{
 "schema_version": 1,
 "session": "EgoMotionActions/20261020/DR10/20261020_093746_session18",
 "session_id": "20261020_093746_session18",
 "primitive": "DR10",
 "batch": "20261020",
 "participant": "lvaoshan",
 "participant_source": "manifest",
 "device_ids": {
  "main": "e3296774a321bb51",
  "left": "75b5984e04d1d236",
  "right": "c84bc808cb6b47af"
 },
 "generated_at_utc": "2026-10-22T16:11:16.567454+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,
  "mocap_rate_fix": null,
  "first_solved_frame": 0,
  "duration_s": 121.825,
  "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": -0.09268,
  "rate": 0.0,
  "global_lag_s": -0.095,
  "peak_corr": 0.9985,
  "reference_imu_first_sample_s": 1999.098280629,
  "windows": {
   "n_windows": 11,
   "window_corr_median": 0.998871020896662,
   "drift_ppm": -3.5928505268204374,
   "drift_se_ppm": 2.0947613418112105,
   "drift_ms_over_take": -0.4376690750088429,
   "lag_scatter_ms": 0.1987265098378179,
   "lag_range_ms": 0.6939029369708583
  }
 },
 "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": "e3296774a321bb51",
  "status": "ok",
  "date": "2026-10-21"
 },
 "streams": {
  "sensors": {
   "imu_head_right": {
    "n_acc": 24603,
    "n_gyro": 24597,
    "t_start": -0.09960162499185299,
    "t_end": 122.01229425300819
   },
   "imu_head_left": {
    "n_acc": 24485,
    "n_gyro": 24480,
    "t_start": 0.011842750008166147,
    "t_end": 122.17911134700837
   },
   "imu_wrist_right": {
    "n_acc": 24268,
    "n_gyro": 24282,
    "t_start": -0.8080371039917982,
    "t_end": 119.9153094210081
   },
   "imu_wrist_left": {
    "n_acc": 24427,
    "n_gyro": 24441,
    "t_start": -0.9109427729917361,
    "t_end": 119.60084994300844
   },
   "mag_head": {
    "n": 12226,
    "t_start": 0.09116383400812356,
    "t_end": 122.34115943400805
   },
   "mag_wrist_right": {
    "n": 12071,
    "t_start": -0.7911627009918238,
    "t_end": 119.90912263700814
   },
   "mag_wrist_left": {
    "n": 12045,
    "t_start": -0.9027350679918318,
    "t_end": 119.53735548200832
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 1999.228275,
    "frames": 3654,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0025546514432425653,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": 0.03986882445139872,
    "t_end": 121.80656882445176,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 1999.228258,
    "frames": 3654,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002366886077403108,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": 0.03966405908574688,
    "t_end": 121.80635305908557,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 1999.228269,
    "frames": 3654,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0026728712083183277,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": 0.039981044216413464,
    "t_end": 121.80667004421623,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 1999.22828,
    "frames": 3654,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002595594493655556,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": 0.03991476750190759,
    "t_end": 121.80662576750213,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 30.0,
    "start_device_s": 1999.228264,
    "frames": 3652,
    "pts_gaps": 2,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002394386090989767,
    "gap_test": {
     "pts": {
      "offset_ms": 21.6,
      "corr": 0.965,
      "err_ms": 19.2
     },
     "nominal": {
      "offset_ms": 71.6,
      "corr": 0.965,
      "err_ms": 69.2
     }
    },
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": 0.03969755909936157,
    "t_end": 121.82301955909936,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 1999.228249,
    "frames": 3654,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002315656053021164,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": 0.039603829061273244,
    "t_end": 121.80627082906115,
    "clock": "device",
    "calibrated": true
   },
   "wrist_left": {
    "fps": 30.0,
    "start_device_s": 1998.276664,
    "frames": 3619,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4",
    "t_start": -0.9142968269917919,
    "t_end": 119.6857681730083,
