{
 "schema_version": 1,
 "session": "EgoMotionActions/20261017/SM21/20261017_053230_session66",
 "session_id": "20261017_053230_session66",
 "primitive": "SM21",
 "batch": "20261017",
 "participant": "fengyixuan",
 "participant_source": "manifest",
 "device_ids": {
  "main": "e3296774a321bb51",
  "left": "75b5984e04d1d236",
  "right": "c84bc808cb6b47af"
 },
 "generated_at_utc": "2026-10-22T16:02:44.843878+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": 146.15833333333333,
  "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": -0.084447,
  "rate": 0.0,
  "global_lag_s": -0.085,
  "peak_corr": 0.7164,
  "reference_imu_first_sample_s": 17552.234208736,
  "windows": {
   "n_windows": 13,
   "window_corr_median": 0.8484584088288384,
   "drift_ppm": -338.2992192024121,
   "drift_se_ppm": 203.30537967468146,
   "drift_ms_over_take": -49.44243088643252,
   "lag_scatter_ms": 25.229534122370595,
   "lag_range_ms": 106.89826459834535
  }
 },
 "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": 29506,
    "n_gyro": 29501,
    "t_start": -0.09596071309253697,
    "t_end": 146.35439226091066
   },
   "imu_head_left": {
    "n_acc": 29362,
    "n_gyro": 29356,
    "t_start": 0.012671655907141907,
    "t_end": 146.5177577449077
   },
   "imu_wrist_right": {
    "n_acc": 29349,
    "n_gyro": 29349,
    "t_start": -0.8494827260901011,
    "t_end": 145.16141695390715
   },
   "imu_wrist_left": {
    "n_acc": 29579,
    "n_gyro": 29579,
    "t_start": -0.7684930320928479,
    "t_end": 145.16295029790953
   },
   "mag_head": {
    "n": 14659,
    "t_start": 0.09940091590858989,
    "t_end": 146.6793958609097
   },
   "mag_wrist_right": {
    "n": 14600,
    "t_start": -0.8325384090921225,
    "t_end": 145.15722941390877
   },
   "mag_wrist_left": {
    "n": 14593,
    "t_start": -0.7602504870909988,
    "t_end": 145.15989091991023
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 17552.356875,
    "frames": 4384,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0025546514432425653,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": 0.040774073354513315,
    "t_end": 146.14081807335342,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 17552.356836,
    "frames": 4384,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002366886077403108,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": 0.04054730798550642,
    "t_end": 146.1405913079844,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 17552.356861,
    "frames": 4384,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0026728712083183277,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": 0.040878293116365025,
    "t_end": 146.14092229311527,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 17552.35689,
    "frames": 4384,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002595594493655556,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": 0.0408300164027232,
    "t_end": 146.14088601640205,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 30.0,
    "start_device_s": 17552.356848,
    "frames": 4382,
    "pts_gaps": 2,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002394386090989767,
    "gap_test": {
     "pts": {
      "offset_ms": 28.6,
      "corr": 0.822,
      "err_ms": 26.2
     },
     "nominal": {
      "offset_ms": 107.2,
      "corr": 0.795,
      "err_ms": 104.8
     }
    },
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": 0.04058680799887858,
    "t_end": 146.15714280799975,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 17552.356814,
    "frames": 4384,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002315656053021164,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": 0.040474077960497165,
    "t_end": 146.1405070779593,
    "clock": "device",
    "calibrated": true
   },
   "wrist_left": {
    "fps": 30.0,
    "start_device_s": 17551.546663,
    "frames": 4378,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4",
    "t_start": -0.7719925780901767,
    "t_end": 145.12813742191165,
    "clock": "device",
