{
 "schema_version": 1,
 "session": "EgoMotionActions/20261027/SM21/20261027_114926_session77",
 "session_id": "20261027_114926_session77",
 "primitive": "SM21",
 "batch": "20261027",
 "participant": "lvaoshan",
 "participant_source": "manifest",
 "device_ids": {
  "main": "e3296774a321bb51",
  "left": "39042f5fb5da3b12",
  "right": "65a3481473d6e2a0"
 },
 "generated_at_utc": "2026-10-28T20:00:49.690002+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": -0.077452,
  "rate": 0.0,
  "global_lag_s": -0.08,
  "peak_corr": 0.9755,
  "reference_imu_first_sample_s": 13375.135707748,
  "windows": {
   "n_windows": 13,
   "window_corr_median": 0.9940655371971923,
   "drift_ppm": -296.376922489756,
   "drift_se_ppm": 176.5633716799507,
   "drift_ms_over_take": -43.315487221877845,
   "lag_scatter_ms": 21.91093820383972,
   "lag_range_ms": 93.43035417433796
  }
 },
 "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": 29503,
    "n_gyro": 29496,
    "t_start": -0.08936165638423736,
    "t_end": 146.34713686561574
   },
   "imu_head_left": {
    "n_acc": 29359,
    "n_gyro": 29353,
    "t_start": 0.021171411615985194,
    "t_end": 146.51104624061574
   },
   "imu_wrist_right": {
    "n_acc": 29640,
    "n_gyro": 29639,
    "t_start": -0.7887702403839215,
    "t_end": 145.31572856361547
   },
   "imu_wrist_left": {
    "n_acc": 29509,
    "n_gyro": 29523,
    "t_start": -0.9219507283849383,
    "t_end": 145.30901106261646
   },
   "mag_head": {
    "n": 14657,
    "t_start": 0.1109626206163808,
    "t_end": 146.67089631561632
   },
   "mag_wrist_right": {
    "n": 14609,
    "t_start": -0.7709644233835137,
    "t_end": 145.30889454061636
   },
   "mag_wrist_left": {
    "n": 14622,
    "t_start": -0.9050372333838753,
    "t_end": 145.30485542361586
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 13375.250994,
    "frames": 4384,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0025546514432425653,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": 0.04038910305844874,
    "t_end": 146.14053310305846,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 13375.250965,
    "frames": 4384,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002366886077403108,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": 0.0401723376928272,
    "t_end": 146.14028333769258,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 13375.250983,
    "frames": 4384,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0026728712083183277,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": 0.04049632282495404,
    "t_end": 146.1406183228248,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 13375.251004,
    "frames": 4384,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002595594493655556,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": 0.040440046108603925,
    "t_end": 146.14059604610904,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 30.0,
    "start_device_s": 13375.250973,
    "frames": 4383,
    "pts_gaps": 1,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002394386090989767,
    "gap_test": {
     "pts": {
      "offset_ms": 33.2,
      "corr": 0.976,
      "err_ms": 30.8
     },
     "nominal": {
      "offset_ms": 83.1,
      "corr": 0.976,
      "err_ms": 80.7
     }
    },
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": 0.04020783770666421,
    "t_end": 146.15686383770682,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 13375.250951,
    "frames": 4384,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002315656053021164,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": 0.040107107668707245,
    "t_end": 146.1401961076683,
    "clock": "device",
    "calibrated": true
   },
   "wrist_left": {
    "fps": 30.0,
    "start_device_s": 13374.287653,
    "frames": 4386,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
    "t_start": -0.925506548384685,
    "t_end": 145.24102945161596,
    "clock": "device",
    "calibrated": false
   },
   "wrist_right": {
    "fps": 30.0,
    "start_device_s": 13374.416142,
    "frames": 4382,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
    "t_start": -0.7970175483840579,
    "t_end": 145.23618545161682,
    "clock": "device",
    "calibrated": false
   },
   "third_person": {
    "file": "mocap/mocap-SM21-S01-lvaoshan-02p1-1.mp4",
    "frames": 4385,
    "fps": 30.0,
    "clock": "nokov (frame index)",
    "t_start": 0.0,
    "t_end": 146.13333333333333
   }
  }
 },
 "flags": [],
 "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
 "rig_tracker": {
  "definition": "e3296774a321bb51/20261027-afternoon/labels-235140/session-82327a04637187a0",
  "R_tracker0_imu0": [
   [
    -0.57881306,
    0.00946305,
    -0.81540536
   ],
   [
    0.81501964,
    -0.02615388,
    -0.57884278
   ],
   [
    -0.02680363,
    -0.99961314,
    0.00742564
   ]
  ],
  "p_tracker0_imu0_m": [
   -0.18246759125698653,
   0.0005364234139888054,
   0.018126063450760014
