{
 "schema_version": 1,
 "session": "EgoMotionActions/20261028/SM21/20261028_023800_session17",
 "session_id": "20261028_023800_session17",
 "primitive": "SM21",
 "batch": "20261028",
 "participant": "wangmengli",
 "participant_source": "manifest",
 "device_ids": {
  "main": "c9205ac6e17d2d5c",
  "left": "452031d7af00ef6f",
  "right": "60a6f081bbe60b0d"
 },
 "generated_at_utc": "2026-10-30T07:33:24.391593+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": 148.15833333333333,
  "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": -0.087739,
  "rate": 0.0,
  "global_lag_s": -0.085,
  "peak_corr": 0.9328,
  "reference_imu_first_sample_s": 3281.070235223,
  "windows": {
   "n_windows": 7,
   "window_corr_median": 0.9378732662617468,
   "drift_ppm": 12.140777690239217,
   "drift_se_ppm": 6.044595701483479,
   "drift_ms_over_take": 1.79865621480894,
   "lag_scatter_ms": 0.5152217838515551,
   "lag_range_ms": 2.2236997672256678
  }
 },
 "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": 30138,
    "n_gyro": 30133,
    "t_start": -0.09916684568541427,
    "t_end": 148.35939885931478
   },
   "imu_head_left": {
    "n_acc": 29952,
    "n_gyro": 29945,
    "t_start": 0.008785525314596046,
    "t_end": 148.52721437431458
   },
   "imu_wrist_right": {
    "n_acc": 29957,
    "n_gyro": 29970,
    "t_start": -0.8099334636853939,
    "t_end": 147.24981807131465
   },
   "imu_wrist_left": {
    "n_acc": 29997,
    "n_gyro": 30008,
    "t_start": -0.9148312986853682,
    "t_end": 147.2474300693148
   },
   "mag_head": {
    "n": 14861,
    "t_start": 0.0944232343149622,
    "t_end": 148.69441438831475
   },
   "mag_wrist_right": {
    "n": 14805,
    "t_start": -0.7932706696851539,
    "t_end": 147.24650155331486
   },
   "mag_wrist_left": {
    "n": 14815,
    "t_start": -0.8971390316851113,
    "t_end": 147.2426662933149
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 3281.196015,
    "frames": 4444,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0026284356473863946,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": 0.040668939961977915,
    "t_end": 148.14069093996207,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 3281.195998,
    "frames": 4444,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0024181146161434135,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": 0.040441618930816506,
    "t_end": 148.14045261893082,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 3281.19601,
    "frames": 4444,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002458947067077895,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": 0.040494451382090804,
    "t_end": 148.1405054513821,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 3281.196022,
    "frames": 4444,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0021420814739499558,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": 0.040189585789011065,
    "t_end": 148.1402225857892,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 60.0,
    "start_device_s": 3281.246006,
    "frames": 4291,
    "pts_gaps": 4290,
    "timing": "pts (gap undecided)",
    "timeshift_cam_imu_s": 0.002801984596191448,
    "gap_test": {
     "pts": {
      "offset_ms": -16.5,
      "corr": 0.792,
      "err_ms": 19.3
     },
     "nominal": {
      "offset_ms": 150.0,
      "corr": 0.273,
      "err_ms": 147.2
     }
    },
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": 0.09083348891091987,
    "t_end": 148.1574894889109,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 3281.195989,
    "frames": 4444,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002930366888236734,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": 0.04094487120302688,
    "t_end": 148.14094487120295,
    "clock": "device",
    "calibrated": true
   },
   "wrist_left": {
    "fps": 30.0,
    "start_device_s": 3280.281236,
    "frames": 4443,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
    "t_start": -0.8767384956854414,
    "t_end": 147.18973250431466,
    "clock": "device",
    "calibrated": false
   },
   "wrist_right": {
    "fps": 30.0,
    "start_device_s": 3280.394993,
    "frames": 4440,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
    "t_start": -0.7629814956853636,
    "t_end": 147.20342450431465,
    "clock": "device",
    "calibrated": false
   },
   "third_person": {
    "file": "mocap/mocap-SM21-S01-wangmengli-02p1-1.mp4",
    "frames": 4445,
    "fps": 30.0,
