{
 "schema_version": 1,
 "session": "EgoMotionActions/20261030/DR10/20261030_103618_session19",
 "session_id": "20261030_103618_session19",
 "primitive": "DR10",
 "batch": "20261030",
 "participant": "liujiaxin",
 "participant_source": "manifest",
 "device_ids": {
  "main": "e3296774a321bb51",
  "left": "75b5984e04d1d236",
  "right": "c84bc808cb6b47af"
 },
 "generated_at_utc": "2026-11-03T05:44:58.318257+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": 126.825,
  "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": -0.084198,
  "rate": 0.0,
  "global_lag_s": -0.085,
  "peak_corr": 0.9859,
  "reference_imu_first_sample_s": 4289.082602083,
  "windows": {
   "n_windows": 11,
   "window_corr_median": 0.9977717751599844,
   "drift_ppm": -462.13577286967575,
   "drift_se_ppm": 264.76309418306,
   "drift_ms_over_take": -58.60651826275604,
   "lag_scatter_ms": 25.117632539164415,
   "lag_range_ms": 101.60335412928183
  }
 },
 "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": 25612,
    "n_gyro": 25605,
    "t_start": -0.10065395897089353,
    "t_end": 127.02139142402922
   },
   "imu_head_left": {
    "n_acc": 25490,
    "n_gyro": 25484,
    "t_start": 0.008543649029719866,
    "t_end": 127.19259138802937
   },
   "imu_wrist_right": {
    "n_acc": 25393,
    "n_gyro": 25393,
    "t_start": -0.8650729679704326,
    "t_end": 125.46616053102917
   },
   "imu_wrist_left": {
    "n_acc": 25600,
    "n_gyro": 25613,
    "t_start": -0.8370075829708966,
    "t_end": 125.46434636302894
   },
   "mag_head": {
    "n": 12727,
    "t_start": 0.08930912502893455,
    "t_end": 127.3492827270291
   },
   "mag_wrist_right": {
    "n": 12632,
    "t_start": -0.8481757969704503,
    "t_end": 125.46155572002937
   },
   "mag_wrist_left": {
    "n": 12629,
    "t_start": -0.8191206579705849,
    "t_end": 125.46142844302977
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 4289.204169,
    "frames": 3804,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0025546514432425653,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": 0.039923273472426565,
    "t_end": 126.80654527347252,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 4289.204147,
    "frames": 3804,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002366886077403108,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": 0.039713508107355786,
    "t_end": 126.80633550810745,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 4289.204163,
    "frames": 3804,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0026728712083183277,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": 0.040035493237896055,
    "t_end": 126.8066464932379,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 4289.204176,
    "frames": 3804,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002595594493655556,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": 0.03997121652338513,
    "t_end": 126.80659321652348,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 60.0,
    "start_device_s": 4289.204154,
    "frames": 3705,
    "pts_gaps": 3704,
    "timing": "pts (gap undecided)",
    "timeshift_cam_imu_s": 0.002394386090989767,
    "gap_test": {
     "pts": {
      "offset_ms": -1.1,
      "corr": 0.935,
      "err_ms": 3.5
     },
     "nominal": {
      "offset_ms": -136.3,
      "corr": -0.052,
      "err_ms": 138.7
     }
    },
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": 0.039748008119944764,
    "t_end": 126.82301500811974,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 4289.204137,
    "frames": 3804,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002315656053021164,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": 0.03965227808186149,
    "t_end": 126.80627427808196,
    "clock": "device",
    "calibrated": true
   },
   "wrist_left": {
    "fps": 30.0,
    "start_device_s": 4288.366164,
    "frames": 3787,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4",
    "t_start": -0.8006363779706461,
    "t_end": 125.3998846220291,
    "clock": "device",
    "calibrated": false
   },
   "wrist_right": {
    "fps": 30.0,
    "start_device_s": 4288.297767,
    "frames": 3789,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4",
    "t_start": -0.8690333779706506,
    "t_end": 125.39737262202908,
    "clock": "device",
    "calibrated": false
   },
   "third_person": {
    "file": "mocap/mocap-DR10-S02-liujiaxin-02p1-1.mp4",
    "frames": 3805,
    "fps": 30.0,
    "clock": "nokov (frame index)",
    "t_start": 0.0,
    "t_end": 126.8
   }
  }
 },
 "flags": [],
 "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
 "rig_tracker": {
  "definition": "e3296774a321bb51/20261030-afternoon/labels-053142/session-7ce59379dcb32a4b",
  "R_tracker0_imu0": [
   [
    -0.61497441,
    0.21972525,
    -0.75731584
   ],
   [
    0.7878153,
    0.21256607,
    -0.57806809
   ],
   [
    0.0339635,
    -0.95212209,
    -0.30382561
   ]
  ],
  "p_tracker0_imu0_m": [
   -0.1715874397770637,
