{
 "schema_version": 1,
 "session": "EgoMotionActions/20261024/SM39/20261024_024605_session17",
 "session_id": "20261024_024605_session17",
 "primitive": "SM39",
 "batch": "20261024",
 "participant": "yanyitong",
 "participant_source": "manifest",
 "device_ids": {
  "main": "c9205ac6e17d2d5c",
  "left": "452031d7af00ef6f",
  "right": "60a6f081bbe60b0d"
 },
 "generated_at_utc": "2026-10-26T05:08:37.429316+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": 749,
  "duration_s": 138.71666666666667,
  "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": -0.081725,
  "rate": 0.0,
  "global_lag_s": -0.08,
  "peak_corr": 0.9665,
  "reference_imu_first_sample_s": 3699.551784782,
  "windows": {
   "n_windows": 13,
   "window_corr_median": 0.9631284577766701,
   "drift_ppm": -8.58119158717433,
   "drift_se_ppm": 12.459950840714736,
   "drift_ms_over_take": -1.2438437205609187,
   "lag_scatter_ms": 1.5462392357835928,
   "lag_range_ms": 6.239810154070685
  }
 },
 "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": 29492,
    "n_gyro": 29485,
    "t_start": -6.339759446140455,
    "t_end": 138.92532441585928
   },
   "imu_head_left": {
    "n_acc": 29309,
    "n_gyro": 29303,
    "t_start": -6.228084779140467,
    "t_end": 139.09086720785928
   },
   "imu_wrist_right": {
    "n_acc": 29224,
    "n_gyro": 29224,
    "t_start": -7.0913645411407416,
    "t_end": 137.32963250785934
   },
   "imu_wrist_left": {
    "n_acc": 29264,
    "n_gyro": 29274,
    "t_start": -7.184202658140897,
    "t_end": 137.34150250185922
   },
   "mag_head": {
    "n": 14541,
    "t_start": -6.145327112140571,
    "t_end": 139.25466312385907
   },
   "mag_wrist_right": {
    "n": 14441,
    "t_start": -7.0737555771408225,
    "t_end": 137.3256217188594
   },
   "mag_wrist_left": {
    "n": 14451,
    "t_start": -7.166467695140604,
    "t_end": 137.3330747618591
   }
  },
  "videos": {
   "left": {
    "fps": 30.0,
    "start_device_s": 3699.6697,
    "frames": 4348,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0026284356473863946,
    "file": "robocap_segment1_video_left.mp4",
    "t_start": -6.202847564493517,
    "t_end": 138.69714143550647,
    "clock": "device",
    "calibrated": true
   },
   "right": {
    "fps": 30.0,
    "start_device_s": 3699.66966,
    "frames": 4348,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0024181146161434135,
    "file": "robocap_segment1_video_right.mp4",
    "t_start": -6.203097885524734,
    "t_end": 138.69689111447525,
    "clock": "device",
    "calibrated": true
   },
   "left_front": {
    "fps": 30.0,
    "start_device_s": 3699.669686,
    "frames": 4348,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002458947067077895,
    "file": "robocap_segment1_video_left_front.mp4",
    "t_start": -6.203031053073268,
    "t_end": 138.69695794692672,
    "clock": "device",
    "calibrated": true
   },
   "right_front": {
    "fps": 30.0,
    "start_device_s": 3699.669712,
    "frames": 4348,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.0021420814739499558,
    "file": "robocap_segment1_video_right_front.mp4",
    "t_start": -6.20332191866661,
    "t_end": 138.69666708133337,
    "clock": "device",
    "calibrated": true
   },
   "left_eye": {
    "fps": 30.0,
    "start_device_s": 3699.669673,
    "frames": 4348,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002801984596191448,
    "file": "robocap_segment1_video_left_eye.mp4",
    "t_start": -6.202701015544484,
    "t_end": 138.69729898445559,
    "clock": "device",
    "calibrated": true
   },
   "right_eye": {
    "fps": 30.0,
    "start_device_s": 3699.669637,
    "frames": 4348,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": 0.002930366888236734,
    "file": "robocap_segment1_video_right_eye.mp4",
    "t_start": -6.202608633252261,
    "t_end": 138.6973913667478,
    "clock": "device",
    "calibrated": true
   },
   "wrist_left": {
    "fps": 30.0,
    "start_device_s": 3698.728252,
    "frames": 4334,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
    "t_start": -7.1469240001407925,
    "t_end": 137.28595399985926,
    "clock": "device",
    "calibrated": false
   },
   "wrist_right": {
    "fps": 30.0,
    "start_device_s": 3698.78037,
