{
 "schema_version": 1,
 "session": "EgoMotionActions/20260924/DR10/20260924_040012_session61",
 "session_id": "20260924_040012_session61",
 "primitive": "DR10",
 "batch": "20260924",
 "participant": "gaoziyue",
 "participant_source": "manifest",
 "device_ids": {
  "main": "e17c9efadb69e7b1",
  "left": "452031d7af00ef6f",
  "right": "6ee5ee4472fe2ad7"
 },
 "generated_at_utc": "2026-10-14T11:26:01.850090+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": -1.175127,
  "rate": 0.0,
  "global_lag_s": -1.175,
  "peak_corr": 0.9945,
  "reference_imu_first_sample_s": 12976.606125231,
  "windows": {
   "n_windows": 11,
   "window_corr_median": 0.9988915519510784,
   "drift_ppm": -122.25574233568376,
   "drift_se_ppm": 74.10732516199282,
   "drift_ms_over_take": -15.161749645330381,
   "lag_scatter_ms": 7.030438164438117,
   "lag_range_ms": 28.52108747659954
  }
 },
 "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": 25259,
    "t_start": -1.1817082689282923,
    "t_end": 124.76739142307115
   },
   "imu_head_left": {
    "n_acc": 25219,
    "n_gyro": 25214,
    "t_start": -1.068445476928633,
    "t_end": 124.93767443007191
   },
   "imu_wrist_left": {
    "n_acc": 24645,
    "n_gyro": 24645,
    "t_start": 0.19480147407220483,
    "t_end": 121.91039529007166
   },
   "mag_head": {
    "n": 12610,
    "t_start": -0.9892538519286116,
    "t_end": 125.1007862910722
   },
   "mag_wrist_right": {
    "n": 12178,
    "t_start": 0.1326020960716907,
    "t_end": 121.90130283007083
   },
   "mag_wrist_left": {
    "n": 12169,
    "t_start": 0.21337478107151964,
    "t_end": 121.89284649307255
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 12977.818635,
    "frames": 3720,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0023423887986386703,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": 0.03972493286918888,
    "t_end": 124.00643593286831,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 12977.818586,
    "frames": 3720,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0019489646456461974,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": 0.039282508716764086,
    "t_end": 124.00601550871606,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 12977.818617,
    "frames": 3720,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0018171232386612972,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": 0.03918166731118089,
    "t_end": 124.00590366731039,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 12977.818654,
    "frames": 3720,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0017295646474508202,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": 0.03913110871898806,
    "t_end": 124.00583110871985,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 30.0,
    "start_device_s": 12977.818604,
    "frames": 3720,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.001668932298833096,
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": 0.039020476370109636,
    "t_end": 124.00574247636932,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 12977.818565,
    "frames": 3720,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0017169377622902274,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": 0.03902948183376265,
    "t_end": 124.00576248183306,
    "clock": "device",
    "calibrated": true
   },
   "wrist_left": {
    "fps": 30.0,
    "start_device_s": 12977.972755,
    "frames": 3651,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
    "t_start": 0.19150254407240408,
    "t_end": 121.85764854407198,
    "clock": "device",
    "calibrated": false
   },
   "wrist_right": {
    "fps": 30.0,
    "start_device_s": 12978.028038,
    "frames": 3649,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
    "t_start": 0.2467855440720943,
    "t_end": 121.84548354407188,
    "clock": "device",
    "calibrated": false
   },
   "third_person": {
