{
 "schema_version": 1,
 "session": "EgoMotionActions/20260910/LM21/20260910_100934_session174",
 "session_id": "20260910_100934_session174",
 "primitive": "LM21",
 "batch": "20260910",
 "participant": "mahui",
 "participant_source": "manifest",
 "device_ids": {
  "main": "e17c9efadb69e7b1",
  "left": "cc5681142208e29a",
  "right": "60a6f081bbe60b0d"
 },
 "generated_at_utc": "2026-10-14T11:01:53.730212+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": 109.025,
  "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": -1.173896,
  "rate": 0.0,
  "global_lag_s": -1.175,
  "peak_corr": 0.991,
  "reference_imu_first_sample_s": 35095.872190645,
  "windows": {
   "n_windows": 8,
   "window_corr_median": 0.9984359073087785,
   "drift_ppm": -3.4213985420066124,
   "drift_se_ppm": 6.1850466708114515,
   "drift_ms_over_take": -0.37298946438775415,
   "lag_scatter_ms": 0.34713488345074855,
   "lag_range_ms": 1.3027306305863906
  }
 },
 "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": 22255,
    "n_gyro": 22248,
    "t_start": -1.1858629543489587,
    "t_end": 109.76339772165421
   },
   "imu_head_left": {
    "n_acc": 22216,
    "n_gyro": 22209,
    "t_start": -1.075932729348533,
    "t_end": 109.92685572365055
   },
   "imu_wrist_right": {
    "n_acc": 20913,
    "n_gyro": 20924,
    "t_start": 0.34068322864961376,
    "t_end": 103.68385657865339
   },
   "imu_wrist_left": {
    "n_acc": 20397,
    "n_gyro": 20397,
    "t_start": 0.2212227956483912,
    "t_end": 103.47729496564763
   },
   "mag_head": {
    "n": 11109,
    "t_start": -0.990641937350556,
    "t_end": 110.08945457365236
   },
   "mag_wrist_right": {
    "n": 10334,
    "t_start": 0.35908939065167944,
    "t_end": 103.68927528065298
   },
   "mag_wrist_left": {
    "n": 10325,
    "t_start": 0.23550548664981763,
    "t_end": 103.47552181164839
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 35097.082986,
    "frames": 3270,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0023423887986386703,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": 0.03924188444991161,
    "t_end": 109.00591988444695,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 35097.082927,
    "frames": 3270,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0019489646456461974,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": 0.03878946029773944,
    "t_end": 109.00546746029478,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 35097.082964,
    "frames": 3270,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0018171232386612972,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": 0.03869461888873049,
    "t_end": 109.00537261888577,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 35097.083004,
    "frames": 3270,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0017295646474508202,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": 0.03864706029755327,
    "t_end": 109.00531406029815,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 30.0,
    "start_device_s": 35097.082946,
    "frames": 3270,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.001668932298833096,
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": 0.038528427955061506,
    "t_end": 109.0052064279521,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 35097.0829,
    "frames": 3270,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0017169377622902274,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": 0.03853043341270679,
    "t_end": 109.00520843340975,
    "clock": "device",
    "calibrated": true
   },
   "wrist_left": {
    "fps": 30.0,
    "start_device_s": 35097.259664,
    "frames": 3098,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
    "t_start": 0.2135774956482419,
    "t_end": 103.44691049564473,
    "clock": "device",
    "calibrated": false
   },
   "wrist_right": {
    "fps": 30.0,
    "start_device_s": 35097.42363,
    "frames": 3099,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
