{
 "schema_version": 1,
 "session": "EgoMotionActions/20261020/SM21/20261020_120223_session80",
 "session_id": "20261020_120223_session80",
 "primitive": "SM21",
 "batch": "20261020",
 "participant": "yanyitong",
 "participant_source": "manifest",
 "device_ids": {
  "main": "c9205ac6e17d2d5c",
  "left": "452031d7af00ef6f",
  "right": "60a6f081bbe60b0d"
 },
 "generated_at_utc": "2026-10-22T16:16:49.874455+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": 145.15833333333333,
  "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": -0.089029,
  "rate": 0.0,
  "global_lag_s": -0.09,
  "peak_corr": 0.8676,
  "reference_imu_first_sample_s": 13621.500166836,
  "windows": {
   "n_windows": 10,
   "window_corr_median": 0.6564653059508754,
   "drift_ppm": 5.440991623941518,
   "drift_se_ppm": 29.783785493937252,
   "drift_ms_over_take": 0.7897599342151114,
   "lag_scatter_ms": 2.888873664165005,
   "lag_range_ms": 11.253442892412869
  }
 },
 "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": "c9205ac6e17d2d5c",
  "status": "ok",
  "date": "2026-10-21"
 },
 "streams": {
  "sensors": {
   "imu_head_right": {
    "n_acc": 29527,
    "n_gyro": 29521,
    "t_start": -0.09592637150844666,
    "t_end": 145.35099356249165
   },
   "imu_head_left": {
    "n_acc": 29345,
    "n_gyro": 29338,
    "t_start": 0.008605669492774276,
    "t_end": 145.51518778649196
   },
   "imu_wrist_right": {
    "n_acc": 29264,
    "n_gyro": 29276,
    "t_start": -0.8797066775076905,
    "t_end": 143.752857214493
   },
   "imu_wrist_left": {
    "n_acc": 29265,
    "n_gyro": 29265,
    "t_start": -0.7832883675072457,
    "t_end": 143.75705201749233
   },
   "mag_head": {
    "n": 14559,
    "t_start": 0.09878162849245428,
    "t_end": 145.6787748224925
   },
   "mag_wrist_right": {
    "n": 14462,
    "t_start": -0.8621730775083938,
    "t_end": 143.7475366254931
   },
   "mag_wrist_left": {
    "n": 14453,
    "t_start": -0.7704707835072417,
    "t_end": 143.7492288454924
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 13621.627121,
    "frames": 4354,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0026284356473863946,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": 0.04055365313988887,
    "t_end": 145.1404866531394,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 13621.627092,
    "frames": 4354,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0024181146161434135,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": 0.04031433210921251,
    "t_end": 145.1402583321088,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 13621.627113,
    "frames": 4354,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002458947067077895,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": 0.0403761645594409,
    "t_end": 145.14030916455894,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 13621.627129,
    "frames": 4354,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0021420814739499558,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": 0.040075298966351064,
    "t_end": 145.14000829896585,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 60.0,
    "start_device_s": 13621.627101,
    "frames": 4253,
    "pts_gaps": 4252,
    "timing": "pts (gap undecided)",
    "timeshift_cam_imu_s": 0.002801984596191448,
    "gap_test": {
     "pts": {
      "offset_ms": -6.0,
      "corr": 0.885,
      "err_ms": 8.8
     },
     "nominal": {
      "offset_ms": 150.0,
      "corr": 0.382,
      "err_ms": 147.2
     }
    },
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": 0.04070720208810827,
    "t_end": 145.12397420208808,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 13621.627078,
    "frames": 4354,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002930366888236734,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": 0.0408125843806397,
    "t_end": 145.14075658438023,
    "clock": "device",
    "calibrated": true
   },
   "wrist_left": {
    "fps": 30.0,
    "start_device_s": 13620.802342,
    "frames": 4336,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
    "t_start": -0.7868537825069302,
    "t_end": 143.71282021749366,
    "clock": "device",
    "calibrated": false
   },
   "wrist_right": {
    "fps": 30.0,
    "start_device_s": 13620.701524,
    "frames": 4339,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
    "t_start": -0.8876717825077298,
    "t_end": 143.71206821749192,
    "clock": "device",
    "calibrated": false
   },
   "third_person": {
    "file": "mocap/mocap-SM21-S01-yanyitong-02p1-1.mp4",
    "frames": 4355,
    "fps": 30.0,
    "clock": "nokov (frame index)",
    "t_start": 0.0,
    "t_end": 145.13333333333333
   }
  }
 },
 "flags": [],
 "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
 "rig_tracker": {
