{
 "schema_version": 1,
 "session": "EgoMotionActions/20261017/SM13/20261017_110030_session13",
 "session_id": "20261017_110030_session13",
 "primitive": "SM13",
 "batch": "20261017",
 "participant": "gaoziyue",
 "participant_source": "manifest",
 "device_ids": {
  "main": "c9205ac6e17d2d5c",
  "left": "452031d7af00ef6f",
  "right": "a85418f7d807dff9"
 },
 "generated_at_utc": "2026-10-22T16:02:18.733893+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": 125.925,
  "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": -0.088572,
  "rate": 0.0,
  "global_lag_s": -0.09,
  "peak_corr": 0.9129,
  "reference_imu_first_sample_s": 3983.519963601,
  "windows": {
   "n_windows": 11,
   "window_corr_median": 0.7767963300253352,
   "drift_ppm": 10.752572480743778,
   "drift_se_ppm": 22.796893206732424,
   "drift_ms_over_take": 1.3539280848669872,
   "lag_scatter_ms": 2.162703183266827,
   "lag_range_ms": 8.604105479502271
  }
 },
 "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": 25627,
    "n_gyro": 25621,
    "t_start": -0.10001087667470479,
    "t_end": 126.13377067932569
   },
   "imu_head_left": {
    "n_acc": 25469,
    "n_gyro": 25463,
    "t_start": 0.011062730325275466,
    "t_end": 126.29651783432573
   },
   "imu_wrist_right": {
    "n_acc": 24897,
    "n_gyro": 24909,
    "t_start": -0.8296204476745601,
    "t_end": 124.90496802232528
   },
   "imu_wrist_left": {
    "n_acc": 25459,
    "n_gyro": 25459,
    "t_start": -0.825739046674616,
    "t_end": 124.90889661432547
   },
   "mag_head": {
    "n": 12637,
    "t_start": 0.09503737432541179,
    "t_end": 126.45503355932496
   },
   "mag_wrist_right": {
    "n": 12572,
    "t_start": -0.8106642766746603,
    "t_end": 124.8988397543254
   },
   "mag_wrist_left": {
    "n": 12572,
    "t_start": -0.8079715456746357,
    "t_end": 124.901609366325
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 3983.646343,
    "frames": 3777,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0026284356473863946,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": 0.0404354119724217,
    "t_end": 125.90704641197235,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 3983.646286,
    "frames": 3777,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0024181146161434135,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": 0.040168090941361284,
    "t_end": 125.90681209094154,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 3983.646323,
    "frames": 3777,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002458947067077895,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": 0.04024592339245878,
    "t_end": 125.90686792339247,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 3983.646358,
    "frames": 3777,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0021420814739499558,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": 0.039964057799434655,
    "t_end": 125.90656405779927,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 30.0,
    "start_device_s": 3983.646306,
    "frames": 3776,
    "pts_gaps": 1,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002801984596191448,
    "gap_test": {
     "pts": {
      "offset_ms": -10.0,
      "corr": 0.824,
      "err_ms": 12.8
     },
     "nominal": {
      "offset_ms": 39.9,
      "corr": 0.824,
      "err_ms": 37.1
     }
    },
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": 0.0405719609217072,
    "t_end": 125.92377196092102,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 3983.646255,
    "frames": 3777,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002930366888236734,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": 0.04064934321385458,
    "t_end": 125.9073053432131,
    "clock": "device",
    "calibrated": true
   },
   "wrist_left": {
    "fps": 30.0,
    "start_device_s": 3982.779372,
    "frames": 3772,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
    "t_start": -0.8291640236747384,
    "t_end": 124.8704449763255,
    "clock": "device",
    "calibrated": false
   },
   "wrist_right": {
    "fps": 30.0,
    "start_device_s": 3982.775059,
    "frames": 3772,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
    "t_start": -0.8334770236746494,
    "t_end": 124.86600197632569,
    "clock": "device",
    "calibrated": false
   },
   "third_person": {