    "t_start": 0.377543495648315,
    "t_end": 103.64440549564507,
    "clock": "device",
    "calibrated": false
   },
   "third_person": {
    "file": "mocap/mocap-LM21-S02-mahui-01p1-1.mp4",
    "frames": 3271,
    "fps": 30.0,
    "clock": "nokov (frame index)",
    "t_start": 0.0,
    "t_end": 109.0
   }
  }
 },
 "flags": [],
 "sanity": {
  "status": {
   "structure": "WARN",
   "markers": "WARN",
   "timing": "PASS"
  },
  "verdict": "READY",
  "issues": [
   "WARN M_SPIKES",
   "WARN M_TRACKER_LABELS",
   "WARN S_INDEX",
   "WARN S_PARTICIPANT"
  ]
 },
 "canonical": {
  "generated_at_utc": "2026-10-14T12:18:47.924883+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": [
   [
    0.9998951173,
    -0.0144827759,
    -5.99233e-05
   ],
   [
    5.99233e-05,
    0.0082745384,
    -0.9999657636
   ],
   [
    0.0144827759,
    0.9998608809,
    0.0082745384
   ]
  ],
  "scale_nokov_to_canon": 0.001,
  "T_canon_nokov_mm": [
   [
    0.000999895117,
    -1.4482776e-05,
    -5.9923e-08,
    0.0
   ],
   [
    5.9923e-08,
    8.274538e-06,
    -0.000999965764,
    0.0
   ],
   [
    1.4482776e-05,
    0.000999860881,
    8.274538e-06,
    0.0
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ],
  "block": "20260910-afternoon",
  "block_assignment": "trc",
  "tilt_removed_deg": 0.9557317120642068,
  "plane_status": "ok",
  "floor": {
   "sole_marker_p1_mm": 37.1,
   "headtop_p95_mm": 1649.2
  },
  "gravity_check": {
   "static_samples": 1244,
   "g_world_mean_m_s2": [
    -0.0833,
    0.0999,
    9.7828
   ],
   "tilt_from_z_deg": 0.762,
   "tilt_from_z_deg_before_levelling": 0.359,
   "magnitude_m_s2": 9.7837
  },
  "rig_tracker_definition": "e17c9efadb69e7b1/20260910-afternoon/labels-530412/session-2a0273bcd989aeeb",
  "camera_pose_source": "provider T_tracker0_cam",
  "files": [
   "mocap_zup.npz",
   "tracker0_zup.npz",
   "rig_zup.npz",
   "cameras_zup.npz"
  ]
 },
 "smplx": {
  "generated_at_utc": "2026-10-15T06:59:32.516746+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": [
      0.054642658680677414,
      0.01052938587963581,
      0.025279957801103592
     ],
     "LHandOut": [
      0.04075564444065094,
      0.008834253065288067,
      -0.030749887228012085
     ],
     "LWristOut": [
      -0.022864697501063347,
      0.007788593415170908,
      -0.020356252789497375
     ]
    },
    "right": {
     "RHandIn": [
      -0.06074580177664757,
      0.012487590312957764,
      0.027990007773041725
     ],
     "RHandOut": [
      -0.041847337037324905,
      0.014511151239275932,
      -0.027983585372567177
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 4.2,
   "p95_frame": 6.54
  },
  "worst_markers": [
   "RKneeIn 15mm",
   "LKneeIn 13mm",
   "RKnee 9mm",
   "LHeel 8mm",
   "RThigh 7mm"
  ],
  "valid_fraction": 0.9971,
  "qc": {
   "lowest_vertex_mm": {
    "median": 9.1,
    "p5": 1.8
   },
   "frames_checked": 435,
   "stature_mm": 1631.4
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 10.34
  },
  "shape_source": "participant median",
  "wrist_correction": {
   "left": {
    "status": "corrected",
    "Q_deg": 180.0,
    "Q_rotvec": [
     2.98498,
     -0.43373,
     -0.87829
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 177.1,
    "opposite_sign_bend_deg": 28.8,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 0.66,
    "hand_vs_marker_frame_deg": {
     "before": 179.71,
     "after": 0.66
    },
    "markers_on_wrist": [
     "LWristOut",
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -174.31,
     "wrist_twist_deg_after": {
      "median": -4.45,
      "iqr": [
       -6.9,
       -1.6
      ]
     },
     "wrist_total_deg_median_after": 12.9,
     "markers_on_forearm": [
      "LElbowIn",
      "LForearm",
      "LWristIn"
     ]
    },
    "frames_used": 1305
   },
   "right": {
    "status": "corrected",
    "Q_deg": 0.0,
    "Q_rotvec": [
     0.0,
     -0.0,
     0.0
