{
 "schema_version": 1,
 "session": "EgoMotionActions/20261029/SM21/20261029_074559_session91",
 "session_id": "20261029_074559_session91",
 "primitive": "SM21",
 "batch": "20261029",
 "participant": "wangjingjing",
 "participant_source": "manifest",
 "device_ids": {
  "main": "c9205ac6e17d2d5c",
  "left": "cc5681142208e29a",
  "right": "a85418f7d807dff9"
 },
 "generated_at_utc": "2026-10-30T22:59:21.492562+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": 128.95833333333334,
  "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": -0.094095,
  "rate": 0.0,
  "global_lag_s": -0.095,
  "peak_corr": 0.9364,
  "reference_imu_first_sample_s": 25976.864200612,
  "windows": {
   "n_windows": 8,
   "window_corr_median": 0.8728140956914734,
   "drift_ppm": -17.496147869809636,
   "drift_se_ppm": 18.901653114425798,
   "drift_ms_over_take": -2.256128267811953,
   "lag_scatter_ms": 1.4081414424845102,
   "lag_range_ms": 4.63461832314846
  }
 },
 "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": 26239,
    "n_gyro": 26234,
    "t_start": -0.1009907068135592,
    "t_end": 129.14933033518645
   },
   "imu_head_left": {
    "n_acc": 26079,
    "n_gyro": 26072,
    "t_start": 0.003283334187630993,
    "t_end": 129.3153953681878
   },
   "imu_wrist_right": {
    "n_acc": 25521,
    "n_gyro": 25533,
    "t_start": -0.7851318488126937,
    "t_end": 128.11021173018634
   },
   "imu_wrist_left": {
    "n_acc": 25469,
    "n_gyro": 25469,
    "t_start": -0.8361088468144091,
    "t_end": 128.11701342518535
   },
   "mag_head": {
    "n": 12940,
    "t_start": 0.08639958418750643,
    "t_end": 129.4763952711848
   },
   "mag_wrist_right": {
    "n": 12888,
    "t_start": -0.7612344588149655,
    "t_end": 128.10829974818733
   },
   "mag_wrist_left": {
    "n": 12895,
    "t_start": -0.8276795468144202,
    "t_end": 128.11187476018785
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 25976.995063,
    "frames": 3868,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0026284356473863946,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": 0.039395968830990336,
    "t_end": 128.93953996883027,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 25976.995044,
    "frames": 3868,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0024181146161434135,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": 0.03916664780006135,
    "t_end": 128.93928864779917,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 25976.995058,
    "frames": 3868,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002458947067077895,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": 0.03922148025337696,
    "t_end": 128.93935448025258,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 25976.995069,
    "frames": 3868,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0021420814739499558,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": 0.03891561466041343,
    "t_end": 128.93907161466012,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 30.0,
    "start_device_s": 25976.995051,
    "frames": 3857,
    "pts_gaps": 11,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002801984596191448,
    "gap_test": {
     "pts": {
      "offset_ms": -5.2,
      "corr": 0.86,
      "err_ms": 8.0
     },
     "nominal": {
      "offset_ms": 62.9,
      "corr": 0.782,
      "err_ms": 60.1
     }
    },
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": 0.039557517783737006,
    "t_end": 128.956213517785,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 25976.995036,
    "frames": 3868,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002930366888236734,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": 0.039670900075338744,
    "t_end": 128.93978190007437,
    "clock": "device",
    "calibrated": true
   },
   "wrist_left": {
    "fps": 30.0,
    "start_device_s": 25976.118858,
    "frames": 3868,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
    "t_start": -0.8394374668121829,
    "t_end": 128.0601065331877,
    "clock": "device",
    "calibrated": false
   },
   "wrist_right": {
    "fps": 30.0,
    "start_device_s": 25976.185228,
    "frames": 3866,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
    "t_start": -0.7730674668153599,
    "t_end": 128.05981053318573,
    "clock": "device",
    "calibrated": false
   },
   "third_person": {
    "file": "mocap/mocap-SM21-S01-wangjingjing-02p1-1.mp4",
    "frames": 3869,
    "fps": 30.0,
    "clock": "nokov (frame index)",
    "t_start": 0.0,
    "t_end": 128.93333333333334
   }
  }
 },
 "flags": [],
 "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
 "rig_tracker": {
  "definition": "c9205ac6e17d2d5c/20261029-afternoon/labels-503412/session-184de9716e2828a4",
  "R_tracker0_imu0": [
   [
    -0.6365569,
    0.30033065,