  "definition": "c9205ac6e17d2d5c/20261020-afternoon/labels-235140/session-f798fbd746db6610",
  "R_tracker0_imu0": [
   [
    -0.68110438,
    -0.05097118,
    -0.73040999
   ],
   [
    0.71619907,
    0.16094563,
    -0.67908424
   ],
   [
    0.15217002,
    -0.98564621,
    -0.07311526
   ]
  ],
  "p_tracker0_imu0_m": [
   -0.17866957110610163,
   -0.017717561585307233,
   0.013502665902016984
  ],
  "rig_check": {
   "gyro_samples": 208,
   "gyro_max_deg": 2.5,
   "status": "ok",
   "dropped_marker": null,
   "gyro_deg": 1.907
  },
  "file": "derived/rig_tracker_provider/rig_tracker.json",
  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
 },
 "canonical": {
  "generated_at_utc": "2026-10-26T10:24:38.002879+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": [
   [
    0.9999961192,
    0.002785949,
    8.8845e-06
   ],
   [
    -8.8845e-06,
    0.0063779982,
    -0.9999796603
   ],
   [
    -0.002785949,
    0.9999757795,
    0.0063779982
   ]
  ],
  "scale_nokov_to_canon": 0.001,
  "T_canon_nokov_mm": [
   [
    0.000999996119,
    2.785949e-06,
    8.884e-09,
    0.0
   ],
   [
    -8.884e-09,
    6.377998e-06,
    -0.00099997966,
    0.0
   ],
   [
    -2.785949e-06,
    0.00099997578,
    6.377998e-06,
    0.0
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ],
  "block": "20261020-afternoon",
  "block_assignment": "trc",
  "tilt_removed_deg": 0.398776794692196,
  "plane_status": "ok",
  "floor": {
   "sole_marker_p1_mm": 41.2,
   "headtop_p95_mm": 1615.5
  },
  "gravity_check": {
   "static_samples": 16582,
   "g_world_mean_m_s2": [
    -0.083,
    -0.0497,
    9.7747
   ],
   "tilt_from_z_deg": 0.567,
   "tilt_from_z_deg_before_levelling": 0.921,
   "magnitude_m_s2": 9.7752
  },
  "rig_tracker_definition": "c9205ac6e17d2d5c/20261020-afternoon/labels-235140/session-f798fbd746db6610",
  "rig_check": {
   "status": "ok",
   "dropped_marker": null,
   "gyro_deg": 1.907
  },
  "camera_pose_source": "provider T_tracker0_cam",
  "files": [
   "mocap_zup.npz",
   "tracker0_zup.npz",
   "rig_zup.npz",
   "cameras_zup.npz"
  ]
 },
 "smplx": {
  "generated_at_utc": "2026-10-23T08:19:34.221878+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": [
      0.06716776639223099,
      0.02086443267762661,
      0.004929411690682173
     ],
     "LHandOut": [
      0.048688098788261414,
      0.0050352043472230434,
      -0.040889907628297806
     ]
    },
    "right": {
     "RHandIn": [
      -0.0697014331817627,
      -0.02827046625316143,
      0.011449398472905159
     ],
     "RHandOut": [
      -0.06553437560796738,
      0.014797921292483807,
      0.020483560860157013
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 2.29,
   "p95_frame": 4.19
  },
  "worst_markers": [
   "RElbowIn 11mm",
   "RWristOut 7mm",
   "RWristIn 6mm",
   "RElbow 5mm",
   "RForearm 4mm"
  ],
  "valid_fraction": 0.9998,
  "qc": {
   "lowest_vertex_mm": {
    "median": 8.9,
    "p5": 8.1
   },
   "frames_checked": 581,
   "stature_mm": 1600.3
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 10.6
  },
  "shape_source": "participant median",
  "wrist_correction": {
   "left": {
    "status": "corrected",
    "Q_deg": 180.0,
    "Q_rotvec": [
     2.98163,
     -0.44128,
     -0.88585
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 175.7,
    "opposite_sign_bend_deg": 35.8,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 0.27,
    "hand_vs_marker_frame_deg": {
     "before": 179.82,
     "after": 0.27
    },
    "markers_on_wrist": [
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -175.8,
     "wrist_twist_deg_after": {
      "median": -0.0,
      "iqr": [
       -0.5,
       0.4
      ]
     },
     "wrist_total_deg_median_after": 13.0,
     "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": 25.4,
    "opposite_sign_bend_deg": 168.3,
    "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": 2.76,
     "after": 2.76
    },
    "markers_on_wrist": [
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -0.0,
     "wrist_twist_deg_after": {
      "median": -0.0,
      "iqr": [
       -9.9,
       9.8
      ]
     },
     "wrist_total_deg_median_after": 25.9,
     "markers_on_forearm": [
      "RForearm",
      "RWristIn",
      "RWristOut"
     ]
    },
    "frames_used": 1500
   },
   "generated_at_utc": "2026-10-28T06:44:27.894404+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "release": {
  "release_path": "actions/static_manipulation/SM21/session_005",
  "family": "static_manipulation",
  "primitive": "SM21",
  "source_session": "20261020/SM21/20261020_120223_session80"
 },
 "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": "Table2",
   "object_type": "Table",
   "source": "mocap",
   "pose_frame": "rigid_body"
  }
 ]
}