{
 "schema_version": 1,
 "session": "EgoMotionActions/20261008/SM21/20261008_041616_session56",
 "session_id": "20261008_041616_session56",
 "primitive": "SM21",
 "batch": "20261008",
 "participant": "gaoziyue",
 "participant_source": "manifest",
 "device_ids": {
  "main": "e17c9efadb69e7b1",
  "left": "cc5681142208e29a",
  "right": "60a6f081bbe60b0d"
 },
 "generated_at_utc": "2026-10-14T11:34:43.418154+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": 144.025,
  "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": -1.171507,
  "rate": 0.0,
  "global_lag_s": -1.17,
  "peak_corr": 0.9946,
  "reference_imu_first_sample_s": 14070.122345508,
  "windows": {
   "n_windows": 12,
   "window_corr_median": 0.8415562080103998,
   "drift_ppm": -4.778056490277106,
   "drift_se_ppm": 4.161721382365918,
   "drift_ms_over_take": -0.6881197688747414,
   "lag_scatter_ms": 0.4543080136881402,
   "lag_range_ms": 1.4350122398154586
  }
 },
 "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": 29277,
    "n_gyro": 29271,
    "t_start": -1.1784880734211107,
    "t_end": 144.78076325857924
   },
   "imu_head_left": {
    "n_acc": 29223,
    "n_gyro": 29218,
    "t_start": -1.07000119842073,
    "t_end": 144.94557129057844
   },
   "imu_wrist_right": {
    "n_acc": 28136,
    "n_gyro": 28136,
    "t_start": 0.2891854545797763,
    "t_end": 139.3429391345782
   },
   "imu_wrist_left": {
    "n_acc": 27477,
    "n_gyro": 27477,
    "t_start": 0.2339150215795165,
    "t_end": 139.34262576557936
   },
   "mag_head": {
    "n": 14611,
    "t_start": -0.989800698420229,
    "t_end": 145.1102142045785
   },
   "mag_wrist_right": {
    "n": 13906,
    "t_start": 0.29739183757933674,
    "t_end": 139.3462808115784
   },
   "mag_wrist_left": {
    "n": 13911,
    "t_start": 0.25013775857965115,
    "t_end": 139.34921846857847
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 14071.330888,
    "frames": 4320,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0023423887986386703,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": 0.039377732377172237,
    "t_end": 144.00594473237666,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 14071.33085,
    "frames": 4320,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0019489646456461974,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": 0.03894630822483336,
    "t_end": 144.0055243082244,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 14071.330876,
    "frames": 4320,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0018171232386612972,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": 0.038840466817557484,
    "t_end": 144.00540746681705,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 14071.3309,
    "frames": 4320,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0017295646474508202,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": 0.03877690822642066,
    "t_end": 144.0053439082259,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 30.0,
    "start_device_s": 14071.330864,
    "frames": 4320,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.001668932298833096,
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": 0.038680275876824766,
    "t_end": 144.0052582758764,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 14071.330828,
    "frames": 4320,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0017169377622902274,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": 0.038692281341493384,
    "t_end": 144.00528128134115,
    "clock": "device",
    "calibrated": true
   },
   "wrist_left": {
    "fps": 30.0,
    "start_device_s": 14071.513859,
    "frames": 4173,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
