{
 "schema_version": 1,
 "session": "EgoMotionActions/20261026/SM21/20261026_091727_session67",
 "session_id": "20261026_091727_session67",
 "primitive": "SM21",
 "batch": "20261026",
 "participant": "zhangxinxin",
 "participant_source": "manifest",
 "device_ids": {
  "main": "c9205ac6e17d2d5c",
  "left": "452031d7af00ef6f",
  "right": "60a6f081bbe60b0d"
 },
 "generated_at_utc": "2026-10-27T04:57:17.917452+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": 153.15833333333333,
  "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": -0.093032,
  "rate": 0.0,
  "global_lag_s": -0.095,
  "peak_corr": 0.9716,
  "reference_imu_first_sample_s": 15832.566958521,
  "windows": {
   "n_windows": 14,
   "window_corr_median": 0.9212337576257164,
   "drift_ppm": -17.960491479683,
   "drift_se_ppm": 13.318080042602823,
   "drift_ms_over_take": -2.7506492701134517,
   "lag_scatter_ms": 1.8597686663703428,
   "lag_range_ms": 8.609742824012779
  }
 },
 "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": 31153,
    "n_gyro": 31147,
    "t_start": -0.09992922319030223,
    "t_end": 153.36555739481048
   },
   "imu_head_left": {
    "n_acc": 30961,
    "n_gyro": 30955,
    "t_start": 0.0053550568096757956,
    "t_end": 153.5319828018088
   },
   "imu_wrist_right": {
    "n_acc": 30940,
    "n_gyro": 30940,
    "t_start": -0.7844326391899452,
    "t_end": 152.13585430280875
   },
   "imu_wrist_left": {
    "n_acc": 30952,
    "n_gyro": 30952,
    "t_start": -0.7466575681904581,
    "t_end": 152.13462650380973
   },
   "mag_head": {
    "n": 15362,
    "t_start": 0.08422356881022969,
    "t_end": 153.69421147580908
   },
   "mag_wrist_right": {
    "n": 15291,
    "t_start": -0.7668921891894209,
    "t_end": 152.13249681980926
   },
   "mag_wrist_left": {
    "n": 15287,
    "t_start": -0.7287460231894878,
    "t_end": 152.13075872680895
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 15832.698207,
    "frames": 4594,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0026284356473863946,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": 0.04084533145727581,
    "t_end": 153.1409673314571,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 15832.698186,
    "frames": 4594,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0024181146161434135,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": 0.040614010425669755,
    "t_end": 153.14070301042523,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 15832.6982,
    "frames": 4594,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002458947067077895,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": 0.04066884287716638,
    "t_end": 153.1407798428769,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 15832.698214,
    "frames": 4594,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0021420814739499558,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": 0.04036597728339947,
    "t_end": 153.1404989772833,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 30.0,
    "start_device_s": 15832.698193,
    "frames": 4592,
    "pts_gaps": 2,
    "timing": "nominal",
    "timeshift_cam_imu_s": 0.002801984596191448,
    "gap_test": {
     "pts": {
      "offset_ms": -36.1,
      "corr": 0.948,
      "err_ms": 38.9
     },
     "nominal": {
      "offset_ms": 13.8,
      "corr": 0.948,
      "err_ms": 11.0
     }
    },
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": 0.04100488040570743,
    "t_end": 153.07433821373854,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 15832.698176,
    "frames": 4594,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002930366888236734,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": 0.04111626269845109,
    "t_end": 153.14118326269784,
    "clock": "device",
    "calibrated": true
   },
   "wrist_left": {
    "fps": 30.0,
    "start_device_s": 15831.916417,
