{
 "schema_version": 1,
 "session": "EgoMotionActions/20261028/SM09/20261028_075741_session92",
 "session_id": "20261028_075741_session92",
 "primitive": "SM09",
 "batch": "20261028",
 "participant": "yanyitong",
 "participant_source": "manifest",
 "device_ids": {
  "main": "c9205ac6e17d2d5c",
  "left": "452031d7af00ef6f",
  "right": "60a6f081bbe60b0d"
 },
 "generated_at_utc": "2026-10-30T07:31:56.197332+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": 7,
  "duration_s": 118.76666666666667,
  "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": -0.084044,
  "rate": 0.0,
  "global_lag_s": -0.085,
  "peak_corr": 0.9812,
  "reference_imu_first_sample_s": 22462.613097776,
  "windows": {
   "n_windows": 10,
   "window_corr_median": 0.9789223808374121,
   "drift_ppm": 7.515221734843177,
   "drift_se_ppm": 27.493609010270443,
   "drift_ms_over_take": 0.8929335957949501,
   "lag_scatter_ms": 2.2335913548148234,
   "lag_range_ms": 8.594919942237016
  }
 },
 "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": 24182,
    "n_gyro": 24177,
    "t_start": -0.14887888131655044,
    "t_end": 118.96824724768355
   },
   "imu_head_left": {
    "n_acc": 24035,
    "n_gyro": 24029,
    "t_start": -0.04097208931655613,
    "t_end": 119.13490738868329
   },
   "imu_wrist_right": {
    "n_acc": 24059,
    "n_gyro": 24059,
    "t_start": -0.8431894813164311,
    "t_end": 118.05951335368643
   },
   "imu_wrist_left": {
    "n_acc": 24109,
    "n_gyro": 24120,
    "t_start": -1.0128881133149028,
    "t_end": 118.05823436368352
   },
   "mag_head": {
    "n": 11924,
    "t_start": 0.06565441068430092,
    "t_end": 119.29565321768511
   },
   "mag_wrist_right": {
    "n": 11889,
    "t_start": -0.8251619213168218,
    "t_end": 118.05452370368418
   },
   "mag_wrist_left": {
    "n": 11906,
    "t_start": -0.9952497483153186,
    "t_end": 118.05426789968458
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 22462.734531,
    "frames": 3564,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0026284356473863946,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": -0.018315488670696406,
    "t_end": 118.74828451132832,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 22462.734484,
    "frames": 3564,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0024181146161434135,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": -0.018572809700190457,
    "t_end": 118.74802719029883,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 22462.734516,
    "frames": 3564,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002458947067077895,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": -0.01849997724805716,
    "t_end": 118.74808902275088,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 22462.734545,
    "frames": 3564,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0021420814739499558,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": -0.018787842842203,
    "t_end": 118.74781215715682,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 60.0,
    "start_device_s": 22462.734497,
    "frames": 3537,
    "pts_gaps": 3536,
    "timing": "pts (gap undecided)",
    "timeshift_cam_imu_s": 0.002801984596191448,
    "gap_test": {
     "pts": {
      "offset_ms": -3.1,
      "corr": 0.858,
      "err_ms": 5.9
     },
     "nominal": {
      "offset_ms": 90.5,
      "corr": 0.092,
      "err_ms": 87.7
     }
    },
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": -0.018175939718121564,
    "t_end": 118.7484240602809,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 22462.734461,
    "frames": 3564,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002930366888236734,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": -0.01808355742635312,
    "t_end": 118.74851644257267,
    "clock": "device",
    "calibrated": true
   },
   "wrist_left": {
    "fps": 30.0,
    "start_device_s": 22461.788544,
    "frames": 3570,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
    "t_start": -0.9669309243161754,
    "t_end": 117.99928007568285,
    "clock": "device",
    "calibrated": false
   },
   "wrist_right": {
    "fps": 30.0,
    "start_device_s": 22461.907069,
    "frames": 3567,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
    "t_start": -0.8484059243144932,
    "t_end": 118.01793507568634,
    "clock": "device",
    "calibrated": false
   },
   "third_person": {
    "file": "mocap/mocap-SM09-S01-yanyitong-02p1-1.mp4",
    "frames": 3565,
    "fps": 30.0,
    "clock": "nokov (frame index)",
    "t_start": -0.058333333333333334,
    "t_end": 118.74166666666666
   }
  }
 },
 "flags": [],
 "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
 "rig_tracker": {
  "definition": "c9205ac6e17d2d5c/20261028-afternoon/labels-235140/session-a3754ba4cfe4edc5",
  "R_tracker0_imu0": [
   [
    -0.67266641,
    0.0121348,
    -0.73984637
   ],
   [
    0.73363337,
    0.14126285,
    -0.6647006
   ],
   [
    0.09644679,
    -0.98989775,
    -0.10392527
   ]
  ],