    "t_start": 0.22000634357950943,
    "t_end": 139.28576134357914,
    "clock": "device",
    "calibrated": false
   },
   "wrist_right": {
    "fps": 30.0,
    "start_device_s": 14071.579277,
    "frames": 4171,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
    "t_start": 0.2854243435796455,
    "t_end": 139.2843173435796,
    "clock": "device",
    "calibrated": false
   },
   "third_person": {
    "file": "mocap/mocap-SM21-S02-gaoziyue-02p2-1.mp4",
    "frames": 4321,
    "fps": 30.0,
    "clock": "nokov (frame index)",
    "t_start": 0.0,
    "t_end": 144.0
   }
  }
 },
 "flags": [],
 "sanity": {
  "status": {
   "structure": "PASS",
   "markers": "WARN",
   "timing": "PASS"
  },
  "verdict": "READY",
  "issues": [
   "WARN M_BODY_ID",
   "WARN M_TRACKER_LABELS"
  ]
 },
 "canonical": {
  "generated_at_utc": "2026-10-14T12:22:57.219749+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": [
   [
    0.9999946774,
    -0.0032627035,
    5.0113e-06
   ],
   [
    -5.0113e-06,
    -0.0030718258,
    -0.9999952819
   ],
   [
    0.0032627035,
    0.9999899593,
    -0.0030718258
   ]
  ],
  "scale_nokov_to_canon": 0.001,
  "T_canon_nokov_mm": [
   [
    0.000999994677,
    -3.262703e-06,
    5.011e-09,
    0.0
   ],
   [
    -5.011e-09,
    -3.071826e-06,
    -0.000999995282,
    0.0
   ],
   [
    3.262703e-06,
    0.000999989959,
    -3.071826e-06,
    0.0
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ],
  "block": "20261008-morning",
  "block_assignment": "trc",
  "tilt_removed_deg": 0.2567559484663804,
  "plane_status": "ok",
  "floor": {
   "sole_marker_p1_mm": 28.0,
   "headtop_p95_mm": 1612.5
  },
  "gravity_check": {
   "static_samples": 25684,
   "g_world_mean_m_s2": [
    0.0532,
    0.0184,
    9.7727
   ],
   "tilt_from_z_deg": 0.33,
   "tilt_from_z_deg_before_levelling": 0.574,
   "magnitude_m_s2": 9.7729
  },
  "rig_tracker_definition": "e17c9efadb69e7b1/20261008-morning/labels-530412/session-628cacb0e103187b",
  "camera_pose_source": "provider T_tracker0_cam",
  "files": [
   "mocap_zup.npz",
   "tracker0_zup.npz",
   "rig_zup.npz",
   "cameras_zup.npz"
  ]
 },
 "smplx": {
  "generated_at_utc": "2026-10-15T08:16:50.870410+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": [
      0.0627715140581131,
      0.015639252960681915,
      0.017180519178509712
     ],
     "LHandOut": [
      0.05264504998922348,
      0.01177237369120121,
      -0.0341179221868515
     ]
    },
    "right": {
     "RHandIn": [
      -0.06853741407394409,
      0.003202454885467887,
      0.0357104167342186
     ],
     "RHandOut": [
      -0.06821057200431824,
      0.014559534378349781,
      -0.014663138426840305
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 2.26,
   "p95_frame": 5.41
  },
  "worst_markers": [
   "RElbowIn 7mm",
   "LElbowIn 7mm",
   "LWristIn 5mm",
   "RWristOut 5mm",
   "LWristOut 5mm"
  ],
  "valid_fraction": 0.9995,
  "qc": {
   "lowest_vertex_mm": {
    "median": -1.8,
    "p5": -2.7
   },
   "frames_checked": 576,
   "stature_mm": 1598.8
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 11.41
  },
  "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,
    "wrist_bend_deg_median": 171.6,
    "opposite_sign_bend_deg": 29.1,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 2.76,
    "hand_vs_marker_frame_deg": {
     "before": 179.7,
     "after": 2.76
    },
    "markers_on_wrist": [
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -165.09,
     "wrist_twist_deg_after": {
      "median": -5.62,
      "iqr": [
       -12.4,
       2.0
      ]
     },
     "wrist_total_deg_median_after": 20.2,
     "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,
    "wrist_bend_deg_median": 19.3,
