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@@ -40819,3 +40819,6 @@ actions/locomotion_posture_dynamics/D60/session_008/raw/sensors/robowrist_imu_le
 actions/locomotion_posture_dynamics/D60/session_008/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomotion_posture_dynamics/D60/session_008/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomotion_posture_dynamics/D60/session_008/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P21/session_001/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P21/session_001/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P21/session_001/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text

actions/locomotion_primitives/P20/session_016/meta.json

@@ -458,19 +458,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 169.45,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     -2.85559,
-     0.06717,
-     0.76682
+     3.03013,
+     -0.23151,
+     -0.79645
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-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 157.9,
-    "opposite_sign_bend_deg": 28.1,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 177.6,
+    "opposite_sign_bend_deg": 25.8,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 1.17,
     "hand_vs_marker_frame_deg": {
-     "before": 169.36,
+     "before": 179.43,
      "after": 1.17
     },
     "markers_on_wrist": [
@@ -478,15 +478,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -156.93,
+     "twist_moved_deg": -176.23,
      "wrist_twist_deg_after": {
-      "median": -0.21,
+      "median": -1.78,
       "iqr": [
-       -2.0,
-       2.0
+       -3.5,
+       0.3
       ]
      },
-     "wrist_total_deg_median_after": 25.8,
+     "wrist_total_deg_median_after": 13.0,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -497,19 +497,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 175.83,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     2.97979,
-     0.71181,
-     -0.17885
+     0.0,
+     -0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 176.2,
-    "opposite_sign_bend_deg": 8.1,
+    "wrist_bend_deg_median": 77.6,
+    "opposite_sign_bend_deg": 105.9,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 4.96,
     "hand_vs_marker_frame_deg": {
-     "before": 174.54,
+     "before": 4.96,
      "after": 4.96
     },
     "markers_on_wrist": [
@@ -518,22 +518,22 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -101.46,
+     "twist_moved_deg": -74.6,
      "wrist_twist_deg_after": {
-      "median": -74.6,
+      "median": -0.0,
       "iqr": [
-       -77.5,
-       1.9
+       -2.9,
+       76.5
       ]
      },
-     "wrist_total_deg_median_after": 77.2,
+     "wrist_total_deg_median_after": 23.3,
      "markers_on_forearm": [
       "RWristIn"
      ]
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-23T01:57:31.249515+00:00",
+   "generated_at_utc": "2026-10-28T06:39:39.267127+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },

actions/locomotion_primitives/P20/session_016/motions/smplx.npz

@@ -1,3 +1,3 @@
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+size 6063582

actions/locomotion_primitives/P21/session_001/cameras/poses.npz

@@ -1,3 +1,3 @@
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-size 1129926
+oid sha256:0008dd3395a69d934d462e3b1b7a7476798a867e02958d159cc4cd15cce5f407
+size 1295148

