{
 "schema_version": 1,
 "session": "EgoMotionActions/20261009/DR10/20261009_033819_session55",
 "session_id": "20261009_033819_session55",
 "primitive": "DR10",
 "batch": "20261009",
 "participant": "daihaoxiang",
 "participant_source": "manifest",
 "device_ids": {
  "main": "e17c9efadb69e7b1",
  "left": "cc5681142208e29a",
  "right": "60a6f081bbe60b0d"
 },
 "generated_at_utc": "2026-10-14T11:35:08.473599+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": 139.025,
  "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": -1.16492,
  "rate": 0.0,
  "global_lag_s": -1.165,
  "peak_corr": 0.9885,
  "reference_imu_first_sample_s": 997.116424648,
  "windows": {
   "n_windows": 12,
   "window_corr_median": 0.9933829746656593,
   "drift_ppm": 4.186910380181394,
   "drift_se_ppm": 2.7276791931869706,
   "drift_ms_over_take": 0.5820503246848836,
   "lag_scatter_ms": 0.2977629693054461,
   "lag_range_ms": 1.0340144909573024
  }
 },
 "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": 28251,
    "n_gyro": 28245,
    "t_start": -1.1815015265303077,
    "t_end": 139.67249205346977
   },
   "imu_head_left": {
    "n_acc": 28200,
    "n_gyro": 28194,
    "t_start": -1.0684728595303272,
    "t_end": 139.8463482724696
   },
   "imu_wrist_right": {
    "n_acc": 27218,
    "n_gyro": 27231,
    "t_start": 0.3646437004697032,
    "t_end": 134.88667200846973
   },
   "imu_wrist_left": {
    "n_acc": 26580,
    "n_gyro": 26593,
    "t_start": 0.3190062054696523,
    "t_end": 134.89690812046976
   },
   "mag_head": {
    "n": 14101,
    "t_start": -0.9882329425303555,
    "t_end": 140.01177499946968
   },
   "mag_wrist_right": {
    "n": 13452,
    "t_start": 0.3802880374696156,
    "t_end": 134.88984883646978
   },
   "mag_wrist_left": {
    "n": 13457,
    "t_start": 0.328186905469654,
    "t_end": 134.88746554546967
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 998.31885,
    "frames": 4170,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0023423887986386703,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": 0.039848179268308304,
    "t_end": 139.00651517926846,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 998.318805,
    "frames": 4170,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0019489646456461974,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": 0.03940975511530498,
    "t_end": 139.00607675511534,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 998.318836,
    "frames": 4170,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0018171232386612972,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": 0.03930891370835754,
    "t_end": 139.0059759137084,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 998.318866,
    "frames": 4170,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0017295646474508202,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": 0.03925135511709188,
    "t_end": 139.00591835511702,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 30.0,
    "start_device_s": 998.31882,
    "frames": 4170,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.001668932298833096,
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": 0.03914472276843073,
    "t_end": 139.00581172276836,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 998.318784,
    "frames": 4170,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0017169377622902274,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": 0.03915672823196248,
    "t_end": 139.0058237282319,
    "clock": "device",
    "calibrated": true
   },
   "wrist_left": {
    "fps": 30.0,
    "start_device_s": 998.599003,
    "frames": 4037,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
    "t_start": 0.31765879046971124,
    "t_end": 134.8502757904698,
    "clock": "device",
    "calibrated": false
   },
   "wrist_right": {
    "fps": 30.0,
    "start_device_s": 998.632482,