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 13.0,
    "opposite_sign_bend_deg": 176.9,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 0.94,
    "hand_vs_marker_frame_deg": {
     "before": 0.94,
     "after": 0.94
    },
    "markers_on_wrist": [
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": 0.0,
     "wrist_twist_deg_after": {
      "median": 0.0,
      "iqr": [
       -2.3,
       3.0
      ]
     },
     "wrist_total_deg_median_after": 13.0,
     "markers_on_forearm": [
      "RElbow",
      "RElbowIn",
      "RForearm",
      "RWristIn",
      "RWristOut"
     ]
    },
    "frames_used": 1305
   },
   "generated_at_utc": "2026-10-28T06:11:39.457059+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "rig_tracker": {
  "definition": "e17c9efadb69e7b1/20260910-afternoon/labels-530412/session-2a0273bcd989aeeb",
  "R_tracker0_imu0": [
   [
    -0.64228395,
    0.37690863,
    -0.66739135
   ],
   [
    0.76084205,
    0.20822898,
    -0.61462189
   ],
   [
    -0.09268607,
    -0.90254118,
    -0.42051007
   ]
  ],
  "p_tracker0_imu0_m": [
   -0.17168476402547805,
   -0.01252667388990937,
   -0.05074314447232211
  ],
  "rig_check": {
   "gyro_samples": 3401,
   "gyro_max_deg": 2.5,
   "status": "ok",
   "dropped_marker": null,
   "gyro_deg": 0.628
  },
  "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": "2026-10-18T18:50:01.129661+00:00",
  "generated_by": "scripts/correct_processed_rig.py",
  "remaining_gyro_frame_deg": 0.7207285899613057
 },
 "hands_registration": {
  "cameras": {},
  "hands": {
   "left": {
    "offset_deg": 15.24,
    "offset_rotvec": [
     0.1895,
     -0.1367,
     0.127
    ],
    "dev_deg": {
     "median": 19.15,
     "p90": 31.51
    },
    "samples": 1883,
    "accepted": 1661,
    "wrist_pos_err_mm_median": 71.9,
    "per_camera": {
     "head": {
      "samples": 1883,
      "accepted": 1661,
      "gate_deg": 30.0,
      "offset_deg": 15.24,
      "tier": "primary",
      "dev_deg_median": 19.15,
      "wrist_pos_err_mm_median": 71.9
     }
    },
    "frames_by_state": {
     "ace_sample": 6952,
     "interpolated": 5928,
     "mean_hand": 166,
     "no_body_fit": 38
    },
    "observed_fraction": 0.9844,
    "observed_fraction_of_valid": 0.9873,
    "palm_axis_vs_markers_deg": {
     "gsi": 17.72,
     "smplx": 0.42
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 5.5,
      "p90": 7.8
     },
     "registered": {
      "median": 6.0,
      "p90": 7.5
     }
    }
   },
   "right": {
    "offset_deg": 22.22,
    "offset_rotvec": [
     0.1543,
     0.3528,
     -0.0461
    ],
    "dev_deg": {
     "median": 18.03,
     "p90": 37.37
    },
    "samples": 2171,
    "accepted": 1784,
    "wrist_pos_err_mm_median": 76.2,
    "per_camera": {
     "head": {
      "samples": 2171,
      "accepted": 1784,
      "gate_deg": 30.0,
      "offset_deg": 22.22,
      "tier": "primary",
      "dev_deg_median": 18.03,
      "wrist_pos_err_mm_median": 76.2
     }
    },
    "frames_by_state": {
     "ace_sample": 7426,
     "interpolated": 4834,
     "mean_hand": 786,
     "no_body_fit": 38
    },
    "observed_fraction": 0.937,
    "observed_fraction_of_valid": 0.9398,
    "palm_axis_vs_markers_deg": {
     "gsi": 27.34,
     "smplx": 0.58
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 7.4,
      "p90": 8.3
     },
     "registered": {
      "median": 6.9,
      "p90": 7.5
     }
    }
   }
  },
  "max_dev_deg": 30.0,
  "max_gap_s": 1.0,
  "cameras_used": [
   "head"
  ],
  "generated_at_utc": "2026-11-03T16:14:29.820528+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/locomanipulation/LM21/session_005",
  "family": "locomanipulation",
  "primitive": "LM21",
  "source_session": "20260910/LM21/20260910_100934_session174"
 },
 "task": {
  "primitive": "LM21",
  "instruction": "Carry the box straight from one end of the room to the other, set it down, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
 }
}