actions/locomotion_primitives/P21/session_001/meta.json

@@ -1,42 +1,42 @@
 {
  "schema_version": 1,
- "session": "EgoMotionActions/19700101/P21/19700101_002918_session19",
- "session_id": "19700101_002918_session19",
+ "session": "EgoMotionActions/20260828/P21/20260828_071954_session36",
+ "session_id": "20260828_071954_session36",
  "primitive": "P21",
- "batch": "19700101",
- "participant": "zhangxinxin",
+ "batch": "20260828",
+ "participant": "wangyang",
  "participant_source": "manifest",
  "device_ids": {
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+  "main": "850a0e6aafa85fdf",
   "left": "cc5681142208e29a",
   "right": "60a6f081bbe60b0d"
  },
- "generated_at_utc": "2026-10-14T10:51:35.645006+00:00",
+ "generated_at_utc": "2026-10-14T10:52:12.387811+00:00",
  "generated_by": "scripts/sync_dataset.py",
  "time_base": {
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   "mocap_rate_hz": 120.0,
   "first_solved_frame": 0,
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   "mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
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   "mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
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-  "global_lag_s": -1.17,
-  "peak_corr": 0.9806,
-  "reference_imu_first_sample_s": 1758.152556362,
+  "global_lag_s": -1.175,
+  "peak_corr": 0.979,
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-   "lag_scatter_ms": 0.17158259174474955,
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+   "lag_scatter_ms": 1.6509939094691246,
+   "lag_range_ms": 7.0192310743313335
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  "units": {
@@ -64,218 +64,223 @@
   "quaternions": "xyzw, Nokov global"
  },
  "calibration": {
-  "device": "e17c9efadb69e7b1",
+  "device": "850a0e6aafa85fdf",
   "status": "ok",
-  "date": "2026-09-08"
+  "date": "2026-08-27"
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+   "structure": "WARN",
    "markers": "WARN",
    "timing": "WARN"
   },
   "verdict": "READY_WITH_WARNINGS",
   "issues": [
-   "FAIL S_MISSING",
-   "WARN M_BODY_ID",
-   "WARN M_FLOOR_SHIFT",
    "WARN M_SPIKES",
    "WARN M_TRACKER_LABELS",
    "WARN S_INDEX",
+   "WARN S_MOCAP_TS",
    "WARN S_PARTICIPANT",
-   "WARN S_REPORT_TIMING",
-   "WARN T_GAP",
-   "WARN T_IMU_PAIR",
-   "WARN T_MONOTONIC",
-   "WARN T_PTS",
-   "WARN T_RIG_TRACKER"
+   "WARN T_UNITS"
   ]
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+  "generated_at_utc": "2026-10-24T05:09:46.466749+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)",
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     0.0
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    [
@@ -285,27 +290,32 @@
     1.0
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   ],
-  "block": "20260914-afternoon",
+  "block": "20260828-xiawu",
   "block_assignment": "trc",
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-   "headtop_p95_mm": 1619.8
+   "sole_marker_p1_mm": 25.7,
+   "headtop_p95_mm": 1769.5
   },
   "gravity_check": {
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-   "tilt_from_z_deg_before_levelling": 2.827,
-   "magnitude_m_s2": 9.6555
+   "tilt_from_z_deg": 0.219,
+   "tilt_from_z_deg_before_levelling": 0.69,
+   "magnitude_m_s2": 9.8249
+  },
+  "rig_tracker_definition": "850a0e6aafa85fdf/20260828-xiawu/labels-530412/session-a45b2583c567faec",
+  "rig_check": {
+   "status": "video_solve",
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+   "gyro_deg": 1.052
   },
-  "rig_tracker_definition": "e17c9efadb69e7b1/20260914-afternoon/labels-401235/session-81cfaa1eaf8b59b2",
-  "camera_pose_source": "provider T_tracker0_cam",
+  "camera_pose_source": "T_tracker0_imu0 @ inv(T_cam_imu)",
   "files": [
    "mocap_zup.npz",
    "tracker0_zup.npz",
@@ -314,10 +324,10 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-14T22:02:18.800488+00:00",
+  "generated_at_utc": "2026-10-14T22:32:46.747269+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
-  "gender": "female",
+  "gender": "male",
   "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",
@@ -329,200 +339,191 @@
    "hand_marker_offsets_m": {
     "left": {
      "LHandIn": [
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-      0.0011827168054878712,
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     "file": "robocap_segment1_video_left_eye.mp4",
-    "t_start": 0.03820048066706727,
-    "t_end": 149.00483348066706,
+    "t_start": 0.03816105725005903,
+    "t_end": 144.00482805724974,
     "clock": "device",
     "calibrated": true
    },
    "right_eye": {
     "fps": 30.0,
-    "start_device_s": 6376.784772,
-    "frames": 4470,
+    "start_device_s": 6537.472105,
+    "frames": 4320,
     "pts_gaps": 0,
     "timing": "pts",
     "timeshift_cam_imu_s": 0.00141129548433604,
     "file": "robocap_segment1_video_right_eye.mp4",
-    "t_start": 0.038094936680020286,
-    "t_end": 149.0047509366796,
+    "t_start": 0.038066513263097956,
+    "t_end": 144.00473351326278,
     "clock": "device",
     "calibrated": true
    },
    "wrist_left": {
     "fps": 30.0,
-    "start_device_s": 6376.950173,
-    "frames": 4336,
+    "start_device_s": 6537.661356,
+    "frames": 4205,
     "pts_gaps": 0,
     "timing": "pts",
     "timeshift_cam_imu_s": null,
     "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
-    "t_start": 0.20208464119611813,
-    "t_end": 144.7018246411963,
+    "t_start": 0.22590621777877962,
+    "t_end": 140.35917421777836,
     "clock": "device",
     "calibrated": false
    },
    "wrist_right": {
     "fps": 30.0,
-    "start_device_s": 6376.976809,
-    "frames": 4335,
+    "start_device_s": 6537.677379,
+    "frames": 4205,
     "pts_gaps": 0,
     "timing": "pts",
     "timeshift_cam_imu_s": null,
     "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
-    "t_start": 0.22872064119571656,
-    "t_end": 144.69499664119581,
+    "t_start": 0.24192921777891163,
+    "t_end": 140.37526221777867,
     "clock": "device",
     "calibrated": false
    },
    "third_person": {
-    "file": "mocap/mocap-P21-S01-wangyang-10p-1.mp4",
-    "frames": 4471,
+    "file": "mocap/mocap-P21-S02-wangyang-10p-1.mp4",
+    "frames": 4321,
     "fps": 30.0,
     "clock": "nokov (frame index)",
     "t_start": 0.0,
-    "t_end": 149.0
+    "t_end": 144.0
    }
   }
  },
@@ -237,13 +237,13 @@
    "WARN M_SPIKES",
    "WARN M_TRACKER_LABELS",
    "WARN S_INDEX",
-   "WARN S_MOCAP_TS",
    "WARN S_PARTICIPANT",
+   "WARN S_REPORT_TIMING",
    "WARN T_UNITS"
   ]
  },
  "canonical": {
-  "generated_at_utc": "2026-10-24T05:09:46.466749+00:00",
+  "generated_at_utc": "2026-10-24T05:09:46.522470+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": [
@@ -295,25 +295,25 @@
   "tilt_removed_deg": 0.574417641477752,
   "plane_status": "ok",
   "floor": {
-   "sole_marker_p1_mm": 25.7,
