Full-Body Suite#

The full-body suite records one take of ten standing poses and motions, then checks the core.FullBodyPoseRecord stream in it: the 24-joint skeleton of the OpenXR XR_BD_body_tracking extension, pelvis to hands, in the joint order listed in Body Tracking.

PICO body tracking is the default source (body.pico-xr). Set up, calibrate and activate the headset and Motion Trackers as described in Body Tracking.
Your own suit or mocap system records through a vendor backend and its plugin (Vendor Selection). The backend must publish those 24 indices right-handed, +Y up, in metres, with the subject facing −Z (oracle/README.md). A CloudXR headset must stay connected for the OpenXR session, but it needs no body tracking.

At a glance#
Steps	10, standing: four held poses and six motions
Time	About 1.5 minutes, plus the time you take to get into each pose

How each step runs#

The ten timed steps in a row, and step 2 zoomed in: spoken cue, get into the pose with no time limit, press, beep, hold for the countdown, tick.

Audio is optional. The capture panel shows each cue as text. To hear the cues, connect speakers to the workstation; they do not play in the headset.
Once the capture panel reads ready when you are, press the controller trigger, or space in the capture panel’s browser tab (not the terminal).
A press at any other moment is ignored on purpose: no reaction, nothing queued.
A press during the cue cuts the cue short. Press again when you are ready.
Held poses (steps 1–3, 10): get into the pose, then press. Motions (4–9): press, then move.
Held-pose measurements use the last 60% of the window, so settle early.

The ten steps#

In each motion step, the step’s main joint must swing at least 15° (segmentation.labelled_step_actually_performed). Checks marked measured only report a number; they do not decide the verdict.

A figure standing still with straight arms angled down and out, in an A shape.

1 · A-pose, still

hold 5 s “Arms down. Stand still.”

Feet hip-width apart, arms straight and angled down away from your sides, eyes ahead. Stay still until the tick.

Not judged on its own; the signal and geometry checks cover the whole take, this window included.

A figure holding both arms straight out to the sides.

2 · T-pose

hold 6 s “T pose. Hold.”

Both arms straight out to the sides, level with the floor, palms down. Hold still.

Measured: how far the arms sit below horizontal and how the two arms differ (posture.tpose_arm_droop, posture.tpose_left_right_asymmetry).

A figure standing relaxed with arms down.

3 · Neutral stance

hold 7 s “Arms down. Relax.”

Lower your arms from the T-pose and stand relaxed and still.

Measured: the resting hip angles that the knee raises are compared with (posture.contralateral_crosstalk_single_leg_raise).

A figure raising its left arm sideways to overhead and lowering it.

4 · Left arm up

move 5 s “Left arm up, overhead.”

After the press, raise your straight left arm sideways to overhead and lower it. Stay upright.

Checked: hand at least 60° above the shoulder (posture.arm_raise_range_of_motion), torso lean 6° or less (performance.arm_raise_torso_stability), and no other arm or leg swings 10° more (segmentation.step_order_matches_labels).

A figure raising its right arm sideways to overhead and lowering it.

5 · Right arm up

move 5 s “Right arm up, overhead.”

After the press, raise your straight right arm sideways to overhead and lower it. Stay upright.

Checked: hand at least 60° above the shoulder (posture.arm_raise_range_of_motion), torso lean 6° or less (performance.arm_raise_torso_stability), and no other arm or leg swings 10° more (segmentation.step_order_matches_labels).

A figure lifting its left knee to about hip height and putting it down.

6 · Left knee up

move 5 s “Left knee up.”

After the press, lift your left knee to about hip height and lower it. Right foot stays put.

Checked: the left hip swings at least 15° and no other arm or leg swings 10° more (segmentation.labelled_step_actually_performed, segmentation.step_order_matches_labels). Measured: how much the still hip moves (posture.contralateral_crosstalk_single_leg_raise).

A figure lifting its right knee to about hip height and putting it down.

