{
 "schema_version": 1,
 "session": "EgoMotionActions/20260915/SM21/20260915_051555_session58",
 "session_id": "20260915_051555_session58",
 "primitive": "SM21",
 "batch": "20260915",
 "participant": "wangyang",
 "participant_source": "manifest",
 "device_ids": {
  "main": "e17c9efadb69e7b1",
  "left": "cc5681142208e29a",
  "right": "60a6f081bbe60b0d"
 },
 "generated_at_utc": "2026-10-14T11:08:51.258411+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,
  "first_solved_frame": 0,
  "duration_s": 154.025,
  "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": -1.1719,
  "rate": 0.0,
  "global_lag_s": -1.17,
  "peak_corr": 0.8968,
  "reference_imu_first_sample_s": 16472.054154306,
  "windows": {
   "n_windows": 13,
   "window_corr_median": 0.9894441352038871,
   "drift_ppm": 11.857792293942145,
   "drift_se_ppm": 8.124722292918328,
   "drift_ms_over_take": 1.8262976431386562,
   "lag_scatter_ms": 1.0082515211942296,
   "lag_range_ms": 3.3831733912590423
  }
 },
 "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": 31281,
    "n_gyro": 31276,
    "t_start": -1.1788864839090194,
    "t_end": 154.78160506309183
   },
   "imu_head_left": {
    "n_acc": 31223,
    "n_gyro": 31217,
    "t_start": -1.071888400909239,
    "t_end": 154.94822958409173
   },
   "imu_wrist_right": {
    "n_acc": 30300,
    "n_gyro": 30313,
    "t_start": 0.42139067209251957,
    "t_end": 150.16877693809334
   },
   "imu_wrist_left": {
    "n_acc": 29621,
    "n_gyro": 29633,
    "t_start": 0.20882688709213548,
    "t_end": 150.1784413680926
   },
   "mag_head": {
    "n": 15611,
    "t_start": -0.9897057759061965,
    "t_end": 155.11029817409332
   },
   "mag_wrist_right": {
    "n": 14975,
    "t_start": 0.4296904800922392,
    "t_end": 150.16904457909374
   },
   "mag_wrist_left": {
    "n": 14995,
    "t_start": 0.22516832509251694,
    "t_end": 150.16437762609172
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 16473.26334,
    "frames": 4620,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0023423887986386703,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": 0.03962792589124442,
    "t_end": 154.00633892589218,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 16473.26329,
    "frames": 4620,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0019489646456461974,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": 0.03918450173848109,
    "t_end": 154.00589550173942,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 16473.263321,
    "frames": 4620,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0018171232386612972,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": 0.03908366033107891,
    "t_end": 154.00579466033201,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 16473.263353,
    "frames": 4620,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0017295646474508202,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": 0.0390281017371934,
    "t_end": 154.00573910173813,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 30.0,
    "start_device_s": 16473.263305,
    "frames": 4620,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.001668932298833096,
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": 0.038919469390811035,
    "t_end": 154.00561946939166,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 16473.263266,
    "frames": 4620,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0017169377622902274,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": 0.038928474854464046,
    "t_end": 154.0056394748554,
    "clock": "device",
    "calibrated": true
   },
   "wrist_left": {
    "fps": 30.0,
    "start_device_s": 16473.421567,
    "frames": 4499,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
    "t_start": 0.19551253709329908,
    "t_end": 150.1280645370917,
    "clock": "device",
    "calibrated": false
   },
   "wrist_right": {
    "fps": 30.0,
    "start_device_s": 16473.643845,
    "frames": 4492,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
    "t_start": 0.4177905370907582,
    "t_end": 150.11713953708937,
