3787, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4", |
| "t_start": -0.8006363779706461, |
| "t_end": 125.3998846220291, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "wrist_right": { |
| "fps": 30.0, |
| "start_device_s": 4288.297767, |
| "frames": 3789, |
| "pts_gaps": 0, |
| "timing": "pts", |
| "timeshift_cam_imu_s": null, |
| "file": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4", |
| "t_start": -0.8690333779706506, |
| "t_end": 125.39737262202908, |
| "clock": "device", |
| "calibrated": false |
| }, |
| "third_person": { |
| "file": "mocap/mocap-DR10-S02-liujiaxin-02p1-1.mp4", |
| "frames": 3805, |
| "fps": 30.0, |
| "clock": "nokov (frame index)", |
| "t_start": 0.0, |
| "t_end": 126.8 |
| } |
| } |
| }, |
| "flags": [], |
| "sanity": "no sanity report covers this session (run scripts/sanity_check.py)", |
| "rig_tracker": { |
| "definition": "e3296774a321bb51/20261030-afternoon/labels-053142/session-7ce59379dcb32a4b", |
| "R_tracker0_imu0": [ |
| [ |
| -0.61497441, |
| 0.21972525, |
| -0.75731584 |
| ], |
| [ |
| 0.7878153, |
| 0.21256607, |
| -0.57806809 |
| ], |
| [ |
| 0.0339635, |
| -0.95212209, |
| -0.30382561 |
| ] |
| ], |
| "p_tracker0_imu0_m": [ |
| -0.1715874397770637, |
| 0.005640124616139784, |
| -0.028640494430657398 |
| ], |
| "rig_check": { |
| "gyro_samples": 3098, |
| "gyro_max_deg": 2.5, |
| "status": "gyro_rotation", |
| "dropped_marker": null, |
| "gyro_deg": 0.0, |
| "video_solve": { |
| "status": "ok", |
| "reason": "", |
| "reprojection_px": 3.42, |
| "n_assoc": 603, |
| "gyro_deg": 2.801 |
| } |
| }, |
| "file": "derived/rig_tracker_provider/rig_tracker.json", |
| "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" |
| }, |
| "canonical": { |
| "generated_at_utc": "2026-11-03T09:17:41.850316+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": [ |
| [ |
| 0.9999959911, |
| 0.0028315371, |
| 1.0128e-05 |
| ], |
| [ |
| -1.0128e-05, |
| 0.0071536355, |
| -0.9999744124 |
| ], |
| [ |
| -0.0028315371, |
| 0.9999704035, |
| 0.0071536355 |
| ] |
| ], |
| "scale_nokov_to_canon": 0.001, |
| "T_canon_nokov_mm": [ |
| [ |
| 0.000999995991, |
| 2.831537e-06, |
| 1.0128e-08, |
| 0.0 |
| ], |
| [ |
| -1.0128e-08, |
| 7.153635e-06, |
| -0.000999974412, |
| 0.0 |
| ], |
| [ |
| -2.831537e-06, |
| 0.000999970404, |
| 7.153635e-06, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "block": "20261030-afternoon", |
| "block_assignment": "trc", |
| "tilt_removed_deg": 0.44081747329349447, |
| "plane_status": "ok", |
| "floor": { |
| "sole_marker_p1_mm": 32.3, |
| "headtop_p95_mm": 1733.7 |
| }, |
| "gravity_check": { |
| "static_samples": 1784, |
| "g_world_mean_m_s2": [ |
| 0.0386, |
| -0.0486, |
| 9.7545 |
| ], |
| "tilt_from_z_deg": 0.365, |
| "tilt_from_z_deg_before_levelling": 0.699, |
| "magnitude_m_s2": 9.7547 |
| }, |
| "rig_tracker_definition": "e3296774a321bb51/20261030-afternoon/labels-053142/session-7ce59379dcb32a4b", |
| "rig_check": { |
| "status": "gyro_rotation", |
| "dropped_marker": null, |
| "gyro_deg": 0.0 |
| }, |
| "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": "2026-11-03T10:34:33.719738+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": [ |
| 0.0753277987241745, |
| 0.00964126642793417, |
