{
 "schema_version": 1,
 "session": "EgoMotionActions/20261012/DR10/20261012_114052_session62",
 "session_id": "20261012_114052_session62",
 "primitive": "DR10",
 "batch": "20261012",
 "participant": "zhangxinxin",
 "participant_source": "manifest",
 "device_ids": {
  "main": "e17c9efadb69e7b1",
  "left": "cc5681142208e29a",
  "right": "60a6f081bbe60b0d"
 },
 "generated_at_utc": "2026-10-14T11:37:09.580539+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": 134.025,
  "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": -1.171547,
  "rate": 0.0,
  "global_lag_s": -1.17,
  "peak_corr": 0.9828,
  "reference_imu_first_sample_s": 18215.83438699,
  "windows": {
   "n_windows": 11,
   "window_corr_median": 0.9955608256612527,
   "drift_ppm": 2.1277379631516657,
   "drift_se_ppm": 1.9737981819117205,
   "drift_ms_over_take": 0.2851523493617091,
   "lag_scatter_ms": 0.18725093689021188,
   "lag_range_ms": 0.6973242982497574
  }
 },
 "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": 27274,
    "n_gyro": 27267,
    "t_start": -1.188092638046974,
    "t_end": 134.780267478953
   },
   "imu_head_left": {
    "n_acc": 27223,
    "n_gyro": 27217,
    "t_start": -1.0750244040461534,
    "t_end": 134.94275554295407
   },
   "imu_wrist_right": {
    "n_acc": 26799,
    "n_gyro": 26809,
    "t_start": 0.22918670995594725,
    "t_end": 132.66882869395366
   },
   "imu_wrist_left": {
    "n_acc": 26149,
    "n_gyro": 26159,
    "t_start": 0.2742344549554123,
    "t_end": 132.6589685709553
   },
   "mag_head": {
    "n": 13611,
    "t_start": -0.9894291380439522,
    "t_end": 135.11058155195522
   },
   "mag_wrist_right": {
    "n": 13241,
    "t_start": 0.24910197795569688,
    "t_end": 132.64853139895447
   },
   "mag_wrist_left": {
    "n": 13236,
    "t_start": 0.2906921069555115,
    "t_end": 132.64040932795277
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 18217.043786,
    "frames": 4020,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0023423887986386703,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": 0.04019452475066787,
    "t_end": 134.00683852475075,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 18217.043731,
    "frames": 4020,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0019489646456461974,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": 0.03974610060348782,
    "t_end": 134.006402100604,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 18217.043768,
    "frames": 4020,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0018171232386612972,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": 0.03965125919447887,
    "t_end": 134.00630725919498,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 18217.043804,
    "frames": 4020,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0017295646474508202,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": 0.03959970060194751,
    "t_end": 134.00624370060203,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 30.0,
    "start_device_s": 18217.043753,
    "frames": 4020,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.001668932298833096,
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": 0.039488068254549535,
    "t_end": 134.00614406825505,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 18217.043704,
    "frames": 4020,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0017169377622902274,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": 0.03948707371481719,
    "t_end": 134.0061540737154,
    "clock": "device",
    "calibrated": true
   },
   "wrist_left": {
    "fps": 30.0,
    "start_device_s": 18217.307635,
    "frames": 3970,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
    "t_start": 0.3017011359554904,
    "t_end": 132.60144113595405,
    "clock": "device",
    "calibrated": false
   },
   "wrist_right": {
    "fps": 30.0,
    "start_device_s": 18217.264203,
    "frames": 3972,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
