{
 "schema_version": 1,
 "session": "EgoMotionActions/20261021/SM21/20261021_081649_session101",
 "session_id": "20261021_081649_session101",
 "primitive": "SM21",
 "batch": "20261021",
 "participant": "daihaoxiang",
 "participant_source": "manifest",
 "device_ids": {
  "main": "e3296774a321bb51",
  "left": "75b5984e04d1d236",
  "right": "c84bc808cb6b47af"
 },
 "generated_at_utc": "2026-10-22T16:20:10.908761+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": 81.59166666666667,
  "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": -0.087185,
  "rate": 0.0,
  "global_lag_s": -0.09,
  "peak_corr": 0.7935,
  "reference_imu_first_sample_s": 23805.593543301,
  "windows": {
   "n_windows": 7,
   "window_corr_median": 0.6006099041481746,
   "drift_ppm": -1148.1646686890042,
   "drift_se_ppm": 643.2336128923753,
   "drift_ms_over_take": -93.67110088721125,
   "lag_scatter_ms": 28.766281676802727,
   "lag_range_ms": 107.01651745209844
  }
 },
 "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": 16496,
    "n_gyro": 16491,
    "t_start": -0.09413304686556934,
    "t_end": 81.77586590713447
   },
   "imu_head_left": {
    "n_acc": 16422,
    "n_gyro": 16416,
    "t_start": 0.010136721133061077,
    "t_end": 81.94311240613509
   },
   "imu_wrist_right": {
    "n_acc": 16251,
    "n_gyro": 16251,
    "t_start": -0.7711492778677681,
    "t_end": 80.07333652813516
   },
   "imu_wrist_left": {
    "n_acc": 16383,
    "n_gyro": 16395,
    "t_start": -0.789232782865544,
    "t_end": 80.03560240913187
   },
   "mag_head": {
    "n": 8202,
    "t_start": 0.09230991113265496,
    "t_end": 82.10230345013163
   },
   "mag_wrist_right": {
    "n": 8083,
    "t_start": -0.7542449578674465,
    "t_end": 80.065902155134
   },
   "mag_wrist_left": {
    "n": 8081,
    "t_start": -0.7709264978681646,
    "t_end": 80.02907190613162
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 23805.719034,
    "frames": 2447,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0025546514432425653,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": 0.04086012857926413,
    "t_end": 81.57423812857935,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 23805.719013,
    "frames": 2447,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002366886077403108,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": 0.0406513632127129,
    "t_end": 81.57400736321263,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 23805.719028,
    "frames": 2447,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0026728712083183277,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": 0.04097234834018615,
    "t_end": 81.57433934834019,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 23805.719041,
    "frames": 2447,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002595594493655556,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": 0.04090807162840371,
    "t_end": 81.57429707162858,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 30.0,
    "start_device_s": 23805.719021,
    "frames": 2441,
    "pts_gaps": 5,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002394386090989767,
    "gap_test": {
     "pts": {
      "offset_ms": 22.5,
      "corr": 0.863,
      "err_ms": 20.1
     },
     "nominal": {
      "offset_ms": 99.6,
      "corr": 0.815,
      "err_ms": 97.3
     }
    },
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": 0.04068686322473092,
    "t_end": 81.59066486322384,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 23805.719002,
    "frames": 2447,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002315656053021164,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": 0.04058913318778956,
    "t_end": 81.57393313318728,
    "clock": "device",
    "calibrated": true
   },
   "wrist_left": {
    "fps": 30.0,
    "start_device_s": 23804.911233,
    "frames": 2424,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4",
