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.gitattributes

@@ -32832,3 +32832,11 @@ actions/locomotion_primitives/P31/session_022/raw/sensors/robocap_mag_middle.db
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+ "session": "EgoMotionActions/20260909/P31/20260909_014026_session20",
+ "session_id": "20260909_014026_session20",
+ "primitive": "P31",
+ "batch": "20260909",
+ "participant": "mahui",
+ "participant_source": "manifest",
+ "device_ids": {
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+  "left": "452031d7af00ef6f",
+  "right": "6ee5ee4472fe2ad7"
+ },
+ "generated_at_utc": "2026-10-14T11:00:33.843204+00:00",
+ "generated_by": "scripts/sync_dataset.py",
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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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+  "model": "offset (median of windows)",
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+  "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"
+ },
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+ "flags": [
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+ "sanity": {
+  "status": {
+   "structure": "FAIL",
+   "markers": "WARN",
+   "timing": "WARN"
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+  "verdict": "READY_WITH_WARNINGS",
+  "issues": [
+   "FAIL S_DB_EMPTY",
+   "FAIL S_REPORT_EMPTY",
+   "WARN M_BODY_ID",
+   "WARN M_SPIKES",
+   "WARN M_TRACKER_LABELS",
+   "WARN S_INDEX",
+   "WARN S_PARTICIPANT",
+   "WARN S_REPORT_TIMING",
+   "WARN T_EMPTY",
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+  "mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
+  "offset_s": -1.175974,
+  "rate": 0.0,
+  "global_lag_s": -1.175,
+  "peak_corr": 0.9369,
+  "reference_imu_first_sample_s": 4815.050672357,
+  "windows": {
+   "n_windows": 10,
+   "window_corr_median": 0.986213050982029,
+   "drift_ppm": -1.2049684905213183,
+   "drift_se_ppm": 5.888586391664238,
+   "drift_ms_over_take": -0.1494361756328188,
+   "lag_scatter_ms": 0.47839101994896954,
+   "lag_range_ms": 1.681318240151608
+  }
+ },
+ "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": 25267,
+    "n_gyro": 25261,
+    "t_start": -1.1829622004324445,
+    "t_end": 124.78720955556678
+   },
+   "imu_head_left": {
+    "n_acc": 25223,
+    "n_gyro": 25217,
+    "t_start": -1.0720239504325544,
+    "t_end": 124.9592959915672
+   },
+   "imu_wrist_left": {
+    "n_acc": 24389,
+    "n_gyro": 24389,
+    "t_start": 0.31306976656746355,
+    "t_end": 120.76844142756731
+   },
+   "mag_head": {
+    "n": 12612,
+    "t_start": -0.9894911584323889,
+    "t_end": 125.12060856756675
+   },
+   "mag_wrist_right": {
+    "n": 12058,
+    "t_start": 0.21493853556698395,
+    "t_end": 120.785149037567
+   },
+   "mag_wrist_left": {
+    "n": 12045,
+    "t_start": 0.32640040656683067,
+    "t_end": 120.76704218656691
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 4816.264442,
+    "frames": 3720,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0023423887986386703,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.04013764336563708,
+    "t_end": 124.0070266433659,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 4816.264391,
+    "frames": 3720,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0019489646456461974,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.03969321921253521,
+    "t_end": 124.00649321921269,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 4816.264423,
+    "frames": 3720,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0018171232386612972,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.039593377805471563,
+    "t_end": 124.00644937780548,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 4816.264456,
+    "frames": 3720,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017295646474508202,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.039538819214653076,
+    "t_end": 124.00646081921427,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 4816.264408,
+    "frames": 3720,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.001668932298833096,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.03943018686645172,
+    "t_end": 124.00626318686686,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 4816.264365,
+    "frames": 3720,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017169377622902274,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.039435192329660085,
+    "t_end": 124.00620219232955,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 4816.527263,
+    "frames": 3614,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": 0.30061625456714336,
+    "t_end": 120.73460025456738,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 4816.534361,
+    "frames": 3614,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": 0.30771425456718515,
+    "t_end": 120.74130825456727,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-P31-S03-mahui-01p1-1.mp4",
+    "frames": 3721,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 124.0
