{
 "schema_version": 1,
 "session": "EgoMotionActions/20261028/SM21/20261028_020634_session9",
 "session_id": "20261028_020634_session9",
 "primitive": "SM21",
 "batch": "20261028",
 "participant": "mahui",
 "participant_source": "manifest",
 "device_ids": {
  "main": "e3296774a321bb51",
  "left": "75b5984e04d1d236",
  "right": "c84bc808cb6b47af"
 },
 "generated_at_utc": "2026-10-30T07:33:24.853845+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": 159.39166666666668,
  "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": -0.092256,
  "rate": 0.0,
  "global_lag_s": -0.095,
  "peak_corr": 0.8672,
  "reference_imu_first_sample_s": 4891.747360162,
  "windows": {
   "n_windows": 14,
   "window_corr_median": 0.8988806023997205,
   "drift_ppm": -314.0018202736043,
   "drift_se_ppm": 181.6918651640399,
   "drift_ms_over_take": -50.046656787941295,
   "lag_scatter_ms": 25.371888191507534,
   "lag_range_ms": 112.32121561997269
  }
 },
 "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": 32169,
    "n_gyro": 32164,
    "t_start": -0.0992017090594308,
    "t_end": 159.5680698519408
   },
   "imu_head_left": {
    "n_acc": 32013,
    "n_gyro": 32007,
    "t_start": 0.006936899941050859,
    "t_end": 159.73721105194082
   },
   "imu_wrist_right": {
    "n_acc": 31965,
    "n_gyro": 31964,
    "t_start": -0.8119390020593491,
    "t_end": 158.19639694094067
   },
   "imu_wrist_left": {
    "n_acc": 32236,
    "n_gyro": 32236,
    "t_start": -0.8160026840597274,
    "t_end": 158.2035277569411
   },
   "mag_head": {
    "n": 15982,
    "t_start": 0.08955416694052844,
    "t_end": 159.89954836794087
   },
   "mag_wrist_right": {
    "n": 15900,
    "t_start": -0.800155569059003,
    "t_end": 158.18997658894105
   },
   "mag_wrist_left": {
    "n": 15901,
    "t_start": -0.8033785890594081,
    "t_end": 158.19701788694047
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 4891.877212,
    "frames": 4781,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0025546514432425653,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": 0.0401509033844414,
    "t_end": 159.3735399033848,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 4891.877194,
    "frames": 4781,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002366886077403108,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": 0.039945138017996276,
    "t_end": 159.3733011380181,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 4891.877206,
    "frames": 4781,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0026728712083183277,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": 0.04026312314900139,
    "t_end": 159.37364112314927,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 4891.877219,
    "frames": 4781,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002595594493655556,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": 0.04019884643449047,
    "t_end": 159.37359884643493,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 30.0,
    "start_device_s": 4891.8772,
    "frames": 4773,
    "pts_gaps": 8,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002394386090989767,
    "gap_test": {
     "pts": {
      "offset_ms": 26.6,
      "corr": 0.825,
      "err_ms": 24.3
     },
     "nominal": {
      "offset_ms": 150.0,
      "corr": 0.663,
      "err_ms": 147.6
     }
    },
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": 0.03997863803115621,
    "t_end": 159.37334563803134,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 4891.877185,
    "frames": 4781,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002315656053021164,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": 0.03988490799375001,
    "t_end": 159.37321790799334,
    "clock": "device",
    "calibrated": true
   },
   "wrist_left": {
    "fps": 30.0,
    "start_device_s": 4891.02014,
    "frames": 4770,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4",
    "t_start": -0.8194757480597181,
    "t_end": 158.14758125194012,
    "clock": "device",
    "calibrated": false
   },
   "wrist_right": {
    "fps": 30.0,
    "start_device_s": 4891.015188,
    "frames": 4770,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4",
    "t_start": -0.824427748059039,
    "t_end": 158.142369251941,
    "clock": "device",
    "calibrated": false
   },
   "third_person": {
    "file": "mocap/mocap-SM21-S01-mahui-02p1-1.mp4",
    "frames": 4782,
    "fps": 30.0,
    "clock": "nokov (frame index)",
    "t_start": 0.0,
    "t_end": 159.36666666666667
   }
  }
 },
 "flags": [],
 "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
 "rig_tracker": {
  "definition": "e3296774a321bb51/20261028-morning/labels-503412/session-c3d1da0075bcc23a",
  "R_tracker0_imu0": [
   [
    -0.66235002,
    0.23490321,
    -0.71141614
   ],
   [
    0.74837192,
    0.16295972,
    -0.64294914
   ],
   [
    -0.03509864,
    -0.95826124,
    -0.28373134
   ]
