{
 "schema_version": 1,
 "session": "EgoMotionActions/20260922/LM21/20260922_014743_session4",
 "session_id": "20260922_014743_session4",
 "primitive": "LM21",
 "batch": "20260922",
 "participant": "wangyang",
 "participant_source": "manifest",
 "device_ids": {
  "main": "e17c9efadb69e7b1",
  "left": "cc5681142208e29a",
  "right": "60a6f081bbe60b0d"
 },
 "generated_at_utc": "2026-10-14T11:21:45.570447+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": 124.025,
  "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": -1.168663,
  "rate": 0.0,
  "global_lag_s": -1.17,
  "peak_corr": 0.9905,
  "reference_imu_first_sample_s": 370.181203707,
  "windows": {
   "n_windows": 11,
   "window_corr_median": 0.9965590385972104,
   "drift_ppm": 3.375943935533034,
   "drift_se_ppm": 11.677907138626132,
   "drift_ms_over_take": 0.4186733137383551,
   "lag_scatter_ms": 1.1078635458599477,
   "lag_range_ms": 3.5086351280775308
  }
 },
 "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": 25269,
    "n_gyro": 25263,
    "t_start": -1.1852242224122504,
    "t_end": 124.79150761258776
   },
   "imu_head_left": {
    "n_acc": 25223,
    "n_gyro": 25219,
    "t_start": -1.0734237844122616,
    "t_end": 124.95575079258774
   },
   "imu_wrist_right": {
    "n_acc": 24297,
    "n_gyro": 24310,
    "t_start": 0.3810082685877434,
    "t_end": 120.45464115758776
   },
   "imu_wrist_left": {
    "n_acc": 23749,
    "n_gyro": 23761,
    "t_start": 0.18813908258774759,
    "t_end": 120.41967983358776
   },
   "mag_head": {
    "n": 12612,
    "t_start": -0.9892615974122576,
    "t_end": 125.12074287958777
   },
   "mag_wrist_right": {
    "n": 12007,
    "t_start": 0.39431749758775836,
    "t_end": 120.45432475058774
   },
   "mag_wrist_left": {
    "n": 12016,
    "t_start": 0.20245267358776586,
    "t_end": 120.35237470358774
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 371.387556,
    "frames": 3720,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0023423887986386703,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": 0.04003190738640128,
    "t_end": 124.00667590738638,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 371.387484,
    "frames": 3720,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0019489646456461974,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": 0.039566483233352434,
    "t_end": 124.00622248323336,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 371.387534,
    "frames": 3720,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0018171232386612972,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": 0.03948464182641387,
    "t_end": 124.00612864182645,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 371.387578,
    "frames": 3720,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0017295646474508202,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": 0.03944108323522655,
    "t_end": 124.00608508323526,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 30.0,
    "start_device_s": 371.387508,
    "frames": 3720,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.001668932298833096,
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": 0.03931045088662599,
    "t_end": 124.00596645088663,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 371.387451,
    "frames": 3720,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0017169377622902274,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": 0.03930145635004023,
    "t_end": 124.00596845635002,
    "clock": "device",
    "calibrated": true
   },
   "wrist_left": {
    "fps": 30.0,
    "start_device_s": 371.524751,
    "frames": 3607,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
    "t_start": 0.1748845185877259,
    "t_end": 120.37481951858771,
    "clock": "device",
    "calibrated": false
   },
   "wrist_right": {
    "fps": 30.0,
    "start_device_s": 371.715232,
    "frames": 3603,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
    "t_start": 0.3653655185877598,
    "t_end": 120.43203251858776,
    "clock": "device",
    "calibrated": false
   },
   "third_person": {
