{
 "schema_version": 1,
 "session": "EgoMotionActions/20261028/LM21/20261028_060008_session73",
 "session_id": "20261028_060008_session73",
 "primitive": "LM21",
 "batch": "20261028",
 "participant": "wangmengli",
 "participant_source": "manifest",
 "device_ids": {
  "main": "c9205ac6e17d2d5c",
  "left": "cc5681142208e29a",
  "right": "a85418f7d807dff9"
 },
 "generated_at_utc": "2026-10-30T07:23:43.174719+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": 125.725,
  "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": -0.089789,
  "rate": 0.0,
  "global_lag_s": -0.09,
  "peak_corr": 0.9728,
  "reference_imu_first_sample_s": 15409.229935296,
  "windows": {
   "n_windows": 11,
   "window_corr_median": 0.9709247972080888,
   "drift_ppm": -466.4745918365185,
   "drift_se_ppm": 264.60884721689024,
   "drift_ms_over_take": -58.64363077038099,
   "lag_scatter_ms": 25.102999387106394,
   "lag_range_ms": 102.21634124132572
  }
 },
 "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": 25587,
    "n_gyro": 25581,
    "t_start": -0.10121840792766368,
    "t_end": 125.9347436360718
   },
   "imu_head_left": {
    "n_acc": 25430,
    "n_gyro": 25423,
    "t_start": 0.00783497707248837,
    "t_end": 126.09894796907298
   },
   "imu_wrist_right": {
    "n_acc": 24860,
    "n_gyro": 24860,
    "t_start": -0.893582957927211,
    "t_end": 124.65614608907214
   },
   "imu_wrist_left": {
    "n_acc": 24803,
    "n_gyro": 24817,
    "t_start": -0.917147719928326,
    "t_end": 124.6566252330727
   },
   "mag_head": {
    "n": 12618,
    "t_start": 0.08839301807216482,
    "t_end": 126.25838387007258
   },
   "mag_wrist_right": {
    "n": 12554,
    "t_start": -0.8798063129283407,
    "t_end": 124.64935777907209
   },
   "mag_wrist_left": {
    "n": 12556,
    "t_start": -0.8986808019284951,
    "t_end": 124.65094165807255
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 15409.356463,
    "frames": 3771,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0026284356473863946,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": 0.03936760772063219,
    "t_end": 125.7059676077211,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 15409.356432,
    "frames": 3771,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0024181146161434135,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": 0.039126286689278755,
    "t_end": 125.70571528668967,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 15409.356451,
    "frames": 3771,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002458947067077895,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": 0.03918611913883008,
    "t_end": 125.70577511913922,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 15409.356473,
    "frames": 3771,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0021420814739499558,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": 0.038891253545952464,
    "t_end": 125.70550225354651,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 30.0,
    "start_device_s": 15409.356442,
    "frames": 3770,
    "pts_gaps": 1,
    "timing": "pts (gap undecided)",
    "timeshift_cam_imu_s": 0.002801984596191448,
    "gap_test": {},
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": 0.03952015666851305,
    "t_end": 125.72274215666818,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 15409.356414,
    "frames": 3771,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002930366888236734,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": 0.03962053896117079,
    "t_end": 125.70620953896156,
    "clock": "device",
    "calibrated": true
   },
   "wrist_left": {
    "fps": 30.0,
    "start_device_s": 15408.407841,
    "frames": 3766,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
    "t_start": -0.9118828279274027,
    "t_end": 124.58772617207302,
    "clock": "device",
    "calibrated": false
   },
   "wrist_right": {
    "fps": 30.0,
    "start_device_s": 15408.422165,
    "frames": 3766,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
    "t_start": -0.8975588279276423,
    "t_end": 124.60159517207154,
    "clock": "device",
    "calibrated": false
   },
   "third_person": {
    "file": "mocap/mocap-LM21-S06-wangmengli-01p-1.mp4",
    "frames": 3772,
    "fps": 30.0,
    "clock": "nokov (frame index)",
    "t_start": 0.0,
    "t_end": 125.7
   }
  }
 },
 "flags": [],
 "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
 "rig_tracker": {
  "definition": "c9205ac6e17d2d5c/20261028-morning/labels-053142/session-d65fbbccfcb21229",
  "R_tracker0_imu0": [
   [
    -0.65802702,
    0.2186563,
    -0.7205483
   ],
   [
    0.74441419,
    0.04485773,
    -0.66620965
   ],
   [
    -0.11334878,
    -0.97477034,
    -0.19228845
   ]
  ],