    "file": "mocap/mocap-SM13-S01-gaoziyue-02p1-1.mp4",
    "frames": 3778,
    "fps": 30.0,
    "clock": "nokov (frame index)",
    "t_start": 0.0,
    "t_end": 125.9
   }
  }
 },
 "flags": [],
 "sanity": {
  "status": {
   "structure": "WARN",
   "markers": "WARN",
   "timing": "WARN"
  },
  "verdict": "READY_WITH_WARNINGS",
  "issues": [
   "WARN M_BODY_ID",
   "WARN M_SPIKES",
   "WARN M_TRACKER_LABELS",
   "WARN S_CALIB",
   "WARN S_REPORT_TIMING",
   "WARN T_LAG_OUTLIER",
   "WARN T_PTS",
   "WARN T_RIG_TRACKER"
  ]
 },
 "rig_tracker": {
  "definition": "c9205ac6e17d2d5c/20261017-afternoon/labels-053142/session-c618c40ce5cb831f",
  "R_tracker0_imu0": [
   [
    -0.75975443,
    0.1914932,
    -0.62137232
   ],
   [
    0.64093027,
    0.0596817,
    -0.76527543
   ],
   [
    -0.10946049,
    -0.97967773,
    -0.16807723
   ]
  ],
  "p_tracker0_imu0_m": [
   -0.17341097765669403,
   -0.03789019792824922,
   -0.02862271553318776
  ],
  "rig_check": {
   "gyro_samples": 345,
   "gyro_max_deg": 2.5,
   "status": "ok",
   "dropped_marker": null,
   "gyro_deg": 1.601
  },
  "file": "derived/rig_tracker_provider/rig_tracker.json",
  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
 },
 "canonical": {
  "generated_at_utc": "2026-10-22T17:38:22.710897+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": [
   [
    0.9999950396,
    0.0031496627,
    1.73969e-05
   ],
   [
    -1.73969e-05,
    0.0110464775,
    -0.9999389857
   ],
   [
    -0.0031496627,
    0.9999340253,
    0.0110464775
   ]
  ],
  "scale_nokov_to_canon": 0.001,
  "T_canon_nokov_mm": [
   [
    0.00099999504,
    3.149663e-06,
    1.7397e-08,
    0.0
   ],
   [
    -1.7397e-08,
    1.1046477e-05,
    -0.000999938986,
    0.0
   ],
   [
    -3.149663e-06,
    0.000999934025,
    1.1046477e-05,
    0.0
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ],
  "block": "20261017-afternoon",
  "block_assignment": "trc",
  "tilt_removed_deg": 0.6581558054705959,
  "plane_status": "ok",
  "floor": {
   "sole_marker_p1_mm": 37.7,
   "headtop_p95_mm": 1631.9
  },
  "gravity_check": {
   "static_samples": 15031,
   "g_world_mean_m_s2": [
    0.1317,
    -0.0241,
    9.7756
   ],
   "tilt_from_z_deg": 0.785,
   "tilt_from_z_deg_before_levelling": 0.974,
   "magnitude_m_s2": 9.7766
  },
  "rig_tracker_definition": "c9205ac6e17d2d5c/20261017-afternoon/labels-053142/session-c618c40ce5cb831f",
  "camera_pose_source": "provider T_tracker0_cam",
  "files": [
   "mocap_zup.npz",
   "tracker0_zup.npz",
   "rig_zup.npz",
   "cameras_zup.npz"
  ]
 },
 "smplx": {
  "generated_at_utc": "2026-10-23T04:51:15.298981+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": [
      0.04516647756099701,
      -0.021852483972907066,
      -0.048377860337495804
     ],
     "LHandOut": [
      0.05428621545433998,
      0.010416666977107525,
      -0.027116771787405014
     ],
     "LWristIn": [
      -0.00814015232026577,
      -0.01589050702750683,
      -0.024449802935123444
     ]
    },
    "right": {
     "RHandIn": [
      -0.04275716841220856,
      0.031063148751854897,
      -0.007052699103951454
     ],
     "RHandOut": [
      -0.03122003935277462,
      -0.0048884241841733456,
      -0.05243320390582085
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 3.8,
   "p95_frame": 11.15
  },
  "worst_markers": [
   "LElbowIn 16mm",
   "LWristOut 13mm",
   "LForearm 12mm",
   "LElbow 12mm",
   "RShin 12mm"
  ],
  "valid_fraction": 0.9995,
  "qc": {
   "lowest_vertex_mm": {
    "median": -5.5,
    "p5": -8.3
   },
   "frames_checked": 504,
   "stature_mm": 1598.8
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 12.61
  },
  "shape_source": "participant median",
  "wrist_correction": {
   "left": {
    "status": "corrected",
    "Q_deg": 180.0,
    "Q_rotvec": [
     2.98794,
     -0.42773,
     -0.87113
    ],
    "in_out_sign": -1,
    "q_source": "markers (sign flipped by GSI)",
    "gsi": {
     "reliable": true,
     "frames": 3000,
     "inlier_frac": 0.827,
     "inlier_spread_deg": 8.68,
     "marker_Q_to_gsi_deg": {
      "1": 178.2,
      "-1": 9.1
     }
    },
    "wrist_bend_deg_median": 157.0,
    "opposite_sign_bend_deg": 59.5,
    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 3.63,
    "hand_vs_marker_frame_deg": {
     "before": 177.8,
