{
 "schema_version": 1,
 "session": "EgoMotionActions/20261102/SM21/20261102_082244_session135",
 "session_id": "20261102_082244_session135",
 "primitive": "SM21",
 "batch": "20261102",
 "participant": "wangzhixin",
 "participant_source": "manifest",
 "device_ids": {
  "main": "e17c9efadb69e7b1",
  "left": "cc5681142208e29a",
  "right": "a85418f7d807dff9"
 },
 "generated_at_utc": "2026-11-03T22:07:14.336302+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": 152.15833333333333,
  "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": -0.088616,
  "rate": 0.0,
  "global_lag_s": -0.09,
  "peak_corr": 0.8104,
  "reference_imu_first_sample_s": 9502.610798333,
  "windows": {
   "n_windows": 5,
   "window_corr_median": 0.7836142924465288,
   "drift_ppm": 24.7387938116551,
   "drift_se_ppm": 11.633654745512917,
   "drift_ms_over_take": 3.764007478443324,
   "lag_scatter_ms": 1.1441272117732169,
   "lag_range_ms": 4.948695846896223
  }
 },
 "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": "e17c9efadb69e7b1",
  "status": "ok",
  "date": "2026-09-08"
 },
 "streams": {
  "sensors": {
   "imu_head_right": {
    "n_acc": 30581,
    "n_gyro": 30575,
    "t_start": -0.09559762495894344,
    "t_end": 152.3685741950411
   },
   "imu_head_left": {
    "n_acc": 30525,
    "n_gyro": 30520,
    "t_start": 0.01014175004081383,
    "t_end": 152.5359232590398
   },
   "imu_wrist_right": {
    "n_acc": 30072,
    "n_gyro": 30072,
    "t_start": -0.7763687119605742,
    "t_end": 151.0822206290394
   },
   "imu_wrist_left": {
    "n_acc": 30017,
    "n_gyro": 30031,
    "t_start": -0.8810715959590447,
    "t_end": 151.08359988304062
   },
   "mag_head": {
    "n": 15262,
    "t_start": 0.08953633404041514,
    "t_end": 152.6995339060394
   },
   "mag_wrist_right": {
    "n": 15185,
    "t_start": -0.7626326349601436,
    "t_end": 151.07666288903954
   },
   "mag_wrist_left": {
    "n": 15195,
    "t_start": -0.8625786169596972,
    "t_end": 151.07689667003967
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 9502.7417,
    "frames": 4564,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0023423887986386703,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": 0.04462756783857233,
    "t_end": 152.1446605678392,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 9502.741658,
    "frames": 4564,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0019489646456461974,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": 0.0441921436866983,
    "t_end": 152.1441701436869,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 9502.741686,
    "frames": 4564,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0018171232386612972,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": 0.044088302278280506,
    "t_end": 152.14409930227873,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 9502.741716,
    "frames": 4564,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0017295646474508202,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": 0.044030743687355905,
    "t_end": 152.14407474368807,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 30.0,
    "start_device_s": 9502.741671,
    "frames": 4564,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.001668932298833096,
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": 0.04392511133835117,
    "t_end": 152.14392511133872,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 9502.741641,
    "frames": 4564,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0017169377622902274,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": 0.04394311680323201,
    "t_end": 152.14389911680325,
    "clock": "device",
    "calibrated": true
   },
   "wrist_left": {
    "fps": 30.0,
    "start_device_s": 9501.816913,
    "frames": 4558,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
    "t_start": -0.8825018209591939,
    "t_end": 151.0169771790405,
    "clock": "device",
    "calibrated": false
   },
   "wrist_right": {
    "fps": 30.0,
    "start_device_s": 9501.916818,
    "frames": 4555,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
    "t_start": -0.7825968209600682,
    "t_end": 151.01668717904056,
    "clock": "device",
    "calibrated": false
   },
   "third_person": {
    "file": "mocap/mocap-SM21-S01-wangzhixin-02p1-1.mp4",
    "frames": 4565,
    "fps": 30.0,
    "clock": "nokov (frame index)",
    "t_start": 0.0,
    "t_end": 152.13333333333333
   }
  }
 },
 "flags": [],
 "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
 "rig_tracker": {
  "definition": "e17c9efadb69e7b1/20261102-afternoon/labels-154230/session-01114e532d7cf05c",
  "R_tracker0_imu0": [
   [
    -0.61331322,
    0.11991316,
    -0.78068414
   ],
   [
    0.78966265,
    0.11402431,
    -0.60285268
   ],
   [
    0.01672701,
    -0.98621463,
    -0.16462356
   ]
  ],