    "t_start": 0.25826913595327783,
    "t_end": 132.6243501359534,
    "clock": "device",
    "calibrated": false
   },
   "third_person": {
    "file": "mocap/mocap-DR10-S01-zhangxinxin-02p1-1.mp4",
    "frames": 4021,
    "fps": 30.0,
    "clock": "nokov (frame index)",
    "t_start": 0.0,
    "t_end": 134.0
   }
  }
 },
 "flags": [],
 "sanity": {
  "status": {
   "structure": "FAIL",
   "markers": "WARN",
   "timing": "WARN"
  },
  "verdict": "READY_WITH_WARNINGS",
  "issues": [
   "FAIL S_MANIFEST_SIZE",
   "WARN M_BODY_ID",
   "WARN M_SPIKES",
   "WARN M_TRACKER_LABELS",
   "WARN T_UNITS"
  ]
 },
 "canonical": {
  "generated_at_utc": "2026-10-14T12:23:13.490984+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": [
   [
    0.9999055821,
    -0.0137411271,
    -9.13302e-05
   ],
   [
    9.13302e-05,
    0.0132917582,
    -0.9999116565
   ],
   [
    0.0137411271,
    0.9998172386,
    0.0132917582
   ]
  ],
  "scale_nokov_to_canon": 0.001,
  "T_canon_nokov_mm": [
   [
    0.000999905582,
    -1.3741127e-05,
    -9.133e-08,
    0.0
   ],
   [
    9.133e-08,
    1.3291758e-05,
    -0.000999911657,
    0.0
   ],
   [
    1.3741127e-05,
    0.000999817239,
    1.3291758e-05,
    0.0
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ],
  "block": "20261012-afternoon",
  "block_assignment": "trc",
  "tilt_removed_deg": 1.0954346900576917,
  "plane_status": "contacts span only 0.66 m",
  "floor": {
   "sole_marker_p1_mm": 41.4,
   "headtop_p95_mm": 1695.0
  },
  "gravity_check": {
   "static_samples": 2003,
   "g_world_mean_m_s2": [
    0.1366,
    -0.0986,
    9.6838
   ],
   "tilt_from_z_deg": 0.997,
   "tilt_from_z_deg_before_levelling": 2.087,
   "magnitude_m_s2": 9.6853
  },
  "rig_tracker_definition": "e17c9efadb69e7b1/20261012-afternoon/labels-035142/session-b066458e40bd77b6",
  "camera_pose_source": "provider T_tracker0_cam",
  "files": [
   "mocap_zup.npz",
   "tracker0_zup.npz",
   "rig_zup.npz",
   "cameras_zup.npz"
  ]
 },
 "smplx": {
  "generated_at_utc": "2026-10-15T09:56:41.243434+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": [
      0.06722476333379745,
      0.011093009263277054,
      0.012770535424351692
     ],
     "LHandOut": [
      0.05370611697435379,
      0.012710193172097206,
      -0.025181151926517487
     ],
     "LWristOut": [
      -0.009632145054638386,
      0.023501383140683174,
      -0.01659836433827877
     ]
    },
    "right": {
     "RHandIn": [
      -0.07242782413959503,
      0.0064691295847296715,
      0.015831442549824715
     ],
     "RHandOut": [
      -0.05764278024435043,
      0.022081151604652405,
      -0.012561127543449402
     ],
     "RWristOut": [
      0.011325705796480179,
      0.019730892032384872,
      -0.008288690820336342
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 4.06,
   "p95_frame": 6.66
  },
  "worst_markers": [
   "LShin 13mm",
   "RThigh 10mm",
   "LKneeIn 10mm",
   "RHeel 9mm",
   "RKneeIn 9mm"
  ],
  "valid_fraction": 0.9998,
  "qc": {
   "lowest_vertex_mm": {
    "median": 12.1,
    "p5": -18.4
   },
   "frames_checked": 536,
   "stature_mm": 1627.7
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 12.17
  },
  "shape_source": "participant median",
  "wrist_correction": {
   "left": {
    "status": "corrected",
    "Q_deg": 180.0,
    "Q_rotvec": [
     -2.98601,
     0.43444,
     0.87442
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 179.0,
    "opposite_sign_bend_deg": 36.3,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 0.75,
    "hand_vs_marker_frame_deg": {
     "before": 179.63,
     "after": 0.75
    },
    "markers_on_wrist": [
     "LWristOut",
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": 174.52,
     "wrist_twist_deg_after": {
      "median": 5.23,
      "iqr": [
       4.1,
       6.2
      ]
     },
     "wrist_total_deg_median_after": 6.6,
     "markers_on_forearm": [
      "LElbow",
      "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": 4.0,
