{
 "schema_version": 1,
 "session": "EgoMotionActions/20260928/SM21/20260928_011929_session7",
 "session_id": "20260928_011929_session7",
 "primitive": "SM21",
 "batch": "20260928",
 "participant": "liujiaxin",
 "participant_source": "manifest",
 "device_ids": {
  "main": "e17c9efadb69e7b1",
  "left": "452031d7af00ef6f",
  "right": "6ee5ee4472fe2ad7"
 },
 "generated_at_utc": "2026-10-14T11:29:32.069628+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": -1.170829,
  "rate": 0.0,
  "global_lag_s": -1.17,
  "peak_corr": 0.7852,
  "reference_imu_first_sample_s": 3430.422588756,
  "windows": {
   "n_windows": 12,
   "window_corr_median": 0.9657953829585295,
   "drift_ppm": -21.513995921586968,
   "drift_se_ppm": 22.45186676741129,
   "drift_ms_over_take": -3.3135139385230867,
   "lag_scatter_ms": 2.731900077861287,
   "lag_range_ms": 10.504932979719106
  }
 },
 "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": 31262,
    "n_gyro": 31257,
    "t_start": -1.1778142440311183,
    "t_end": 154.6886981659687
   },
   "imu_head_left": {
    "n_acc": 31204,
    "n_gyro": 31198,
    "t_start": -1.0709262460312983,
    "t_end": 154.85342362296896
   },
   "imu_wrist_left": {
    "n_acc": 30461,
    "n_gyro": 30461,
    "t_start": 0.26024229596904314,
    "t_end": 150.69320654496877
   },
   "mag_head": {
    "n": 15602,
    "t_start": -0.9892949520312084,
    "t_end": 155.02070324696896
   },
   "mag_wrist_right": {
    "n": 15060,
    "t_start": 0.11877378996867827,
    "t_end": 150.70778122496912
   },
   "mag_wrist_left": {
    "n": 15043,
    "t_start": 0.27857507196912246,
    "t_end": 150.6976968249688
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 3431.63107,
    "frames": 4620,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0023423887986386703,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": 0.03999463476755971,
    "t_end": 154.00665063476762,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 3431.631016,
    "frames": 4620,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0019489646456461974,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": 0.039547210614351735,
    "t_end": 154.00620321061442,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 3431.631051,
    "frames": 4620,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0018171232386612972,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": 0.0394503692073942,
    "t_end": 154.00610636920746,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 3431.631085,
    "frames": 4620,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0017295646474508202,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": 0.0393968106164595,
    "t_end": 154.00605281061652,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 30.0,
    "start_device_s": 3431.631036,
    "frames": 4620,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.001668932298833096,
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": 0.03928717826791961,
    "t_end": 154.00594317826798,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 3431.630994,
    "frames": 4620,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0017169377622902274,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": 0.03929318373146651,
    "t_end": 154.00596018373162,
    "clock": "device",
    "calibrated": true
   },
   "wrist_left": {
    "fps": 30.0,
    "start_device_s": 3431.845256,
    "frames": 4513,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
    "t_start": 0.2518382459689621,
    "t_end": 150.65099224596915,
    "clock": "device",
    "calibrated": false
   },
   "wrist_right": {
    "fps": 30.0,
    "start_device_s": 3431.814091,
    "frames": 4514,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
    "t_start": 0.22067324596908855,