7 · Right knee up

move 5 s “Right knee up.”

After the press, lift your right knee to about hip height and lower it. Left foot stays put.

Checked: the right hip swings at least 15° and no other arm or leg swings 10° more (segmentation.labelled_step_actually_performed, segmentation.step_order_matches_labels). Measured: how much the still hip moves (posture.contralateral_crosstalk_single_leg_raise).

A figure squatting slowly and standing up, twice.

8 · Squat twice

move 10 s “Squat twice, slowly.”

After the press, squat slowly and stand fully up, twice, same depth, weight on both legs.

Checked: hip flexion reaches at least 20° (performance.squat_depth_sufficient), the two reps agree within 20% (posture.squat_rep_repeatability), and the knees agree within 10° at the bottom (posture.squat_knee_symmetry).

A figure marching on the spot, lifting its knees in turn.

9 · March in place

move 6 s “March in place.”

After the press, lift your knees in turn at a steady pace, without walking forward.

Checked: the legs alternate (posture.march_ankle_antiphase), and the left knee lifts at least three times with intervals varying 25% or less (performance.march_cadence_steady).

A figure holding both arms straight out to the sides again.

10 · T-pose again

hold 6 s “T pose again. Hold.”

Same as step 2: arms straight out, level with the floor, palms down.

Measured: how far the same pose has drifted since step 2 (posture.cumulative_drift_between_tpose_windows).

Rehearse#

Work in pairs. One person performs; the other stands at the screen and presses space. A suit without controllers in hand always needs the space bar.
Walk through the cards once before recording. The figures face you, so their left arm is on your right.
Clear the space to raise both arms overhead, squat and march without hitting anything.
Practice takes cost nothing. Every take gets its own directory; nothing is overwritten.

Record#

Set up the tools and connect the headset first (Set Up the Tools). Then, from the repository root:

src/python/isaaccapture/cts/full_body/capture/record.sh pico4u

The first argument names the device and the take. Open the capture panel at http://localhost:8081 (or http://<host>:8081 from the headset; if the port was taken, use the address the run prints) and press Start recording when the performer is standing ready. The script begins at the first frame with a valid joint. After 10 s without one, a red box lists what to check; the take keeps running.

To record your own device, name the plugin, the vendor backend and its collection. The device name must come first. suitx, suit_x_plugin, body.suit-x and suit_x are placeholders for a fictional Suit X; replace each with your own:

src/python/isaaccapture/cts/full_body/capture/record.sh suitx \
    --plugin suit_x_plugin \
    --vendor body.suit-x \
    --vendor-param collection_id=suit_x

--plugin NAME is the name: in the plugin’s plugin.yaml, found under install/plugins/ once installed (cmake --install build). record.sh launches it with that file’s args: when you press Start recording, so do not start it yourself; do start your suit’s own streaming software first.
--vendor is the id your backend registers. collection_id must match the --collection-id= in the plugin’s args:; omit it if both use the backend’s default. A mismatch records an empty take that looks like a device that never connected.

After step 10, “Done. You can stop now.” plays and the capture panel shows a label report: the first rows check the file; the step rows re-derive seven of the steps from the pelvis, ankles and hands (A-pose, neutral stance and march have none). One BAD step row means that step was mistimed or performed wrongly: record again. Most rows BAD with numbers like pelvis drops 0 cm means the joint stream is frozen: look at the device or plugin. A suit that cannot track the hands flags LEFT_HAND and RIGHT_HAND invalid and gets one all steps BAD row, fewer than 24 valid joints and an n/a arm-raise reach check instead: expected, not a fault. Press Ctrl+C when done. The take is in its own directory:

~/isaaccapture-cts/pico4u_2026-03-04_101530/
├── pico4u_2026-03-04_101530-body.mcap         the recording
├── pico4u_2026-03-04_101530-body.labels.json  the step windows
├── pico4u_2026-03-04_101530-body.json         device name, time, repo commit
└── pico4u_2026-03-04_101530-body.log          the recorder's output

Keep the four files together and never rename them: the labels cannot be regenerated.

