{
 "schema_version": 1,
 "session": "EgoMotionActions/20261030/DR10/20261030_053750_session70",
 "session_id": "20261030_053750_session70",
 "primitive": "DR10",
 "batch": "20261030",
 "participant": "huruoxuan",
 "participant_source": "manifest",
 "device_ids": {
  "main": "e3296774a321bb51",
  "left": "39042f5fb5da3b12",
  "right": "65a3481473d6e2a0"
 },
 "generated_at_utc": "2026-11-03T05:45:23.270559+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": 136.95833333333334,
  "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": -0.087665,
  "rate": 0.0,
  "global_lag_s": -0.085,
  "peak_corr": 0.9629,
  "reference_imu_first_sample_s": 17236.185068464,
  "windows": {
   "n_windows": 12,
   "window_corr_median": 0.9975014737665716,
   "drift_ppm": -400.2706941327701,
   "drift_se_ppm": 235.81484839696728,
   "drift_ms_over_take": -54.817071561482855,
   "lag_scatter_ms": 25.742370891847592,
   "lag_range_ms": 106.09655769227007
  }
 },
 "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": 27650,
    "n_gyro": 27645,
    "t_start": -0.09461352865455129,
    "t_end": 137.14414038434498
   },
   "imu_head_left": {
    "n_acc": 27515,
    "n_gyro": 27509,
    "t_start": 0.0240334293443112,
    "t_end": 137.31251995934454
   },
   "imu_wrist_right": {
    "n_acc": 27608,
    "n_gyro": 27621,
    "t_start": -0.8271805326554358,
    "t_end": 135.26125793634438
   },
   "imu_wrist_left": {
    "n_acc": 27503,
    "n_gyro": 27514,
    "t_start": -0.9543562046534106,
    "t_end": 135.3392594513456
   },
   "mag_head": {
    "n": 13738,
    "t_start": 0.10776222134464032,
    "t_end": 137.47773257834652
   },
   "mag_wrist_right": {
    "n": 13608,
    "t_start": -0.8142846206543226,
    "t_end": 135.2560362463477
   },
   "mag_wrist_left": {
    "n": 13628,
    "t_start": -0.9359160416539425,
    "t_end": 135.33487806334543
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 17236.309941,
    "frames": 4108,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0025546514432425653,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": 0.03976232178993368,
    "t_end": 136.93970632179062,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 17236.309913,
    "frames": 4108,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002366886077403108,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": 0.03954655642465067,
    "t_end": 136.93949055642534,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 17236.309932,
    "frames": 4108,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0026728712083183277,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": 0.039871541553478065,
    "t_end": 136.93981554155417,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 17236.30995,
    "frames": 4108,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002595594493655556,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": 0.039812264839750325,
    "t_end": 136.93974526484035,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 30.0,
    "start_device_s": 17236.309921,
    "frames": 4107,
    "pts_gaps": 1,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002394386090989767,
    "gap_test": {
     "pts": {
      "offset_ms": 32.8,
      "corr": 0.939,
      "err_ms": 30.4
     },
     "nominal": {
      "offset_ms": 82.8,
      "corr": 0.939,
      "err_ms": 80.4
     }
    },
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": 0.03958205643666869,
    "t_end": 136.95618205643714,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 17236.309898,
    "frames": 4108,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002315656053021164,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": 0.03948032639837319,
    "t_end": 136.9394363263995,
    "clock": "device",
    "calibrated": true
   },
   "wrist_left": {
    "fps": 30.0,
    "start_device_s": 17235.366401,
    "frames": 4086,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
    "t_start": -0.9063323296546486,
    "t_end": 135.2611156703455,
    "clock": "device",
    "calibrated": false
   },
   "wrist_right": {
    "fps": 30.0,
    "start_device_s": 17235.433866,
    "frames": 4084,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
    "t_start": -0.8388673296545648,
    "t_end": 135.2614586703452,
    "clock": "device",
    "calibrated": false
   },
   "third_person": {
    "file": "mocap/mocap-DR10-S01-huruoxuan-02p2-1.mp4",
    "frames": 4109,
    "fps": 30.0,
    "clock": "nokov (frame index)",
    "t_start": 0.0,
    "t_end": 136.93333333333334
   }
  }
 },
 "flags": [],
 "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
 "rig_tracker": {
  "definition": "e3296774a321bb51/20261030-morning/labels-235140/session-a0076f1b2604347b",
  "R_tracker0_imu0": [
   [
    -0.63302799,
    0.27873282,
    -0.72220743
   ],
   [
    0.7737805,
    0.25581232,
    -0.57950306
   ],
   [
    0.02322303,
    -0.92567169,
    -0.37761438
   ]
  ],
  "p_tracker0_imu0_m": [
   -0.15754106517450275,