    "t_start": -0.7694955228677615,
    "t_end": 79.99717147713211,
    "clock": "device",
    "calibrated": false
   },
   "wrist_right": {
    "fps": 30.0,
    "start_device_s": 23804.905371,
    "frames": 2425,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4",
    "t_start": -0.7753575228659216,
    "t_end": 80.02477247713371,
    "clock": "device",
    "calibrated": false
   },
   "third_person": {
    "file": "mocap/mocap-SM21-S01-daihaoxiang-02p1-1.mp4",
    "frames": 2448,
    "fps": 30.0,
    "clock": "nokov (frame index)",
    "t_start": 0.0,
    "t_end": 81.56666666666666
   }
  }
 },
 "flags": [],
 "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
 "rig_tracker": {
  "definition": "e3296774a321bb51/20261021-afternoon/labels-235140/session-73583c9a0ef4ddac",
  "R_tracker0_imu0": [
   [
    -0.71381655,
    0.14751581,
    -0.68462035
   ],
   [
    0.67973547,
    -0.08940619,
    -0.72798779
   ],
   [
    -0.16859901,
    -0.98501047,
    -0.03645211
   ]
  ],
  "p_tracker0_imu0_m": [
   -0.17097942172762387,
   -0.027706872452196243,
   2.173252874761215e-05
  ],
  "rig_check": {
   "gyro_samples": 251,
   "gyro_max_deg": 2.5,
   "status": "video_solve",
   "dropped_marker": null,
   "gyro_deg": 1.858,
   "video_solve": {
    "status": "ok",
    "reason": "",
    "reprojection_px": 2.805,
    "n_assoc": 1173,
    "gyro_deg": 1.858
   }
  },
  "file": "derived/rig_tracker_provider/rig_tracker.json",
  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
 },
 "canonical": {
  "generated_at_utc": "2026-10-26T10:25:11.473529+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": [
   [
    0.9999396337,
    -0.0109876357,
    -2.8623e-05
   ],
   [
    2.8623e-05,
    0.0052098365,
    -0.9999864283
   ],
   [
    0.0109876357,
    0.999926062,
    0.0052098365
   ]
  ],
  "scale_nokov_to_canon": 0.001,
  "T_canon_nokov_mm": [
   [
    0.000999939634,
    -1.0987636e-05,
    -2.8623e-08,
    0.0
   ],
   [
    2.8623e-08,
    5.209836e-06,
    -0.000999986428,
    0.0
   ],
   [
    1.0987636e-05,
    0.000999926062,
    5.209836e-06,
    0.0
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ],
  "block": "20261021-afternoon",
  "block_assignment": "trc",
  "tilt_removed_deg": 0.6967454765505616,
  "plane_status": "ok",
  "floor": {
   "sole_marker_p1_mm": 24.5,
   "headtop_p95_mm": 1727.7
  },
  "gravity_check": {
   "static_samples": 12712,
   "g_world_mean_m_s2": [
    0.4152,
    0.0298,
    9.7419
   ],
   "tilt_from_z_deg": 2.447,
   "tilt_from_z_deg_before_levelling": 3.073,
   "magnitude_m_s2": 9.7508
  },
  "rig_tracker_definition": "e3296774a321bb51/20261021-afternoon/labels-235140/session-73583c9a0ef4ddac",
  "rig_check": {
   "status": "video_solve",
   "dropped_marker": null,
   "gyro_deg": 1.858
  },
  "camera_pose_source": "T_tracker0_imu0 @ inv(T_cam_imu)",
  "files": [
   "mocap_zup.npz",
   "tracker0_zup.npz",
   "rig_zup.npz",
   "cameras_zup.npz"
  ]
 },
 "smplx": {
  "generated_at_utc": "2026-10-26T13:45:31.736451+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": [
      0.04637675732374191,
      -0.01834341697394848,
      0.009347324259579182
     ],
     "LHandOut": [
      0.028426378965377808,
      0.004050580784678459,
      0.037111908197402954
     ]
    },
    "right": {
     "RHandIn": [
      -0.05238965526223183,
      0.022532837465405464,
      0.01246489305049181
     ],
     "RHandOut": [
      -0.03413383662700653,
      0.01858878694474697,
      -0.03791427239775658
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 1.89,
   "p95_frame": 6.37
  },
  "worst_markers": [
   "RElbow 8mm",
   "WaistRFront 6mm",
   "RShoulderFront 6mm",
   "LHeadBack 5mm",
   "RKnee 5mm"
  ],
  "valid_fraction": 1.0,
  "qc": {
   "lowest_vertex_mm": {
    "median": 0.4,
    "p5": 0.2
   },
   "frames_checked": 327,
   "stature_mm": 1770.9
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 11.5