Check#

Point the checker at the .mcap inside its take directory, so it finds the labels file beside it (to check on another machine, copy the whole directory):

src/python/isaaccapture/cts/full_body/checker/.venv/bin/python -m full_body_cts.cli \
    ~/isaaccapture-cts/<take>/<take>-body.mcap

The command prints the verdict and one line per check, and exits 0 pass, 1 fail, 2 retake or 3 insufficient_data, or 4 when the check could not run; Verdicts says what each means. Add --json for the machine-readable report, or run --list-checks alone to see all 38 checks. The output for a synthetic reference take, shortened:

source   full_body/oracle/fixtures/posture/posture_golden_full_script.mcap
frames   2050
topic    full_body/full_body  schema core.FullBodyPoseRecord
verdict  PASS

  [pass] schema.required_field_present.joints   joints present on every pose
  …
  [pass] posture.arm_raise_range_of_motion      both hands reach 89 deg above the shoulder
  [pass] posture.march_ankle_antiphase          the legs alternate (hip correlation -0.68)
  [pass] posture.squat_knee_symmetry            knees differ by 0.0 deg at depth
  [pass] posture.squat_rep_repeatability        the two reps agree to 0% of hip flexion
  [pass] performance.squat_depth_sufficient     the squat reaches 55 deg of hip flexion
  [pass] performance.march_cadence_steady       cadence holds at 0.90 Hz, step intervals varying 1%
  [pass] performance.arm_raise_torso_stability  the torso stays within 0.0 deg of upright

View#

The viewer needs the checker environment built with full_body/checker/setup_env.sh --panel (Set Up the Tools).

src/python/isaaccapture/cts/full_body/checker/.venv/bin/python -m full_body_cts.panel \
    ~/isaaccapture-cts/<take>/<take>-body.mcap

It prints the same report, then serves http://127.0.0.1:8080; --host 0.0.0.0 opens it to other machines. If 8080 is taken it moves to the next free port but still prints 8080, so pass a free --port instead. The viewer replays the skeleton (a joint that lost tracking turns red where it was last seen), plots frame rate and valid joints over the take, and lists every check by group, with nine key signal and geometry checks in a Decides the take folder on top. Its package for submission button builds the archive you send: see Submit Your Results.

The full-body viewer: a skeleton in a T-pose on a floor grid, and a sidebar with a green PASS banner, playback controls, the package for submission button and the checks. — The viewer on a synthetic reference take, during the T-pose.#

Troubleshooting#

What you see	What to do
Start recording hangs after `waiting for a system...` in the terminal	No headset is connected to CloudXR; connect it (Set Up the Tools) and the take goes on. Ctrl+C does not work here; close the terminal to get out.
no joint has been valid yet, then the red No body data after 10 s box	PICO: check body tracking, the trackers and their calibration (Body Tracking). Own device: check the plugin is running and `collection_id` matches.
A press does nothing	It came outside ready when you are, or the key went to another window. Click the capture panel page, then press space.
The capture panel says Spoken cues are off	`aplay` is missing. Install `alsa-utils` and restart the panel to hear the cues, or record with the on-screen cues only.
An error naming a Git LFS pointer	Run `git lfs pull` (Set Up the Tools), then record again.
the session did not open: …, on the capture panel	Nothing was recorded. Required plugin … was not discovered: `--plugin` must match the `plugin.yaml` `name:` of an installed plugin. no live vendor or does not support parameter: the backend is not in the installed wheel, or the `--vendor-param` key is wrong; rebuild and re-run `capture/setup_env.sh`. Then run `record.sh` again.
Verdict `pass`, posture checks `n/a`, and the note no motion-step labels beside the recording	The checker found no labels. Run it on the recording in its take directory.

More in full_body/README.md and full_body/checker/README.md.