{
 "schema_version": 1,
 "session": "EgoMotionActions/20260916/DR10/20260916_010312_session6",
 "session_id": "20260916_010312_session6",
 "primitive": "DR10",
 "batch": "20260916",
 "participant": "wangzhixin",
 "participant_source": "manifest",
 "device_ids": {
  "main": "e17c9efadb69e7b1",
  "left": null,
  "right": null
 },
 "generated_at_utc": "2026-10-14T11:09:21.401679+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,
  "first_solved_frame": 0,
  "duration_s": 124.025,
  "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": -1.165611,
  "rate": 0.0,
  "global_lag_s": -1.165,
  "peak_corr": 0.9956,
  "reference_imu_first_sample_s": 2737.135813768,
  "windows": {
   "n_windows": 11,
   "window_corr_median": 0.9983612088090498,
   "drift_ppm": -2.523391091543699,
   "drift_se_ppm": 2.233485126068766,
   "drift_ms_over_take": -0.31294255186961106,
   "lag_scatter_ms": 0.21188700355456844,
   "lag_range_ms": 0.75786756014673
  }
 },
 "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": "e17c9efadb69e7b1",
  "status": "ok",
  "date": "2026-09-08"
 },
 "streams": {
  "sensors": {
   "imu_head_right": {
    "n_acc": 25264,
    "n_gyro": 25257,
    "t_start": -1.1775657580755285,
    "t_end": 124.78184239792435
   },
   "imu_head_left": {
    "n_acc": 25219,
    "n_gyro": 25212,
    "t_start": -1.0697378340754802,
    "t_end": 124.9476668529247
   },
   "mag_head": {
    "n": 12611,
    "t_start": -0.9895709180754273,
    "t_end": 125.1104286839246
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 2738.338579,
    "frames": 3720,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0023423887986386703,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": 0.03949620872353643,
    "t_end": 124.00611820872345,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 2738.338529,
    "frames": 3720,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0019489646456461974,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": 0.039052784570318355,
    "t_end": 124.0056967845704,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 2738.338562,
    "frames": 3720,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0018171232386612972,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": 0.038953943163138494,
    "t_end": 124.00558694316314,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 2738.338597,
    "frames": 3720,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0017295646474508202,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": 0.03890138457208758,
    "t_end": 124.00551238457192,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 30.0,
    "start_device_s": 2738.338546,
    "frames": 3720,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.001668932298833096,
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": 0.03878975222332537,
    "t_end": 124.00543375222341,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 2738.338508,
    "frames": 3720,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0017169377622902274,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": 0.03879975768686217,
    "t_end": 124.00545575768692,
    "clock": "device",
    "calibrated": true
   },
   "third_person": {
    "file": "mocap/mocap-DR10-S01-wangzhixin-02p1-1.mp4",
    "frames": 3721,
    "fps": 60.0,
    "clock": "nokov (frame index)",
    "t_start": 0.0,
    "t_end": 62.0
   }
  }
 },
 "flags": [],
 "sanity": {
  "status": {
   "structure": "FAIL",
   "markers": "WARN",
   "timing": "PASS"
  },
  "verdict": "READY",
  "issues": [
   "FAIL S_MISSING",
   "WARN M_BODY_ID",
   "WARN M_SPIKES",
   "WARN M_TRACKER_LABELS",
   "WARN S_INDEX_STALE",
   "WARN S_PARTICIPANT",
