{
 "schema_version": 1,
 "session": "EgoMotionActions/20261103/SM13/20261103_080511_session204",
 "session_id": "20261103_080511_session204",
 "primitive": "SM13",
 "batch": "20261103",
 "participant": "yanyitong",
 "participant_source": "manifest",
 "device_ids": {
  "main": "e17c9efadb69e7b1",
  "left": "cc5681142208e29a",
  "right": "60a6f081bbe60b0d"
 },
 "generated_at_utc": "2026-11-03T22:22:28.827458+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": 127.95833333333333,
  "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": -0.084772,
  "rate": 0.0,
  "global_lag_s": -0.085,
  "peak_corr": 0.7511,
  "reference_imu_first_sample_s": 27252.219557206,
  "windows": {
   "n_windows": 11,
   "window_corr_median": 0.7724791088531331,
   "drift_ppm": -507.70601775248906,
   "drift_se_ppm": 256.96288059142404,
   "drift_ms_over_take": -64.96098497143097,
   "lag_scatter_ms": 24.377639303603253,
   "lag_range_ms": 104.30967079755517
  }
 },
 "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": "e17c9efadb69e7b1",
  "status": "ok",
  "date": "2026-09-08"
 },
 "streams": {
  "sensors": {
   "imu_head_right": {
    "n_acc": 25724,
    "n_gyro": 25718,
    "t_start": -0.09175656109208231,
    "t_end": 128.14782008790874
   },
   "imu_head_left": {
    "n_acc": 25677,
    "n_gyro": 25670,
    "t_start": 0.022886272907741464,
    "t_end": 128.3158324819074
   },
   "imu_wrist_right": {
    "n_acc": 25780,
    "n_gyro": 25791,
    "t_start": -0.928225692093732,
    "t_end": 126.47452283590839
   },
   "imu_wrist_left": {
    "n_acc": 25137,
    "n_gyro": 25136,
    "t_start": -0.7843542340938106,
    "t_end": 126.47569846390844
   },
   "mag_head": {
    "n": 12837,
    "t_start": 0.11550539790779711,
    "t_end": 128.47554170890592
   },
   "mag_wrist_right": {
    "n": 12739,
    "t_start": -0.9087659610936347,
    "t_end": 126.4705877209076
   },
   "mag_wrist_left": {
    "n": 12725,
    "t_start": -0.7690987810942564,
    "t_end": 126.47013333390579
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 27252.34134,
    "frames": 3838,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0023423887986386703,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": 0.03935333570417841,
    "t_end": 127.93938633570589,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 27252.341286,
    "frames": 3838,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0019489646456461974,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": 0.03890591155369892,
    "t_end": 127.9389499115555,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 27252.34132,
    "frames": 3838,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0018171232386612972,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": 0.03880807014731234,
    "t_end": 127.93885207014911,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 27252.341359,
    "frames": 3838,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0017295646474508202,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": 0.03875951155215861,
    "t_end": 127.93879251155387,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 30.0,
    "start_device_s": 27252.341303,
    "frames": 3838,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.001668932298833096,
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": 0.038642879206705935,
    "t_end": 127.9386868792085,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 27252.341264,
    "frames": 3838,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0017169377622902274,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": 0.03865188466672097,
    "t_end": 127.93869588466852,
    "clock": "device",
    "calibrated": true
   },
   "wrist_left": {
    "fps": 30.0,
    "start_device_s": 27251.521301,
    "frames": 3817,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
    "t_start": -0.783028053092024,
    "t_end": 126.41619094690624,
    "clock": "device",
    "calibrated": false
   },
   "wrist_right": {
    "fps": 30.0,
    "start_device_s": 27251.441084,
    "frames": 3820,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
    "t_start": -0.8632450530944729,
    "t_end": 126.43610394690633,
    "clock": "device",
    "calibrated": false
   },
   "third_person": {
    "file": "mocap/mocap-SM13-S03-yanyitong-02p1-1.mp4",
    "frames": 3839,
    "fps": 30.0,
    "clock": "nokov (frame index)",
    "t_start": 0.0,
    "t_end": 127.93333333333334
   }
  }
 },
 "flags": [],
 "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
 "rig_tracker": {
  "definition": "e17c9efadb69e7b1/20261103-afternoon/labels-352410/session-bc8227335dac803e",
  "R_tracker0_imu0": [
   [
    -0.67389457,
    0.22751853,
    -0.70292349
   ],
   [
    0.73845887,
    0.17736786,
    -0.65055295
   ],
   [
    -0.02333682,
    -0.95748418,
    -0.28754031
   ]
  ],
  "p_tracker0_imu0_m": [
   -0.17344937738936425,
   -0.019470514792861954,
   -0.025048012686230376
  ],
  "rig_check": {
   "gyro_samples": 227,
   "gyro_max_deg": 2.5,
   "status": "ok",
   "dropped_marker": null,
   "gyro_deg": 1.374
  },