  ],
  "rig_check": {
   "gyro_samples": 1769,
   "gyro_max_deg": 2.5,
   "status": "video_solve",
   "dropped_marker": null,
   "gyro_deg": 1.631,
   "video_solve": {
    "status": "ok",
    "reason": "",
    "reprojection_px": 2.848,
    "n_assoc": 938,
    "gyro_deg": 1.631
   }
  },
  "file": "derived/rig_tracker_provider/rig_tracker.json",
  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
 },
 "canonical": {
  "generated_at_utc": "2026-10-28T23:24:02.260243+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": [
   [
    0.9999951019,
    0.0031298597,
    1.01836e-05
   ],
   [
    -1.01836e-05,
    0.0065073133,
    -0.9999788272
   ],
   [
    -0.0031298597,
    0.9999739291,
    0.0065073133
   ]
  ],
  "scale_nokov_to_canon": 0.001,
  "T_canon_nokov_mm": [
   [
    0.000999995102,
    3.12986e-06,
    1.0184e-08,
    0.0
   ],
   [
    -1.0184e-08,
    6.507313e-06,
    -0.000999978827,
    0.0
   ],
   [
    -3.12986e-06,
    0.000999973929,
    6.507313e-06,
    0.0
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ],
  "block": "20261027-afternoon",
  "block_assignment": "trc",
  "tilt_removed_deg": 0.413729700581665,
  "plane_status": "ok",
  "floor": {
   "sole_marker_p1_mm": 37.7,
   "headtop_p95_mm": 1684.5
  },
  "gravity_check": {
   "static_samples": 16517,
   "g_world_mean_m_s2": [
    0.3554,
    0.0462,
    9.7558
   ],
   "tilt_from_z_deg": 2.104,
   "tilt_from_z_deg_before_levelling": 1.91,
   "magnitude_m_s2": 9.7623
  },
  "rig_tracker_definition": "e3296774a321bb51/20261027-afternoon/labels-235140/session-82327a04637187a0",
  "rig_check": {
   "status": "video_solve",
   "dropped_marker": null,
   "gyro_deg": 1.631
  },
  "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": "2026-10-29T08:02:47.680124+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": [
      0.07839987426996231,
      -0.036144036799669266,
      0.01433450449258089
     ],
     "LHandOut": [
      0.06678903847932816,
      0.015790004283189774,
      0.025198988616466522
     ],
     "LWristIn": [
      -0.0026896873023360968,
      -0.040450140833854675,
      0.00893322005867958
     ],
     "LWristOut": [
      -0.002963106380775571,
      -0.002237375359982252,
      0.030948763713240623
     ]
    },
    "right": {
     "RHandIn": [
      -0.050942543894052505,
      0.028103122487664223,
      0.025527937337756157
     ],
     "RHandOut": [
      -0.06864218413829803,
      0.012568602338433266,
      -0.019318850710988045
     ],
     "RWristOut": [
      0.003888375125825405,
      0.003224348882213235,
      -0.03208404406905174
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 2.75,
   "p95_frame": 5.76
  },
  "worst_markers": [
   "RHeadBack 10mm",
   "RElbow 9mm",
   "RElbowIn 5mm",
   "RWristIn 5mm",
   "RUArmHigh 5mm"
  ],
  "valid_fraction": 0.9997,
  "qc": {
   "lowest_vertex_mm": {
    "median": 15.4,
    "p5": 14.1
   },
   "frames_checked": 585,
   "stature_mm": 1659.4
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 15.51
  },
  "shape_source": "participant median",
  "wrist_correction": {
   "left": {
    "status": "corrected",
    "Q_deg": 108.48,
    "Q_rotvec": [
     1.88873,
     -0.13241,
     -0.00933
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 101.3,
    "opposite_sign_bend_deg": 84.2,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 0.23,
    "hand_vs_marker_frame_deg": {
     "before": 108.53,
     "after": 0.23
    },
    "markers_on_wrist": [
     "LForearm",
     "LWristIn",
     "LWristOut",
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": 100.75,
     "wrist_twist_deg_after": {
      "median": 0.0,
      "iqr": [
       -0.4,
       0.4
      ]
     },
     "wrist_total_deg_median_after": 11.7,
     "markers_on_forearm": []
    },
    "frames_used": 1500
   },
   "right": {
    "status": "corrected",
    "Q_deg": 44.34,
    "Q_rotvec": [
     -0.22701,
     0.56842,
     -0.47357
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 41.3,
    "opposite_sign_bend_deg": 153.8,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 2.31,
    "hand_vs_marker_frame_deg": {
     "before": 44.6,
     "after": 2.31
    },
    "markers_on_wrist": [
     "RWristOut",
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": 20.24,
     "wrist_twist_deg_after": {
      "median": 0.0,
      "iqr": [
       -9.3,
       14.1
      ]
     },
     "wrist_total_deg_median_after": 32.2,
     "markers_on_forearm": [
      "RForearm",
      "RWristIn"
     ]
    },
    "frames_used": 1500
   },
   "generated_at_utc": "2026-10-29T08:02:50.884772+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "release": {
  "release_path": "actions/static_manipulation/SM21/session_008",
  "family": "static_manipulation",
  "primitive": "SM21",
  "source_session": "20261027/SM21/20261027_114926_session77"
 },
 "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"
  }
 ]
}