{
 "schema_version": 1,
 "session": "EgoMotionActions/20261031/SM13/20261031_082911_session50",
 "session_id": "20261031_082911_session50",
 "primitive": "SM13",
 "batch": "20261031",
 "participant": "zhangxinxin",
 "participant_source": "manifest",
 "device_ids": {
  "main": "e3296774a321bb51",
  "left": "39042f5fb5da3b12",
  "right": "65a3481473d6e2a0"
 },
 "generated_at_utc": "2026-11-03T05:54:31.682260+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": 128.225,
  "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": -0.090678,
  "rate": 0.0,
  "global_lag_s": -0.09,
  "peak_corr": 0.9983,
  "reference_imu_first_sample_s": 11199.55549804,
  "windows": {
   "n_windows": 11,
   "window_corr_median": 0.9989266000793052,
   "drift_ppm": 1.2778372421325292,
   "drift_se_ppm": 2.222227749936584,
   "drift_ms_over_take": 0.1638400317287591,
   "lag_scatter_ms": 0.2108190350829211,
   "lag_range_ms": 0.835995765629094
  }
 },
 "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": 25895,
    "n_gyro": 25890,
    "t_start": -0.0976246612599791,
    "t_end": 128.42955014773995
   },
   "imu_head_left": {
    "n_acc": 25771,
    "n_gyro": 25764,
    "t_start": 0.011477921739205865,
    "t_end": 128.59763872874007
   },
   "imu_wrist_right": {
    "n_acc": 25861,
    "n_gyro": 25861,
    "t_start": -0.7040281392610634,
    "t_end": 126.76906440874059
   },
   "imu_wrist_left": {
    "n_acc": 25728,
    "n_gyro": 25740,
    "t_start": -0.7211804992594264,
    "t_end": 126.77245389373907
   },
   "mag_head": {
    "n": 12867,
    "t_start": 0.10083554673925371,
    "t_end": 128.76088606673963
   },
   "mag_wrist_right": {
    "n": 12746,
    "t_start": -0.6859419562597762,
    "t_end": 126.76411205874042
   },
   "mag_wrist_left": {
    "n": 12748,
    "t_start": -0.7044636522596559,
    "t_end": 126.76601972674048
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 11199.683626,
    "frames": 3846,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0025546514432425653,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": 0.040004817182270724,
    "t_end": 128.2067378171823,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 11199.683569,
    "frames": 3846,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002366886077403108,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": 0.03976005181808412,
    "t_end": 128.20651605181862,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 11199.683609,
    "frames": 3846,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0026728712083183277,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": 0.040106036948563795,
    "t_end": 128.2068390369486,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 11199.683642,
    "frames": 3846,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002595594493655556,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": 0.04006176023263813,
    "t_end": 128.20678376023258,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 30.0,
    "start_device_s": 11199.683589,
    "frames": 3844,
    "pts_gaps": 2,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002394386090989767,
    "gap_test": {
     "pts": {
      "offset_ms": 29.5,
      "corr": 0.983,
      "err_ms": 27.1
     },
     "nominal": {
      "offset_ms": 79.5,
      "corr": 0.983,
      "err_ms": 77.1
     }
    },
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": 0.03980755183052659,
    "t_end": 128.20655155183064,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 11199.683543,
    "frames": 3846,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002315656053021164,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": 0.039682821791720724,
    "t_end": 128.20643882179226,
    "clock": "device",
    "calibrated": true
   },
   "wrist_left": {
    "fps": 30.0,
    "start_device_s": 11198.916621,
    "frames": 3824,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
    "t_start": -0.7295548342599798,
    "t_end": 126.70423416574063,
    "clock": "device",
    "calibrated": false
   },
   "wrist_right": {
    "fps": 30.0,
    "start_device_s": 11198.947715,
    "frames": 3823,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
    "t_start": -0.6984608342600407,
    "t_end": 126.70160416573977,
    "clock": "device",
    "calibrated": false
   },
   "third_person": {
    "file": "mocap/mocap-SM13-S01-zhangxinxin-02p3-1.mp4",
    "frames": 3847,
    "fps": 30.0,
    "clock": "nokov (frame index)",
    "t_start": 0.0,
    "t_end": 128.2
   }
  }
 },
 "flags": [],
 "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
 "rig_tracker": {
  "definition": "e3296774a321bb51/20261031-afternoon/labels-503412/session-8c5d0aad8d08d9c0",
  "R_tracker0_imu0": [
   [
    -0.74131185,
    0.13568064,
    -0.65730321
   ],
   [
    0.66699467,
    0.03998145,
    -0.74398898
   ],
   [
    -0.07466496,
    -0.98994558,
    -0.12013699