  },
  "shape_source": "participant median",
  "wrist_correction": {
   "left": {
    "status": "corrected",
    "Q_deg": 180.0,
    "Q_rotvec": [
     3.02575,
     -0.26943,
     -0.80116
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 173.0,
    "opposite_sign_bend_deg": 45.7,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 0.3,
    "hand_vs_marker_frame_deg": {
     "before": 179.87,
     "after": 0.3
    },
    "markers_on_wrist": [
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -172.84,
     "wrist_twist_deg_after": {
      "median": -0.01,
      "iqr": [
       -0.7,
       0.1
      ]
     },
     "wrist_total_deg_median_after": 23.4,
     "markers_on_forearm": [
      "LForearm",
      "LWristIn",
      "LWristOut"
     ]
    },
    "frames_used": 980
   },
   "right": {
    "status": "corrected",
    "Q_deg": 0.0,
    "Q_rotvec": [
     -0.0,
     -0.0,
     0.0
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 17.5,
    "opposite_sign_bend_deg": 176.0,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 3.75,
    "hand_vs_marker_frame_deg": {
     "before": 3.75,
     "after": 3.75
    },
    "markers_on_wrist": [
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": 0.0,
     "wrist_twist_deg_after": {
      "median": -0.0,
      "iqr": [
       -3.5,
       2.8
      ]
     },
     "wrist_total_deg_median_after": 17.5,
     "markers_on_forearm": [
      "RElbowIn",
      "RForearm",
      "RWristIn",
      "RWristOut"
     ]
    },
    "frames_used": 980
   },
   "generated_at_utc": "2026-10-28T06:46:07.193767+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "hands_registration": {
  "cameras": {},
  "hands": {
   "left": {
    "offset_deg": 31.11,
    "offset_rotvec": [
     -0.115,
     -0.5303,
     -0.0212
    ],
    "dev_deg": {
     "median": 3.61,
     "p90": 13.26
    },
    "samples": 2295,
    "accepted": 2262,
    "wrist_pos_err_mm_median": 35.5,
    "per_camera": {
     "head": {
      "samples": 2295,
      "accepted": 2262,
      "gate_deg": 30.0,
      "offset_deg": 31.11,
      "tier": "primary",
      "dev_deg_median": 3.61,
      "wrist_pos_err_mm_median": 35.5
     }
    },
    "frames_by_state": {
     "ace_sample": 9070,
     "interpolated": 238,
     "mean_hand": 484,
     "no_body_fit": 0
    },
    "observed_fraction": 0.9506,
    "observed_fraction_of_valid": 0.9506,
    "palm_axis_vs_markers_deg": {
     "gsi": 28.94,
     "smplx": 0.26
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 5.9,
      "p90": 7.1
     },
     "registered": {
      "median": 6.1,
      "p90": 7.5
     }
    }
   },
   "right": {
    "offset_deg": 8.08,
    "offset_rotvec": [
     -0.0127,
     0.0703,
     0.1216
    ],
    "dev_deg": {
     "median": 4.06,
     "p90": 13.66
    },
    "samples": 2383,
    "accepted": 2357,
    "wrist_pos_err_mm_median": 20.9,
    "per_camera": {
     "head": {
      "samples": 2383,
      "accepted": 2357,
      "gate_deg": 30.0,
      "offset_deg": 8.08,
      "tier": "primary",
      "dev_deg_median": 4.06,
      "wrist_pos_err_mm_median": 20.9
     }
    },
    "frames_by_state": {
     "ace_sample": 9440,
     "interpolated": 60,
     "mean_hand": 292,
     "no_body_fit": 0
    },
    "observed_fraction": 0.9702,
    "observed_fraction_of_valid": 0.9702,
    "palm_axis_vs_markers_deg": {
     "gsi": 4.34,
     "smplx": 0.96
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 5.7,
      "p90": 6.5
     },
     "registered": {
      "median": 6.9,
      "p90": 8.4
     }
    }
   }
  },
  "max_dev_deg": 30.0,
  "max_gap_s": 1.0,
  "cameras_used": [
   "head"
  ],
  "generated_at_utc": "2026-11-03T18:37:56.940156+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_006",
  "family": "static_manipulation",
  "primitive": "SM21",
  "source_session": "20261021/SM21/20261021_081649_session101"
 },
 "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"
  }
 ]
}