    "file": "mocap/mocap-DR10-S01-gaoziyue-02p2-1.mp4",
    "frames": 3721,
    "fps": 60.0,
    "clock": "nokov (frame index)",
    "t_start": 0.0,
    "t_end": 62.0
   }
  }
 },
 "flags": [
  "wrist_right_imu empty"
 ],
 "sanity": {
  "status": {
   "structure": "FAIL",
   "markers": "WARN",
   "timing": "WARN"
  },
  "verdict": "READY_WITH_WARNINGS",
  "issues": [
   "FAIL S_DB_EMPTY",
   "FAIL S_REPORT_EMPTY",
   "WARN M_RIGID",
   "WARN M_SPIKES",
   "WARN M_TRACKER_LABELS",
   "WARN S_PARTICIPANT",
   "WARN S_VIDEO_FPS",
   "WARN T_EMPTY"
  ]
 },
 "canonical": {
  "generated_at_utc": "2026-10-14T13:43:05.476964+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": [
   [
    1.0,
    0.0,
    0.0
   ],
   [
    0.0,
    0.0,
    -1.0
   ],
   [
    0.0,
    1.0,
    0.0
   ]
  ],
  "scale_nokov_to_canon": 0.001,
  "T_canon_nokov_mm": [
   [
    0.001,
    0.0,
    0.0,
    0.0
   ],
   [
    0.0,
    0.0,
    -0.001,
    0.0
   ],
   [
    0.0,
    0.001,
    0.0,
    0.0
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ],
  "block": "20260924-morning",
  "block_assignment": "trc",
  "tilt_removed_deg": null,
  "plane_status": "contacts span only 0.91 m",
  "floor": {
   "sole_marker_p1_mm": 47.4,
   "headtop_p95_mm": 1705.5
  },
  "gravity_check": {
   "static_samples": 2365,
   "g_world_mean_m_s2": [
    0.1205,
    -0.1456,
    9.7637
   ],
   "tilt_from_z_deg": 1.109,
   "tilt_from_z_deg_before_levelling": 1.109,
   "magnitude_m_s2": 9.7655
  },
  "rig_tracker_definition": "e17c9efadb69e7b1/20260924-morning/labels-253140/session-17c78259d475353f",
  "camera_pose_source": "provider T_tracker0_cam",
  "files": [
   "mocap_zup.npz",
   "tracker0_zup.npz",
   "rig_zup.npz",
   "cameras_zup.npz"
  ]
 },
 "smplx": {
  "generated_at_utc": "2026-10-15T00:45:33.499423+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": [
      0.06491035968065262,
      0.019398584961891174,
      0.017819764092564583
     ],
     "LHandOut": [
      0.06064947322010994,
      0.011816766113042831,
      -0.023070966824889183
     ],
     "LWristIn": [
      0.007908912375569344,
      0.02819010056555271,
      0.040243007242679596
     ],
     "LWristOut": [
      0.003558882512152195,
      0.027219828218221664,
      -0.023935478180646896
     ]
    },
    "right": {
     "RHandIn": [
      -0.04603741317987442,
      0.0135916443541646,
      0.013467087410390377
     ],
     "RHandOut": [
      -0.04069482535123825,
      0.01246029045432806,
      -0.03450867161154747
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 6.13,
   "p95_frame": 7.78
  },
  "worst_markers": [
   "LElbowIn 26mm",
   "LElbow 21mm",
   "LKneeIn 15mm",
   "LShin 8mm",
   "LKnee 8mm"
  ],
  "valid_fraction": 0.9997,
  "qc": {
   "lowest_vertex_mm": {
    "median": 29.9,
    "p5": -0.9
   },
   "frames_checked": 496,
   "stature_mm": 1598.8
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 13.24
  },
  "shape_source": "participant median",
  "wrist_correction": {
   "left": {
    "status": "corrected",
    "Q_deg": 180.0,
    "Q_rotvec": [
     -2.98794,
     0.42773,
     0.87113
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 175.1,
    "opposite_sign_bend_deg": 19.4,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 1.29,
    "hand_vs_marker_frame_deg": {
     "before": 179.41,
     "after": 1.29
    },
    "markers_on_wrist": [
     "LWristIn",
     "LWristOut",
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -152.89,
     "wrist_twist_deg_after": {
      "median": -22.42,
      "iqr": [
       -26.9,
       0.2
      ]
     },
     "wrist_total_deg_median_after": 38.1,
     "markers_on_forearm": [
      "LElbowIn",
      "LForearm"
     ]
    },
    "frames_used": 1488
   },
   "right": {
    "status": "corrected",
    "Q_deg": 0.0,
    "Q_rotvec": [
     0.0,
     0.0,
     -0.0
