{
 "schema_version": 1,
 "session": "EgoMotionActions/20260918/DR10/20260918_082125_session54",
 "session_id": "20260918_082125_session54",
 "primitive": "DR10",
 "batch": "20260918",
 "participant": "mahui",
 "participant_source": "manifest",
 "device_ids": {
  "main": "e17c9efadb69e7b1",
  "left": "cc5681142208e29a",
  "right": "60a6f081bbe60b0d"
 },
 "generated_at_utc": "2026-10-14T11:13:30.550852+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": 130.19166666666666,
  "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": -1.1711,
  "rate": 0.0,
  "global_lag_s": -1.17,
  "peak_corr": 0.9936,
  "reference_imu_first_sample_s": 10760.498844076,
  "windows": {
   "n_windows": 12,
   "window_corr_median": 0.9972129791030013,
   "drift_ppm": -60.448472702710426,
   "drift_se_ppm": 29.237717333500306,
   "drift_ms_over_take": -7.869383671347853,
   "lag_scatter_ms": 3.191691145601524,
   "lag_range_ms": 14.59171528324843
  }
 },
 "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": 26502,
    "n_gyro": 26496,
    "t_start": -1.183056295017018,
    "t_end": 130.94035995098346
   },
   "imu_head_left": {
    "n_acc": 26454,
    "n_gyro": 26449,
    "t_start": -1.0684873620164628,
    "t_end": 131.1107414399841
   },
   "imu_wrist_right": {
    "n_acc": 25435,
    "n_gyro": 25448,
    "t_start": 0.31521613698459516,
    "t_end": 126.01532542998319
   },
   "imu_wrist_left": {
    "n_acc": 24834,
    "n_gyro": 24847,
    "t_start": 0.2988971949845971,
    "t_end": 126.02651975198313
   },
   "mag_head": {
    "n": 13227,
    "t_start": -0.9895195700162778,
    "t_end": 131.27047828498434
   },
   "mag_wrist_right": {
    "n": 12569,
    "t_start": 0.3284924649844423,
    "t_end": 126.00791073198451
   },
   "mag_wrist_left": {
    "n": 12571,
    "t_start": 0.31209609098295443,
    "t_end": 126.01168587898354
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 10761.707244,
    "frames": 3905,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0023423887986386703,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": 0.039641938780909936,
    "t_end": 130.1729529387805,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 10761.707187,
    "frames": 3905,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0019489646456461974,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": 0.039191514629414836,
    "t_end": 130.17248051462883,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 10761.707225,
    "frames": 3905,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0018171232386612972,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": 0.03909767322256341,
    "t_end": 130.17239767322206,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 10761.707263,
    "frames": 3905,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0017295646474508202,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": 0.03904811463070912,
    "t_end": 130.1723591146303,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 30.0,
    "start_device_s": 10761.707206,
    "frames": 3905,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.001668932298833096,
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": 0.03893048228127993,
    "t_end": 130.17223048228078,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 10761.707159,
    "frames": 3905,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0017169377622902274,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": 0.038931487745862636,
    "t_end": 130.17222048774528,
    "clock": "device",
    "calibrated": true
   },
   "wrist_left": {
    "fps": 30.0,
    "start_device_s": 10761.954512,
    "frames": 3772,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
    "t_start": 0.2845675499840534,
    "t_end": 125.98417654998337,
    "clock": "device",
    "calibrated": false
   },
   "wrist_right": {
    "fps": 30.0,
    "start_device_s": 10761.969967,
    "frames": 3771,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
    "t_start": 0.30002254998471,
    "t_end": 125.9661035499841,
