{
 "schema_version": 1,
 "session": "EgoMotionActions/20261022/DR10/20261022_120744_session57",
 "session_id": "20261022_120744_session57",
 "primitive": "DR10",
 "batch": "20261022",
 "participant": "wangjingjing",
 "participant_source": "manifest",
 "device_ids": {
  "main": "e3296774a321bb51",
  "left": "39042f5fb5da3b12",
  "right": "65a3481473d6e2a0"
 },
 "generated_at_utc": "2026-10-26T04:52:17.559108+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": 121.025,
  "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": -0.088248,
  "rate": 0.0,
  "global_lag_s": -0.09,
  "peak_corr": 0.9985,
  "reference_imu_first_sample_s": 8860.520368847,
  "windows": {
   "n_windows": 11,
   "window_corr_median": 0.9986355491320273,
   "drift_ppm": -4.263700542303555,
   "drift_se_ppm": 3.7403136653057527,
   "drift_ms_over_take": -0.5159788272944351,
   "lag_scatter_ms": 0.3548373103745667,
   "lag_range_ms": 1.429780347513454
  }
 },
 "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": 24443,
    "n_gyro": 24437,
    "t_start": -0.09976364237580895,
    "t_end": 121.2170797926233
   },
   "imu_head_left": {
    "n_acc": 24327,
    "n_gyro": 24321,
    "t_start": 0.009918550622852823,
    "t_end": 121.3879160246238
   },
   "imu_wrist_right": {
    "n_acc": 24461,
    "n_gyro": 24461,
    "t_start": -0.7707534083760842,
    "t_end": 119.80476451562437
   },
   "imu_wrist_left": {
    "n_acc": 24335,
    "n_gyro": 24334,
    "t_start": -0.7717421133761385,
    "t_end": 119.81302320062288
   },
   "mag_head": {
    "n": 12147,
    "t_start": 0.08804817562350906,
    "t_end": 121.54803610862338
   },
   "mag_wrist_right": {
    "n": 12057,
    "t_start": -0.7578526813754146,
    "t_end": 119.80187645062371
   },
   "mag_wrist_left": {
    "n": 12057,
    "t_start": -0.7548583013772153,
    "t_end": 119.80515833362416
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 8860.645784,
    "frames": 3630,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0025546514432425653,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": 0.03972168706651388,
    "t_end": 121.0063996870672,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 8860.645767,
    "frames": 3630,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002366886077403108,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": 0.03951692170131679,
    "t_end": 121.006194921702,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 8860.645779,
    "frames": 3630,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0026728712083183277,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": 0.039834906833231404,
    "t_end": 121.00650190683383,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 8860.645791,
    "frames": 3630,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002595594493655556,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": 0.03976963011747245,
    "t_end": 121.00644763011816,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 30.0,
    "start_device_s": 8860.645773,
    "frames": 3625,
    "pts_gaps": 5,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002394386090989767,
    "gap_test": {
     "pts": {
      "offset_ms": 25.4,
      "corr": 0.961,
      "err_ms": 23.0
     },
     "nominal": {
      "offset_ms": 77.1,
      "corr": 0.96,
      "err_ms": 74.7
     }
    },
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": 0.03955042171447673,
    "t_end": 121.02287242171452,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 8860.645758,
    "frames": 3630,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002315656053021164,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": 0.03945669167707053,
    "t_end": 121.00612369167767,
    "clock": "device",
    "calibrated": true
   },
   "wrist_left": {
    "fps": 30.0,
    "start_device_s": 8859.833318,
    "frames": 3617,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