    "t_end": 150.65303024596923,
    "clock": "device",
    "calibrated": false
   },
   "third_person": {
    "file": "mocap/mocap-SM21-S02-liujiaxin-02p1-1.mp4",
    "frames": 4621,
    "fps": 60.0,
    "clock": "nokov (frame index)",
    "t_start": 0.0,
    "t_end": 77.0
   }
  }
 },
 "flags": [
  "wrist_right_imu empty"
 ],
 "sanity": {
  "status": {
   "structure": "FAIL",
   "markers": "WARN",
   "timing": "WARN"
  },
  "verdict": "READY_WITH_WARNINGS",
  "issues": [
   "FAIL S_DB_EMPTY",
   "FAIL S_REPORT_EMPTY",
   "WARN M_TRACKER_LABELS",
   "WARN S_VIDEO_FPS",
   "WARN T_EMPTY"
  ]
 },
 "canonical": {
  "generated_at_utc": "2026-10-14T12:22:17.820461+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": [
   [
    0.9999923994,
    -0.0038988195,
    -1.78677e-05
   ],
   [
    1.78677e-05,
    0.0091654922,
    -0.9999579958
   ],
   [
    0.0038988195,
    0.9999503952,
    0.0091654922
   ]
  ],
  "scale_nokov_to_canon": 0.001,
  "T_canon_nokov_mm": [
   [
    0.000999992399,
    -3.89882e-06,
    -1.7868e-08,
    0.0
   ],
   [
    1.7868e-08,
    9.165492e-06,
    -0.000999957996,
    0.0
   ],
   [
    3.89882e-06,
    0.000999950395,
    9.165492e-06,
    0.0
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ],
  "block": "20260928-morning",
  "block_assignment": "trc",
  "tilt_removed_deg": 0.5706910507262971,
  "plane_status": "ok",
  "floor": {
   "sole_marker_p1_mm": 62.7,
   "headtop_p95_mm": 1663.6
  },
  "gravity_check": {
   "static_samples": 14104,
   "g_world_mean_m_s2": [
    0.259,
    0.1801,
    9.7597
   ],
   "tilt_from_z_deg": 1.851,
   "tilt_from_z_deg_before_levelling": 1.823,
   "magnitude_m_s2": 9.7648
  },
  "rig_tracker_definition": "e17c9efadb69e7b1/20260928-morning/labels-352410/session-1c898c14ffccf015",
  "camera_pose_source": "provider T_tracker0_cam",
  "files": [
   "mocap_zup.npz",
   "tracker0_zup.npz",
   "rig_zup.npz",
   "cameras_zup.npz"
  ]
 },
 "smplx": {
  "generated_at_utc": "2026-10-15T04:04:00.678276+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": [
      0.06806617975234985,
      -0.013015823438763618,
      0.03919679671525955
     ],
     "LHandOut": [
      0.0618877150118351,
      0.03020084835588932,
      -0.005255594849586487
     ]
    },
    "right": {
     "RHandIn": [
      -0.050021830946207047,
      0.009939273819327354,
      0.04486959055066109
     ],
     "RHandOut": [
      -0.06378781795501709,
      0.018954521045088768,
      -0.010281918570399284
     ],
     "RWristIn": [
      0.023038364946842194,
      -0.012779970653355122,
      0.02654447965323925
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 1.56,
   "p95_frame": 4.23
  },
  "worst_markers": [
   "RElbowIn 5mm",
   "RElbow 5mm",
   "CLAV 4mm",
   "RShoulderFront 3mm",
   "RWristIn 3mm"
  ],
  "valid_fraction": 1.0,
  "qc": {
   "lowest_vertex_mm": {
    "median": 27.6,
    "p5": 26.6
   },
   "frames_checked": 617,
   "stature_mm": 1614.2
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 13.98
  },
  "shape_source": "participant median",
  "wrist_correction": {
   "left": {
    "status": "corrected",
    "Q_deg": 180.0,
    "Q_rotvec": [
     -2.98662,
     0.4392,
     0.86995
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 179.3,
    "opposite_sign_bend_deg": 32.6,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 0.26,
    "hand_vs_marker_frame_deg": {
     "before": 179.87,
     "after": 0.26
    },
    "markers_on_wrist": [
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -178.28,
     "wrist_twist_deg_after": {
      "median": -1.08,
      "iqr": [
       -1.9,
       -0.3
      ]
     },
     "wrist_total_deg_median_after": 6.7,
     "markers_on_forearm": [
      "LElbowIn",
      "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,
