{
 "schema_version": 1,
 "session": "EgoMotionActions/20261021/LM21/20261021_050852_session65",
 "session_id": "20261021_050852_session65",
 "primitive": "LM21",
 "batch": "20261021",
 "participant": "wangzhixin",
 "participant_source": "manifest",
 "device_ids": {
  "main": "e3296774a321bb51",
  "left": "75b5984e04d1d236",
  "right": "c84bc808cb6b47af"
 },
 "generated_at_utc": "2026-10-22T16:17:50.610490+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": 112.79166666666667,
  "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": -0.087681,
  "rate": 0.0,
  "global_lag_s": -0.09,
  "peak_corr": 0.995,
  "reference_imu_first_sample_s": 12528.341659367,
  "windows": {
   "n_windows": 10,
   "window_corr_median": 0.9973891854832884,
   "drift_ppm": -231.68458224283145,
   "drift_se_ppm": 138.02442327169103,
   "drift_ms_over_take": -26.130159467287342,
   "lag_scatter_ms": 11.213157154369474,
   "lag_range_ms": 44.28253009614272
  }
 },
 "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": 22787,
    "n_gyro": 22782,
    "t_start": -0.09463013656994579,
    "t_end": 113.0002936574304
   },
   "imu_head_left": {
    "n_acc": 22680,
    "n_gyro": 22673,
    "t_start": 0.009719155429878557,
    "t_end": 113.16735361743059
   },
   "imu_wrist_right": {
    "n_acc": 22690,
    "n_gyro": 22704,
    "t_start": -0.7856528565704923,
    "t_end": 112.09872171342914
   },
   "imu_wrist_left": {
    "n_acc": 22873,
    "n_gyro": 22886,
    "t_start": -0.8336125915708965,
    "t_end": 112.01634860242967
   },
   "mag_head": {
    "n": 11325,
    "t_start": 0.09106557243041036,
    "t_end": 113.33106700143009
   },
   "mag_wrist_right": {
    "n": 11287,
    "t_start": -0.7687251245703794,
    "t_end": 112.09110154843012
   },
   "mag_wrist_left": {
    "n": 11284,
    "t_start": -0.8205822905699154,
    "t_end": 112.00917232043076
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 12528.466967,
    "frames": 3383,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0025546514432425653,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": 0.04018104187281435,
    "t_end": 112.77349204187277,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 12528.466944,
    "frames": 3383,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002366886077403108,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": 0.039970276507405034,
    "t_end": 112.77327027650728,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 12528.46696,
    "frames": 3383,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0026728712083183277,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": 0.0402922616388548,
    "t_end": 112.77359226163873,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 12528.466974,
    "frames": 3383,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002595594493655556,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": 0.040228984923772915,
    "t_end": 112.77355098492382,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 30.0,
    "start_device_s": 12528.466954,
    "frames": 3374,
    "pts_gaps": 8,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002394386090989767,
    "gap_test": {
     "pts": {
      "offset_ms": 35.5,
      "corr": 0.836,
      "err_ms": 33.1
     },
     "nominal": {
      "offset_ms": 150.0,
      "corr": 0.827,
      "err_ms": 147.6
     }
    },
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": 0.040007776520100125,
    "t_end": 112.75660777651984,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 12528.466934,
    "frames": 3383,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002315656053021164,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": 0.03990904648282023,
    "t_end": 112.77318704648252,
    "clock": "device",
    "calibrated": true
   },
   "wrist_left": {
    "fps": 30.0,
    "start_device_s": 12527.582864,
    "frames": 3385,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4",