   0.22111754373767747,
   -0.025589073603415332
  ],
  "rig_check": {
   "gyro_samples": 2699,
   "gyro_max_deg": 2.5,
   "status": "video_solve",
   "dropped_marker": null,
   "gyro_deg": 0.364,
   "video_solve": {
    "status": "ok",
    "reason": "",
    "reprojection_px": 3.421,
    "n_assoc": 286,
    "gyro_deg": 0.364
   }
  },
  "file": "derived/rig_tracker_provider/rig_tracker.json",
  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
 },
 "canonical": {
  "generated_at_utc": "2026-11-03T09:17:41.900643+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": [
   [
    0.9999994811,
    -0.0010186764,
    -5.0019e-06
   ],
   [
    5.0019e-06,
    0.0098201105,
    -0.9999517815
   ],
   [
    0.0010186764,
    0.9999512627,
    0.0098201105
   ]
  ],
  "scale_nokov_to_canon": 0.001,
  "T_canon_nokov_mm": [
   [
    0.000999999481,
    -1.018676e-06,
    -5.002e-09,
    0.0
   ],
   [
    5.002e-09,
    9.82011e-06,
    -0.000999951782,
    0.0
   ],
   [
    1.018676e-06,
    0.000999951263,
    9.82011e-06,
    0.0
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ],
  "block": "20261030-morning",
  "block_assignment": "trc",
  "tilt_removed_deg": 0.5656792281808913,
  "plane_status": "ok",
  "floor": {
   "sole_marker_p1_mm": 49.6,
   "headtop_p95_mm": 1684.2
  },
  "gravity_check": {
   "static_samples": 4429,
   "g_world_mean_m_s2": [
    -0.0003,
    0.0163,
    9.7462
   ],
   "tilt_from_z_deg": 0.096,
   "tilt_from_z_deg_before_levelling": 0.47,
   "magnitude_m_s2": 9.7462
  },
  "rig_tracker_definition": "e3296774a321bb51/20261030-morning/labels-235140/session-a0076f1b2604347b",
  "rig_check": {
   "status": "video_solve",
   "dropped_marker": null,
   "gyro_deg": 0.364
  },
  "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": "2026-11-03T10:35:12.017981+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": false,
   "hand_pose": "flat (zeros, flat_hand_mean=True)",
   "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
   "hand_marker_offsets_m": {
    "left": {
     "LHandIn": [
      0.07623503357172012,
      0.008818890899419785,
      0.022899078205227852
     ],
     "LHandOut": [
      0.06633242219686508,
      0.004743659868836403,
      -0.02829824946820736
     ]
    },
    "right": {
     "RHandIn": [
      -0.047389548271894455,
      0.009525601752102375,
      0.015182205475866795
     ],
     "RHandOut": [
      -0.05071711540222168,
      0.02947315014898777,
      -0.009878487326204777
     ],
     "RWristOut": [
      0.018557731062173843,
      0.0419401116669178,
      -0.0020586189348250628
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 3.46,
   "p95_frame": 6.36
  },
  "worst_markers": [
   "LShin 9mm",
   "RKneeIn 8mm",
   "LHeel 8mm",
   "LKneeIn 7mm",
   "RThigh 7mm"
  ],
  "valid_fraction": 1.0,
  "qc": {
   "lowest_vertex_mm": {
    "median": 25.7,
    "p5": 19.7
   },
   "frames_checked": 548,
   "stature_mm": 1572.8
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 12.38
  },
  "shape_source": "participant median",
  "wrist_correction": {
   "left": {
    "status": "corrected",
    "Q_deg": 6.94,
    "Q_rotvec": [
     0.01118,
     -0.10092,
     0.06608
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 16.9,
    "opposite_sign_bend_deg": 170.5,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 0.87,
    "hand_vs_marker_frame_deg": {
     "before": 7.09,
     "after": 0.87
    },
    "markers_on_wrist": [
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -6.6,
     "wrist_twist_deg_after": {
      "median": 0.0,
      "iqr": [
       -2.3,
       1.9
      ]
     },
     "wrist_total_deg_median_after": 15.6,
     "markers_on_forearm": [
      "LForearm",
      "LWristIn",
      "LWristOut"
     ]
    },
    "frames_used": 1500
   },
   "right": {
    "status": "corrected",
    "Q_deg": 50.86,
    "Q_rotvec": [
     0.76065,
     0.45099,
     -0.07774
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 45.3,
    "opposite_sign_bend_deg": 144.8,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 1.39,
    "hand_vs_marker_frame_deg": {
     "before": 50.75,
     "after": 1.39
    },
    "markers_on_wrist": [
     "RWristOut",
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -40.96,
     "wrist_twist_deg_after": {
      "median": -0.0,
      "iqr": [
       -2.2,
       2.3
      ]
     },
     "wrist_total_deg_median_after": 19.7,
     "markers_on_forearm": [
      "RForearm",
      "RWristIn"
     ]
    },
    "frames_used": 1500
   },
   "generated_at_utc": "2026-11-03T10:35:15.258579+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "release": {
  "release_path": "actions/dynamic_recovery/DR10/session_008",
  "family": "dynamic_recovery",
  "primitive": "DR10",
  "source_session": "20261030/DR10/20261030_053750_session70"
 },
 "task": {
  "primitive": "DR10",
  "instruction": "Walk across the mats at a normal pace. They may not all feel the same underfoot. Carry on afterwards."
 }
}