    "calibrated": false
   },
   "wrist_right": {
    "fps": 30.0,
    "start_device_s": 17551.465715,
    "frames": 4380,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4",
    "t_start": -0.8529405780927127,
    "t_end": 145.11353042190703,
    "clock": "device",
    "calibrated": false
   },
   "third_person": {
    "file": "mocap/mocap-SM21-S01-fengyixuan-02p1-1.mp4",
    "frames": 4385,
    "fps": 30.0,
    "clock": "nokov (frame index)",
    "t_start": 0.0,
    "t_end": 146.13333333333333
   }
  }
 },
 "flags": [],
 "sanity": {
  "status": {
   "structure": "WARN",
   "markers": "WARN",
   "timing": "WARN"
  },
  "verdict": "READY_WITH_WARNINGS",
  "issues": [
   "WARN M_BODY_ID",
   "WARN M_SPIKES",
   "WARN M_TRACKER_LABELS",
   "WARN S_CALIB",
   "WARN S_REPORT_TIMING",
   "WARN T_FRAMES",
   "WARN T_IMU_PAIR",
   "WARN T_LAG_OUTLIER",
   "WARN T_LAG_SCATTER",
   "WARN T_PTS",
   "WARN T_UNITS"
  ]
 },
 "rig_tracker": {
  "definition": "e3296774a321bb51/20261017-morning/labels-235140/session-0a4be9985d976c01",
  "R_tracker0_imu0": [
   [
    -0.61521763,
    0.15534807,
    -0.77289989
   ],
   [
    0.78519749,
    0.03305445,
    -0.61836261
   ],
   [
    -0.07051366,
    -0.98730663,
    -0.14231459
   ]
  ],
  "p_tracker0_imu0_m": [
   0.014042183060046615,
   -0.005555571478308985,
   -0.03364190225221115
  ],
  "rig_check": {
   "gyro_samples": 38,
   "gyro_max_deg": 2.5,
   "status": "unchecked",
   "dropped_marker": null,
   "gyro_deg": null
  },
  "file": "derived/rig_tracker_provider/rig_tracker.json",
  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
 },
 "canonical": {
  "generated_at_utc": "2026-10-22T17:38:23.604367+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": [
   [
    0.9999941336,
    -0.0034252867,
    -1.38614e-05
   ],
   [
    1.38614e-05,
    0.0080934184,
    -0.9999672477
   ],
   [
    0.0034252867,
    0.9999613812,
    0.0080934184
   ]
  ],
  "scale_nokov_to_canon": 0.001,
  "T_canon_nokov_mm": [
   [
    0.000999994134,
    -3.425287e-06,
    -1.3861e-08,
    0.0
   ],
   [
    1.3861e-08,
    8.093418e-06,
    -0.000999967248,
    0.0
   ],
   [
    3.425287e-06,
    0.000999961381,
    8.093418e-06,
    0.0
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ],
  "block": "20261017-morning",
  "block_assignment": "trc",
  "tilt_removed_deg": 0.5035448256779972,
  "plane_status": "ok",
  "floor": {
   "sole_marker_p1_mm": 27.0,
   "headtop_p95_mm": 1625.8
  },
  "gravity_check": {
   "static_samples": 21372,
   "g_world_mean_m_s2": [
    0.2471,
    0.0142,
    9.7293
   ],
   "tilt_from_z_deg": 1.457,
   "tilt_from_z_deg_before_levelling": 1.694,
   "magnitude_m_s2": 9.7325
  },
  "rig_tracker_definition": "e3296774a321bb51/20261017-morning/labels-235140/session-0a4be9985d976c01",
  "camera_pose_source": "provider T_tracker0_cam",
  "files": [
   "mocap_zup.npz",
   "tracker0_zup.npz",
   "rig_zup.npz",
   "cameras_zup.npz"
  ]
 },
 "smplx": {
  "generated_at_utc": "2026-10-23T04:53:31.548300+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": [
      0.07244876772165298,
      -0.002606286434456706,
      0.03774402663111687
     ],
     "LHandOut": [
      0.06786168366670609,
      0.031905271112918854,
      0.012082108296453953
     ],
     "LWristOut": [
      -0.004330730065703392,
      0.02743878960609436,
      -0.0012047217460349202
     ]
    },
    "right": {
     "RHandIn": [
      -0.0695628970861435,
      0.0059614889323711395,
      0.036902569234371185
     ],
     "RHandOut": [
      -0.06625805795192719,
      0.017104685306549072,
      -0.00456429785117507
     ],
     "RWristIn": [
      0.013798116706311703,
      -0.022039370611310005,
      0.02436601184308529
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 1.62,
   "p95_frame": 4.42
  },
  "worst_markers": [
   "LShin 4mm",
   "RElbowIn 4mm",
   "RElbow 4mm",
   "WaistLSide 4mm",
   "LKneeIn 4mm"
  ],
  "valid_fraction": 0.9995,
  "qc": {
   "lowest_vertex_mm": {
    "median": 7.6,
    "p5": 6.9
   },