    "t_start": -0.84647660957006,
    "t_end": 111.95326339043032,
    "clock": "device",
    "calibrated": false
   },
   "wrist_right": {
    "fps": 30.0,
    "start_device_s": 12527.640147,
    "frames": 3386,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4",
    "t_start": -0.7891936095699623,
    "t_end": 112.04394439043,
    "clock": "device",
    "calibrated": false
   },
   "third_person": {
    "file": "mocap/mocap-LM21-S07-wangzhixin-01p1-1.mp4",
    "frames": 3384,
    "fps": 30.0,
    "clock": "nokov (frame index)",
    "t_start": 0.0,
    "t_end": 112.76666666666667
   }
  }
 },
 "flags": [],
 "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
 "rig_tracker": {
  "definition": "e3296774a321bb51/20261021-morning/labels-320145/session-2bbd11d1bac3c80a",
  "R_tracker0_imu0": [
   [
    -0.69144463,
    0.15350293,
    -0.70593284
   ],
   [
    0.72012056,
    0.06838752,
    -0.69047052
   ],
   [
    -0.05771225,
    -0.98577888,
    -0.1578268
   ]
  ],
  "p_tracker0_imu0_m": [
   -0.03993440241281014,
   -0.011838654079595754,
   -0.08746307575437011
  ],
  "rig_check": {
   "gyro_samples": 2724,
   "gyro_max_deg": 2.5,
   "status": "video_solve",
   "dropped_marker": null,
   "gyro_deg": 1.777,
   "video_solve": {
    "status": "ok",
    "reason": "",
    "reprojection_px": 2.763,
    "n_assoc": 615,
    "gyro_deg": 1.777
   }
  },
  "file": "derived/rig_tracker_provider/rig_tracker.json",
  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
 },
 "canonical": {
  "generated_at_utc": "2026-10-26T10:24:47.146537+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": [
   [
    0.9999996167,
    -0.0008755721,
    -3.761e-06
   ],
   [
    3.761e-06,
    0.0085906853,
    -0.9999630994
   ],
   [
    0.0008755721,
    0.9999627161,
    0.0085906853
   ]
  ],
  "scale_nokov_to_canon": 0.001,
  "T_canon_nokov_mm": [
   [
    0.000999999617,
    -8.75572e-07,
    -3.761e-09,
    0.0
   ],
   [
    3.761e-09,
    8.590685e-06,
    -0.000999963099,
    0.0
   ],
   [
    8.75572e-07,
    0.000999962716,
    8.590685e-06,
    0.0
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ],
  "block": "20261021-morning",
  "block_assignment": "trc",
  "tilt_removed_deg": 0.4947660703921395,
  "plane_status": "ok",
  "floor": {
   "sole_marker_p1_mm": 28.8,
   "headtop_p95_mm": 1586.8
  },
  "gravity_check": {
   "static_samples": 6680,
   "g_world_mean_m_s2": [
    0.1803,
    0.0362,
    9.7389
   ],
   "tilt_from_z_deg": 1.082,
   "tilt_from_z_deg_before_levelling": 1.145,
   "magnitude_m_s2": 9.7406
  },
  "rig_tracker_definition": "e3296774a321bb51/20261021-morning/labels-320145/session-2bbd11d1bac3c80a",
  "rig_check": {
   "status": "video_solve",
   "dropped_marker": null,
   "gyro_deg": 1.777
  },
  "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": "2026-10-26T12:17:00.125028+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": [
      0.09007000178098679,
      0.01846594735980034,
      0.003678883658722043
     ],
     "LHandOut": [
      0.07479679584503174,
      -0.0014106956077739596,
      -0.04893861338496208
     ],
     "LWristOut": [
      0.0012668403796851635,
      0.02188067138195038,
      -0.030938010662794113
     ]
    },
    "right": {
     "RHandIn": [
      -0.009347235783934593,
      0.015005446039140224,
      0.023419750854372978
     ],
     "RHandOut": [
      -0.0060982839204370975,
      0.038292352110147476,
      -0.020623307675123215
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 3.24,
   "p95_frame": 5.46
  },
  "worst_markers": [
   "LKneeIn 10mm",
   "RKnee 7mm",
   "RKneeIn 7mm",
   "LThigh 7mm",
   "WaistRBack 6mm"
  ],
  "valid_fraction": 1.0,
  "qc": {
   "lowest_vertex_mm": {
    "median": 11.8,
    "p5": -2.5
   },
   "frames_checked": 452,
   "stature_mm": 1582.0
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 13.09