    "opposite_sign_bend_deg": 178.5,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 1.24,
    "hand_vs_marker_frame_deg": {
     "before": 1.24,
     "after": 1.24
    },
    "markers_on_wrist": [
     "RWristOut",
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -0.0,
     "wrist_twist_deg_after": {
      "median": 0.0,
      "iqr": [
       -1.3,
       1.7
      ]
     },
     "wrist_total_deg_median_after": 3.9,
     "markers_on_forearm": [
      "RUArmHigh",
      "RElbowIn",
      "RForearm",
      "RWristIn"
     ]
    },
    "frames_used": 1500
   },
   "generated_at_utc": "2026-10-28T06:35:34.932804+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "rig_tracker": {
  "definition": "e17c9efadb69e7b1/20261012-afternoon/labels-035142/session-b066458e40bd77b6",
  "R_tracker0_imu0": [
   [
    -0.64979902,
    0.20382857,
    -0.73226713
   ],
   [
    0.75989206,
    0.15134076,
    -0.63218671
   ],
   [
    -0.01803585,
    -0.96723828,
    -0.25322879
   ]
  ],
  "p_tracker0_imu0_m": [
   0.012928952779504212,
   0.0032765904409385867,
   -0.034871226184709773
  ],
  "rig_check": {
   "gyro_samples": 3552,
   "gyro_max_deg": 2.5,
   "status": "ok",
   "dropped_marker": null,
   "gyro_deg": 0.669
  },
  "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": "2026-10-18T19:10:10.383182+00:00",
  "generated_by": "scripts/correct_processed_rig.py",
  "remaining_gyro_frame_deg": 0.8398497248145755
 },
 "hands_registration": {
  "cameras": {},
  "hands": {
   "left": {
    "offset_deg": 33.9,
    "offset_rotvec": [
     0.5706,
     -0.103,
     0.1182
    ],
    "dev_deg": {
     "median": 11.98,
     "p90": 26.95
    },
    "samples": 3385,
    "accepted": 3154,
    "wrist_pos_err_mm_median": 67.2,
    "per_camera": {
     "head": {
      "samples": 3385,
      "accepted": 3154,
      "gate_deg": 30.0,
      "offset_deg": 33.9,
      "tier": "primary",
      "dev_deg_median": 11.98,
      "wrist_pos_err_mm_median": 67.2
     }
    },
    "frames_by_state": {
     "ace_sample": 12832,
     "interpolated": 3236,
     "mean_hand": 12,
     "no_body_fit": 4
    },
    "observed_fraction": 0.999,
    "observed_fraction_of_valid": 0.9993,
    "palm_axis_vs_markers_deg": {
     "gsi": 34.54,
     "smplx": 0.62
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 5.2,
      "p90": 5.8
     },
     "registered": {
      "median": 4.6,
      "p90": 5.1
     }
    }
   },
   "right": {
    "offset_deg": 10.29,
    "offset_rotvec": [
     0.1482,
     0.0578,
     -0.0833
    ],
    "dev_deg": {
     "median": 13.97,
     "p90": 32.37
    },
    "samples": 3213,
    "accepted": 2824,
    "wrist_pos_err_mm_median": 59.7,
    "per_camera": {
     "head": {
      "samples": 3213,
      "accepted": 2824,
      "gate_deg": 30.0,
      "offset_deg": 10.29,
      "tier": "primary",
      "dev_deg_median": 13.97,
      "wrist_pos_err_mm_median": 59.7
     }
    },
    "frames_by_state": {
     "ace_sample": 11474,
     "interpolated": 4334,
     "mean_hand": 272,
     "no_body_fit": 4
    },
    "observed_fraction": 0.9828,
    "observed_fraction_of_valid": 0.9831,
    "palm_axis_vs_markers_deg": {
     "gsi": 11.19,
     "smplx": 1.17
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 5.7,
      "p90": 6.6
     },
     "registered": {
      "median": 5.5,
      "p90": 6.3
     }
    }
   }
  },
  "max_dev_deg": 30.0,
  "max_gap_s": 1.0,
  "cameras_used": [
   "head"
  ],
  "generated_at_utc": "2026-11-03T22:11:36.316424+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_005",
  "family": "dynamic_recovery",
  "primitive": "DR10",
  "source_session": "20261012/DR10/20261012_114052_session62"
 },
 "task": {
  "primitive": "DR10",
  "instruction": "Walk across the mats at a normal pace. They may not all feel the same underfoot. Carry on afterwards."
 },
 "objects": [
  {
   "name": "HighStep",
   "object_type": "HighStep",
   "source": "mocap",
   "pose_frame": "mesh"
  }
 ]
}