   "WARN S_REPORT_TIMING",
   "WARN S_VIDEO_FPS"
  ]
 },
 "canonical": {
  "generated_at_utc": "2026-10-14T12:19:48.664065+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": [
   [
    0.9999290743,
    -0.011909827,
    -4.93881e-05
   ],
   [
    4.93881e-05,
    0.0082932301,
    -0.9999656094
   ],
   [
    0.011909827,
    0.9998946836,
    0.0082932301
   ]
  ],
  "scale_nokov_to_canon": 0.001,
  "T_canon_nokov_mm": [
   [
    0.000999929074,
    -1.1909827e-05,
    -4.9388e-08,
    0.0
   ],
   [
    4.9388e-08,
    8.29323e-06,
    -0.000999965609,
    0.0
   ],
   [
    1.1909827e-05,
    0.000999894684,
    8.29323e-06,
    0.0
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ],
  "block": "20260916-morning",
  "block_assignment": "trc",
  "tilt_removed_deg": 0.8315519343591652,
  "plane_status": "ok",
  "floor": {
   "sole_marker_p1_mm": 26.2,
   "headtop_p95_mm": 1644.6
  },
  "gravity_check": {
   "static_samples": 4540,
   "g_world_mean_m_s2": [
    -0.0128,
    0.0276,
    9.7522
   ],
   "tilt_from_z_deg": 0.179,
   "tilt_from_z_deg_before_levelling": 0.683,
   "magnitude_m_s2": 9.7522
  },
  "rig_tracker_definition": "e17c9efadb69e7b1/20260916-morning/labels-530412/session-bb0f24c725881399",
  "camera_pose_source": "provider T_tracker0_cam",
  "files": [
   "mocap_zup.npz",
   "tracker0_zup.npz",
   "rig_zup.npz",
   "cameras_zup.npz"
  ]
 },
 "smplx": {
  "generated_at_utc": "2026-10-15T00:20:02.192026+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": [
      0.0874059647321701,
      0.013463372364640236,
      0.01948263682425022
     ],
     "LHandOut": [
      0.0851081982254982,
      0.010325418785214424,
      -0.03175504505634308
     ],
     "LWristOut": [
      0.007055400870740414,
      0.016997110098600388,
      -0.03360141068696976
     ]
    },
    "right": {
     "RHandIn": [
      -0.047863688319921494,
      0.00859885849058628,
      0.02746662124991417
     ],
     "RHandOut": [
      -0.03837032988667488,
      0.03373026102781296,
      -0.020474733784794807
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 4.31,
   "p95_frame": 9.42
  },
  "worst_markers": [
   "LShin 21mm",
   "RKneeIn 12mm",
   "LKneeIn 11mm",
   "LKnee 9mm",
   "LThigh 8mm"
  ],
  "valid_fraction": 1.0,
  "qc": {
   "lowest_vertex_mm": {
    "median": 20.1,
    "p5": 12.0
   },
   "frames_checked": 497,
   "stature_mm": 1582.0
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 13.34
  },
  "shape_source": "participant median",
  "wrist_correction": {
   "left": {
    "status": "corrected",
    "Q_deg": 180.0,
    "Q_rotvec": [
     -2.98447,
     0.44488,
     0.87443
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 173.9,
    "opposite_sign_bend_deg": 29.2,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 1.04,
    "hand_vs_marker_frame_deg": {
     "before": 179.29,
     "after": 1.04
    },
    "markers_on_wrist": [
     "LWristOut",
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -173.39,
     "wrist_twist_deg_after": {
      "median": -0.44,
      "iqr": [
       -2.1,
       1.8
      ]
     },
     "wrist_total_deg_median_after": 23.6,
     "markers_on_forearm": [
      "LForearm",
      "LWristIn"
     ]
    },
    "frames_used": 1489
   },
   "right": {
    "status": "corrected",
    "Q_deg": 0.0,
    "Q_rotvec": [
     0.0,
     0.0,
     -0.0
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 17.0,
    "opposite_sign_bend_deg": 175.4,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 1.27,
    "hand_vs_marker_frame_deg": {
     "before": 1.27,
     "after": 1.27
    },
    "markers_on_wrist": [
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -0.0,