  ],
  "p_tracker0_imu0_m": [
   0.022726699502412153,
   0.00024036270346023889,
   -0.02360922924941237
  ],
  "rig_check": {
   "gyro_samples": 438,
   "gyro_max_deg": 2.5,
   "status": "gyro_rotation",
   "dropped_marker": null,
   "gyro_deg": 0.0,
   "video_solve": {
    "status": "ok",
    "reason": "",
    "reprojection_px": 2.608,
    "n_assoc": 1308,
    "gyro_deg": 3.511
   }
  },
  "file": "derived/rig_tracker_provider/rig_tracker.json",
  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
 },
 "canonical": {
  "generated_at_utc": "2026-10-30T18:49:14.704067+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": [
   [
    0.9999999999,
    -1.6484e-05,
    1.4e-08
   ],
   [
    -1.4e-08,
    -0.0016934171,
    -0.9999985662
   ],
   [
    1.6484e-05,
    0.999998566,
    -0.0016934171
   ]
  ],
  "scale_nokov_to_canon": 0.001,
  "T_canon_nokov_mm": [
   [
    0.001,
    -1.6484e-08,
    1.4e-11,
    0.0
   ],
   [
    -1.4e-11,
    -1.693417e-06,
    -0.000999998566,
    0.0
   ],
   [
    1.6484e-08,
    0.000999998566,
    -1.693417e-06,
    0.0
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ],
  "block": "20261028-morning",
  "block_assignment": "trc",
  "tilt_removed_deg": 0.09703029591991919,
  "plane_status": "ok",
  "floor": {
   "sole_marker_p1_mm": 50.9,
   "headtop_p95_mm": 1631.7
  },
  "gravity_check": {
   "static_samples": 22210,
   "g_world_mean_m_s2": [
    0.0359,
    -0.1219,
    9.7482
   ],
   "tilt_from_z_deg": 0.747,
   "tilt_from_z_deg_before_levelling": 0.655,
   "magnitude_m_s2": 9.749
  },
  "rig_tracker_definition": "e3296774a321bb51/20261028-morning/labels-503412/session-c3d1da0075bcc23a",
  "rig_check": {
   "status": "gyro_rotation",
   "dropped_marker": null,
   "gyro_deg": 0.0
  },
  "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": "2026-11-02T16:57:34.786431+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": [
      0.05761124566197395,
      -0.0033926423639059067,
      0.02931450493633747
     ],
     "LHandOut": [
      0.04187384620308876,
      0.03278951346874237,
      0.0419473722577095
     ],
     "LWristOut": [
      -0.02055702544748783,
      0.0131689989939332,
      0.03357509896159172
     ]
    },
    "right": {
     "RHandIn": [
      -0.05412878468632698,
      0.017494648694992065,
      0.009135914966464043
     ],
     "RHandOut": [
      -0.03446459770202637,
      0.01859613135457039,
      -0.04045623913407326
     ],
     "RWristOut": [
      0.01822739467024803,
      0.01811734214425087,
      -0.025021078065037727
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 2.51,
   "p95_frame": 6.47
  },
  "worst_markers": [
   "LElbowIn 8mm",
   "RElbow 6mm",
   "LForearm 6mm",
   "RShoulderFront 6mm",
   "LWristIn 5mm"
  ],
  "valid_fraction": 1.0,
  "qc": {
   "lowest_vertex_mm": {
    "median": -32.6,
    "p5": -38.8
   },
   "frames_checked": 638,
   "stature_mm": 1631.4
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 12.71
  },
  "shape_source": "participant median",
  "wrist_correction": {
   "left": {
    "status": "corrected",
    "Q_deg": 118.41,
    "Q_rotvec": [
     2.04601,
     -0.15132,
     0.24935
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 119.8,
    "opposite_sign_bend_deg": 81.9,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 4.47,
    "hand_vs_marker_frame_deg": {
     "before": 117.14,
     "after": 4.47
    },
    "markers_on_wrist": [
     "LWristOut",
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": 116.94,
     "wrist_twist_deg_after": {
      "median": -0.0,
      "iqr": [
       -15.0,
       2.6
      ]
     },
     "wrist_total_deg_median_after": 25.0,
     "markers_on_forearm": [
      "LForearm",
      "LWristIn"
     ]
    },
    "frames_used": 1500
   },
   "right": {
    "status": "corrected",
    "Q_deg": 21.93,
    "Q_rotvec": [
     0.21391,
     -0.08356,
     -0.30617
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 36.4,
    "opposite_sign_bend_deg": 148.0,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 2.2,
    "hand_vs_marker_frame_deg": {
     "before": 22.04,
     "after": 2.2
    },
    "markers_on_wrist": [
     "RWristOut",
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": 28.61,
     "wrist_twist_deg_after": {
      "median": -0.0,
      "iqr": [
       -3.3,
       7.6
      ]
     },
     "wrist_total_deg_median_after": 23.1,
     "markers_on_forearm": [
      "RElbowIn",
      "RForearm",
      "RWristIn"
     ]
    },
    "frames_used": 1500
   },
   "generated_at_utc": "2026-11-02T16:57:38.154429+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "release": {
  "release_path": "actions/static_manipulation/SM21/session_009",
  "family": "static_manipulation",
  "primitive": "SM21",
  "source_session": "20261028/SM21/20261028_020634_session9"
 },
 "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"
  }
 ]
}