{
 "schema_version": 1,
 "session": "EgoMotionActions/20261027/LM21/20261027_035535_session44",
 "session_id": "20261027_035535_session44",
 "primitive": "LM21",
 "batch": "20261027",
 "participant": "wangjingjing",
 "participant_source": "manifest",
 "device_ids": {
  "main": "c9205ac6e17d2d5c",
  "left": "452031d7af00ef6f",
  "right": "60a6f081bbe60b0d"
 },
 "generated_at_utc": "2026-10-28T19:50:38.284253+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": 118.025,
  "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": -0.089686,
  "rate": 0.0,
  "global_lag_s": -0.09,
  "peak_corr": 0.9874,
  "reference_imu_first_sample_s": 12564.566875195,
  "windows": {
   "n_windows": 10,
   "window_corr_median": 0.9869963871820707,
   "drift_ppm": 8.151201573456078,
   "drift_se_ppm": 7.742796130536378,
   "drift_ms_over_take": 0.9619776390273748,
   "lag_scatter_ms": 0.6290277312374425,
   "lag_range_ms": 2.176823274148698
  }
 },
 "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": "c9205ac6e17d2d5c",
  "status": "ok",
  "date": "2026-10-21"
 },
 "streams": {
  "sensors": {
   "imu_head_right": {
    "n_acc": 24018,
    "n_gyro": 24013,
    "t_start": -0.0965824277479877,
    "t_end": 118.21141657825342
   },
   "imu_head_left": {
    "n_acc": 23872,
    "n_gyro": 23865,
    "t_start": 0.009341280252785633,
    "t_end": 118.37562015225217
   },
   "imu_wrist_right": {
    "n_acc": 23903,
    "n_gyro": 23917,
    "t_start": -0.8510374127470166,
    "t_end": 117.28387318625232
   },
   "imu_wrist_left": {
    "n_acc": 23919,
    "n_gyro": 23931,
    "t_start": -0.8559711037466948,
    "t_end": 117.28347605525255
   },
   "mag_head": {
    "n": 11846,
    "t_start": 0.09353844725251487,
    "t_end": 118.54352275325277
   },
   "mag_wrist_right": {
    "n": 11813,
    "t_start": -0.8434024947471224,
    "t_end": 117.27654553625348
   },
   "mag_wrist_left": {
    "n": 11812,
    "t_start": -0.8344786707473284,
    "t_end": 117.27568271025325
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 12564.693335,
    "frames": 3540,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0026284356473863946,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": 0.03940239390090222,
    "t_end": 118.00596939390039,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 12564.693304,
    "frames": 3540,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0024181146161434135,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": 0.039161072869548785,
    "t_end": 118.00573907286912,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 12564.693325,
    "frames": 3540,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002458947067077895,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": 0.03922290531977718,
    "t_end": 118.00578990531926,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 12564.693344,
    "frames": 3540,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0021420814739499558,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": 0.03892503972588396,
    "t_end": 118.00549203972537,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 60.0,
    "start_device_s": 12564.693314,
    "frames": 3440,
    "pts_gaps": 3439,
    "timing": "pts (gap undecided)",
    "timeshift_cam_imu_s": 0.002801984596191448,
    "gap_test": {
     "pts": {
      "offset_ms": -7.1,
      "corr": 0.624,
      "err_ms": 9.9
     },
     "nominal": {
      "offset_ms": 150.0,
      "corr": 0.078,
      "err_ms": 147.2
     }
    },
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": 0.03955494284878308,
    "t_end": 118.02277694284953,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 12564.693287,
    "frames": 3540,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002930366888236734,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": 0.03965632514177936,
    "t_end": 118.00623432514135,
    "clock": "device",
    "calibrated": true
   },
   "wrist_left": {
    "fps": 30.0,
    "start_device_s": 12563.809128,
    "frames": 3543,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
    "t_start": -0.8474330417463969,
    "t_end": 117.2193639582531,
    "clock": "device",
    "calibrated": false
   },
   "wrist_right": {
    "fps": 30.0,
    "start_device_s": 12563.80193,
    "frames": 3544,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
    "t_start": -0.8546310417475504,
    "t_end": 117.24530395825263,
    "clock": "device",
    "calibrated": false
   },
   "third_person": {
    "file": "mocap/mocap-LM21-S06-wangjingjing-01p1-1.mp4",
    "frames": 3541,
    "fps": 30.0,
    "clock": "nokov (frame index)",
    "t_start": 0.0,
    "t_end": 118.0
   }
  }
 },
 "flags": [],
 "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
 "rig_tracker": {
  "definition": "c9205ac6e17d2d5c/20261027-morning/labels-230415/session-cdc308e7a4bc2c0e",
  "R_tracker0_imu0": [
   [
    -0.6607883,
    0.37195967,
    -0.65192394