     "after": 3.63
    },
    "markers_on_wrist": [
     "LWristIn",
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -155.11,
     "wrist_twist_deg_after": {
      "median": -1.88,
      "iqr": [
       -7.6,
       1.6
      ]
     },
     "wrist_total_deg_median_after": 49.3,
     "markers_on_forearm": [
      "LElbowIn",
      "LForearm",
      "LWristOut"
     ]
    },
    "frames_used": 1500
   },
   "right": {
    "status": "corrected",
    "Q_deg": 0.0,
    "Q_rotvec": [
     -0.0,
     -0.0,
     0.0
    ],
    "in_out_sign": 1,
    "q_source": "markers (GSI confirms)",
    "gsi": {
     "reliable": true,
     "frames": 3000,
     "inlier_frac": 0.914,
     "inlier_spread_deg": 6.68,
     "marker_Q_to_gsi_deg": {
      "1": 12.1,
      "-1": 174.2
     }
    },
    "wrist_bend_deg_median": 31.0,
    "opposite_sign_bend_deg": 170.3,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 2.82,
    "hand_vs_marker_frame_deg": {
     "before": 2.82,
     "after": 2.82
    },
    "markers_on_wrist": [
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": 0.0,
     "wrist_twist_deg_after": {
      "median": 0.0,
      "iqr": [
       -2.6,
       4.5
      ]
     },
     "wrist_total_deg_median_after": 30.9,
     "markers_on_forearm": [
      "RElbowIn",
      "RForearm",
      "RWristIn",
      "RWristOut"
     ]
    },
    "frames_used": 1500
   },
   "generated_at_utc": "2026-11-06T14:08:35.837417+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "hands_registration": {
  "cameras": {},
  "hands": {
   "left": {
    "offset_deg": 9.53,
    "offset_rotvec": [
     -0.0133,
     -0.1604,
     -0.0424
    ],
    "dev_deg": {
     "median": 9.53,
     "p90": 160.08
    },
    "samples": 3483,
    "accepted": 2883,
    "wrist_pos_err_mm_median": 51.4,
    "per_camera": {
     "head": {
      "samples": 3483,
      "accepted": 2883,
      "gate_deg": 30.0,
      "offset_deg": 9.53,
      "tier": "primary",
      "dev_deg_median": 9.53,
      "wrist_pos_err_mm_median": 51.4
     }
    },
    "frames_by_state": {
     "ace_sample": 11580,
     "interpolated": 1004,
     "mean_hand": 2521,
     "no_body_fit": 7
    },
    "observed_fraction": 0.8327,
    "observed_fraction_of_valid": 0.8331,
    "palm_axis_vs_markers_deg": {
     "gsi": 12.99,
     "smplx": 2.72
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 12.6,
      "p90": 14.1
     },
     "registered": {
      "median": 12.3,
      "p90": 13.4
     }
    }
   },
   "right": {
    "offset_deg": 12.31,
    "offset_rotvec": [
     0.1383,
     -0.1628,
     -0.0228
    ],
    "dev_deg": {
     "median": 7.13,
     "p90": 21.39
    },
    "samples": 3645,
    "accepted": 3330,
    "wrist_pos_err_mm_median": 31.6,
    "per_camera": {
     "head": {
      "samples": 3645,
      "accepted": 3330,
      "gate_deg": 30.0,
      "offset_deg": 12.31,
      "tier": "primary",
      "dev_deg_median": 7.13,
      "wrist_pos_err_mm_median": 31.6
     }
    },
    "frames_by_state": {
     "ace_sample": 13342,
     "interpolated": 338,
     "mean_hand": 1425,
     "no_body_fit": 7
    },
    "observed_fraction": 0.9052,
    "observed_fraction_of_valid": 0.9057,
    "palm_axis_vs_markers_deg": {
     "gsi": 12.46,
     "smplx": 0.85
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 13.9,
      "p90": 23.6
     },
     "registered": {
      "median": 13.5,
      "p90": 22.9
     }
    }
   }
  },
  "max_dev_deg": 30.0,
  "max_gap_s": 1.0,
  "cameras_used": [
   "head"
  ],
  "generated_at_utc": "2026-11-06T15:34:53.635526+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/static_manipulation/SM13/session_002",
  "family": "static_manipulation",
  "primitive": "SM13",
  "source_session": "20261017/SM13/20261017_110030_session13"
 },
 "task": {
  "primitive": "SM13",
  "instruction": "Hold two objects, then put just one of them on the shelf while still holding the other. 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."
 },
 "objects": [
  {
   "name": "LittleBox1",
   "object_type": "LittleBox",
   "source": "mocap",
   "pose_frame": "rigid_body"
  },
  {
   "name": "LittleBox2",
   "object_type": "LittleBox",
   "source": "mocap",
   "pose_frame": "mesh"
  },
  {
   "name": "Desk",
   "object_type": "Desk",
   "source": "mocap",
   "pose_frame": "rigid_body"
  }
 ]
}