    "frames": 4586,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
    "t_start": -0.7435731041899638,
    "t_end": 152.08923889581058,
    "clock": "device",
    "calibrated": false
   },
   "wrist_right": {
    "fps": 30.0,
    "start_device_s": 15831.87209,
    "frames": 4587,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
    "t_start": -0.7879001041895757,
    "t_end": 152.07818089581053,
    "clock": "device",
    "calibrated": false
   },
   "third_person": {
    "file": "mocap/mocap-SM21-S01-zhangxinxin-02p1-1.mp4",
    "frames": 4595,
    "fps": 30.0,
    "clock": "nokov (frame index)",
    "t_start": 0.0,
    "t_end": 153.13333333333333
   }
  }
 },
 "flags": [],
 "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
 "rig_tracker": {
  "definition": "c9205ac6e17d2d5c/20261026-afternoon/labels-503412/session-faa6e45d9834e16b",
  "R_tracker0_imu0": [
   [
    -0.64314126,
    0.00412494,
    -0.76573644
   ],
   [
    0.76438088,
    -0.05625955,
    -0.64230579
   ],
   [
    -0.04572945,
    -0.99840766,
    0.03302981
   ]
  ],
  "p_tracker0_imu0_m": [
   0.01798847152367945,
   -0.009882514433677048,
   -0.01074269623154328
  ],
  "rig_check": {
   "gyro_samples": 1054,
   "gyro_max_deg": 2.5,
   "status": "ok",
   "dropped_marker": null,
   "gyro_deg": 2.293
  },
  "file": "derived/rig_tracker_provider/rig_tracker.json",
  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
 },
 "canonical": {
  "generated_at_utc": "2026-10-28T23:22:42.926167+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": [
   [
    0.9999789449,
    0.0064891782,
    1.5185e-05
   ],
   [
    -1.5185e-05,
    0.0046800169,
    -0.9999890485
   ],
   [
    -0.0064891782,
    0.9999679935,
    0.0046800169
   ]
  ],
  "scale_nokov_to_canon": 0.001,
  "T_canon_nokov_mm": [
   [
    0.000999978945,
    6.489178e-06,
    1.5185e-08,
    0.0
   ],
   [
    -1.5185e-08,
    4.680017e-06,
    -0.000999989049,
    0.0
   ],
   [
    -6.489178e-06,
    0.000999967993,
    4.680017e-06,
    0.0
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ],
  "block": "20261026-afternoon",
  "block_assignment": "trc",
  "tilt_removed_deg": 0.458414067009704,
  "plane_status": "ok",
  "floor": {
   "sole_marker_p1_mm": 28.4,
   "headtop_p95_mm": 1615.0
  },
  "gravity_check": {
   "static_samples": 8359,
   "g_world_mean_m_s2": [
    -0.1162,
    -0.2441,
    9.8007
   ],
   "tilt_from_z_deg": 1.58,
   "tilt_from_z_deg_before_levelling": 1.994,
   "magnitude_m_s2": 9.8044
  },
  "rig_tracker_definition": "c9205ac6e17d2d5c/20261026-afternoon/labels-503412/session-faa6e45d9834e16b",
  "rig_check": {
   "status": "ok",
   "dropped_marker": null,
   "gyro_deg": 2.293
  },
  "camera_pose_source": "provider T_tracker0_cam",
  "files": [
   "mocap_zup.npz",
   "tracker0_zup.npz",
   "rig_zup.npz",
   "cameras_zup.npz"
  ]
 },
 "smplx": {
  "generated_at_utc": "2026-10-29T05:41:52.164102+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": [
      0.05877215787768364,
      0.023818721994757652,
      0.014850001782178879
     ],
     "LHandOut": [
      0.05917355418205261,
      0.007528470363467932,
      -0.030913759022951126
     ]
    },
    "right": {
     "RHandIn": [
      -0.029067590832710266,
      0.002028432674705982,
      0.029924115166068077
     ],
     "RHandOut": [
      -0.02336948737502098,
      0.04889155179262161,
      -0.00713775772601366
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 1.52,
   "p95_frame": 5.43
  },
  "worst_markers": [
   "LElbowIn 7mm",
   "RElbowIn 4mm",
   "CLAV 4mm",
   "LShoulderFront 4mm",
   "LWristOut 3mm"
  ],
  "valid_fraction": 1.0,
  "qc": {
   "lowest_vertex_mm": {
    "median": -2.7,
    "p5": -3.2
   },
   "frames_checked": 613,
   "stature_mm": 1627.7
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 12.47
  },
  "shape_source": "participant median",
  "wrist_correction": {