    "clock": "device",
    "calibrated": false
   },
   "third_person": {
    "file": "mocap/mocap-SM21-S02-wangyang-02p1-1.mp4",
    "frames": 4621,
    "fps": 30.0,
    "clock": "nokov (frame index)",
    "t_start": 0.0,
    "t_end": 154.0
   }
  }
 },
 "flags": [],
 "sanity": {
  "status": {
   "structure": "WARN",
   "markers": "WARN",
   "timing": "WARN"
  },
  "verdict": "READY_WITH_WARNINGS",
  "issues": [
   "WARN M_BODY_ID",
   "WARN M_TRACKER_LABELS",
   "WARN S_INDEX_STALE",
   "WARN S_PARTICIPANT",
   "WARN S_REPORT_TIMING",
   "WARN T_UNITS"
  ]
 },
 "canonical": {
  "generated_at_utc": "2026-10-14T12:19:43.718802+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": [
   [
    0.9999194082,
    -0.0126954662,
    -4.65246e-05
   ],
   [
    4.65246e-05,
    0.0073289328,
    -0.9999731419
   ],
   [
    0.0126954662,
    0.9998925502,
    0.0073289328
   ]
  ],
  "scale_nokov_to_canon": 0.001,
  "T_canon_nokov_mm": [
   [
    0.000999919408,
    -1.2695466e-05,
    -4.6525e-08,
    0.0
   ],
   [
    4.6525e-08,
    7.328933e-06,
    -0.000999973142,
    0.0
   ],
   [
    1.2695466e-05,
    0.00099989255,
    7.328933e-06,
    0.0
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ],
  "block": "20260915morning",
  "block_assignment": "trc",
  "tilt_removed_deg": 0.8399325083958641,
  "plane_status": "ok",
  "floor": {
   "sole_marker_p1_mm": 34.6,
   "headtop_p95_mm": 1760.2
  },
  "gravity_check": {
   "static_samples": 18465,
   "g_world_mean_m_s2": [
    0.2358,
    0.181,
    9.7799
   ],
   "tilt_from_z_deg": 1.741,
   "tilt_from_z_deg_before_levelling": 2.203,
   "magnitude_m_s2": 9.7844
  },
  "rig_tracker_definition": "e17c9efadb69e7b1/20260915morning/labels-530412/session-e2d2e0bb31d9e61e",
  "camera_pose_source": "provider T_tracker0_cam",
  "files": [
   "mocap_zup.npz",
   "tracker0_zup.npz",
   "rig_zup.npz",
   "cameras_zup.npz"
  ]
 },
 "smplx": {
  "generated_at_utc": "2026-10-14T23:47:18.695271+00:00",
  "generated_by": "scripts/fit_smplx_dataset.py",
  "file": "smplx.npz",
  "gender": "male",
  "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": [
      0.05331631749868393,
      0.033188458532094955,
      0.021105825901031494
     ],
     "LHandOut": [
      0.0699709877371788,
      0.012661431916058064,
      -0.018390847370028496
     ]
    },
    "right": {
     "RHandIn": [
      -0.0626588985323906,
      0.019409673288464546,
      0.028850331902503967
     ],
     "RHandOut": [
      -0.06095803156495094,
      0.02042331174015999,
      -0.023852529004216194
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 4.76,
   "p95_frame": 6.66
  },
  "worst_markers": [
   "RShin 13mm",
   "RKneeIn 11mm",
   "RElbow 10mm",
   "LKneeIn 9mm",
   "RThigh 9mm"
  ],
  "valid_fraction": 1.0,
  "qc": {
   "lowest_vertex_mm": {
    "median": 1.2,
    "p5": -5.8
   },
   "frames_checked": 617,
   "stature_mm": 1765.5
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 13.26
  },
  "shape_source": "participant median",
  "wrist_correction": {
   "left": {
    "status": "corrected",
    "Q_deg": 180.0,
    "Q_rotvec": [
     3.02706,
     -0.2415,
     -0.80509
    ],
    "in_out_sign": -1,
    "q_source": "markers (sign flipped by GSI)",
    "gsi": {
     "reliable": true,
     "frames": 3000,
     "inlier_frac": 0.995,
     "inlier_spread_deg": 4.98,
     "marker_Q_to_gsi_deg": {
      "1": 173.8,
      "-1": 12.5
     }
    },
    "wrist_bend_deg_median": 176.5,
    "opposite_sign_bend_deg": 26.9,
    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 1.56,
    "hand_vs_marker_frame_deg": {
     "before": 179.39,
     "after": 1.56
    },
    "markers_on_wrist": [
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -175.99,
     "wrist_twist_deg_after": {
      "median": -0.5,
      "iqr": [
       -2.1,
       0.3
      ]
     },
     "wrist_total_deg_median_after": 12.9,
     "markers_on_forearm": [
      "LForearm",
      "LWristIn",
      "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": 0.988,
     "inlier_spread_deg": 6.88,