  "file": "derived/rig_tracker_provider/rig_tracker.json",
  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
 },
 "canonical": {
  "generated_at_utc": "2026-11-04T04:13:20.852730+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": [
   [
    0.9999997836,
    0.0006578614,
    1.2188e-06
   ],
   [
    -1.2188e-06,
    0.0037053978,
    -0.999993135
   ],
   [
    -0.0006578614,
    0.9999929186,
    0.0037053978
   ]
  ],
  "scale_nokov_to_canon": 0.001,
  "T_canon_nokov_mm": [
   [
    0.000999999784,
    6.57861e-07,
    1.219e-09,
    0.0
   ],
   [
    -1.219e-09,
    3.705398e-06,
    -0.000999993135,
    0.0
   ],
   [
    -6.57861e-07,
    0.000999992919,
    3.705398e-06,
    0.0
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ],
  "block": "20261103-afternoon",
  "block_assignment": "trc",
  "tilt_removed_deg": 0.21562421060799886,
  "plane_status": "ok",
  "floor": {
   "sole_marker_p1_mm": 36.0,
   "headtop_p95_mm": 1604.0
  },
  "gravity_check": {
   "static_samples": 9650,
   "g_world_mean_m_s2": [
    -0.048,
    -0.2187,
    9.7631
   ],
   "tilt_from_z_deg": 1.314,
   "tilt_from_z_deg_before_levelling": 1.529,
   "magnitude_m_s2": 9.7656
  },
  "rig_tracker_definition": "e17c9efadb69e7b1/20261103-afternoon/labels-352410/session-bc8227335dac803e",
  "rig_check": {
   "status": "ok",
   "dropped_marker": null,
   "gyro_deg": 1.374
  },
  "camera_pose_source": "provider T_tracker0_cam",
  "files": [
   "mocap_zup.npz",
   "tracker0_zup.npz",
   "rig_zup.npz",
   "cameras_zup.npz"
  ]
 },
 "smplx": {
  "generated_at_utc": "2026-11-04T06:17:10.453588+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": [
      0.06599828600883484,
      0.024343349039554596,
      -6.0740749177057296e-05
     ],
     "LHandOut": [
      0.05678985267877579,
      -0.013510404154658318,
      -0.04257814958691597
     ],
     "LWristOut": [
      -0.0039655063301324844,
      0.0010864217765629292,
      -0.04052972421050072
     ]
    },
    "right": {
     "RHandIn": [
      -0.034308601170778275,
      -0.006741558201611042,
      0.05564609542489052
     ],
     "RHandOut": [
      -0.03381708636879921,
      0.04455159232020378,
      0.02683728188276291
     ],
     "RWristOut": [
      0.03730230778455734,
      0.030304277315735817,
      0.01624932885169983
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 3.39,
   "p95_frame": 5.85
  },
  "worst_markers": [
   "LShin 12mm",
   "LElbowIn 8mm",
   "LElbow 7mm",
   "RElbowIn 7mm",
   "LKneeIn 6mm"
  ],
  "valid_fraction": 0.9995,
  "qc": {
   "lowest_vertex_mm": {
    "median": 10.8,
    "p5": 10.0
   },
   "frames_checked": 512,
   "stature_mm": 1600.3
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 13.31
  },
  "shape_source": "participant median",
  "wrist_correction": {
   "left": {
    "status": "corrected",
    "Q_deg": 36.44,
    "Q_rotvec": [
     -0.53496,
     -0.01142,
     0.34369
    ],
    "in_out_sign": 1,
    "q_source": "markers",
    "gsi": null,
    "wrist_bend_deg_median": 84.2,
    "opposite_sign_bend_deg": 98.8,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 3.26,
    "hand_vs_marker_frame_deg": {
     "before": 37.54,
     "after": 3.26
    },
    "markers_on_wrist": [
     "LWristOut",
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -79.64,
     "wrist_twist_deg_after": {
      "median": -0.0,
      "iqr": [
       -3.4,
       9.0
      ]
     },
     "wrist_total_deg_median_after": 29.9,
     "markers_on_forearm": [
      "LElbowIn",
      "LForearm",
      "LWristIn"
     ]
    },
    "frames_used": 1500
   },
   "right": {
    "status": "corrected",
    "Q_deg": 83.36,
    "Q_rotvec": [
     1.18082,
     0.64116,
     -0.55787
    ],
    "in_out_sign": 1,
    "q_source": "markers",
    "gsi": null,
    "wrist_bend_deg_median": 86.7,
    "opposite_sign_bend_deg": 111.2,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 2.91,
    "hand_vs_marker_frame_deg": {
     "before": 82.69,
     "after": 2.91
    },
    "markers_on_wrist": [
     "RWristOut",
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -81.66,
     "wrist_twist_deg_after": {
      "median": -0.0,
      "iqr": [
       -5.5,
       3.4
      ]
     },
     "wrist_total_deg_median_after": 31.3,
     "markers_on_forearm": [
      "RElbowIn",
      "RForearm",
      "RWristIn"
     ]
    },
    "frames_used": 1500
   },
   "generated_at_utc": "2026-11-04T06:17:13.263714+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "release": {
  "release_path": "actions/static_manipulation/SM13/session_006",
  "family": "static_manipulation",
  "primitive": "SM13",
  "source_session": "20261103/SM13/20261103_080511_session204"
 },
 "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": "LittleBox5",
   "object_type": "LittleBox",
   "source": "mocap",
   "pose_frame": "mesh"
  },
  {
   "name": "LittleBox6",
   "object_type": "LittleBox",
   "source": "mocap",
   "pose_frame": "mesh"
  },
  {
   "name": "Table",
   "object_type": "Table",
   "source": "mocap",
   "pose_frame": "rigid_body"
  }
 ]
}