    -0.71034979
   ],
   [
    0.7552219,
    0.05605505,
    -0.65306792
   ],
   [
    -0.15631763,
    -0.95218661,
    -0.26249851
   ]
  ],
  "p_tracker0_imu0_m": [
   0.01852993304256075,
   -0.008677052988142376,
   -0.006900172062881703
  ],
  "rig_check": {
   "gyro_samples": 224,
   "gyro_max_deg": 2.5,
   "status": "ok",
   "dropped_marker": null,
   "gyro_deg": 1.672
  },
  "file": "derived/rig_tracker_provider/rig_tracker.json",
  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
 },
 "canonical": {
  "generated_at_utc": "2026-11-03T09:17:37.494991+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": [
   [
    0.9999956317,
    0.0029557594,
    -5.102e-07
   ],
   [
    5.102e-07,
    -0.0003452029,
    -0.9999999404
   ],
   [
    -0.0029557594,
    0.9999955722,
    -0.0003452029
   ]
  ],
  "scale_nokov_to_canon": 0.001,
  "T_canon_nokov_mm": [
   [
    0.000999995632,
    2.955759e-06,
    -5.1e-10,
    0.0
   ],
   [
    5.1e-10,
    -3.45203e-07,
    -0.00099999994,
    0.0
   ],
   [
    -2.955759e-06,
    0.000999995572,
    -3.45203e-07,
    0.0
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ],
  "block": "20261029-afternoon",
  "block_assignment": "trc",
  "tilt_removed_deg": 0.17050385347658925,
  "plane_status": "ok",
  "floor": {
   "sole_marker_p1_mm": 36.1,
   "headtop_p95_mm": 1510.7
  },
  "gravity_check": {
   "static_samples": 20546,
   "g_world_mean_m_s2": [
    -0.0358,
    -0.1449,
    9.7898
   ],
   "tilt_from_z_deg": 0.874,
   "tilt_from_z_deg_before_levelling": 0.911,
   "magnitude_m_s2": 9.791
  },
  "rig_tracker_definition": "c9205ac6e17d2d5c/20261029-afternoon/labels-503412/session-184de9716e2828a4",
  "rig_check": {
   "status": "ok",
   "dropped_marker": null,
   "gyro_deg": 1.672
  },
  "camera_pose_source": "provider T_tracker0_cam",
  "files": [
   "mocap_zup.npz",
   "tracker0_zup.npz",
   "rig_zup.npz",
   "cameras_zup.npz"
  ]
 },
 "smplx": {
  "generated_at_utc": "2026-11-02T18:39:08.829363+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": [
      0.05674237757921219,
      0.011349080130457878,
      -0.02818957529962063
     ],
     "LHandOut": [
      0.05130002275109291,
      -0.03468768298625946,
      -0.028074637055397034
     ]
    },
    "right": {
     "RHandIn": [
      -0.028733696788549423,
      0.03854867070913315,
      0.0006812734645791352
     ],
     "RHandOut": [
      -0.061208777129650116,
      0.0104060722514987,
      -0.027742937207221985
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 2.01,
   "p95_frame": 5.38
  },
  "worst_markers": [
   "RElbowIn 7mm",
   "RKneeIn 5mm",
   "LShin 5mm",
   "CLAV 5mm",
   "LThigh 5mm"
  ],
  "valid_fraction": 1.0,
  "qc": {
   "lowest_vertex_mm": {
    "median": 3.6,
    "p5": 0.9
   },
   "frames_checked": 516,
   "stature_mm": 1502.4
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 11.79
  },
  "shape_source": "participant median",
  "wrist_correction": {
   "left": {
    "status": "corrected",
    "Q_deg": 83.21,
    "Q_rotvec": [
     -1.38997,
     0.16218,
     0.38859
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 96.3,
    "opposite_sign_bend_deg": 85.2,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 1.76,
    "hand_vs_marker_frame_deg": {
     "before": 83.72,
     "after": 1.76
    },
    "markers_on_wrist": [
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -89.48,
     "wrist_twist_deg_after": {
      "median": -0.0,
      "iqr": [
       -2.2,
       5.0
      ]
     },
     "wrist_total_deg_median_after": 41.1,
     "markers_on_forearm": [
      "LForearm",
      "LWristIn",
      "LWristOut"
     ]
    },
    "frames_used": 1500
   },
   "right": {
    "status": "corrected",
    "Q_deg": 79.73,
    "Q_rotvec": [
     -0.75257,
     0.60083,
     -1.00454
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 82.5,
    "opposite_sign_bend_deg": 120.0,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 1.46,
    "hand_vs_marker_frame_deg": {
     "before": 80.21,
     "after": 1.46
    },
    "markers_on_wrist": [
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": 56.44,
     "wrist_twist_deg_after": {
      "median": 0.0,
      "iqr": [
       -3.1,
       2.4
      ]
     },
     "wrist_total_deg_median_after": 62.9,
     "markers_on_forearm": [
      "RForearm",
      "RWristIn",
      "RWristOut"
     ]
    },
    "frames_used": 1500
   },
   "generated_at_utc": "2026-11-02T18:39:12.197187+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "release": {
  "release_path": "actions/static_manipulation/SM21/session_011",
  "family": "static_manipulation",
  "primitive": "SM21",
  "source_session": "20261029/SM21/20261029_074559_session91"
 },
 "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"
  }
 ]
}