    "clock": "device",
    "calibrated": false
   },
   "third_person": {
    "file": "mocap/mocap-DR10-S01-mahui-02p2-1.mp4",
    "frames": 3906,
    "fps": 30.0,
    "clock": "nokov (frame index)",
    "t_start": 0.0,
    "t_end": 130.16666666666666
   }
  }
 },
 "flags": [],
 "sanity": {
  "status": {
   "structure": "WARN",
   "markers": "WARN",
   "timing": "WARN"
  },
  "verdict": "READY_WITH_WARNINGS",
  "issues": [
   "WARN M_BODY_ID",
   "WARN M_FLOOR_SHIFT",
   "WARN M_SPIKES",
   "WARN M_TRACKER_LABELS",
   "WARN S_INDEX_STALE",
   "WARN S_PARTICIPANT",
   "WARN S_REPORT_TIMING",
   "WARN T_RIG_TRACKER",
   "WARN T_UNITS"
  ]
 },
 "canonical": {
  "generated_at_utc": "2026-10-14T12:20:17.588766+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": [
   [
    0.9999034979,
    -0.0138921311,
    -5.96602e-05
   ],
   [
    5.96602e-05,
    0.0085884965,
    -0.9999631164
   ],
   [
    0.0138921311,
    0.9998666143,
    0.0085884965
   ]
  ],
  "scale_nokov_to_canon": 0.001,
  "T_canon_nokov_mm": [
   [
    0.000999903498,
    -1.3892131e-05,
    -5.966e-08,
    0.0
   ],
   [
    5.966e-08,
    8.588497e-06,
    -0.000999963116,
    0.0
   ],
   [
    1.3892131e-05,
    0.000999866614,
    8.588497e-06,
    0.0
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ],
  "block": "20260918-afternoon",
  "block_assignment": "trc",
  "tilt_removed_deg": 0.9358302314630588,
  "plane_status": "contacts span only 0.58 m",
  "floor": {
   "sole_marker_p1_mm": 46.0,
   "headtop_p95_mm": 1686.4
  },
  "gravity_check": {
   "static_samples": 6910,
   "g_world_mean_m_s2": [
    0.003,
    0.0529,
    9.7583
   ],
   "tilt_from_z_deg": 0.311,
   "tilt_from_z_deg_before_levelling": 0.834,
   "magnitude_m_s2": 9.7584
  },
  "rig_tracker_definition": "e17c9efadb69e7b1/20260918-afternoon/labels-530412/session-d937a77794817b6c",
  "camera_pose_source": "provider T_tracker0_cam",
  "files": [
   "mocap_zup.npz",
   "tracker0_zup.npz",
   "rig_zup.npz",
   "cameras_zup.npz"
  ]
 },
 "smplx": {
  "generated_at_utc": "2026-10-15T03:17:31.507155+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": [
      0.0462983101606369,
      0.025715461000800133,
      0.021423624828457832
     ],
     "LHandOut": [
      0.047326065599918365,
      0.001791174989193678,
      -0.034911900758743286
     ],
     "LWristOut": [
      -0.02344638481736183,
      -0.007144204806536436,
      -0.03737175837159157
     ]
    },
    "right": {
     "RHandIn": [
      -0.048902880400419235,
      -0.02500210516154766,
      0.024864064529538155
     ],
     "RHandOut": [
      -0.05007578432559967,
      0.019731970503926277,
      -0.025485703721642494
     ],
     "RWristIn": [
      0.009003776125609875,
      -0.032644469290971756,
      0.02482750080525875
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 4.32,
   "p95_frame": 7.94
  },
  "worst_markers": [
   "LShin 19mm",
   "LKneeIn 13mm",
   "RKneeIn 12mm",
   "LKnee 8mm",
   "LHeel 7mm"
  ],
  "valid_fraction": 1.0,
  "qc": {
   "lowest_vertex_mm": {
    "median": 10.7,
    "p5": -0.9
   },
   "frames_checked": 521,
   "stature_mm": 1631.4
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 12.99
  },
  "shape_source": "participant median",
  "wrist_correction": {
   "left": {
    "status": "corrected",
    "Q_deg": 180.0,
    "Q_rotvec": [
     2.98498,
     -0.43373,
     -0.87829
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 176.6,
    "opposite_sign_bend_deg": 18.7,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 0.51,
    "hand_vs_marker_frame_deg": {
     "before": 179.76,
     "after": 0.51
    },
    "markers_on_wrist": [
     "LWristOut",
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -176.41,
     "wrist_twist_deg_after": {
      "median": -0.14,
      "iqr": [
       -1.0,
       0.6
      ]
     },
     "wrist_total_deg_median_after": 25.7,
     "markers_on_forearm": [
      "LElbow",
      "LElbowIn",
      "LForearm",
      "LWristIn"
     ]
    },
    "frames_used": 1500