    "clock": "device",
    "calibrated": false
   },
   "wrist_right": {
    "fps": 30.0,
    "start_device_s": 1998.384698,
    "frames": 3621,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4",
    "t_start": -0.8062628269917032,
    "t_end": 119.86066417300829,
    "clock": "device",
    "calibrated": false
   },
   "third_person": {
    "file": "mocap/mocap-DR10-S01-lvaoshan-02p2-1.mp4",
    "frames": 3655,
    "fps": 30.0,
    "clock": "nokov (frame index)",
    "t_start": 0.0,
    "t_end": 121.8
   }
  }
 },
 "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_GEOM",
   "WARN S_CALIB",
   "WARN S_INDEX",
   "WARN S_REPORT_TIMING",
   "WARN T_FRAMES",
   "WARN T_LAG_OUTLIER",
   "WARN T_PTS",
   "WARN T_RIG_TRACKER",
   "WARN T_UNITS"
  ]
 },
 "rig_tracker": {
  "definition": "e3296774a321bb51/20261020-afternoon/labels-503412/session-c0e270676484f098",
  "R_tracker0_imu0": [
   [
    -0.58141068,
    0.19265772,
    -0.79047114
   ],
   [
    0.79700886,
    -0.06039865,
    -0.60094
   ],
   [
    -0.16351912,
    -0.97940543,
    -0.11843349
   ]
  ],
  "p_tracker0_imu0_m": [
   0.012431320661818427,
   -0.008819129967168425,
   -0.016472282197805756
  ],
  "rig_check": {
   "gyro_samples": 2937,
   "gyro_max_deg": 2.5,
   "status": "video_solve",
   "dropped_marker": null,
   "gyro_deg": 1.974,
   "video_solve": {
    "status": "ok",
    "reason": "",
    "reprojection_px": 2.851,
    "n_assoc": 540,
    "gyro_deg": 1.974
   }
  },
  "file": "derived/rig_tracker_provider/rig_tracker.json",
  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
 },
 "canonical": {
  "generated_at_utc": "2026-10-26T10:24:09.527579+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": [
   [
    0.9999961192,
    0.002785949,
    8.8845e-06
   ],
   [
    -8.8845e-06,
    0.0063779982,
    -0.9999796603
   ],
   [
    -0.002785949,
    0.9999757795,
    0.0063779982
   ]
  ],
  "scale_nokov_to_canon": 0.001,
  "T_canon_nokov_mm": [
   [
    0.000999996119,
    2.785949e-06,
    8.884e-09,
    0.0
   ],
   [
    -8.884e-09,
    6.377998e-06,
    -0.00099997966,
    0.0
   ],
   [
    -2.785949e-06,
    0.00099997578,
    6.377998e-06,
    0.0
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ],
  "block": "20261020-afternoon",
  "block_assignment": "trc",
  "tilt_removed_deg": 0.398776794692196,
  "plane_status": "ok",
  "floor": {
   "sole_marker_p1_mm": 32.6,
   "headtop_p95_mm": 1708.4
  },
  "gravity_check": {
   "static_samples": 3396,
   "g_world_mean_m_s2": [
    0.2727,
    -0.1719,
    9.7015
   ],
   "tilt_from_z_deg": 1.903,
   "tilt_from_z_deg_before_levelling": 2.002,
   "magnitude_m_s2": 9.7069
  },
  "rig_tracker_definition": "e3296774a321bb51/20261020-afternoon/labels-503412/session-c0e270676484f098",
  "rig_check": {
   "status": "video_solve",
   "dropped_marker": null,
   "gyro_deg": 1.974
  },
  "camera_pose_source": "T_tracker0_imu0 @ inv(T_cam_imu)",
  "files": [
   "mocap_zup.npz",
   "tracker0_zup.npz",
   "rig_zup.npz",
   "cameras_zup.npz"
  ]
 },
 "smplx": {
  "generated_at_utc": "2026-10-23T06:48:42.124208+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": [
      0.08500514924526215,
      0.013667277060449123,
      0.025098120793700218
     ],
     "LHandOut": [
      0.08084320276975632,
      0.011452023871243,
      -0.014140660874545574
     ],
     "LWristIn": [
      -0.005046722013503313,
      0.01609104685485363,
      0.028655976057052612
     ],
     "LWristOut": [
      0.005003045778721571,
      0.025980429723858833,
      -0.01427161693572998
     ]
    },
    "right": {
     "RHandIn": [
      -0.054547958076000214,
      -0.028601232916116714,
      0.006731225643306971
     ],
     "RHandOut": [
      -0.06383297592401505,
      0.024984722957015038,
      -0.007697075139731169
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 3.76,
   "p95_frame": 5.6
  },
  "worst_markers": [
   "RKneeIn 11mm",
   "LKneeIn 8mm",
   "RThigh 7mm",
   "LShin 7mm",
   "RKnee 7mm"
  ],
  "valid_fraction": 1.0,
  "qc": {
   "lowest_vertex_mm": {
    "median": 31.8,
    "p5": 13.2
   },
   "frames_checked": 488,
   "stature_mm": 1659.4
