{
 "schema_version": 1,
 "session": "EgoMotionActions/20261015/LM21/20261015_095536_session53",
 "session_id": "20261015_095536_session53",
 "primitive": "LM21",
 "batch": "20261015",
 "participant": "lvaoshan",
 "participant_source": "manifest",
 "device_ids": {
  "main": "e3296774a321bb51",
  "left": "75b5984e04d1d236",
  "right": "c84bc808cb6b47af"
 },
 "generated_at_utc": "2026-10-22T15:42:41.589787+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": 141.225,
  "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": -0.089549,
  "rate": 0.0,
  "global_lag_s": -0.09,
  "peak_corr": 0.9926,
  "reference_imu_first_sample_s": 12325.982016121,
  "windows": {
   "n_windows": 13,
   "window_corr_median": 0.9970015232635321,
   "drift_ppm": -332.75267428523864,
   "drift_se_ppm": 192.83180704062437,
   "drift_ms_over_take": -46.990223486980454,
   "lag_scatter_ms": 23.929797939408303,
   "lag_range_ms": 101.43738181456489
  }
 },
 "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": 28516,
    "n_gyro": 28510,
    "t_start": -0.10106479404503066,
    "t_end": 141.42884467195353
   },
   "imu_head_left": {
    "n_acc": 28378,
    "n_gyro": 28372,
    "t_start": 0.005955197954519598,
    "t_end": 141.59473800295444
   },
   "imu_wrist_right": {
    "n_acc": 28230,
    "n_gyro": 28230,
    "t_start": -0.792674790044928,
    "t_end": 139.6497647809544
   },
   "imu_wrist_left": {
    "n_acc": 28474,
    "n_gyro": 28487,
    "t_start": -0.8295702280459389,
    "t_end": 139.64850427095433
   },
   "mag_head": {
    "n": 14168,
    "t_start": 0.08449228095442063,
    "t_end": 141.7545858899545
   },
   "mag_wrist_right": {
    "n": 14043,
    "t_start": -0.7758233610450569,
    "t_end": 139.64445273495465
   },
   "mag_wrist_left": {
    "n": 14047,
    "t_start": -0.8165187680454418,
    "t_end": 139.6435460109539
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 12326.108807,
    "frames": 4236,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0025546514432425653,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": 0.039796056397519486,
    "t_end": 141.206463056397,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 12326.108788,
    "frames": 4236,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002366886077403108,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": 0.039589291031645324,
    "t_end": 141.20625629103114,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 12326.108802,
    "frames": 4236,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0026728712083183277,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": 0.039909276164237006,
    "t_end": 141.20657627616373,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 12326.108814,
    "frames": 4236,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002595594493655556,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": 0.03984399944665906,
    "t_end": 141.20651099944615,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 30.0,
    "start_device_s": 12326.108795,
    "frames": 4232,
    "pts_gaps": 4,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002394386090989767,
    "gap_test": {
     "pts": {
      "offset_ms": 35.6,
      "corr": 0.913,
      "err_ms": 33.2
     },
     "nominal": {
      "offset_ms": 107.3,
      "corr": 0.909,
      "err_ms": 104.9
     }
    },
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": 0.0396237910451438,
    "t_end": 141.2229457910459,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 12326.108779,
    "frames": 4236,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002315656053021164,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": 0.03952906100739906,
    "t_end": 141.2061960610069,
    "clock": "device",
    "calibrated": true
   },
   "wrist_left": {
    "fps": 30.0,
    "start_device_s": 12325.229748,
    "frames": 4214,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4",
    "t_start": -0.8418175950458116,
    "t_end": 139.5915804049534,
    "clock": "device",