   },
   "right": {
    "status": "corrected",
    "Q_deg": 0.0,
    "Q_rotvec": [
     -0.0,
     -0.0,
     0.0
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 14.4,
    "opposite_sign_bend_deg": 178.1,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 0.67,
    "hand_vs_marker_frame_deg": {
     "before": 0.67,
     "after": 0.67
    },
    "markers_on_wrist": [
     "RWristIn",
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -0.0,
     "wrist_twist_deg_after": {
      "median": 0.0,
      "iqr": [
       -1.4,
       3.0
      ]
     },
     "wrist_total_deg_median_after": 14.4,
     "markers_on_forearm": [
      "RElbow",
      "RElbowIn",
      "RForearm",
      "RWristOut"
     ]
    },
    "frames_used": 1500
   },
   "generated_at_utc": "2026-10-28T06:19:16.190281+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "rig_tracker": {
  "definition": "e17c9efadb69e7b1/20260918-afternoon/labels-530412/session-d937a77794817b6c",
  "R_tracker0_imu0": [
   [
    -0.69440271,
    0.03244329,
    -0.71885486
   ],
   [
    0.70259407,
    0.24638346,
    -0.66757529
   ],
   [
    0.15545561,
    -0.96862925,
    -0.19388381
   ]
  ],
  "p_tracker0_imu0_m": [
   -0.17660701928622216,
   -0.0269785348642512,
   0.008751204878683952
  ],
  "rig_check": {
   "gyro_samples": 2719,
   "gyro_max_deg": 2.5,
   "status": "ok",
   "dropped_marker": null,
   "gyro_deg": 1.098
  },
  "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": "2026-10-18T18:56:18.800725+00:00",
  "generated_by": "scripts/correct_processed_rig.py",
  "remaining_gyro_frame_deg": 1.213286237233967
 },
 "hands_registration": {
  "cameras": {},
  "hands": {
   "left": {
    "offset_deg": 4.64,
    "offset_rotvec": [
     0.0074,
     -0.0619,
     -0.0517
    ],
    "dev_deg": {
     "median": 10.23,
     "p90": 29.27
    },
    "samples": 3353,
    "accepted": 3037,
    "wrist_pos_err_mm_median": 83.6,
    "per_camera": {
     "head": {
      "samples": 3353,
      "accepted": 3037,
      "gate_deg": 30.0,
      "offset_deg": 4.64,
      "tier": "primary",
      "dev_deg_median": 10.23,
      "wrist_pos_err_mm_median": 83.6
     }
    },
    "frames_by_state": {
     "ace_sample": 12356,
     "interpolated": 3120,
     "mean_hand": 148,
     "no_body_fit": 0
    },
    "observed_fraction": 0.9905,
    "observed_fraction_of_valid": 0.9905,
    "palm_axis_vs_markers_deg": {
     "gsi": 8.22,
     "smplx": 0.38
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 9.1,
      "p90": 18.1
     },
     "registered": {
      "median": 9.2,
      "p90": 17.4
     }
    }
   },
   "right": {
    "offset_deg": 11.29,
    "offset_rotvec": [
     -0.1125,
     -0.1446,
     -0.0727
    ],
    "dev_deg": {
     "median": 7.99,
     "p90": 19.1
    },
    "samples": 3438,
    "accepted": 3298,
    "wrist_pos_err_mm_median": 64.7,
    "per_camera": {
     "head": {
      "samples": 3438,
      "accepted": 3298,
      "gate_deg": 30.0,
      "offset_deg": 11.29,
      "tier": "primary",
      "dev_deg_median": 7.99,
      "wrist_pos_err_mm_median": 64.7
     }
    },
    "frames_by_state": {
     "ace_sample": 13312,
     "interpolated": 1580,
     "mean_hand": 732,
     "no_body_fit": 0
    },
    "observed_fraction": 0.9531,
    "observed_fraction_of_valid": 0.9531,
    "palm_axis_vs_markers_deg": {
     "gsi": 13.72,
     "smplx": 0.35
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 12.5,
      "p90": 16.0
     },
     "registered": {
      "median": 12.9,
      "p90": 15.4
     }
    }
   }
  },
  "max_dev_deg": 30.0,
  "max_gap_s": 1.0,
  "cameras_used": [
   "head"
  ],
  "generated_at_utc": "2026-11-03T23:00:43.957913+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_002",
  "family": "dynamic_recovery",
  "primitive": "DR10",
  "source_session": "20260918/DR10/20260918_082125_session54"
 },
 "task": {
  "primitive": "DR10",
  "instruction": "Walk across the mats at a normal pace. They may not all feel the same underfoot. Carry on afterwards."
 }
}