     "marker_Q_to_gsi_deg": {
      "1": 9.3,
      "-1": 177.5
     }
    },
    "wrist_bend_deg_median": 23.4,
    "opposite_sign_bend_deg": 173.4,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 2.29,
    "hand_vs_marker_frame_deg": {
     "before": 2.29,
     "after": 2.29
    },
    "markers_on_wrist": [
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": 0.0,
     "wrist_twist_deg_after": {
      "median": -0.0,
      "iqr": [
       -7.2,
       5.9
      ]
     },
     "wrist_total_deg_median_after": 22.8,
     "markers_on_forearm": [
      "RForearm",
      "RWristIn",
      "RWristOut"
     ]
    },
    "frames_used": 1500
   },
   "generated_at_utc": "2026-11-06T13:42:19.047109+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "rig_tracker": {
  "definition": "e17c9efadb69e7b1/20260915morning/labels-530412/session-e2d2e0bb31d9e61e",
  "R_tracker0_imu0": [
   [
    -0.6102865,
    0.20228425,
    -0.76591871
   ],
   [
    0.78434409,
    0.28995541,
    -0.54838874
   ],
   [
    0.11115187,
    -0.93541806,
    -0.33561633
   ]
  ],
  "p_tracker0_imu0_m": [
   -0.1783912357716033,
   -0.0023407031929332453,
   -0.016579230775216548
  ],
  "rig_check": {
   "gyro_samples": 1537,
   "gyro_max_deg": 2.5,
   "status": "ok",
   "dropped_marker": null,
   "gyro_deg": 1.28
  },
  "file": "derived/rig_tracker_provider/rig_tracker.json",
  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
 },
 "rig_calibration_repair": {
  "version": 2,
  "applied_at_utc": "2026-10-18T18:53:52.340078+00:00",
  "generated_by": "scripts/correct_processed_rig.py",
  "remaining_gyro_frame_deg": 1.3305186252985
 },
 "hands_registration": {
  "cameras": {},
  "hands": {
   "left": {
    "offset_deg": 12.35,
    "offset_rotvec": [
     -0.1008,
     -0.1685,
     0.0888
    ],
    "dev_deg": {
     "median": 5.0,
     "p90": 15.06
    },
    "samples": 4595,
    "accepted": 4574,
    "wrist_pos_err_mm_median": 66.0,
    "per_camera": {
     "head": {
      "samples": 4595,
      "accepted": 4574,
      "gate_deg": 30.0,
      "offset_deg": 12.35,
      "tier": "primary",
      "dev_deg_median": 5.0,
      "wrist_pos_err_mm_median": 66.0
     }
    },
    "frames_by_state": {
     "ace_sample": 18312,
     "interpolated": 160,
     "mean_hand": 12,
     "no_body_fit": 0
    },
    "observed_fraction": 0.9994,
    "observed_fraction_of_valid": 0.9994,
    "palm_axis_vs_markers_deg": {
     "gsi": 11.1,
     "smplx": 1.66
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 6.5,
      "p90": 7.1
     },
     "registered": {
      "median": 6.1,
      "p90": 6.8
     }
    }
   },
   "right": {
    "offset_deg": 9.57,
    "offset_rotvec": [
     -0.0494,
     -0.1459,
     0.0645
    ],
    "dev_deg": {
     "median": 6.91,
     "p90": 13.87
    },
    "samples": 4554,
    "accepted": 4498,
    "wrist_pos_err_mm_median": 23.3,
    "per_camera": {
     "head": {
      "samples": 4554,
      "accepted": 4498,
      "gate_deg": 30.0,
      "offset_deg": 9.57,
      "tier": "primary",
      "dev_deg_median": 6.91,
      "wrist_pos_err_mm_median": 23.3
     }
    },
    "frames_by_state": {
     "ace_sample": 18012,
     "interpolated": 308,
     "mean_hand": 164,
     "no_body_fit": 0
    },
    "observed_fraction": 0.9911,
    "observed_fraction_of_valid": 0.9911,
    "palm_axis_vs_markers_deg": {
     "gsi": 11.32,
     "smplx": 1.35
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 6.7,
      "p90": 11.6
     },
     "registered": {
      "median": 5.7,
      "p90": 10.5
     }
    }
   }
  },
  "max_dev_deg": 30.0,
  "max_gap_s": 1.0,
  "cameras_used": [
   "head"
  ],
  "generated_at_utc": "2026-11-06T14:41:19.437266+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/SM21/session_001",
  "family": "static_manipulation",
  "primitive": "SM21",
  "source_session": "20260915/SM21/20260915_051555_session58"
 },
 "task": {
  "primitive": "SM21",
  "instruction": "Open and close the tool in your hand, without cutting anything. 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."
 }
}