+   }
+  }
+ },
+ "flags": [
+  "wrist_right_imu empty"
+ ],
+ "sanity": {
+  "status": {
+   "structure": "FAIL",
+   "markers": "WARN",
+   "timing": "WARN"
+  },
+  "verdict": "READY_WITH_WARNINGS",
+  "issues": [
+   "FAIL S_DB_EMPTY",
+   "FAIL S_REPORT_EMPTY",
+   "WARN M_BODY_ID",
+   "WARN M_SPIKES",
+   "WARN M_TRACKER_LABELS",
+   "WARN S_INDEX",
+   "WARN S_PARTICIPANT",
+   "WARN T_EMPTY",
+   "WARN T_IMU_PAIR"
+  ]
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-14T12:18:38.163256+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": [
+   [
+    0.9999966359,
+    -0.0025938232,
+    -1.36747e-05
+   ],
+   [
+    1.36747e-05,
+    0.0105437556,
+    -0.999944413
+   ],
+   [
+    0.0025938232,
+    0.9999410489,
+    0.0105437556
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999996636,
+    -2.593823e-06,
+    -1.3675e-08,
+    0.0
+   ],
+   [
+    1.3675e-08,
+    1.0543756e-05,
+    -0.000999944413,
+    0.0
+   ],
+   [
+    2.593823e-06,
+    0.000999941049,
+    1.0543756e-05,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20260909-morning",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.6221364919914315,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 46.8,
+   "headtop_p95_mm": 1656.5
+  },
+  "gravity_check": {
+   "static_samples": 590,
+   "g_world_mean_m_s2": [
+    -0.0434,
+    0.068,
+    9.7989
+   ],
+   "tilt_from_z_deg": 0.472,
+   "tilt_from_z_deg_before_levelling": 0.232,
+   "magnitude_m_s2": 9.7993
+  },
+  "rig_tracker_definition": "e17c9efadb69e7b1/20260909-morning/labels-352410/session-83a4961b66680505",
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-15T05:59:19.171373+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": [
+      0.07533745467662811,
+      0.008818864822387695,
+      0.021937133744359016
+     ],
+     "LHandOut": [
+      0.06878188997507095,
+      0.00960693508386612,
+      -0.025430219247937202
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.06498192995786667,
+      0.014226132072508335,
+      0.01499778963625431
+     ],
+     "RHandOut": [
+      -0.04872066527605057,
+      0.019997937604784966,
+      -0.029130946844816208
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 4.05,
+   "p95_frame": 5.54
+  },
+  "worst_markers": [
+   "LKneeIn 11mm",
+   "LKnee 9mm",
+   "RHeel 9mm",
+   "LHeel 8mm",
+   "LThigh 8mm"
+  ],
+  "valid_fraction": 1.0,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 14.3,
+    "p5": 9.1
+   },
+   "frames_checked": 497,
+   "stature_mm": 1631.4
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 11.64
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 173.44,
+    "Q_rotvec": [
+     -2.95084,
+     0.20735,
+     0.64244
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 155.6,
+    "opposite_sign_bend_deg": 25.9,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 0.44,
+    "hand_vs_marker_frame_deg": {
+     "before": 173.47,
+     "after": 0.44
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 154.72,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -0.9,
+       0.9
+      ]
+     },
+     "wrist_total_deg_median_after": 31.0,
+     "markers_on_forearm": [
+      "LElbow",
+      "LElbowIn",
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1489
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 22.0,
+    "Q_rotvec": [
+     0.29154,
+     -0.04228,
+     -0.24621
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 25.1,
+    "opposite_sign_bend_deg": 164.4,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 0.65,
+    "hand_vs_marker_frame_deg": {
+     "before": 22.12,
+     "after": 0.65
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -20.82,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -1.0,
+       0.9
+      ]
+     },
+     "wrist_total_deg_median_after": 13.4,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1489
+   },
+   "generated_at_utc": "2026-10-15T05:59:22.000387+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "rig_tracker": {
+  "definition": "e17c9efadb69e7b1/20260909-morning/labels-352410/session-83a4961b66680505",
+  "R_tracker0_imu0": [
+   [
+    -0.62130926,
+    0.32945804,
+    -0.71093755
+   ],
+   [
+    0.74592093,
+    -0.02916092,
+    -0.66539583
+   ],
+   [
+    -0.2399516,
+    -0.94371979,
+    -0.22763169
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.17468911860729897,
+   -0.016260383165453914,
+   -0.03758093362058787
+  ],
+  "rig_check": {
+   "gyro_samples": 8910,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 1.698
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "rig_calibration_repair": {
+  "version": 2,
+  "applied_at_utc": "2026-10-18T18:49:20.067521+00:00",
+  "generated_by": "scripts/correct_processed_rig.py",
+  "remaining_gyro_frame_deg": 1.4778658816165178
+ },
+ "release": {
+  "release_path": "actions/locomotion_primitives/P31/session_024",
+  "family": "locomotion_primitives",
+  "primitive": "P31",
+  "source_session": "20260909/P31/20260909_014244_session21"
+ }
+}