    "file": "mocap/mocap-LM21-S02-wangyang-01p1-1.mp4",
    "frames": 3721,
    "fps": 60.0,
    "clock": "nokov (frame index)",
    "t_start": 0.0,
    "t_end": 62.0
   }
  }
 },
 "flags": [],
 "sanity": {
  "status": {
   "structure": "WARN",
   "markers": "WARN",
   "timing": "WARN"
  },
  "verdict": "READY_WITH_WARNINGS",
  "issues": [
   "WARN M_BODY_ID",
   "WARN M_SPIKES",
   "WARN M_TRACKER_LABELS",
   "WARN S_VIDEO_FPS",
   "WARN T_UNITS"
  ]
 },
 "canonical": {
  "generated_at_utc": "2026-10-14T12:21:23.275893+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": [
   [
    0.9999891338,
    -0.0046617433,
    -2.23966e-05
   ],
   [
    2.23966e-05,
    0.0096084269,
    -0.9999538377
   ],
   [
    0.0046617433,
    0.9999429715,
    0.0096084269
   ]
  ],
  "scale_nokov_to_canon": 0.001,
  "T_canon_nokov_mm": [
   [
    0.000999989134,
    -4.661743e-06,
    -2.2397e-08,
    0.0
   ],
   [
    2.2397e-08,
    9.608427e-06,
    -0.000999953838,
    0.0
   ],
   [
    4.661743e-06,
    0.000999942972,
    9.608427e-06,
    0.0
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ],
  "block": "20260922-morning",
  "block_assignment": "trc",
  "tilt_removed_deg": 0.6119072705165756,
  "plane_status": "ok",
  "floor": {
   "sole_marker_p1_mm": 54.5,
   "headtop_p95_mm": 1777.5
  },
  "gravity_check": {
   "static_samples": 1592,
   "g_world_mean_m_s2": [
    -0.0056,
    0.0305,
    9.7715
   ],
   "tilt_from_z_deg": 0.182,
   "tilt_from_z_deg_before_levelling": 0.439,
   "magnitude_m_s2": 9.7716
  },
  "rig_tracker_definition": "e17c9efadb69e7b1/20260922-morning/labels-352410/session-2c45d11274a663aa",
  "camera_pose_source": "provider T_tracker0_cam",
  "files": [
   "mocap_zup.npz",
   "tracker0_zup.npz",
   "rig_zup.npz",
   "cameras_zup.npz"
  ]
 },
 "smplx": {
  "generated_at_utc": "2026-10-15T10:09:31.634766+00:00",
  "generated_by": "scripts/fit_smplx_dataset.py",
  "file": "smplx.npz",
  "gender": "male",
  "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": [
      0.08046332001686096,
      0.01274031214416027,
      -0.02092665247619152
     ],
     "LHandOut": [
      0.07777053117752075,
      -0.02024468407034874,
      0.017111992463469505
     ]
    },
    "right": {
     "RHandIn": [
      -0.045475073158741,
      0.005636964924633503,
      0.03953757509589195
     ],
     "RHandOut": [
      -0.0462704598903656,
      0.03635783493518829,
      -0.0035124195273965597
     ],
     "RWristOut": [
      0.03647917881608009,
      0.032520830631256104,
      0.003925427794456482
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 5.96,
   "p95_frame": 13.19
  },
  "worst_markers": [
   "CLAV 17mm",
   "WaistRFront 12mm",
   "WaistLSide 12mm",
   "LKneeIn 12mm",
   "LThigh 12mm"
  ],
  "valid_fraction": 1.0,
  "qc": {
   "lowest_vertex_mm": {
    "median": 5.4,
    "p5": -1.2
   },
   "frames_checked": 497,
   "stature_mm": 1765.5
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 16.95
  },
  "shape_source": "participant median",
  "wrist_correction": {
   "left": {
    "status": "corrected",
    "Q_deg": 180.0,
    "Q_rotvec": [
     3.02706,
     -0.2415,
     -0.80509
    ],
    "in_out_sign": -1,
    "q_source": "markers (sign flipped by GSI)",
    "gsi": {
     "reliable": true,
     "frames": 3000,
     "inlier_frac": 0.981,
     "inlier_spread_deg": 6.92,
     "marker_Q_to_gsi_deg": {
      "1": 169.7,
      "-1": 14.7
     }
    },
    "wrist_bend_deg_median": 170.4,
    "opposite_sign_bend_deg": 15.8,
    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 2.99,
    "hand_vs_marker_frame_deg": {
     "before": 178.08,
     "after": 2.99
    },
    "markers_on_wrist": [
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -169.22,
     "wrist_twist_deg_after": {
      "median": -1.15,
      "iqr": [
       -4.9,
       20.1
      ]
     },
     "wrist_total_deg_median_after": 39.9,
     "markers_on_forearm": [
      "LForearm",
      "LWristIn",
      "LWristOut"
     ]
    },
    "frames_used": 1489
   },
   "right": {
    "status": "corrected",