| 0.01940312050282955 |
| ], |
| "LHandOut": [ |
| 0.05886333808302879, |
| 0.00277977017685771, |
| -0.03277241438627243 |
| ], |
| "LWristIn": [ |
| -0.028239494189620018, |
| 0.00549051258713007, |
| 0.036793358623981476 |
| ], |
| "LWristOut": [ |
| -0.02265189215540886, |
| 0.018605545163154602, |
| -0.02441852167248726 |
| ] |
| }, |
| "right": { |
| "RHandIn": [ |
| -0.10716332495212555, |
| -0.011763587594032288, |
| 0.037723395973443985 |
| ], |
| "RHandOut": [ |
| -0.08662581443786621, |
| 0.015578122809529305, |
| -0.01925203576683998 |
| ] |
| } |
| } |
| }, |
| "marker_rmse_mm": { |
| "median_frame": 3.37, |
| "p95_frame": 4.57 |
| }, |
| "worst_markers": [ |
| "RKneeIn 8mm", |
| "LKneeIn 7mm", |
| "RThigh 7mm", |
| "LThigh 6mm", |
| "RHeel 5mm" |
| ], |
| "valid_fraction": 1.0, |
| "qc": { |
| "lowest_vertex_mm": { |
| "median": 26.2, |
| "p5": 12.9 |
| }, |
| "frames_checked": 508, |
| "stature_mm": 1614.2 |
| }, |
| "surface_term": { |
| "weight": 1.0, |
| "marker_height_mm": 11.0, |
| "markers_on_surface": 52, |
| "surface_rmse_mm_median": 11.95 |
| }, |
| "shape_source": "participant median", |
| "wrist_correction": { |
| "left": { |
| "status": "corrected", |
| "Q_deg": 3.87, |
| "Q_rotvec": [ |
| -0.02007, |
| 0.01116, |
| 0.06358 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 13.6, |
| "opposite_sign_bend_deg": 176.7, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 0.54, |
| "hand_vs_marker_frame_deg": { |
| "before": 3.93, |
| "after": 0.54 |
| }, |
| "markers_on_wrist": [ |
| "LWristIn", |
| "LWristOut", |
| "LHandIn", |
| "LHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": 6.75, |
| "wrist_twist_deg_after": { |
| "median": -0.0, |
| "iqr": [ |
| -0.9, |
| 1.1 |
| ] |
| }, |
| "wrist_total_deg_median_after": 11.7, |
| "markers_on_forearm": [ |
| "LElbow", |
| "LElbowIn", |
| "LForearm" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "right": { |
| "status": "corrected", |
| "Q_deg": 31.32, |
| "Q_rotvec": [ |
| 0.54473, |
| -0.00927, |
| -0.04513 |
| ], |
| "in_out_sign": 1, |
| "wrist_bend_deg_median": 44.3, |
| "opposite_sign_bend_deg": 141.0, |
| "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", |
| "marker_frame_spread_deg": 0.72, |
| "hand_vs_marker_frame_deg": { |
| "before": 31.29, |
| "after": 0.72 |
| }, |
| "markers_on_wrist": [ |
| "RHandIn", |
| "RHandOut" |
| ], |
| "forearm_twist": { |
| "twist_moved_deg": -43.06, |
| "wrist_twist_deg_after": { |
| "median": 0.0, |
| "iqr": [ |
| -1.0, |
| 0.9 |
| ] |
| }, |
| "wrist_total_deg_median_after": 10.5, |
| "markers_on_forearm": [ |
| "RElbowIn", |
| "RForearm", |
| "RWristIn", |
| "RWristOut" |
| ] |
| }, |
| "frames_used": 1500 |
| }, |
| "generated_at_utc": "2026-11-03T10:34:36.845733+00:00", |
| "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" |
| } |
| }, |
| "release": { |
| "release_path": "actions/dynamic_recovery/DR10/session_009", |
| "family": "dynamic_recovery", |
| "primitive": "DR10", |
| "source_session": "20261030/DR10/20261030_103618_session19" |
| }, |
| "task": { |
| "primitive": "DR10", |
| "instruction": "Walk across the mats at a normal pace. They may not all feel the same underfoot. Carry on afterwards." |
| } |
| } |
|
|