    "wrist_bend_deg_median": 23.1,
    "opposite_sign_bend_deg": 174.5,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 1.43,
    "hand_vs_marker_frame_deg": {
     "before": 1.43,
     "after": 1.43
    },
    "markers_on_wrist": [
     "RWristIn",
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -0.0,
     "wrist_twist_deg_after": {
      "median": -0.0,
      "iqr": [
       -5.9,
       5.4
      ]
     },
     "wrist_total_deg_median_after": 22.6,
     "markers_on_forearm": [
      "RElbowIn",
      "RForearm",
      "RWristOut"
     ]
    },
    "frames_used": 1500
   },
   "generated_at_utc": "2026-10-28T06:30:21.883656+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "rig_tracker": {
  "definition": "e17c9efadb69e7b1/20260928-morning/labels-352410/session-1c898c14ffccf015",
  "R_tracker0_imu0": [
   [
    -0.62463781,
    0.23396661,
    -0.74504176
   ],
   [
    0.77826328,
    0.26506089,
    -0.56925302
   ],
   [
    0.06429523,
    -0.9354156,
    -0.34765468
   ]
  ],
  "p_tracker0_imu0_m": [
   -0.17702232888095645,
   -0.005374939752541518,
   -0.023361224331598207
  ],
  "rig_check": {
   "gyro_samples": 532,
   "gyro_max_deg": 2.5,
   "status": "ok",
   "dropped_marker": null,
   "gyro_deg": 1.257
  },
  "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": "2026-10-18T19:05:54.662828+00:00",
  "generated_by": "scripts/correct_processed_rig.py",
  "remaining_gyro_frame_deg": 1.3415840659877434
 },
 "hands_registration": {
  "cameras": {},
  "hands": {
   "left": {
    "offset_deg": 36.66,
    "offset_rotvec": [
     0.5999,
     -0.2,
     0.098
    ],
    "dev_deg": {
     "median": 10.3,
     "p90": 21.77
    },
    "samples": 4398,
    "accepted": 4270,
    "wrist_pos_err_mm_median": 157.8,
    "per_camera": {
     "head": {
      "samples": 4398,
      "accepted": 4270,
      "gate_deg": 30.0,
      "offset_deg": 36.66,
      "tier": "primary",
      "dev_deg_median": 10.3,
      "wrist_pos_err_mm_median": 157.8
     }
    },
    "frames_by_state": {
     "ace_sample": 17200,
     "interpolated": 1252,
     "mean_hand": 32,
     "no_body_fit": 0
    },
    "observed_fraction": 0.9983,
    "observed_fraction_of_valid": 0.9983,
    "palm_axis_vs_markers_deg": {
     "gsi": 30.25,
     "smplx": 0.23
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 5.5,
      "p90": 6.1
     },
     "registered": {
      "median": 6.0,
      "p90": 8.0
     }
    }
   },
   "right": {
    "offset_deg": 22.51,
    "offset_rotvec": [
     -0.0979,
     -0.3778,
     0.0447
    ],
    "dev_deg": {
     "median": 13.59,
     "p90": 26.51
    },
    "samples": 4480,
    "accepted": 4154,
    "wrist_pos_err_mm_median": 52.7,
    "per_camera": {
     "head": {
      "samples": 4480,
      "accepted": 4154,
      "gate_deg": 30.0,
      "offset_deg": 22.51,
      "tier": "primary",
      "dev_deg_median": 13.59,
      "wrist_pos_err_mm_median": 52.7
     }
    },
    "frames_by_state": {
     "ace_sample": 16688,
     "interpolated": 1192,
     "mean_hand": 604,
     "no_body_fit": 0
    },
    "observed_fraction": 0.9673,
    "observed_fraction_of_valid": 0.9673,
    "palm_axis_vs_markers_deg": {
     "gsi": 25.23,
     "smplx": 0.93
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 10.8,
      "p90": 14.4
     },
     "registered": {
      "median": 9.5,
      "p90": 12.2
     }
    }
   }
  },
  "max_dev_deg": 30.0,
  "max_gap_s": 1.0,
  "cameras_used": [
   "head"
  ],
  "generated_at_utc": "2026-11-03T22:28:50.896125+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_002",
  "family": "static_manipulation",
  "primitive": "SM21",
  "source_session": "20260928/SM21/20260928_011929_session7"
 },
 "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."
 }
}