    "calibrated": false
   },
   "wrist_right": {
    "fps": 30.0,
    "start_device_s": 12325.275512,
    "frames": 4212,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4",
    "t_start": -0.796053595045394,
    "t_end": 139.57087340495372,
    "clock": "device",
    "calibrated": false
   },
   "third_person": {
    "file": "mocap/mocap-LM21-S02-lvaoshan-01p1-1.mp4",
    "frames": 4237,
    "fps": 30.0,
    "clock": "nokov (frame index)",
    "t_start": 0.0,
    "t_end": 141.2
   }
  }
 },
 "flags": [],
 "sanity": {
  "status": {
   "structure": "WARN",
   "markers": "WARN",
   "timing": "WARN"
  },
  "verdict": "READY_WITH_WARNINGS",
  "issues": [
   "WARN M_SPIKES",
   "WARN M_TRACKER_GEOM",
   "WARN S_CALIB",
   "WARN S_REPORT_TIMING",
   "WARN T_FRAMES",
   "WARN T_LAG_OUTLIER",
   "WARN T_LAG_SCATTER",
   "WARN T_PTS",
   "WARN T_UNITS"
  ]
 },
 "rig_tracker": {
  "definition": "e3296774a321bb51/20261015-afternoon/labels-235410/session-3a8fc1edd99801ae",
  "R_tracker0_imu0": [
   [
    -0.59954539,
    0.2175832,
    -0.77019665
   ],
   [
    0.7615958,
    -0.14069147,
    -0.63259604
   ],
   [
    -0.24600237,
    -0.96584857,
    -0.08135953
   ]
  ],
  "p_tracker0_imu0_m": [
   0.019812411030832103,
   -0.014017322947754195,
   -0.028176566070212045
  ],
  "rig_check": {
   "gyro_samples": 8789,
   "gyro_max_deg": 2.5,
   "status": "dropped_marker",
   "dropped_marker": 0,
   "gyro_deg": 2.315
  },
  "file": "derived/rig_tracker_provider/rig_tracker.json",
  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
 },
 "canonical": {
  "generated_at_utc": "2026-10-24T05:11:08.562357+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": [
   [
    0.999907077,
    -0.0136318504,
    -0.00010024
   ],
   [
    0.00010024,
    0.0147052486,
    -0.999891867
   ],
   [
    0.0136318504,
    0.9997989439,
    0.0147052486
   ]
  ],
  "scale_nokov_to_canon": 0.001,
  "T_canon_nokov_mm": [
   [
    0.000999907077,
    -1.363185e-05,
    -1.0024e-07,
    0.0
   ],
   [
    1.0024e-07,
    1.4705249e-05,
    -0.000999891867,
    0.0
   ],
   [
    1.363185e-05,
    0.000999798944,
    1.4705249e-05,
    0.0
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ],
  "block": "20261015-afternoon",
  "block_assignment": "trc",
  "tilt_removed_deg": 1.1489562255076442,
  "plane_status": "ok",
  "floor": {
   "sole_marker_p1_mm": 28.9,
   "headtop_p95_mm": 1679.4
  },
  "gravity_check": {
   "static_samples": 1115,
   "g_world_mean_m_s2": [
    -0.1013,
    0.2151,
    9.7957
   ],
   "tilt_from_z_deg": 1.391,
   "tilt_from_z_deg_before_levelling": 0.456,
   "magnitude_m_s2": 9.7986
  },
  "rig_tracker_definition": "e3296774a321bb51/20261015-afternoon/labels-235410/session-3a8fc1edd99801ae",
  "rig_check": {
   "status": "dropped_marker",
   "dropped_marker": 0,
   "gyro_deg": 2.315
  },
  "camera_pose_source": "provider T_tracker0_cam",
  "files": [
   "mocap_zup.npz",
   "tracker0_zup.npz",
   "rig_zup.npz",
   "cameras_zup.npz"
  ]
 },
 "smplx": {
  "generated_at_utc": "2026-10-23T00:12:35.781178+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": [
      0.0887930691242218,
      0.008065302856266499,
      0.029341483488678932
     ],
     "LHandOut": [
      0.08591100573539734,
      0.01616585999727249,
      -0.009519738145172596
     ]
    },
    "right": {
     "RHandIn": [
      -0.06382071226835251,
      -0.023607302457094193,
      0.008822050876915455
     ],
     "RHandOut": [
      -0.06709601730108261,
      0.01182466372847557,
      -0.010199030861258507
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 4.71,
   "p95_frame": 8.1
  },
  "worst_markers": [
   "LShin 11mm",
   "RThigh 10mm",
   "LHeel 9mm",
   "RHeel 9mm",
   "RShin 9mm"
  ],
  "valid_fraction": 0.9999,
  "qc": {
   "lowest_vertex_mm": {
    "median": 15.6,
    "p5": 7.4
   },
   "frames_checked": 565,
   "stature_mm": 1659.4
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 14.78
  },
  "shape_source": "participant median",
  "wrist_correction": {