-   "headtop_p95_mm": 1769.5
+   "sole_marker_p1_mm": 25.5,
+   "headtop_p95_mm": 1769.3
   },
   "gravity_check": {
-   "static_samples": 2367,
+   "static_samples": 2212,
    "g_world_mean_m_s2": [
-    -0.0067,
-    -0.0369,
-    9.8248
+    -0.0114,
+    -0.0629,
+    9.8131
    ],
-   "tilt_from_z_deg": 0.219,
-   "tilt_from_z_deg_before_levelling": 0.69,
-   "magnitude_m_s2": 9.8249
+   "tilt_from_z_deg": 0.373,
+   "tilt_from_z_deg_before_levelling": 0.797,
+   "magnitude_m_s2": 9.8133
   },
-  "rig_tracker_definition": "850a0e6aafa85fdf/20260828-xiawu/labels-530412/session-a45b2583c567faec",
+  "rig_tracker_definition": "850a0e6aafa85fdf/20260828-xiawu/labels-530412/session-6eb68a5c30c8756b",
   "rig_check": {
    "status": "video_solve",
    "dropped_marker": null,
-   "gyro_deg": 1.052
+   "gyro_deg": 0.977
   },
   "camera_pose_source": "T_tracker0_imu0 @ inv(T_cam_imu)",
   "files": [
@@ -324,7 +324,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-14T22:32:46.747269+00:00",
+  "generated_at_utc": "2026-10-14T22:33:29.956712+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "male",
@@ -339,98 +339,93 @@
    "hand_marker_offsets_m": {
     "left": {
      "LHandIn": [
-      0.05899917706847191,
-      0.0074705639854073524,
-      0.03551187366247177
+      0.059483930468559265,
+      0.008274140767753124,
+      0.035949792712926865
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      "LHandOut": [
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-      0.032906003296375275,
-      -0.005046357866376638
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-     "LWristIn": [
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-      -0.016934631392359734,
-      0.025025853887200356
+      0.04138739034533501,
+      0.04127486050128937,
+      0.005452497862279415
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-      -0.014859854243695736,
-      0.03764229640364647
+      -0.0670795887708664,
+      -0.02092389203608036,
+      0.03378092125058174
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-      0.030280785635113716,
-      0.02171873301267624
+      -0.06324213743209839,
+      0.025198662653565407,
+      0.02008053846657276
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-   "median_frame": 4.53,
-   "p95_frame": 7.41
+   "median_frame": 4.58,
+   "p95_frame": 7.61
   },
   "worst_markers": [
    "LKneeIn 13mm",
-   "LAnkleOut 10mm",
+   "RKneeIn 13mm",
    "LThigh 10mm",
-   "RKneeIn 10mm",
-   "LKnee 9mm"
+   "LAnkleOut 9mm",
+   "LHeel 9mm"
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+  "valid_fraction": 1.0,
   "qc": {
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-    "p5": -3.8
+    "median": 2.7,
+    "p5": -3.4
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+   "frames_checked": 577,
    "stature_mm": 1765.5
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   "surface_term": {
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 13.11
+   "surface_rmse_mm_median": 12.18
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 144.2,
+    "Q_deg": 180.0,
     "Q_rotvec": [
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-     -0.40523,
-     0.45549
+     3.02706,
+     -0.2415,
+     -0.80509
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-    "wrist_bend_deg_median": 144.3,
-    "opposite_sign_bend_deg": 46.3,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 0.97,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 175.7,
+    "opposite_sign_bend_deg": 25.4,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 0.91,
     "hand_vs_marker_frame_deg": {
-     "before": 144.19,
-     "after": 0.97
+     "before": 179.57,
+     "after": 0.91
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     "markers_on_wrist": [
-     "LWristIn",
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -143.05,
+     "twist_moved_deg": -175.07,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": -0.29,
       "iqr": [
-       -1.6,
-       1.6
+       -1.8,
+       1.1
       ]
      },
-     "wrist_total_deg_median_after": 27.9,
+     "wrist_total_deg_median_after": 20.4,
      "markers_on_forearm": [
       "LElbow",
       "LForearm",
+      "LWristIn",
       "LWristOut"
      ]
     },
@@ -438,35 +433,35 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 81.56,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     1.3776,
-     0.3,
-     -0.19631
+     -0.0,
+     0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 61.3,
-    "opposite_sign_bend_deg": 129.5,
+    "wrist_bend_deg_median": 26.0,
+    "opposite_sign_bend_deg": 175.9,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 0.75,
+    "marker_frame_spread_deg": 0.92,
     "hand_vs_marker_frame_deg": {
-     "before": 81.54,
-     "after": 0.75
+     "before": 0.92,
+     "after": 0.92
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     "markers_on_wrist": [
      "RHandIn",
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -55.39,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
       "median": -0.0,
       "iqr": [
-       -1.1,
-       1.1
+       -1.5,
+       1.5
       ]
      },
-     "wrist_total_deg_median_after": 27.4,
+     "wrist_total_deg_median_after": 26.0,
      "markers_on_forearm": [
       "RForearm",
       "RWristIn",
@@ -475,46 +470,46 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-14T22:32:49.796812+00:00",
+   "generated_at_utc": "2026-10-28T06:03:26.350361+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
  "rig_tracker": {
-  "definition": "850a0e6aafa85fdf/20260828-xiawu/labels-530412/session-a45b2583c567faec",
+  "definition": "850a0e6aafa85fdf/20260828-xiawu/labels-530412/session-6eb68a5c30c8756b",
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+    0.15231294,
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-   -0.034817248135789604,
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+   -0.16007941662394762,
+   -0.035164308253290935,
+   -0.023081949622516005
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   "rig_check": {
-   "gyro_samples": 10678,
+   "gyro_samples": 9842,
    "gyro_max_deg": 2.5,
    "status": "video_solve",
    "dropped_marker": null,
-   "gyro_deg": 1.052,
+   "gyro_deg": 0.977,
    "video_solve": {
     "status": "ok",
     "reason": "",
-    "reprojection_px": 3.125,
-    "n_assoc": 701,
-    "gyro_deg": 1.052
+    "reprojection_px": 3.144,
+    "n_assoc": 623,
+    "gyro_deg": 0.977
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   },
   "file": "derived/rig_tracker_provider/rig_tracker.json",
@@ -524,6 +519,6 @@
   "release_path": "actions/locomotion_primitives/P21/session_002",
   "family": "locomotion_primitives",
   "primitive": "P21",
-  "source_session": "20260828/P21/20260828_071954_session36"
+  "source_session": "20260828/P21/20260828_072235_session37"
  }
 }