    "Q_deg": 0.0,
    "Q_rotvec": [
     -0.0,
     0.0,
     -0.0
    ],
    "in_out_sign": 1,
    "q_source": "markers (GSI confirms)",
    "gsi": {
     "reliable": true,
     "frames": 3000,
     "inlier_frac": 0.998,
     "inlier_spread_deg": 6.22,
     "marker_Q_to_gsi_deg": {
      "1": 10.9,
      "-1": 178.9
     }
    },
    "wrist_bend_deg_median": 28.2,
    "opposite_sign_bend_deg": 176.4,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 2.47,
    "hand_vs_marker_frame_deg": {
     "before": 2.47,
     "after": 2.47
    },
    "markers_on_wrist": [
     "RWristOut",
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -0.0,
     "wrist_twist_deg_after": {
      "median": -0.0,
      "iqr": [
       -2.5,
       2.8
      ]
     },
     "wrist_total_deg_median_after": 28.2,
     "markers_on_forearm": [
      "RForearm",
      "RWristIn"
     ]
    },
    "frames_used": 1489
   },
   "generated_at_utc": "2026-11-06T13:55:10.734929+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "rig_tracker": {
  "definition": "e17c9efadb69e7b1/20260922-morning/labels-352410/session-2c45d11274a663aa",
  "R_tracker0_imu0": [
   [
    -0.63409423,
    0.14149553,
    -0.76019966
   ],
   [
    0.76689713,
    0.24089556,
    -0.59484294
   ],
   [
    0.0989611,
    -0.96018141,
    -0.261263
   ]
  ],
  "p_tracker0_imu0_m": [
   -0.17817808400094126,
   -0.009766751176259445,
   -0.0067726591620028455
  ],
  "rig_check": {
   "gyro_samples": 6775,
   "gyro_max_deg": 2.5,
   "status": "ok",
   "dropped_marker": null,
   "gyro_deg": 0.572
  },
  "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": "2026-10-18T19:01:10.112350+00:00",
  "generated_by": "scripts/correct_processed_rig.py",
  "remaining_gyro_frame_deg": 0.673374884085813
 },
 "hands_registration": {
  "cameras": {},
  "hands": {
   "left": {
    "offset_deg": 14.78,
    "offset_rotvec": [
     -0.1587,
     0.1955,
     0.0558
    ],
    "dev_deg": {
     "median": 7.02,
     "p90": 12.89
    },
    "samples": 3714,
    "accepted": 3635,
    "wrist_pos_err_mm_median": 41.1,
    "per_camera": {
     "head": {
      "samples": 3714,
      "accepted": 3635,
      "gate_deg": 30.0,
      "offset_deg": 14.78,
      "tier": "primary",
      "dev_deg_median": 7.02,
      "wrist_pos_err_mm_median": 41.1
     }
    },
    "frames_by_state": {
     "ace_sample": 14544,
     "interpolated": 16,
     "mean_hand": 324,
     "no_body_fit": 0
    },
    "observed_fraction": 0.9782,
    "observed_fraction_of_valid": 0.9782,
    "palm_axis_vs_markers_deg": {
     "gsi": 17.29,
     "smplx": 2.73
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 9.0,
      "p90": 14.2
     },
     "registered": {
      "median": 8.0,
      "p90": 14.0
     }
    }
   },
   "right": {
    "offset_deg": 11.02,
    "offset_rotvec": [
     0.0211,
     -0.1712,
     -0.0851
    ],
    "dev_deg": {
     "median": 6.2,
     "p90": 10.72
    },
    "samples": 3659,
    "accepted": 3647,
    "wrist_pos_err_mm_median": 23.9,
    "per_camera": {
     "head": {
      "samples": 3659,
      "accepted": 3647,
      "gate_deg": 30.0,
      "offset_deg": 11.02,
      "tier": "primary",
      "dev_deg_median": 6.2,
      "wrist_pos_err_mm_median": 23.9
     }
    },
    "frames_by_state": {
     "ace_sample": 14608,
     "interpolated": 264,
     "mean_hand": 12,
     "no_body_fit": 0
    },
    "observed_fraction": 0.9992,
    "observed_fraction_of_valid": 0.9992,
    "palm_axis_vs_markers_deg": {
     "gsi": 12.57,
     "smplx": 1.35
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 9.3,
      "p90": 14.5
     },
     "registered": {
      "median": 8.8,
      "p90": 14.0
     }
    }
   }
  },
  "max_dev_deg": 30.0,
  "max_gap_s": 1.0,
  "cameras_used": [
   "head"
  ],
  "generated_at_utc": "2026-11-06T15:07:00.847249+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_014",
  "family": "locomanipulation",
  "primitive": "LM21",
  "source_session": "20260922/LM21/20260922_014743_session4"
 },
 "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."
 }
}