    "opposite_sign_bend_deg": 168.6,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 2.54,
    "hand_vs_marker_frame_deg": {
     "before": 2.54,
     "after": 2.54
    },
    "markers_on_wrist": [
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -0.0,
     "wrist_twist_deg_after": {
      "median": -0.0,
      "iqr": [
       -10.4,
       8.4
      ]
     },
     "wrist_total_deg_median_after": 20.2,
     "markers_on_forearm": [
      "RForearm",
      "RWristIn",
      "RWristOut"
     ]
    },
    "frames_used": 1500
   },
   "generated_at_utc": "2026-10-28T06:33:22.883432+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "rig_tracker": {
  "definition": "e17c9efadb69e7b1/20261008-morning/labels-530412/session-628cacb0e103187b",
  "R_tracker0_imu0": [
   [
    -0.66413453,
    0.15344723,
    -0.73169616
   ],
   [
    0.74584936,
    0.06880402,
    -0.66255169
   ],
   [
    -0.05132309,
    -0.98575857,
    -0.16014364
   ]
  ],
  "p_tracker0_imu0_m": [
   -0.1773731603910019,
   -0.017934592165525867,
   -0.007667782215004536
  ],
  "rig_check": {
   "gyro_samples": 243,
   "gyro_max_deg": 2.5,
   "status": "ok",
   "dropped_marker": null,
   "gyro_deg": 1.996
  },
  "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": "2026-10-18T19:08:55.810853+00:00",
  "generated_by": "scripts/correct_processed_rig.py",
  "remaining_gyro_frame_deg": null
 },
 "hands_registration": {
  "cameras": {},
  "hands": {
   "left": {
    "offset_deg": 31.72,
    "offset_rotvec": [
     0.4829,
     0.2654,
     -0.0529
    ],
    "dev_deg": {
     "median": 9.92,
     "p90": 18.81
    },
    "samples": 4181,
    "accepted": 4044,
    "wrist_pos_err_mm_median": 27.2,
    "per_camera": {
     "head": {
      "samples": 4181,
      "accepted": 4044,
      "gate_deg": 30.0,
      "offset_deg": 31.72,
      "tier": "primary",
      "dev_deg_median": 9.92,
      "wrist_pos_err_mm_median": 27.2
     }
    },
    "frames_by_state": {
     "ace_sample": 16210,
     "interpolated": 626,
     "mean_hand": 440,
     "no_body_fit": 8
    },
    "observed_fraction": 0.9741,
    "observed_fraction_of_valid": 0.9745,
    "palm_axis_vs_markers_deg": {
     "gsi": 33.36,
     "smplx": 0.61
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 7.4,
      "p90": 12.9
     },
     "registered": {
      "median": 7.0,
      "p90": 11.9
     }
    }
   },
   "right": {
    "offset_deg": 27.73,
    "offset_rotvec": [
     0.4427,
     -0.1776,
     0.0817
    ],
    "dev_deg": {
     "median": 12.03,
     "p90": 18.53
    },
    "samples": 3876,
    "accepted": 3826,
    "wrist_pos_err_mm_median": 19.2,
    "per_camera": {
     "head": {
      "samples": 3876,
      "accepted": 3826,
      "gate_deg": 30.0,
      "offset_deg": 27.73,
      "tier": "primary",
      "dev_deg_median": 12.03,
      "wrist_pos_err_mm_median": 19.2
     }
    },
    "frames_by_state": {
     "ace_sample": 15304,
     "interpolated": 120,
     "mean_hand": 1852,
     "no_body_fit": 8
    },
    "observed_fraction": 0.8924,
    "observed_fraction_of_valid": 0.8928,
    "palm_axis_vs_markers_deg": {
     "gsi": 29.01,
     "smplx": 1.15
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 5.7,
      "p90": 8.1
     },
     "registered": {
      "median": 4.1,
      "p90": 6.6
     }
    }
   }
  },
  "max_dev_deg": 30.0,
  "max_gap_s": 1.0,
  "cameras_used": [
   "head"
  ],
  "generated_at_utc": "2026-11-03T22:19:02.893178+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_003",
  "family": "static_manipulation",
  "primitive": "SM21",
  "source_session": "20261008/SM21/20261008_041616_session56"
 },
 "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."
 }
}