   "left": {
    "status": "corrected",
    "Q_deg": 23.16,
    "Q_rotvec": [
     -0.23024,
     -0.2566,
     0.21103
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 30.6,
    "opposite_sign_bend_deg": 160.3,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 1.2,
    "hand_vs_marker_frame_deg": {
     "before": 23.01,
     "after": 1.2
    },
    "markers_on_wrist": [
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -16.29,
     "wrist_twist_deg_after": {
      "median": -0.0,
      "iqr": [
       -2.9,
       2.3
      ]
     },
     "wrist_total_deg_median_after": 25.9,
     "markers_on_forearm": [
      "LElbow",
      "LForearm",
      "LWristIn",
      "LWristOut"
     ]
    },
    "frames_used": 1500
   },
   "right": {
    "status": "corrected",
    "Q_deg": 65.37,
    "Q_rotvec": [
     1.05023,
     0.34422,
     -0.28343
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 64.3,
    "opposite_sign_bend_deg": 126.5,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 2.94,
    "hand_vs_marker_frame_deg": {
     "before": 65.54,
     "after": 2.94
    },
    "markers_on_wrist": [
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -60.84,
     "wrist_twist_deg_after": {
      "median": -0.0,
      "iqr": [
       -1.6,
       3.0
      ]
     },
     "wrist_total_deg_median_after": 22.7,
     "markers_on_forearm": [
      "RForearm",
      "RWristIn",
      "RWristOut"
     ]
    },
    "frames_used": 1500
   },
   "generated_at_utc": "2026-10-29T05:41:55.451245+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "hands_registration": {
  "cameras": {},
  "hands": {
   "left": {
    "offset_deg": 27.01,
    "offset_rotvec": [
     0.0455,
     0.4618,
     -0.0837
    ],
    "dev_deg": {
     "median": 4.82,
     "p90": 10.34
    },
    "samples": 4490,
    "accepted": 4360,
    "wrist_pos_err_mm_median": 25.4,
    "per_camera": {
     "head": {
      "samples": 4490,
      "accepted": 4360,
      "gate_deg": 30.0,
      "offset_deg": 27.01,
      "tier": "primary",
      "dev_deg_median": 4.82,
      "wrist_pos_err_mm_median": 25.4
     }
    },
    "frames_by_state": {
     "ace_sample": 17442,
     "interpolated": 398,
     "mean_hand": 540,
     "no_body_fit": 0
    },
    "observed_fraction": 0.9706,
    "observed_fraction_of_valid": 0.9706,
    "palm_axis_vs_markers_deg": {
     "gsi": 28.98,
     "smplx": 0.77
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 9.9,
      "p90": 17.2
     },
     "registered": {
      "median": 8.2,
      "p90": 15.7
     }
    }
   },
   "right": {
    "offset_deg": 28.53,
    "offset_rotvec": [
     -0.0038,
     -0.464,
     0.1808
    ],
    "dev_deg": {
     "median": 4.18,
     "p90": 9.28
    },
    "samples": 4545,
    "accepted": 4514,
    "wrist_pos_err_mm_median": 16.2,
    "per_camera": {
     "head": {
      "samples": 4545,
      "accepted": 4514,
      "gate_deg": 30.0,
      "offset_deg": 28.53,
      "tier": "primary",
      "dev_deg_median": 4.18,
      "wrist_pos_err_mm_median": 16.2
     }
    },
    "frames_by_state": {
     "ace_sample": 18082,
     "interpolated": 286,
     "mean_hand": 12,
     "no_body_fit": 0
    },
    "observed_fraction": 0.9993,
    "observed_fraction_of_valid": 0.9993,
    "palm_axis_vs_markers_deg": {
     "gsi": 29.05,
     "smplx": 0.84
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 14.2,
      "p90": 28.2
     },
     "registered": {
      "median": 14.1,
      "p90": 27.7
     }
    }
   }
  },
  "max_dev_deg": 30.0,
  "max_gap_s": 1.0,
  "cameras_used": [
   "head"
  ],
  "generated_at_utc": "2026-11-03T17:29:55.970729+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_007",
  "family": "static_manipulation",
  "primitive": "SM21",
  "source_session": "20261026/SM21/20261026_091727_session67"
 },
 "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"
  }
 ]
}