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 23.2,
    "opposite_sign_bend_deg": 176.2,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 0.66,
    "hand_vs_marker_frame_deg": {
     "before": 0.66,
     "after": 0.66
    },
    "markers_on_wrist": [
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -0.0,
     "wrist_twist_deg_after": {
      "median": 0.0,
      "iqr": [
       -1.1,
       1.2
      ]
     },
     "wrist_total_deg_median_after": 23.2,
     "markers_on_forearm": [
      "RElbowIn",
      "RForearm",
      "RWristIn",
      "RWristOut"
     ]
    },
    "frames_used": 1488
   },
   "generated_at_utc": "2026-10-28T06:27:42.245428+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "rig_tracker": {
  "definition": "e17c9efadb69e7b1/20260924-morning/labels-253140/session-17c78259d475353f",
  "R_tracker0_imu0": [
   [
    -0.57246579,
    0.08726066,
    -0.81527204
   ],
   [
    0.81556762,
    0.16301644,
    -0.55522527
   ],
   [
    0.08445342,
    -0.98275695,
    -0.16448831
   ]
  ],
  "p_tracker0_imu0_m": [
   0.008267254056858147,
   0.003080966220745789,
   -0.03659537856427637
  ],
  "rig_check": {
   "gyro_samples": 4059,
   "gyro_max_deg": 2.5,
   "status": "ok",
   "dropped_marker": null,
   "gyro_deg": 0.673
  },
  "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": "2026-10-18T19:03:29.985720+00:00",
  "generated_by": "scripts/correct_processed_rig.py",
  "remaining_gyro_frame_deg": 0.7166081622036082
 },
 "hands_registration": {
  "cameras": {},
  "hands": {
   "left": {
    "offset_deg": 14.61,
    "offset_rotvec": [
     0.2308,
     -0.078,
     -0.0754
    ],
    "dev_deg": {
     "median": 15.76,
     "p90": 35.21
    },
    "samples": 2066,
    "accepted": 1756,
    "wrist_pos_err_mm_median": 206.7,
    "per_camera": {
     "head": {
      "samples": 2066,
      "accepted": 1756,
      "gate_deg": 30.0,
      "offset_deg": 14.61,
      "tier": "primary",
      "dev_deg_median": 15.76,
      "wrist_pos_err_mm_median": 206.7
     }
    },
    "frames_by_state": {
     "ace_sample": 7400,
     "interpolated": 7068,
     "mean_hand": 412,
     "no_body_fit": 4
    },
    "observed_fraction": 0.9721,
    "observed_fraction_of_valid": 0.9723,
    "palm_axis_vs_markers_deg": {
     "gsi": 23.81,
     "smplx": 1.17
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 17.5,
      "p90": 21.6
     },
     "registered": {
      "median": 16.7,
      "p90": 20.8
     }
    }
   },
   "right": {
    "offset_deg": 13.29,
    "offset_rotvec": [
     0.0775,
     -0.0687,
     0.2076
    ],
    "dev_deg": {
     "median": 23.65,
     "p90": 48.36
    },
    "samples": 1979,
    "accepted": 1150,
    "wrist_pos_err_mm_median": 375.8,
    "per_camera": {
     "head": {
      "samples": 1979,
      "accepted": 1150,
      "gate_deg": 30.0,
      "offset_deg": 13.29,
      "tier": "primary",
      "dev_deg_median": 23.65,
      "wrist_pos_err_mm_median": 375.8
     }
    },
    "frames_by_state": {
     "ace_sample": 4692,
     "interpolated": 5568,
     "mean_hand": 4620,
     "no_body_fit": 4
    },
    "observed_fraction": 0.6893,
    "observed_fraction_of_valid": 0.6895,
    "palm_axis_vs_markers_deg": {
     "gsi": 27.62,
     "smplx": 0.57
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 10.2,
      "p90": 15.9
     },
     "registered": {
      "median": 10.0,
      "p90": 15.4
     }
    }
   }
  },
  "max_dev_deg": 30.0,
  "max_gap_s": 1.0,
  "cameras_used": [
   "head"
  ],
  "generated_at_utc": "2026-11-03T22:37:06.933090+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_003",
  "family": "dynamic_recovery",
  "primitive": "DR10",
  "source_session": "20260924/DR10/20260924_040012_session61"
 },
 "task": {
  "primitive": "DR10",
  "instruction": "Walk across the mats at a normal pace. They may not all feel the same underfoot. Carry on afterwards."
 }
}