   "frames_checked": 585,
   "stature_mm": 1593.9
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 11.74
  },
  "shape_source": "participant median",
  "wrist_correction": {
   "left": {
    "status": "corrected",
    "Q_deg": 180.0,
    "Q_rotvec": [
     -2.98442,
     0.43848,
     0.87784
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 177.2,
    "opposite_sign_bend_deg": 25.7,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 0.31,
    "hand_vs_marker_frame_deg": {
     "before": 179.76,
     "after": 0.31
    },
    "markers_on_wrist": [
     "LWristOut",
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -177.06,
     "wrist_twist_deg_after": {
      "median": -0.02,
      "iqr": [
       -0.3,
       0.3
      ]
     },
     "wrist_total_deg_median_after": 17.3,
     "markers_on_forearm": [
      "LElbow",
      "LElbowIn",
      "LForearm",
      "LWristIn"
     ]
    },
    "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": 11.3,
    "opposite_sign_bend_deg": 176.8,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 1.52,
    "hand_vs_marker_frame_deg": {
     "before": 1.52,
     "after": 1.52
    },
    "markers_on_wrist": [
     "RWristIn",
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -0.0,
     "wrist_twist_deg_after": {
      "median": 0.0,
      "iqr": [
       -2.8,
       2.3
      ]
     },
     "wrist_total_deg_median_after": 12.0,
     "markers_on_forearm": [
      "RForearm",
      "RWristOut"
     ]
    },
    "frames_used": 1500
   },
   "generated_at_utc": "2026-10-28T06:41:59.425030+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "hands_registration": {
  "cameras": {},
  "hands": {
   "left": {
    "offset_deg": 37.88,
    "offset_rotvec": [
     0.6231,
     -0.218,
     0.0378
    ],
    "dev_deg": {
     "median": 13.67,
     "p90": 25.13
    },
    "samples": 1172,
    "accepted": 1098,
    "wrist_pos_err_mm_median": 382.8,
    "per_camera": {
     "head": {
      "samples": 1172,
      "accepted": 1098,
      "gate_deg": 30.0,
      "offset_deg": 37.88,
      "tier": "primary",
      "dev_deg_median": 13.67,
      "wrist_pos_err_mm_median": 382.8
     }
    },
    "frames_by_state": {
     "ace_sample": 4449,
     "interpolated": 3174,
     "mean_hand": 9909,
     "no_body_fit": 8
    },
    "observed_fraction": 0.4346,
    "observed_fraction_of_valid": 0.4348,
    "palm_axis_vs_markers_deg": {
     "gsi": 33.79,
     "smplx": 0.26
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 6.1,
      "p90": 7.9
     },
     "registered": {
      "median": 5.5,
      "p90": 6.2
     }
    }
   },
   "right": {
    "offset_deg": 21.15,
    "offset_rotvec": [
     0.1235,
     -0.1703,
     0.3032
    ],
    "dev_deg": {
     "median": 21.61,
     "p90": 35.01
    },
    "samples": 4204,
    "accepted": 3320,
    "wrist_pos_err_mm_median": 28.9,
    "per_camera": {
     "head": {
      "samples": 4204,
      "accepted": 3320,
      "gate_deg": 30.0,
      "offset_deg": 21.15,
      "tier": "primary",
      "dev_deg_median": 21.61,
      "wrist_pos_err_mm_median": 28.9
     }
    },
    "frames_by_state": {
     "ace_sample": 13598,
     "interpolated": 3206,
     "mean_hand": 728,
     "no_body_fit": 8
    },
    "observed_fraction": 0.958,
    "observed_fraction_of_valid": 0.9585,
    "palm_axis_vs_markers_deg": {
     "gsi": 18.85,
     "smplx": 1.39
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 6.1,
      "p90": 7.4
     },
     "registered": {
      "median": 6.7,
      "p90": 8.5
     }
    }
   }
  },
  "max_dev_deg": 30.0,
  "max_gap_s": 1.0,
  "cameras_used": [
   "head"
  ],
  "generated_at_utc": "2026-11-03T21:37:44.588923+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_004",
  "family": "static_manipulation",
  "primitive": "SM21",
  "source_session": "20261017/SM21/20261017_053230_session66"
 },
 "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."
 },
 "objects": [
  {
   "name": "Table",
   "object_type": "Table",
   "source": "mocap",
   "pose_frame": "rigid_body"
  }
 ]
}