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+size 1292865

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@@ -1,12 +1,12 @@
 {
   "schema_version": 1,
-  "created_at_utc": "2026-09-01T04:17:49.761117+00:00",
+  "created_at_utc": "2026-09-01T04:19:47.776989+00:00",
   "primitive_id": "P21",
-  "session_id": "20260828_071954_session36",
+  "session_id": "20260828_072235_session37",
   "upload_batch_id": "20260828",
-  "dataset_path": "EgoMotionActions/20260828/P21/20260828_071954_session36",
+  "dataset_path": "EgoMotionActions/20260828/P21/20260828_072235_session37",
   "segment": "auto/all",
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+  "duration_s": 143.966667,
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@@ -19,12 +19,12 @@
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-      "mocap-P21-S01-wangyang-10p/mocap-P21-S01-wangyang-10p-Tracker0.trc"
+      "mocap-P21-S02-wangyang-10p/mocap-P21-S02-wangyang-10p-1.mp4",
+      "mocap-P21-S02-wangyang-10p/mocap-P21-S02-wangyang-10p-Body0.bvh",
+      "mocap-P21-S02-wangyang-10p/mocap-P21-S02-wangyang-10p-Body0.csv",
+      "mocap-P21-S02-wangyang-10p/mocap-P21-S02-wangyang-10p-Body0.trc",
+      "mocap-P21-S02-wangyang-10p/mocap-P21-S02-wangyang-10p-Tracker0.csv",
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@@ -32,187 +32,187 @@
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