   ],
   [
    0.73057322,
    0.11957382,
    -0.67228333
   ],
   [
    -0.17210924,
    -0.92051513,
    -0.35075676
   ]
  ],
  "p_tracker0_imu0_m": [
   -0.11701995615981002,
   -0.005736923090629067,
   -0.12236564199818982
  ],
  "rig_check": {
   "gyro_samples": 3867,
   "gyro_max_deg": 2.5,
   "status": "ok",
   "dropped_marker": null,
   "gyro_deg": 1.806
  },
  "file": "derived/rig_tracker_provider/rig_tracker.json",
  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
 },
 "canonical": {
  "generated_at_utc": "2026-10-28T23:23:28.565636+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": [
   [
    0.9999917896,
    0.0040522361,
    1.40821e-05
   ],
   [
    -1.40821e-05,
    0.0069501878,
    -0.9999758471
   ],
   [
    -0.0040522361,
    0.9999676366,
    0.0069501878
   ]
  ],
  "scale_nokov_to_canon": 0.001,
  "T_canon_nokov_mm": [
   [
    0.00099999179,
    4.052236e-06,
    1.4082e-08,
    0.0
   ],
   [
    -1.4082e-08,
    6.950188e-06,
    -0.000999975847,
    0.0
   ],
   [
    -4.052236e-06,
    0.000999967637,
    6.950188e-06,
    0.0
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ],
  "block": "20261027-morning",
  "block_assignment": "trc",
  "tilt_removed_deg": 0.46096270469771533,
  "plane_status": "ok",
  "floor": {
   "sole_marker_p1_mm": 27.7,
   "headtop_p95_mm": 1517.7
  },
  "gravity_check": {
   "static_samples": 906,
   "g_world_mean_m_s2": [
    -0.0238,
    0.0193,
    9.71
   ],
   "tilt_from_z_deg": 0.181,
   "tilt_from_z_deg_before_levelling": 0.469,
   "magnitude_m_s2": 9.7101
  },
  "rig_tracker_definition": "c9205ac6e17d2d5c/20261027-morning/labels-230415/session-cdc308e7a4bc2c0e",
  "rig_check": {
   "status": "ok",
   "dropped_marker": null,
   "gyro_deg": 1.806
  },
  "camera_pose_source": "provider T_tracker0_cam",
  "files": [
   "mocap_zup.npz",
   "tracker0_zup.npz",
   "rig_zup.npz",
   "cameras_zup.npz"
  ]
 },
 "smplx": {
  "generated_at_utc": "2026-10-29T07:02:03.543755+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": [
      0.054468799382448196,
      0.013991348445415497,
      0.03344079479575157
     ],
     "LHandOut": [
      0.04772162064909935,
      0.025584112852811813,
      -0.019790302962064743
     ]
    },
    "right": {
     "RHandIn": [
      -0.033785007894039154,
      0.02649417705833912,
      -0.014694358222186565
     ],
     "RHandOut": [
      -0.026105191558599472,
      -0.0023233324754983187,
      -0.036608971655368805
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 5.68,
   "p95_frame": 7.37
  },
  "worst_markers": [
   "RElbowIn 22mm",
   "RElbow 21mm",
   "RKnee 9mm",
   "RThigh 8mm",
   "RKneeIn 8mm"
  ],
  "valid_fraction": 1.0,
  "qc": {
   "lowest_vertex_mm": {
    "median": 16.6,
    "p5": 6.9
   },
   "frames_checked": 473,
   "stature_mm": 1502.4
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 11.67
  },
  "shape_source": "participant median",
  "wrist_correction": {
   "left": {
    "status": "corrected",
    "Q_deg": 26.47,
    "Q_rotvec": [
     0.34746,
     -0.18442,
     0.24221
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 33.4,
    "opposite_sign_bend_deg": 158.4,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 1.36,
    "hand_vs_marker_frame_deg": {
     "before": 26.65,
     "after": 1.36
    },
    "markers_on_wrist": [
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": 25.79,
     "wrist_twist_deg_after": {
      "median": 0.0,
      "iqr": [
       -2.4,
       2.4
      ]
     },
     "wrist_total_deg_median_after": 21.1,
     "markers_on_forearm": [
      "LElbowIn",
      "LForearm",
      "LWristIn",
      "LWristOut"
     ]
    },
    "frames_used": 1417
   },
   "right": {
    "status": "corrected",
    "Q_deg": 56.14,
    "Q_rotvec": [
     -0.5816,
     -0.30061,
     -0.72906
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 71.0,
    "opposite_sign_bend_deg": 114.2,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 2.97,
    "hand_vs_marker_frame_deg": {
     "before": 55.86,
     "after": 2.97
    },
    "markers_on_wrist": [
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": 59.52,
     "wrist_twist_deg_after": {
      "median": 0.0,
      "iqr": [
       -7.9,
       3.1
      ]
     },
     "wrist_total_deg_median_after": 42.1,
     "markers_on_forearm": [
      "RElbow",
      "RForearm",
      "RWristIn",
      "RWristOut"
     ]
    },
    "frames_used": 1417
   },
   "generated_at_utc": "2026-10-29T07:02:06.498780+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "release": {
  "release_path": "actions/locomanipulation/LM21/session_033",
  "family": "locomanipulation",
  "primitive": "LM21",
  "source_session": "20261027/LM21/20261027_035535_session44"
 },
 "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": "BigBox2",
   "object_type": "BigBox",
   "source": "mocap",
   "pose_frame": "rigid_body"
  }
 ]
}