    "frames": 4035,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
    "t_start": 0.3511377904696542,
    "t_end": 134.8173487904696,
    "clock": "device",
    "calibrated": false
   },
   "third_person": {
    "file": "mocap/mocap-DR10-S01-daihaoxiang-02p1-1.mp4",
    "frames": 4171,
    "fps": 30.0,
    "clock": "nokov (frame index)",
    "t_start": 0.0,
    "t_end": 139.0
   }
  }
 },
 "flags": [],
 "sanity": {
  "status": {
   "structure": "PASS",
   "markers": "WARN",
   "timing": "WARN"
  },
  "verdict": "READY_WITH_WARNINGS",
  "issues": [
   "WARN M_SPIKES",
   "WARN M_TRACKER_LABELS",
   "WARN T_RIG_TRACKER",
   "WARN T_UNITS"
  ]
 },
 "canonical": {
  "generated_at_utc": "2026-10-14T12:22:59.527856+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": [
   [
    0.9999224264,
    -0.0124552848,
    -8.4556e-05
   ],
   [
    8.4556e-05,
    0.0135763823,
    -0.9999078331
   ],
   [
    0.0124552848,
    0.9998302595,
    0.0135763823
   ]
  ],
  "scale_nokov_to_canon": 0.001,
  "T_canon_nokov_mm": [
   [
    0.000999922426,
    -1.2455285e-05,
    -8.4556e-08,
    0.0
   ],
   [
    8.4556e-08,
    1.3576382e-05,
    -0.000999907833,
    0.0
   ],
   [
    1.2455285e-05,
    0.000999830259,
    1.3576382e-05,
    0.0
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ],
  "block": "20261009-morning",
  "block_assignment": "trc",
  "tilt_removed_deg": 1.0556903911986237,
  "plane_status": "contacts span only 0.92 m",
  "floor": {
   "sole_marker_p1_mm": 18.2,
   "headtop_p95_mm": 1877.0
  },
  "gravity_check": {
   "static_samples": 777,
   "g_world_mean_m_s2": [
    -0.3205,
    0.3705,
    9.7248
   ],
   "tilt_from_z_deg": 2.884,
   "tilt_from_z_deg_before_levelling": 1.829,
   "magnitude_m_s2": 9.7371
  },
  "rig_tracker_definition": "e17c9efadb69e7b1/20261009-morning/labels-035142/session-0469403b8ae08b64",
  "camera_pose_source": "provider T_tracker0_cam",
  "files": [
   "mocap_zup.npz",
   "tracker0_zup.npz",
   "rig_zup.npz",
   "cameras_zup.npz"
  ]
 },
 "smplx": {
  "generated_at_utc": "2026-10-15T08:33:50.192036+00:00",
  "generated_by": "scripts/fit_smplx_dataset.py",
  "file": "smplx.npz",
  "gender": "male",
  "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": [
      0.04158063232898712,
      -0.021204274147748947,
      -0.004425751976668835
     ],
     "LHandOut": [
      0.045041024684906006,
      0.027511630207300186,
      -0.018209772184491158
     ]
    },
    "right": {
     "RHandIn": [
      -0.053888387978076935,
      0.017541861161589622,
      0.019368205219507217
     ],
     "RHandOut": [
      -0.06022060289978981,
      0.027287283912301064,
      -0.028439801186323166
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 4.04,
   "p95_frame": 6.31
  },
  "worst_markers": [
   "LKneeIn 10mm",
   "RKneeIn 8mm",
   "RShin 8mm",
   "LHeel 7mm",
   "RKnee 7mm"
  ],
  "valid_fraction": 1.0,
  "qc": {
   "lowest_vertex_mm": {
    "median": 58.6,
    "p5": -18.0
   },
   "frames_checked": 557,
   "stature_mm": 1770.9
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 12.65
  },
  "shape_source": "participant median",
  "wrist_correction": {
   "left": {
    "status": "corrected",
    "Q_deg": 180.0,
    "Q_rotvec": [
     -3.02575,
     0.26943,
     0.80116
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 178.2,
    "opposite_sign_bend_deg": 26.2,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 2.1,
    "hand_vs_marker_frame_deg": {
     "before": 179.69,
     "after": 2.1
    },
    "markers_on_wrist": [
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": 174.28,
     "wrist_twist_deg_after": {
      "median": 5.2,
      "iqr": [
       3.7,
       6.8
      ]
     },
     "wrist_total_deg_median_after": 12.7,
     "markers_on_forearm": [
      "LForearm",
      "LWristIn",
      "LWristOut"
     ]
    },