  "p_tracker0_imu0_m": [
   -0.18183788214133126,
   -0.013764688822902445,
   0.0049565717603538345
  ],
  "rig_check": {
   "gyro_samples": 3195,
   "gyro_max_deg": 2.5,
   "status": "ok",
   "dropped_marker": null,
   "gyro_deg": 2.08
  },
  "file": "derived/rig_tracker_provider/rig_tracker.json",
  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
 },
 "canonical": {
  "generated_at_utc": "2026-10-30T18:48:45.199265+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": [
   [
    0.9999849425,
    0.0054876377,
    2.47109e-05
   ],
   [
    -2.47109e-05,
    0.0090057756,
    -0.9999594469
   ],
   [
    -0.0054876377,
    0.9999443894,
    0.0090057756
   ]
  ],
  "scale_nokov_to_canon": 0.001,
  "T_canon_nokov_mm": [
   [
    0.000999984942,
    5.487638e-06,
    2.4711e-08,
    0.0
   ],
   [
    -2.4711e-08,
    9.005776e-06,
    -0.000999959447,
    0.0
   ],
   [
    -5.487638e-06,
    0.000999944389,
    9.005776e-06,
    0.0
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ],
  "block": "20261028-afternoon",
  "block_assignment": "trc",
  "tilt_removed_deg": 0.6042526163605274,
  "plane_status": "ok",
  "floor": {
   "sole_marker_p1_mm": 33.4,
   "headtop_p95_mm": 1624.6
  },
  "gravity_check": {
   "static_samples": 3026,
   "g_world_mean_m_s2": [
    0.1028,
    0.1407,
    9.7555
   ],
   "tilt_from_z_deg": 1.023,
   "tilt_from_z_deg_before_levelling": 0.424,
   "magnitude_m_s2": 9.7571
  },
  "rig_tracker_definition": "c9205ac6e17d2d5c/20261028-afternoon/labels-235140/session-a3754ba4cfe4edc5",
  "rig_check": {
   "status": "ok",
   "dropped_marker": null,
   "gyro_deg": 2.08
  },
  "camera_pose_source": "provider T_tracker0_cam",
  "files": [
   "mocap_zup.npz",
   "tracker0_zup.npz",
   "rig_zup.npz",
   "cameras_zup.npz"
  ]
 },
 "smplx": {
  "generated_at_utc": "2026-11-02T16:50:26.329900+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": [
      0.060411643236875534,
      0.012628133408725262,
      0.028569236397743225
     ],
     "LHandOut": [
      0.0563306026160717,
      0.019292963668704033,
      -0.021190792322158813
     ],
     "LWristOut": [
      -0.009725288487970829,
      0.032979171723127365,
      -0.004084773361682892
     ]
    },
    "right": {
     "RHandIn": [
      -0.06829569488763809,
      0.009267037734389305,
      0.02559729665517807
     ],
     "RHandOut": [
      -0.05469748005270958,
      0.019633391872048378,
      -0.01735031045973301
     ],
     "RWristOut": [
      0.011223402805626392,
      0.030311323702335358,
      -0.015388255938887596
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 4.2,
   "p95_frame": 6.81
  },
  "worst_markers": [
   "RKneeIn 13mm",
   "RElbowIn 11mm",
   "LElbowIn 9mm",
   "RShin 8mm",
   "LThigh 7mm"
  ],
  "valid_fraction": 1.0,
  "qc": {
   "lowest_vertex_mm": {
    "median": 17.7,
    "p5": 11.2
   },
   "frames_checked": 476,
   "stature_mm": 1600.3
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 12.84
  },
  "shape_source": "participant median",
  "wrist_correction": {
   "left": {
    "status": "corrected",
    "Q_deg": 23.91,
    "Q_rotvec": [
     0.25457,
     -0.22674,
     0.24059
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 26.8,
    "opposite_sign_bend_deg": 175.0,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 2.06,
    "hand_vs_marker_frame_deg": {
     "before": 24.14,
     "after": 2.06
    },
    "markers_on_wrist": [
     "LWristOut",
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": 7.37,
     "wrist_twist_deg_after": {
      "median": 0.0,
      "iqr": [
       -6.1,
       2.1
      ]
     },
     "wrist_total_deg_median_after": 25.5,
     "markers_on_forearm": [
      "LForearm",
      "LWristIn"
     ]
    },
    "frames_used": 1426
   },
   "right": {
    "status": "corrected",
    "Q_deg": 18.76,
    "Q_rotvec": [
     0.32679,
     -0.00068,
     -0.02052
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 21.1,
    "opposite_sign_bend_deg": 170.8,
    "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": 19.46,
     "after": 2.47
    },
    "markers_on_wrist": [
     "RWristOut",
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -11.97,
     "wrist_twist_deg_after": {
      "median": -0.0,
      "iqr": [
       -3.0,
       11.3
      ]
     },
     "wrist_total_deg_median_after": 16.6,
     "markers_on_forearm": [
      "RElbow",
      "RForearm",
      "RWristIn"
     ]
    },
    "frames_used": 1426
   },
   "generated_at_utc": "2026-11-02T16:50:29.527358+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "release": {
  "release_path": "actions/static_manipulation/SM09/session_005",
  "family": "static_manipulation",
  "primitive": "SM09",
  "source_session": "20261028/SM09/20261028_075741_session92"
 },
 "task": {
  "primitive": "SM09",
  "instruction": "Slide the object into the slot on the shelf in front of you. It is a close fit, so take the time you need. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
 }
}