  },
  "shape_source": "participant median",
  "wrist_correction": {
   "left": {
    "status": "corrected",
    "Q_deg": 180.0,
    "Q_rotvec": [
     -2.98447,
     0.44488,
     0.87443
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 175.8,
    "opposite_sign_bend_deg": 33.8,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 0.5,
    "hand_vs_marker_frame_deg": {
     "before": 179.67,
     "after": 0.5
    },
    "markers_on_wrist": [
     "LWristOut",
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -175.73,
     "wrist_twist_deg_after": {
      "median": -0.0,
      "iqr": [
       -0.7,
       0.6
      ]
     },
     "wrist_total_deg_median_after": 14.7,
     "markers_on_forearm": [
      "LForearm",
      "LWristIn"
     ]
    },
    "frames_used": 1354
   },
   "right": {
    "status": "corrected",
    "Q_deg": 0.0,
    "Q_rotvec": [
     -0.0,
     0.0,
     0.0
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 45.1,
    "opposite_sign_bend_deg": 169.0,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 5.39,
    "hand_vs_marker_frame_deg": {
     "before": 5.39,
     "after": 5.39
    },
    "markers_on_wrist": [
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -0.0,
     "wrist_twist_deg_after": {
      "median": -0.0,
      "iqr": [
       -1.3,
       1.7
      ]
     },
     "wrist_total_deg_median_after": 45.1,
     "markers_on_forearm": [
      "RForearm",
      "RWristIn",
      "RWristOut"
     ]
    },
    "frames_used": 1354
   },
   "generated_at_utc": "2026-10-28T06:44:58.054207+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "hands_registration": {
  "cameras": {},
  "hands": {
   "left": {
    "offset_deg": 59.2,
    "offset_rotvec": [
     0.9443,
     -0.419,
     -0.0203
    ],
    "dev_deg": {
     "median": 12.21,
     "p90": 26.18
    },
    "samples": 2754,
    "accepted": 2587,
    "wrist_pos_err_mm_median": 46.4,
    "per_camera": {
     "head": {
      "samples": 2754,
      "accepted": 2587,
      "gate_deg": 30.0,
      "offset_deg": 59.2,
      "tier": "primary",
      "dev_deg_median": 12.21,
      "wrist_pos_err_mm_median": 46.4
     }
    },
    "frames_by_state": {
     "ace_sample": 10564,
     "interpolated": 2832,
     "mean_hand": 140,
     "no_body_fit": 0
    },
    "observed_fraction": 0.9897,
    "observed_fraction_of_valid": 0.9897,
    "palm_axis_vs_markers_deg": {
     "gsi": 60.29,
     "smplx": 0.42
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 16.7,
      "p90": 17.8
     },
     "registered": {
      "median": 15.3,
      "p90": 17.5
     }
    }
   },
   "right": {
    "offset_deg": 47.03,
    "offset_rotvec": [
     0.7102,
     0.404,
     0.0781
    ],
    "dev_deg": {
     "median": 48.37,
     "p90": 82.56
    },
    "samples": 2052,
    "accepted": 348,
    "wrist_pos_err_mm_median": 118.5,
    "per_camera": {
     "head": {
      "samples": 2052,
      "accepted": 348,
      "gate_deg": 30.0,
      "offset_deg": 47.03,
      "tier": "primary",
      "dev_deg_median": 48.37,
      "wrist_pos_err_mm_median": 118.5
     }
    },
    "frames_by_state": {
     "ace_sample": 1316,
     "interpolated": 888,
     "mean_hand": 11332,
     "no_body_fit": 0
    },
    "observed_fraction": 0.1628,
    "observed_fraction_of_valid": 0.1628,
    "palm_axis_vs_markers_deg": {
     "gsi": 78.41,
     "smplx": 0.93
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 15.2,
      "p90": 23.5
     },
     "registered": {
      "median": 15.3,
      "p90": 23.5
     }
    }
   }
  },
  "max_dev_deg": 30.0,
  "max_gap_s": 1.0,
  "cameras_used": [
   "head"
  ],
  "generated_at_utc": "2026-11-03T20:12:00.100978+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_030",
  "family": "locomanipulation",
  "primitive": "LM21",
  "source_session": "20261021/LM21/20261021_050852_session65"
 },
 "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"
  }
 ]
}