     "wrist_twist_deg_after": {
      "median": -0.0,
      "iqr": [
       -1.1,
       1.0
      ]
     },
     "wrist_total_deg_median_after": 16.9,
     "markers_on_forearm": [
      "RForearm",
      "RWristIn",
      "RWristOut"
     ]
    },
    "frames_used": 1489
   },
   "generated_at_utc": "2026-10-28T06:16:44.349323+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "rig_tracker": {
  "definition": "e17c9efadb69e7b1/20260916-morning/labels-530412/session-bb0f24c725881399",
  "R_tracker0_imu0": [
   [
    -0.56836139,
    0.16133723,
    -0.80680582
   ],
   [
    0.81743327,
    -0.00087341,
    -0.57602265
   ],
   [
    -0.09363857,
    -0.98689895,
    -0.131386
   ]
  ],
  "p_tracker0_imu0_m": [
   -0.17887370214438877,
   0.0032824052302230975,
   -0.007833787946444097
  ],
  "rig_check": {
   "gyro_samples": 2600,
   "gyro_max_deg": 2.5,
   "status": "ok",
   "dropped_marker": null,
   "gyro_deg": 0.56
  },
  "file": "derived/rig_tracker_provider/rig_tracker.json",
  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
 },
 "rig_calibration_repair": {
  "version": 2,
  "applied_at_utc": "2026-10-18T18:54:14.293221+00:00",
  "generated_by": "scripts/correct_processed_rig.py",
  "remaining_gyro_frame_deg": 0.5874745949635516
 },
 "hands_registration": {
  "cameras": {},
  "hands": {
   "left": {
    "offset_deg": 24.37,
    "offset_rotvec": [
     0.4077,
     -0.0861,
     0.085
    ],
    "dev_deg": {
     "median": 14.37,
     "p90": 32.18
    },
    "samples": 1791,
    "accepted": 1566,
    "wrist_pos_err_mm_median": 92.9,
    "per_camera": {
     "head": {
      "samples": 1791,
      "accepted": 1566,
      "gate_deg": 30.0,
      "offset_deg": 24.37,
      "tier": "primary",
      "dev_deg_median": 14.37,
      "wrist_pos_err_mm_median": 92.9
     }
    },
    "frames_by_state": {
     "ace_sample": 6506,
     "interpolated": 5930,
     "mean_hand": 2448,
     "no_body_fit": 0
    },
    "observed_fraction": 0.8355,
    "observed_fraction_of_valid": 0.8355,
    "palm_axis_vs_markers_deg": {
     "gsi": 26.81,
     "smplx": 1.04
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 12.5,
      "p90": 16.7
     },
     "registered": {
      "median": 13.1,
      "p90": 17.5
     }
    }
   },
   "right": {
    "offset_deg": 21.95,
    "offset_rotvec": [
     0.1971,
     0.29,
     0.1544
    ],
    "dev_deg": {
     "median": 25.66,
     "p90": 40.17
    },
    "samples": 770,
    "accepted": 496,
    "wrist_pos_err_mm_median": 218.4,
    "per_camera": {
     "head": {
      "samples": 770,
      "accepted": 496,
      "gate_deg": 30.0,
      "offset_deg": 21.95,
      "tier": "primary",
      "dev_deg_median": 25.66,
      "wrist_pos_err_mm_median": 218.4
     }
    },
    "frames_by_state": {
     "ace_sample": 1950,
     "interpolated": 2198,
     "mean_hand": 10736,
     "no_body_fit": 0
    },
    "observed_fraction": 0.2787,
    "observed_fraction_of_valid": 0.2787,
    "palm_axis_vs_markers_deg": {
     "gsi": 35.21,
     "smplx": 0.54
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 10.6,
      "p90": 14.6
     },
     "registered": {
      "median": 10.5,
      "p90": 13.8
     }
    }
   }
  },
  "max_dev_deg": 30.0,
  "max_gap_s": 1.0,
  "cameras_used": [
   "head"
  ],
  "generated_at_utc": "2026-11-03T23:08:06.351106+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_001",
  "family": "dynamic_recovery",
  "primitive": "DR10",
  "source_session": "20260916/DR10/20260916_010312_session6"
 },
 "task": {
  "primitive": "DR10",
  "instruction": "Walk across the mats at a normal pace. They may not all feel the same underfoot. Carry on afterwards."
 }
}