    "t_start": -0.7752989643754412,
    "t_end": 119.75803403562396,
    "clock": "device",
    "calibrated": false
   },
   "wrist_right": {
    "fps": 30.0,
    "start_device_s": 8859.829413,
    "frames": 3617,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
    "t_start": -0.779203964376837,
    "t_end": 119.75386903562368,
    "clock": "device",
    "calibrated": false
   },
   "third_person": {
    "file": "mocap/mocap-DR10-S01-wangjingjing-02p1-1.mp4",
    "frames": 3631,
    "fps": 30.0,
    "clock": "nokov (frame index)",
    "t_start": 0.0,
    "t_end": 121.0
   }
  }
 },
 "flags": [],
 "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
 "rig_tracker": {
  "definition": "e3296774a321bb51/20261022-afternoon/labels-503412/session-724a0ddc1f40941d",
  "R_tracker0_imu0": [
   [
    -0.58937688,
    0.13226338,
    -0.79695752
   ],
   [
    0.79733109,
    -0.06350271,
    -0.60019208
   ],
   [
    -0.1299924,
    -0.98917835,
    -0.06803068
   ]
  ],
  "p_tracker0_imu0_m": [
   0.013683874735332249,
   -0.013433327745111889,
   -0.016919026105865
  ],
  "rig_check": {
   "gyro_samples": 3663,
   "gyro_max_deg": 2.5,
   "status": "video_solve",
   "dropped_marker": null,
   "gyro_deg": 2.275,
   "video_solve": {
    "status": "ok",
    "reason": "",
    "reprojection_px": 2.926,
    "n_assoc": 672,
    "gyro_deg": 2.275
   }
  },
  "file": "derived/rig_tracker_provider/rig_tracker.json",
  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
 },
 "canonical": {
  "generated_at_utc": "2026-10-26T10:25:14.589815+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": [
   [
    0.9999851379,
    0.0054519001,
    2.63344e-05
   ],
   [
    -2.63344e-05,
    0.0096603389,
    -0.9999533375
   ],
   [
    -0.0054519001,
    0.9999384754,
    0.0096603389
   ]
  ],
  "scale_nokov_to_canon": 0.001,
  "T_canon_nokov_mm": [
   [
    0.000999985138,
    5.4519e-06,
    2.6334e-08,
    0.0
   ],
   [
    -2.6334e-08,
    9.660339e-06,
    -0.000999953337,
    0.0
   ],
   [
    -5.4519e-06,
    0.000999938475,
    9.660339e-06,
    0.0
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ],
  "block": "20261022-afternoon",
  "block_assignment": "trc",
  "tilt_removed_deg": 0.6355711327322124,
  "plane_status": "ok",
  "floor": {
   "sole_marker_p1_mm": 32.7,
   "headtop_p95_mm": 1531.2
  },
  "gravity_check": {
   "static_samples": 942,
   "g_world_mean_m_s2": [
    0.2521,
    -0.0024,
    9.7
   ],
   "tilt_from_z_deg": 1.489,
   "tilt_from_z_deg_before_levelling": 1.306,
   "magnitude_m_s2": 9.7033
  },
  "rig_tracker_definition": "e3296774a321bb51/20261022-afternoon/labels-503412/session-724a0ddc1f40941d",
  "rig_check": {
   "status": "video_solve",
   "dropped_marker": null,
   "gyro_deg": 2.275
  },
  "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": "2026-10-26T13:50:37.385556+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": [
      0.04692283272743225,
      0.022664397954940796,
      -0.002825818257406354
     ],
     "LHandOut": [
      0.04249321296811104,
      0.0008540175040252507,
      -0.03208456560969353
     ]
    },
    "right": {
     "RHandIn": [
      -0.03134728595614433,
      0.01856866292655468,
      0.018230285495519638
     ],
     "RHandOut": [
      -0.049595147371292114,
      0.022528285160660744,
      -0.023579640313982964
     ],
     "RWristIn": [
      0.041172511875629425,
      -0.002190191065892577,
      0.013583189807832241
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 3.86,
   "p95_frame": 7.21
  },
  "worst_markers": [
   "LAnkleOut 18mm",
   "RElbowIn 11mm",
   "LHeel 8mm",
   "RThigh 7mm",
   "LKneeIn 7mm"
  ],
  "valid_fraction": 0.9999,
  "qc": {
   "lowest_vertex_mm": {
    "median": 28.8,
    "p5": 10.8
   },
   "frames_checked": 485,
   "stature_mm": 1502.4
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 11.42
  },