    "frames": 4332,
    "pts_gaps": 0,
    "timing": "pts",
    "timeshift_cam_imu_s": null,
    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
    "t_start": -7.0948060001407285,
    "t_end": 137.2712099998592,
    "clock": "device",
    "calibrated": false
   },
   "third_person": {
    "file": "mocap/mocap-SM39-S01-yanyitong-02p2-1.mp4",
    "frames": 4349,
    "fps": 30.0,
    "clock": "nokov (frame index)",
    "t_start": -6.241666666666666,
    "t_end": 138.69166666666666
   }
  }
 },
 "flags": [],
 "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
 "rig_tracker": {
  "definition": "c9205ac6e17d2d5c/20261024-morning/labels-053142/session-e9f1648174754811",
  "R_tracker0_imu0": [
   [
    -0.59871555,
    0.5018796,
    -0.62422476
   ],
   [
    0.76419413,
    0.12451671,
    -0.632853
   ],
   [
    -0.2398896,
    -0.85592783,
    -0.45808353
   ]
  ],
  "p_tracker0_imu0_m": [
   -0.15761662720492006,
   -0.00555037382951681,
   -0.08658664339030873
  ],
  "rig_check": {
   "gyro_samples": 9371,
   "gyro_max_deg": 2.5,
   "status": "dropped_marker",
   "dropped_marker": 1,
   "gyro_deg": 2.192
  },
  "file": "derived/rig_tracker_provider/rig_tracker.json",
  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
 },
 "canonical": {
  "generated_at_utc": "2026-10-26T10:26:46.123029+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": [
   [
    0.9999642225,
    0.0084589401,
    5.2449e-06
   ],
   [
    -5.2449e-06,
    0.0012400595,
    -0.9999992311
   ],
   [
    -0.0084589401,
    0.9999634536,
    0.0012400595
   ]
  ],
  "scale_nokov_to_canon": 0.001,
  "T_canon_nokov_mm": [
   [
    0.000999964223,
    8.45894e-06,
    5.245e-09,
    0.0
   ],
   [
    -5.245e-09,
    1.240059e-06,
    -0.000999999231,
    0.0
   ],
   [
    -8.45894e-06,
    0.000999963454,
    1.240059e-06,
    0.0
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ],
  "block": "20261024-morning",
  "block_assignment": "trc",
  "tilt_removed_deg": 0.48984774059510355,
  "plane_status": "ok",
  "floor": {
   "sole_marker_p1_mm": 32.0,
   "headtop_p95_mm": 1592.0
  },
  "gravity_check": {
   "static_samples": 838,
   "g_world_mean_m_s2": [
    -0.1668,
    -0.2012,
    9.7504
   ],
   "tilt_from_z_deg": 1.535,
   "tilt_from_z_deg_before_levelling": 1.928,
   "magnitude_m_s2": 9.7539
  },
  "rig_tracker_definition": "c9205ac6e17d2d5c/20261024-morning/labels-053142/session-e9f1648174754811",
  "rig_check": {
   "status": "dropped_marker",
   "dropped_marker": 1,
   "gyro_deg": 2.192
  },
  "camera_pose_source": "provider T_tracker0_cam",
  "files": [
   "mocap_zup.npz",
   "tracker0_zup.npz",
   "rig_zup.npz",
   "cameras_zup.npz"
  ]
 },
 "smplx": {
  "generated_at_utc": "2026-10-26T18:35:57.981487+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": true,
   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
   "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
   "hand_marker_offsets_m": {
    "left": {
     "LHandIn": [
      0.06372388452291489,
      0.028988590463995934,
      0.020697925239801407
     ],
     "LHandOut": [
      0.0464278981089592,
      0.02013542316854,
      -0.031068891286849976
     ],
     "LWristOut": [
      -0.005130792502313852,
      0.026060275733470917,
      -0.005658681970089674
     ]
    },
    "right": {
     "RHandIn": [
      -0.05237690731883049,
      0.007956940680742264,
      0.044653359800577164
     ],
     "RHandOut": [
      -0.07117017358541489,
      0.021701902151107788,
      0.00037840832374058664
     ],
     "RWristIn": [
      0.018665319308638573,
      -0.01011698879301548,
      0.03882494941353798
     ]
    }
   }
  },
  "marker_rmse_mm": {
   "median_frame": 5.54,
   "p95_frame": 9.69
  },
  "worst_markers": [
   "RThigh 28mm",
   "RElbowIn 10mm",
   "RKneeIn 9mm",
   "RKnee 8mm",
   "RUArmHigh 8mm"
  ],
  "valid_fraction": 1.0,
  "qc": {
   "lowest_vertex_mm": {
    "median": 7.1,
    "p5": 5.2
   },
   "frames_checked": 555,
   "stature_mm": 1600.3
  },
  "surface_term": {
   "weight": 1.0,
   "marker_height_mm": 11.0,
   "markers_on_surface": 52,
   "surface_rmse_mm_median": 14.41
  },
  "shape_source": "participant median",
  "wrist_correction": {
   "left": {
    "status": "corrected",