   ]
  ],
  "p_tracker0_imu0_m": [
   0.020833471423272482,
   -0.0013829892263840984,
   -0.024997305731376606
  ],
  "rig_check": {
   "gyro_samples": 4276,
   "gyro_max_deg": 2.5,
   "status": "gyro_rotation",
   "dropped_marker": null,
   "gyro_deg": 0.0,
   "video_solve": {
    "status": "ok",
    "reason": "",
    "reprojection_px": 2.392,
    "n_assoc": 718,
    "gyro_deg": 2.586
   }
  },
  "file": "derived/rig_tracker_provider/rig_tracker.json",
  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
 },
 "canonical": {
  "generated_at_utc": "2026-11-03T09:18:14.975417+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": [
   [
    0.9999980753,
    0.0019619693,
    8.2636e-06
   ],
   [
    -8.2636e-06,
    0.0084236237,
    -0.9999645206
   ],
   [
    -0.0019619693,
    0.9999625959,
    0.0084236237
   ]
  ],
  "scale_nokov_to_canon": 0.001,
  "T_canon_nokov_mm": [
   [
    0.000999998075,
    1.961969e-06,
    8.264e-09,
    0.0
   ],
   [
    -8.264e-09,
    8.423624e-06,
    -0.000999964521,
    0.0
   ],
   [
    -1.961969e-06,
    0.000999962596,
    8.423624e-06,
    0.0
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ],
  "block": "20261031-afternoon",
  "block_assignment": "trc",
  "tilt_removed_deg": 0.4955625379774218,
  "plane_status": "ok",
  "floor": {
   "sole_marker_p1_mm": 37.3,
   "headtop_p95_mm": 1628.9
  },
  "gravity_check": {
   "static_samples": 7000,
   "g_world_mean_m_s2": [
    0.1051,
    -0.0437,
    9.7499
   ],
   "tilt_from_z_deg": 0.669,
   "tilt_from_z_deg_before_levelling": 0.896,
   "magnitude_m_s2": 9.7506
  },
  "rig_tracker_definition": "e3296774a321bb51/20261031-afternoon/labels-503412/session-8c5d0aad8d08d9c0",
  "rig_check": {
   "status": "gyro_rotation",
   "dropped_marker": null,
   "gyro_deg": 0.0
  },
  "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": "2026-11-03T13:16:50.442273+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": [
      0.05677231401205063,
      0.004683482460677624,
      0.028011729940772057
     ],
     "LHandOut": [
      0.05510169640183449,
      0.031173884868621826,
      -0.0015210907440632582
     ]
    },
    "right": {
     "RHandIn": [
      -0.08018774539232254,
      0.014766198582947254,
      -0.0008287355885840952
     ],
     "RHandOut": [
      -0.07378619909286499,
      0.004866599105298519,
      -0.04212936386466026
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 3.56,
   "p95_frame": 5.32
  },
  "worst_markers": [
   "RElbowIn 12mm",
   "LElbowIn 10mm",
   "LElbow 6mm",
   "RElbow 6mm",
   "LWristIn 6mm"
  ],
  "valid_fraction": 0.9997,
  "qc": {
   "lowest_vertex_mm": {
    "median": 4.2,
    "p5": 3.0
   },
   "frames_checked": 513,
   "stature_mm": 1627.7
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 12.8
  },
  "shape_source": "participant median",
  "wrist_correction": {
   "left": {
    "status": "corrected",
    "Q_deg": 52.05,
    "Q_rotvec": [
     0.84769,
     -0.30737,
     0.11038
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 43.6,
    "opposite_sign_bend_deg": 152.3,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 4.35,
    "hand_vs_marker_frame_deg": {
     "before": 52.48,
     "after": 4.35
    },
    "markers_on_wrist": [
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": 35.27,
     "wrist_twist_deg_after": {
      "median": 0.0,
      "iqr": [
       -8.7,
       6.2
      ]
     },
     "wrist_total_deg_median_after": 24.5,
     "markers_on_forearm": [
      "LForearm",
      "LWristIn",
      "LWristOut"
     ]
    },
    "frames_used": 1500
   },
   "right": {
    "status": "corrected",
    "Q_deg": 10.96,
    "Q_rotvec": [
     -0.13829,
     0.12916,
     -0.02802
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 41.0,
    "opposite_sign_bend_deg": 145.2,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 1.99,
    "hand_vs_marker_frame_deg": {
     "before": 11.59,
     "after": 1.99
    },
    "markers_on_wrist": [
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": 29.74,
     "wrist_twist_deg_after": {
      "median": 0.0,
      "iqr": [
       -2.4,
       5.5
      ]
     },
     "wrist_total_deg_median_after": 27.9,
     "markers_on_forearm": [
      "RForearm",
      "RWristIn",
      "RWristOut"
     ]
    },
    "frames_used": 1500
   },
   "generated_at_utc": "2026-11-03T13:16:53.515499+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "release": {
  "release_path": "actions/static_manipulation/SM13/session_005",
  "family": "static_manipulation",
  "primitive": "SM13",
  "source_session": "20261031/SM13/20261031_082911_session50"
 },
 "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": "LittleBox3",
   "object_type": "LittleBox",
   "source": "mocap",
   "pose_frame": "mesh"
  },
  {
   "name": "Table",
   "object_type": "Table",
   "source": "mocap",
   "pose_frame": "rigid_body"
  }
 ]
}