    "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": 10.9,
    "opposite_sign_bend_deg": 178.3,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 0.99,
    "hand_vs_marker_frame_deg": {
     "before": 0.99,
     "after": 0.99
    },
    "markers_on_wrist": [
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": 0.0,
     "wrist_twist_deg_after": {
      "median": 0.0,
      "iqr": [
       -1.5,
       1.8
      ]
     },
     "wrist_total_deg_median_after": 11.0,
     "markers_on_forearm": [
      "RElbowIn",
      "RForearm",
      "RWristIn",
      "RWristOut"
     ]
    },
    "frames_used": 1500
   },
   "generated_at_utc": "2026-10-28T06:33:35.642214+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "rig_tracker": {
  "definition": "e17c9efadb69e7b1/20261009-morning/labels-035142/session-0469403b8ae08b64",
  "R_tracker0_imu0": [
   [
    -0.71995269,
    0.24839323,
    -0.64805009
   ],
   [
    0.65589564,
    -0.06171683,
    -0.75232436
   ],
   [
    -0.22686788,
    -0.96669118,
    -0.11848684
   ]
  ],
  "p_tracker0_imu0_m": [
   0.015948304317237035,
   -0.003767742420786802,
   -0.03362997931742647
  ],
  "rig_check": {
   "gyro_samples": 7775,
   "gyro_max_deg": 2.5,
   "status": "ok",
   "dropped_marker": null,
   "gyro_deg": 1.559
  },
  "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": "2026-10-18T19:09:07.903871+00:00",
  "generated_by": "scripts/correct_processed_rig.py",
  "remaining_gyro_frame_deg": 1.552298504789178
 },
 "hands_registration": {
  "cameras": {},
  "hands": {
   "left": {
    "offset_deg": 21.88,
    "offset_rotvec": [
     0.364,
     0.0613,
     0.098
    ],
    "dev_deg": {
     "median": 13.78,
     "p90": 25.5
    },
    "samples": 3562,
    "accepted": 3373,
    "wrist_pos_err_mm_median": 62.0,
    "per_camera": {
     "head": {
      "samples": 3562,
      "accepted": 3373,
      "gate_deg": 30.0,
      "offset_deg": 21.88,
      "tier": "primary",
      "dev_deg_median": 13.78,
      "wrist_pos_err_mm_median": 62.0
     }
    },
    "frames_by_state": {
     "ace_sample": 13656,
     "interpolated": 2588,
     "mean_hand": 440,
     "no_body_fit": 0
    },
    "observed_fraction": 0.9736,
    "observed_fraction_of_valid": 0.9736,
    "palm_axis_vs_markers_deg": {
     "gsi": 21.79,
     "smplx": 0.95
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 10.7,
      "p90": 11.8
     },
     "registered": {
      "median": 10.6,
      "p90": 12.0
     }
    }
   },
   "right": {
    "offset_deg": 17.79,
    "offset_rotvec": [
     0.2759,
     -0.035,
     0.1378
    ],
    "dev_deg": {
     "median": 11.1,
     "p90": 37.36
    },
    "samples": 3721,
    "accepted": 3230,
    "wrist_pos_err_mm_median": 62.7,
    "per_camera": {
     "head": {
      "samples": 3721,
      "accepted": 3230,
      "gate_deg": 30.0,
      "offset_deg": 17.79,
      "tier": "primary",
      "dev_deg_median": 11.1,
      "wrist_pos_err_mm_median": 62.7
     }
    },
    "frames_by_state": {
     "ace_sample": 13014,
     "interpolated": 1862,
     "mean_hand": 1808,
     "no_body_fit": 0
    },
    "observed_fraction": 0.8916,
    "observed_fraction_of_valid": 0.8916,
    "palm_axis_vs_markers_deg": {
     "gsi": 16.42,
     "smplx": 0.7
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 11.3,
      "p90": 15.9
     },
     "registered": {
      "median": 11.1,
      "p90": 14.9
     }
    }
   }
  },
  "max_dev_deg": 30.0,
  "max_gap_s": 1.0,
  "cameras_used": [
   "head"
  ],
  "generated_at_utc": "2026-11-03T22:18:29.835678+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_004",
  "family": "dynamic_recovery",
  "primitive": "DR10",
  "source_session": "20261009/DR10/20261009_033819_session55"
 },
 "task": {
  "primitive": "DR10",
  "instruction": "Walk across the mats at a normal pace. They may not all feel the same underfoot. Carry on afterwards."
 }
}