    "Q_deg": 180.0,
    "Q_rotvec": [
     2.98163,
     -0.44128,
     -0.88585
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 171.1,
    "opposite_sign_bend_deg": 49.2,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 3.55,
    "hand_vs_marker_frame_deg": {
     "before": 178.44,
     "after": 3.55
    },
    "markers_on_wrist": [
     "LWristOut",
     "LHandIn",
     "LHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -161.29,
     "wrist_twist_deg_after": {
      "median": -16.93,
      "iqr": [
       -23.7,
       -6.0
      ]
     },
     "wrist_total_deg_median_after": 35.1,
     "markers_on_forearm": [
      "LElbow",
      "LForearm",
      "LWristIn"
     ]
    },
    "frames_used": 1500
   },
   "right": {
    "status": "corrected",
    "Q_deg": 0.0,
    "Q_rotvec": [
     -0.0,
     -0.0,
     0.0
    ],
    "in_out_sign": 1,
    "wrist_bend_deg_median": 55.6,
    "opposite_sign_bend_deg": 169.4,
    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
    "marker_frame_spread_deg": 2.55,
    "hand_vs_marker_frame_deg": {
     "before": 2.55,
     "after": 2.55
    },
    "markers_on_wrist": [
     "RWristIn",
     "RHandIn",
     "RHandOut"
    ],
    "forearm_twist": {
     "twist_moved_deg": -0.0,
     "wrist_twist_deg_after": {
      "median": -0.0,
      "iqr": [
       -9.9,
       10.7
      ]
     },
     "wrist_total_deg_median_after": 55.4,
     "markers_on_forearm": [
      "RForearm",
      "RWristOut"
     ]
    },
    "frames_used": 1499
   },
   "generated_at_utc": "2026-10-28T06:50:01.441513+00:00",
   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
  }
 },
 "hands_registration": {
  "cameras": {},
  "hands": {
   "left": {
    "offset_deg": 20.53,
    "offset_rotvec": [
     0.069,
     -0.0952,
     0.3384
    ],
    "dev_deg": {
     "median": 9.3,
     "p90": 21.14
    },
    "samples": 4096,
    "accepted": 3816,
    "wrist_pos_err_mm_median": 29.2,
    "per_camera": {
     "head": {
      "samples": 4096,
      "accepted": 3816,
      "gate_deg": 30.0,
      "offset_deg": 20.53,
      "tier": "primary",
      "dev_deg_median": 9.3,
      "wrist_pos_err_mm_median": 29.2
     }
    },
    "frames_by_state": {
     "ace_sample": 15310,
     "interpolated": 586,
     "mean_hand": 751,
     "no_body_fit": 0
    },
    "observed_fraction": 0.9549,
    "observed_fraction_of_valid": 0.9549,
    "palm_axis_vs_markers_deg": {
     "gsi": 10.17,
     "smplx": 2.67
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 8.2,
      "p90": 9.6
     },
     "registered": {
      "median": 7.8,
      "p90": 9.2
     }
    }
   },
   "right": {
    "offset_deg": 33.08,
    "offset_rotvec": [
     0.323,
     -0.467,
     0.1042
    ],
    "dev_deg": {
     "median": 17.19,
     "p90": 38.57
    },
    "samples": 3805,
    "accepted": 2984,
    "wrist_pos_err_mm_median": 42.4,
    "per_camera": {
     "head": {
      "samples": 3805,
      "accepted": 2984,
      "gate_deg": 30.0,
      "offset_deg": 33.08,
      "tier": "primary",
      "dev_deg_median": 17.19,
      "wrist_pos_err_mm_median": 42.4
     }
    },
    "frames_by_state": {
     "ace_sample": 12086,
     "interpolated": 3462,
     "mean_hand": 1099,
     "no_body_fit": 0
    },
    "observed_fraction": 0.934,
    "observed_fraction_of_valid": 0.934,
    "palm_axis_vs_markers_deg": {
     "gsi": 38.75,
     "smplx": 1.71
    },
    "hand_marker_to_mesh_mm": {
     "flat": {
      "median": 14.0,
      "p90": 22.1
     },
     "registered": {
      "median": 13.0,
      "p90": 19.5
     }
    }
   }
  },
  "max_dev_deg": 30.0,
  "max_gap_s": 1.0,
  "cameras_used": [
   "head"
  ],
  "generated_at_utc": "2026-11-03T17:34:08.641601+00:00",
  "generated_by": "scripts/register_hands_smplx.py",
  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
  "wrist_flip_suspect": []
 },
 "release": {
  "release_path": "actions/static_manipulation/SM39/session_005",
  "family": "static_manipulation",
  "primitive": "SM39",
  "source_session": "20261024/SM39/20261024_024605_session17"
 },
 "task": {
  "primitive": "SM39",
  "instruction": "Cover the whole panel with the brush or roller, using long strokes. 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."
 }
}