  "shape_source": "participant median",
  "wrist_correction": {
   "left": {
    "status": "corrected",
    "Q_deg": 180.0,
    "Q_rotvec": [
     2.99022,
     -0.44902,
     -0.85238
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 176.7,
    "opposite_sign_bend_deg": 25.1,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 1.02,
    "hand_vs_marker_frame_deg": {
     "before": 179.35,
     "after": 1.02
    },
    "markers_on_wrist": [
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -176.23,
     "wrist_twist_deg_after": {
      "median": -0.54,
      "iqr": [
       -2.1,
       0.9
      ]
     },
     "wrist_total_deg_median_after": 17.9,
     "markers_on_forearm": [
      "LElbowIn",
      "LForearm",
      "LWristIn",
      "LWristOut"
     ]
    },
    "frames_used": 1453
   },
   "right": {
    "status": "corrected",
    "Q_deg": 0.0,
    "Q_rotvec": [
     -0.0,
     -0.0,
     0.0
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 28.8,
    "opposite_sign_bend_deg": 175.0,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 2.3,
    "hand_vs_marker_frame_deg": {
     "before": 2.3,
     "after": 2.3
    },
    "markers_on_wrist": [
     "RWristIn",
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": 0.0,
     "wrist_twist_deg_after": {
      "median": -0.0,
      "iqr": [
       -3.1,
       4.9
      ]
     },
     "wrist_total_deg_median_after": 28.7,
     "markers_on_forearm": [
      "RForearm",
      "RWristOut"
     ]
    },
    "frames_used": 1453
   },
   "generated_at_utc": "2026-10-28T06:46:14.023264+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "hands_registration": {
  "cameras": {},
  "hands": {
   "left": {
    "offset_deg": 23.35,
    "offset_rotvec": [
     0.3745,
     -0.1597,
     0.0174
    ],
    "dev_deg": {
     "median": 13.9,
     "p90": 26.83
    },
    "samples": 3032,
    "accepted": 2835,
    "wrist_pos_err_mm_median": 62.6,
    "per_camera": {
     "head": {
      "samples": 3032,
      "accepted": 2835,
      "gate_deg": 30.0,
      "offset_deg": 23.35,
      "tier": "primary",
      "dev_deg_median": 13.9,
      "wrist_pos_err_mm_median": 62.6
     }
    },
    "frames_by_state": {
     "ace_sample": 11566,
     "interpolated": 2658,
     "mean_hand": 298,
     "no_body_fit": 2
    },
    "observed_fraction": 0.9793,
    "observed_fraction_of_valid": 0.9795,
    "palm_axis_vs_markers_deg": {
     "gsi": 24.4,
     "smplx": 0.74
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 9.4,
      "p90": 13.7
     },
     "registered": {
      "median": 9.1,
      "p90": 13.1
     }
    }
   },
   "right": {
    "offset_deg": 18.51,
    "offset_rotvec": [
     0.1216,
     0.0348,
     0.2973
    ],
    "dev_deg": {
     "median": 14.58,
     "p90": 27.97
    },
    "samples": 2934,
    "accepted": 2697,
    "wrist_pos_err_mm_median": 62.3,
    "per_camera": {
     "head": {
      "samples": 2934,
      "accepted": 2697,
      "gate_deg": 30.0,
      "offset_deg": 18.51,
      "tier": "primary",
      "dev_deg_median": 14.58,
      "wrist_pos_err_mm_median": 62.3
     }
    },
    "frames_by_state": {
     "ace_sample": 10994,
     "interpolated": 3030,
     "mean_hand": 498,
     "no_body_fit": 2
    },
    "observed_fraction": 0.9656,
    "observed_fraction_of_valid": 0.9657,
    "palm_axis_vs_markers_deg": {
     "gsi": 16.91,
     "smplx": 1.47
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 18.0,
      "p90": 30.5
     },
     "registered": {
      "median": 17.7,
      "p90": 30.0
     }
    }
   }
  },
  "max_dev_deg": 30.0,
  "max_gap_s": 1.0,
  "cameras_used": [
   "head"
  ],
  "generated_at_utc": "2026-11-03T18:38:26.659023+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_007",
  "family": "dynamic_recovery",
  "primitive": "DR10",
  "source_session": "20261022/DR10/20261022_120744_session57"
 },
 "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"
  }
 ]
}