  "p_tracker0_imu0_m": [
   -0.17881146254692484,
   -0.011711336369910078,
   -0.031731827930189936
  ],
  "rig_check": {
   "gyro_samples": 2846,
   "gyro_max_deg": 2.5,
   "status": "ok",
   "dropped_marker": null,
   "gyro_deg": 2.035
  },
  "file": "derived/rig_tracker_provider/rig_tracker.json",
  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
 },
 "canonical": {
  "generated_at_utc": "2026-10-30T18:45:53.995772+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": [
   [
    0.9999999999,
    -1.6484e-05,
    1.4e-08
   ],
   [
    -1.4e-08,
    -0.0016934171,
    -0.9999985662
   ],
   [
    1.6484e-05,
    0.999998566,
    -0.0016934171
   ]
  ],
  "scale_nokov_to_canon": 0.001,
  "T_canon_nokov_mm": [
   [
    0.001,
    -1.6484e-08,
    1.4e-11,
    0.0
   ],
   [
    -1.4e-11,
    -1.693417e-06,
    -0.000999998566,
    0.0
   ],
   [
    1.6484e-08,
    0.000999998566,
    -1.693417e-06,
    0.0
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ],
  "block": "20261028-morning",
  "block_assignment": "trc",
  "tilt_removed_deg": 0.09703029591991919,
  "plane_status": "ok",
  "floor": {
   "sole_marker_p1_mm": 41.8,
   "headtop_p95_mm": 1642.4
  },
  "gravity_check": {
   "static_samples": 3827,
   "g_world_mean_m_s2": [
    -0.1113,
    0.0447,
    9.7719
   ],
   "tilt_from_z_deg": 0.703,
   "tilt_from_z_deg_before_levelling": 0.744,
   "magnitude_m_s2": 9.7726
  },
  "rig_tracker_definition": "c9205ac6e17d2d5c/20261028-morning/labels-053142/session-d65fbbccfcb21229",
  "rig_check": {
   "status": "ok",
   "dropped_marker": null,
   "gyro_deg": 2.035
  },
  "camera_pose_source": "provider T_tracker0_cam",
  "files": [
   "mocap_zup.npz",
   "tracker0_zup.npz",
   "rig_zup.npz",
   "cameras_zup.npz"
  ]
 },
 "smplx": {
  "generated_at_utc": "2026-11-02T15:41:20.493653+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": [
      0.09292032569646835,
      0.005290032364428043,
      0.02393357828259468
     ],
     "LHandOut": [
      0.08518151938915253,
      0.014648177661001682,
      -0.02327643148601055
     ],
     "LWristIn": [
      0.00843076128512621,
      0.0021370251197367907,
      0.03708745539188385
     ]
    },
    "right": {
     "RHandIn": [
      -0.05056862160563469,
      0.00898347795009613,
      -0.03382200747728348
     ],
     "RHandOut": [
      -0.059794019907712936,
      -0.032971519976854324,
      -0.013061106204986572
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 3.18,
   "p95_frame": 5.09
  },
  "worst_markers": [
   "RKneeIn 8mm",
   "RHeel 8mm",
   "RThigh 8mm",
   "LKneeIn 7mm",
   "LHeel 6mm"
  ],
  "valid_fraction": 1.0,
  "qc": {
   "lowest_vertex_mm": {
    "median": 16.9,
    "p5": 12.8
   },
   "frames_checked": 503,
   "stature_mm": 1616.5
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 13.13
  },
  "shape_source": "participant median",
  "wrist_correction": {
   "left": {
    "status": "corrected",
    "Q_deg": 18.62,
    "Q_rotvec": [
     0.29453,
     -0.13466,
     0.02666
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 13.3,
    "opposite_sign_bend_deg": 177.7,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 0.58,
    "hand_vs_marker_frame_deg": {
     "before": 18.69,
     "after": 0.58
    },
    "markers_on_wrist": [
     "LWristIn",
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -0.82,
     "wrist_twist_deg_after": {
      "median": 0.0,
      "iqr": [
       -0.9,
       0.7
      ]
     },
     "wrist_total_deg_median_after": 13.3,
     "markers_on_forearm": [
      "LElbowIn",
      "LForearm",
      "LWristOut"
     ]
    },
    "frames_used": 1500
   },
   "right": {
    "status": "corrected",
    "Q_deg": 113.25,
    "Q_rotvec": [
     -1.85369,
     -0.06467,
     -0.6829
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 134.7,
    "opposite_sign_bend_deg": 46.5,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 0.89,
    "hand_vs_marker_frame_deg": {
     "before": 113.29,
     "after": 0.89
    },
    "markers_on_wrist": [
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": 132.84,
     "wrist_twist_deg_after": {
      "median": 0.0,
      "iqr": [
       -2.8,
       3.2
      ]
     },
     "wrist_total_deg_median_after": 30.7,
     "markers_on_forearm": [
      "RForearm",
      "RWristIn",
      "RWristOut"
     ]
    },
    "frames_used": 1500
   },
   "generated_at_utc": "2026-11-02T15:41:23.536913+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "release": {
  "release_path": "actions/locomanipulation/LM21/session_034",
  "family": "locomanipulation",
  "primitive": "LM21",
  "source_session": "20261028/LM21/20261028_060008_session73"
 },
 "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"
  }
 ]
}