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 12.73
  },
  "shape_source": "participant median",
  "wrist_correction": {
   "left": {
    "status": "corrected",
    "Q_deg": 180.0,
    "Q_rotvec": [
     -2.98315,
     0.44501,
     0.87886
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 177.3,
    "opposite_sign_bend_deg": 28.0,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 0.69,
    "hand_vs_marker_frame_deg": {
     "before": 179.59,
     "after": 0.69
    },
    "markers_on_wrist": [
     "LWristIn",
     "LWristOut",
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -177.1,
     "wrist_twist_deg_after": {
      "median": -0.31,
      "iqr": [
       -1.4,
       0.7
      ]
     },
     "wrist_total_deg_median_after": 14.7,
     "markers_on_forearm": [
      "LForearm"
     ]
    },
    "frames_used": 1462
   },
   "right": {
    "status": "corrected",
    "Q_deg": 0.0,
    "Q_rotvec": [
     0.0,
     0.0,
     -0.0
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 9.9,
    "opposite_sign_bend_deg": 178.5,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 0.49,
    "hand_vs_marker_frame_deg": {
     "before": 0.49,
     "after": 0.49
    },
    "markers_on_wrist": [
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -0.0,
     "wrist_twist_deg_after": {
      "median": -0.0,
      "iqr": [
       -0.7,
       1.0
      ]
     },
     "wrist_total_deg_median_after": 9.9,
     "markers_on_forearm": [
      "RForearm",
      "RWristIn",
      "RWristOut"
     ]
    },
    "frames_used": 1462
   },
   "generated_at_utc": "2026-10-28T06:43:22.520174+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "hands_registration": {
  "cameras": {},
  "hands": {
   "left": {
    "offset_deg": 13.12,
    "offset_rotvec": [
     0.0489,
     -0.1253,
     0.1853
    ],
    "dev_deg": {
     "median": 13.82,
     "p90": 27.46
    },
    "samples": 2906,
    "accepted": 2695,
    "wrist_pos_err_mm_median": 53.2,
    "per_camera": {
     "head": {
      "samples": 2906,
      "accepted": 2695,
      "gate_deg": 30.0,
      "offset_deg": 13.12,
      "tier": "primary",
      "dev_deg_median": 13.82,
      "wrist_pos_err_mm_median": 53.2
     }
    },
    "frames_by_state": {
     "ace_sample": 11102,
     "interpolated": 3502,
     "mean_hand": 16,
     "no_body_fit": 0
    },
    "observed_fraction": 0.9989,
    "observed_fraction_of_valid": 0.9989,
    "palm_axis_vs_markers_deg": {
     "gsi": 12.81,
     "smplx": 0.52
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 13.8,
      "p90": 15.8
     },
     "registered": {
      "median": 12.0,
      "p90": 13.8
     }
    }
   },
   "right": {
    "offset_deg": 9.76,
    "offset_rotvec": [
     -0.0804,
     0.1501,
     0.0031
    ],
    "dev_deg": {
     "median": 12.25,
     "p90": 28.64
    },
    "samples": 2528,
    "accepted": 2307,
    "wrist_pos_err_mm_median": 66.1,
    "per_camera": {
     "head": {
      "samples": 2528,
      "accepted": 2307,
      "gate_deg": 30.0,
      "offset_deg": 9.76,
      "tier": "primary",
      "dev_deg_median": 12.25,
      "wrist_pos_err_mm_median": 66.1
     }
    },
    "frames_by_state": {
     "ace_sample": 9586,
     "interpolated": 4874,
     "mean_hand": 160,
     "no_body_fit": 0
    },
    "observed_fraction": 0.9891,
    "observed_fraction_of_valid": 0.9891,
    "palm_axis_vs_markers_deg": {
     "gsi": 12.89,
     "smplx": 0.32
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 13.8,
      "p90": 21.2
     },
     "registered": {
      "median": 13.3,
      "p90": 19.7
     }
    }
   }
  },
  "max_dev_deg": 30.0,
  "max_gap_s": 1.0,
  "cameras_used": [
   "head"
  ],
  "generated_at_utc": "2026-11-03T20:57:58.643923+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_006",
  "family": "dynamic_recovery",
  "primitive": "DR10",
  "source_session": "20261020/DR10/20261020_093746_session18"
 },
 "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": "Cushion",
   "object_type": "Cushion",
   "source": "mocap",
   "pose_frame": "rigid_body"
  },
  {
   "name": "LowStep",
   "object_type": "LowStep",
   "source": "mocap",
   "pose_frame": "rigid_body"
  }
 ]
}