    "clock": "nokov (frame index)",
    "t_start": 0.0,
    "t_end": 148.13333333333333
   }
  }
 },
 "flags": [],
 "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
 "rig_tracker": {
  "definition": "c9205ac6e17d2d5c/20261028-morning/labels-053142/session-85ab8a5444b4e5ce",
  "R_tracker0_imu0": [
   [
    -0.65798986,
    0.21861868,
    -0.72059365
   ],
   [
    0.74443432,
    0.0447006,
    -0.66619772
   ],
   [
    -0.1134323,
    -0.97478599,
    -0.19215979
   ]
  ],
  "p_tracker0_imu0_m": [
   -0.17880191061719777,
   -0.011715483326149467,
   -0.03173057055743972
  ],
  "rig_check": {
   "gyro_samples": 620,
   "gyro_max_deg": 2.5,
   "status": "ok",
   "dropped_marker": null,
   "gyro_deg": 1.571
  },
  "file": "derived/rig_tracker_provider/rig_tracker.json",
  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
 },
 "canonical": {
  "generated_at_utc": "2026-10-30T18:49:16.993825+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": 37.8,
   "headtop_p95_mm": 1641.9
  },
  "gravity_check": {
   "static_samples": 24673,
   "g_world_mean_m_s2": [
    -0.2798,
    -0.1238,
    9.7853
   ],
   "tilt_from_z_deg": 1.791,
   "tilt_from_z_deg_before_levelling": 1.753,
   "magnitude_m_s2": 9.7901
  },
  "rig_tracker_definition": "c9205ac6e17d2d5c/20261028-morning/labels-053142/session-85ab8a5444b4e5ce",
  "rig_check": {
   "status": "ok",
   "dropped_marker": null,
   "gyro_deg": 1.571
  },
  "camera_pose_source": "provider T_tracker0_cam",
  "files": [
   "mocap_zup.npz",
   "tracker0_zup.npz",
   "rig_zup.npz",
   "cameras_zup.npz"
  ]
 },
 "smplx": {
  "generated_at_utc": "2026-11-02T16:57:51.215694+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": [
      0.09256365895271301,
      0.021355360746383667,
      0.004149410407990217
     ],
     "LHandOut": [
      0.0825057104229927,
      -0.006670291535556316,
      -0.035737719386816025
     ]
    },
    "right": {
     "RHandIn": [
      -0.07158324867486954,
      0.013854543678462505,
      0.031511709094047546
     ],
     "RHandOut": [
      -0.0741329938173294,
      0.026251627132296562,
      -0.012933922000229359
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 2.04,
   "p95_frame": 5.24
  },
  "worst_markers": [
   "LElbowIn 8mm",
   "LShoulderFront 5mm",
   "LElbow 5mm",
   "LShoulderBack 4mm",
   "RElbowIn 4mm"
  ],
  "valid_fraction": 0.9998,
  "qc": {
   "lowest_vertex_mm": {
    "median": 10.8,
    "p5": 10.3
   },
   "frames_checked": 593,
   "stature_mm": 1616.5
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 15.57
  },
  "shape_source": "participant median",
  "wrist_correction": {
   "left": {
    "status": "corrected",
    "Q_deg": 28.52,
    "Q_rotvec": [
     -0.48936,
     -0.05331,
     0.07415
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 73.6,
    "opposite_sign_bend_deg": 108.3,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 1.64,
    "hand_vs_marker_frame_deg": {
     "before": 28.65,
     "after": 1.64
    },
    "markers_on_wrist": [
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -72.98,
     "wrist_twist_deg_after": {
      "median": 0.0,
      "iqr": [
       -3.0,
       5.1
      ]
     },
     "wrist_total_deg_median_after": 12.2,
     "markers_on_forearm": [
      "LElbow",
      "LForearm",
      "LWristIn",
      "LWristOut"
     ]
    },
    "frames_used": 1499
   },
   "right": {
    "status": "corrected",
    "Q_deg": 33.01,
    "Q_rotvec": [
     0.38173,
     0.36942,
     -0.22325
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 39.1,
    "opposite_sign_bend_deg": 154.8,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 1.42,
    "hand_vs_marker_frame_deg": {
     "before": 32.82,
     "after": 1.42
    },
    "markers_on_wrist": [
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -29.85,
     "wrist_twist_deg_after": {
      "median": -0.0,
      "iqr": [
       -4.1,
       7.7
      ]
     },
     "wrist_total_deg_median_after": 26.4,
     "markers_on_forearm": [
      "RForearm",
      "RWristIn",
      "RWristOut"
     ]
    },
    "frames_used": 1500
   },
   "generated_at_utc": "2026-11-02T16:57:54.695076+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "release": {
  "release_path": "actions/static_manipulation/SM21/session_010",
  "family": "static_manipulation",
  "primitive": "SM21",
  "source_session": "20261028/SM21/20261028_023800_session17"
 },
 "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"
  }
 ]
}