   "left": {
    "status": "corrected",
    "Q_deg": 180.0,
    "Q_rotvec": [
     2.98315,
     -0.44501,
     -0.87886
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 177.8,
    "opposite_sign_bend_deg": 30.1,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 1.0,
    "hand_vs_marker_frame_deg": {
     "before": 179.28,
     "after": 1.0
    },
    "markers_on_wrist": [
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": 177.06,
     "wrist_twist_deg_after": {
      "median": 1.03,
      "iqr": [
       -1.1,
       2.2
      ]
     },
     "wrist_total_deg_median_after": 11.7,
     "markers_on_forearm": [
      "LElbow",
      "LElbowIn",
      "LForearm",
      "LWristIn",
      "LWristOut"
     ]
    },
    "frames_used": 1500
   },
   "right": {
    "status": "corrected",
    "Q_deg": 0.0,
    "Q_rotvec": [
     0.0,
     0.0,
     -0.0
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 23.9,
    "opposite_sign_bend_deg": 174.5,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 1.95,
    "hand_vs_marker_frame_deg": {
     "before": 1.95,
     "after": 1.95
    },
    "markers_on_wrist": [
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -0.0,
     "wrist_twist_deg_after": {
      "median": -0.0,
      "iqr": [
       -8.5,
       4.0
      ]
     },
     "wrist_total_deg_median_after": 23.8,
     "markers_on_forearm": [
      "RElbowIn",
      "RForearm",
      "RWristIn",
      "RWristOut"
     ]
    },
    "frames_used": 1500
   },
   "generated_at_utc": "2026-10-28T06:38:11.238404+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "hands_registration": {
  "cameras": {},
  "hands": {
   "left": {
    "offset_deg": 27.36,
    "offset_rotvec": [
     0.4425,
     -0.1162,
     0.1367
    ],
    "dev_deg": {
     "median": 13.54,
     "p90": 26.88
    },
    "samples": 3482,
    "accepted": 3274,
    "wrist_pos_err_mm_median": 46.7,
    "per_camera": {
     "head": {
      "samples": 3482,
      "accepted": 3274,
      "gate_deg": 30.0,
      "offset_deg": 27.36,
      "tier": "primary",
      "dev_deg_median": 13.54,
      "wrist_pos_err_mm_median": 46.7
     }
    },
    "frames_by_state": {
     "ace_sample": 13389,
     "interpolated": 3517,
     "mean_hand": 40,
     "no_body_fit": 2
    },
    "observed_fraction": 0.9975,
    "observed_fraction_of_valid": 0.9976,
    "palm_axis_vs_markers_deg": {
     "gsi": 24.59,
     "smplx": 1.08
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 9.1,
      "p90": 13.3
     },
     "registered": {
      "median": 8.0,
      "p90": 9.9
     }
    }
   },
   "right": {
    "offset_deg": 21.38,
    "offset_rotvec": [
     0.3449,
     -0.0646,
     -0.1267
    ],
    "dev_deg": {
     "median": 13.74,
     "p90": 27.44
    },
    "samples": 3616,
    "accepted": 3330,
    "wrist_pos_err_mm_median": 45.2,
    "per_camera": {
     "head": {
      "samples": 3616,
      "accepted": 3330,
      "gate_deg": 30.0,
      "offset_deg": 21.38,
      "tier": "primary",
      "dev_deg_median": 13.74,
      "wrist_pos_err_mm_median": 45.2
     }
    },
    "frames_by_state": {
     "ace_sample": 13529,
     "interpolated": 2977,
     "mean_hand": 440,
     "no_body_fit": 2
    },
    "observed_fraction": 0.9739,
    "observed_fraction_of_valid": 0.974,
    "palm_axis_vs_markers_deg": {
     "gsi": 20.23,
     "smplx": 1.53
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 8.6,
      "p90": 13.4
     },
     "registered": {
      "median": 8.6,
      "p90": 13.9
     }
    }
   }
  },
  "max_dev_deg": 30.0,
  "max_gap_s": 1.0,
  "cameras_used": [
   "head"
  ],
  "generated_at_utc": "2026-11-03T21:52:30.206173+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_024",
  "family": "locomanipulation",
  "primitive": "LM21",
  "source_session": "20261015/LM21/20261015_095536_session53"
 },
 "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."
 },
 "objects": [
  {
   "name": "BigBox",
   "object_type": "BigBox",
   "source": "mocap",
   "pose_frame": "mesh"
  }
 ]
}