   0.005640124616139784,
   -0.028640494430657398
  ],
  "rig_check": {
   "gyro_samples": 3098,
   "gyro_max_deg": 2.5,
   "status": "gyro_rotation",
   "dropped_marker": null,
   "gyro_deg": 0.0,
   "video_solve": {
    "status": "ok",
    "reason": "",
    "reprojection_px": 3.42,
    "n_assoc": 603,
    "gyro_deg": 2.801
   }
  },
  "file": "derived/rig_tracker_provider/rig_tracker.json",
  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
 },
 "canonical": {
  "generated_at_utc": "2026-11-03T09:17:41.850316+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": [
   [
    0.9999959911,
    0.0028315371,
    1.0128e-05
   ],
   [
    -1.0128e-05,
    0.0071536355,
    -0.9999744124
   ],
   [
    -0.0028315371,
    0.9999704035,
    0.0071536355
   ]
  ],
  "scale_nokov_to_canon": 0.001,
  "T_canon_nokov_mm": [
   [
    0.000999995991,
    2.831537e-06,
    1.0128e-08,
    0.0
   ],
   [
    -1.0128e-08,
    7.153635e-06,
    -0.000999974412,
    0.0
   ],
   [
    -2.831537e-06,
    0.000999970404,
    7.153635e-06,
    0.0
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ],
  "block": "20261030-afternoon",
  "block_assignment": "trc",
  "tilt_removed_deg": 0.44081747329349447,
  "plane_status": "ok",
  "floor": {
   "sole_marker_p1_mm": 32.3,
   "headtop_p95_mm": 1733.7
  },
  "gravity_check": {
   "static_samples": 1784,
   "g_world_mean_m_s2": [
    0.0386,
    -0.0486,
    9.7545
   ],
   "tilt_from_z_deg": 0.365,
   "tilt_from_z_deg_before_levelling": 0.699,
   "magnitude_m_s2": 9.7547
  },
  "rig_tracker_definition": "e3296774a321bb51/20261030-afternoon/labels-053142/session-7ce59379dcb32a4b",
  "rig_check": {
   "status": "gyro_rotation",
   "dropped_marker": null,
   "gyro_deg": 0.0
  },
  "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": "2026-11-03T10:34:33.719738+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": [
      0.0753277987241745,
      0.00964126642793417,
      0.01940312050282955
     ],
     "LHandOut": [
      0.05886333808302879,
      0.00277977017685771,
      -0.03277241438627243
     ],
     "LWristIn": [
      -0.028239494189620018,
      0.00549051258713007,
      0.036793358623981476
     ],
     "LWristOut": [
      -0.02265189215540886,
      0.018605545163154602,
      -0.02441852167248726
     ]
    },
    "right": {
     "RHandIn": [
      -0.10716332495212555,
      -0.011763587594032288,
      0.037723395973443985
     ],
     "RHandOut": [
      -0.08662581443786621,
      0.015578122809529305,
      -0.01925203576683998
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 3.37,
   "p95_frame": 4.57
  },
  "worst_markers": [
   "RKneeIn 8mm",
   "LKneeIn 7mm",
   "RThigh 7mm",
   "LThigh 6mm",
   "RHeel 5mm"
  ],
  "valid_fraction": 1.0,
  "qc": {
   "lowest_vertex_mm": {
    "median": 26.2,
    "p5": 12.9
   },
   "frames_checked": 508,
   "stature_mm": 1614.2
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 11.95
  },
  "shape_source": "participant median",
  "wrist_correction": {
   "left": {
    "status": "corrected",
    "Q_deg": 3.87,
    "Q_rotvec": [
     -0.02007,
     0.01116,
     0.06358
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 13.6,
    "opposite_sign_bend_deg": 176.7,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 0.54,
    "hand_vs_marker_frame_deg": {
     "before": 3.93,
     "after": 0.54
    },
    "markers_on_wrist": [
     "LWristIn",
     "LWristOut",
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": 6.75,
     "wrist_twist_deg_after": {
      "median": -0.0,
      "iqr": [
       -0.9,
       1.1
      ]
     },
     "wrist_total_deg_median_after": 11.7,
     "markers_on_forearm": [
      "LElbow",
      "LElbowIn",
      "LForearm"
     ]
    },
    "frames_used": 1500
   },
   "right": {
    "status": "corrected",
    "Q_deg": 31.32,
    "Q_rotvec": [
     0.54473,
     -0.00927,
     -0.04513
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 44.3,
    "opposite_sign_bend_deg": 141.0,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 0.72,
    "hand_vs_marker_frame_deg": {
     "before": 31.29,
     "after": 0.72
    },
    "markers_on_wrist": [
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -43.06,
     "wrist_twist_deg_after": {
      "median": 0.0,
      "iqr": [
       -1.0,
       0.9
      ]
     },
     "wrist_total_deg_median_after": 10.5,
     "markers_on_forearm": [
      "RElbowIn",
      "RForearm",
      "RWristIn",
      "RWristOut"
     ]
    },
    "frames_used": 1500
   },
   "generated_at_utc": "2026-11-03T10:34:36.845733+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "release": {
  "release_path": "actions/dynamic_recovery/DR10/session_009",
  "family": "dynamic_recovery",
  "primitive": "DR10",
  "source_session": "20261030/DR10/20261030_103618_session19"
 },
 "task": {
  "primitive": "DR10",
  "instruction": "Walk across the mats at a normal pace. They may not all feel the same underfoot. Carry on afterwards."
 }
}