  "p_tracker0_imu0_m": [
   0.006215980919735419,
   0.0020513155202093888,
   -0.03849427657759524
  ],
  "rig_check": {
   "gyro_samples": 160,
   "gyro_max_deg": 2.5,
   "status": "unchecked",
   "dropped_marker": null,
   "gyro_deg": null
  },
  "file": "derived/rig_tracker_provider/rig_tracker.json",
  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
 },
 "canonical": {
  "generated_at_utc": "2026-11-04T04:10:44.227649+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": [
   [
    0.9999989577,
    0.0014438356,
    -2.2061e-06
   ],
   [
    2.2061e-06,
    -0.0030559472,
    -0.9999953306
   ],
   [
    -0.0014438356,
    0.9999942882,
    -0.0030559472
   ]
  ],
  "scale_nokov_to_canon": 0.001,
  "T_canon_nokov_mm": [
   [
    0.000999998958,
    1.443836e-06,
    -2.206e-09,
    0.0
   ],
   [
    2.206e-09,
    -3.055947e-06,
    -0.000999995331,
    0.0
   ],
   [
    -1.443836e-06,
    0.000999994288,
    -3.055947e-06,
    0.0
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ],
  "block": "20261102-afternoon",
  "block_assignment": "trc",
  "tilt_removed_deg": 0.19365225661101543,
  "plane_status": "contacts span only 0.73 m",
  "floor": {
   "sole_marker_p1_mm": 52.0,
   "headtop_p95_mm": 1568.9
  },
  "gravity_check": {
   "static_samples": 27037,
   "g_world_mean_m_s2": [
    -0.1237,
    -0.2261,
    9.7627
   ],
   "tilt_from_z_deg": 1.512,
   "tilt_from_z_deg_before_levelling": 1.407,
   "magnitude_m_s2": 9.7661
  },
  "rig_tracker_definition": "e17c9efadb69e7b1/20261102-afternoon/labels-154230/session-01114e532d7cf05c",
  "rig_check": {
   "status": "unchecked",
   "dropped_marker": null,
   "gyro_deg": null
  },
  "camera_pose_source": "provider T_tracker0_cam",
  "files": [
   "mocap_zup.npz",
   "tracker0_zup.npz",
   "rig_zup.npz",
   "cameras_zup.npz"
  ]
 },
 "smplx": {
  "generated_at_utc": "2026-11-04T05:29:39.502743+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": [
      0.07218758016824722,
      0.011624155566096306,
      -0.013242274522781372
     ],
     "LHandOut": [
      0.05000310018658638,
      -0.02580096945166588,
      -0.04813970625400543
     ]
    },
    "right": {
     "RHandIn": [
      -0.04673134535551071,
      0.005178957711905241,
      0.0233028344810009
     ],
     "RHandOut": [
      -0.029593301936984062,
      0.04515456408262253,
      0.011462205089628696
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 1.6,
   "p95_frame": 3.08
  },
  "worst_markers": [
   "LThigh 7mm",
   "WaistLFront 4mm",
   "STRN 3mm",
   "RElbow 3mm",
   "WaistLSide 3mm"
  ],
  "valid_fraction": 0.9998,
  "qc": {
   "lowest_vertex_mm": {
    "median": 3.4,
    "p5": 3.0
   },
   "frames_checked": 609,
   "stature_mm": 1582.0
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 14.4
  },
  "shape_source": "participant median",
  "wrist_correction": {
   "left": {
    "status": "corrected",
    "Q_deg": 41.76,
    "Q_rotvec": [
     -0.71513,
     0.14001,
     0.01297
    ],
    "in_out_sign": 1,
    "q_source": "markers",
    "gsi": null,
    "wrist_bend_deg_median": 25.5,
    "opposite_sign_bend_deg": 155.1,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 0.52,
    "hand_vs_marker_frame_deg": {
     "before": 41.54,
     "after": 0.52
    },
    "markers_on_wrist": [
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -21.47,
     "wrist_twist_deg_after": {
      "median": -0.0,
      "iqr": [
       -1.7,
       0.9
      ]
     },
     "wrist_total_deg_median_after": 13.4,
     "markers_on_forearm": [
      "LElbow",
      "LElbowIn",
      "LForearm",
      "LWristIn",
      "LWristOut"
     ]
    },
    "frames_used": 1500
   },
   "right": {
    "status": "corrected",
    "Q_deg": 86.61,
    "Q_rotvec": [
     1.45841,
     0.13819,
     -0.37254
    ],
    "in_out_sign": 1,
    "q_source": "markers",
    "gsi": null,
    "wrist_bend_deg_median": 111.4,
    "opposite_sign_bend_deg": 81.3,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 3.52,
    "hand_vs_marker_frame_deg": {
     "before": 86.5,
     "after": 3.52
    },
    "markers_on_wrist": [
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -110.36,
     "wrist_twist_deg_after": {
      "median": -0.0,
      "iqr": [
       -2.2,
       2.2
      ]
     },
     "wrist_total_deg_median_after": 17.3,
     "markers_on_forearm": [
      "RElbowIn",
      "RForearm",
      "RWristIn",
      "RWristOut"
     ]
    },
    "frames_used": 1500
   },
   "generated_at_utc": "2026-11-04T05:29:42.760327+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "release": {
  "release_path": "actions/static_manipulation/SM21/session_012",
  "family": "static_manipulation",
  "primitive": "SM21",
  "source_session": "20261102/SM21/20261102_082244_session135"
 },
 "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"
  }
 ]
}