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.gitattributes

@@ -32981,3 +32981,19 @@ actions/locomotion_primitives/P31/session_040/raw/sensors/robocap_mag_middle.db
 actions/locomotion_primitives/P31/session_040/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomotion_primitives/P31/session_040/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomotion_primitives/P31/session_040/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P31/session_041/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P31/session_041/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P31/session_041/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P31/session_041/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P31/session_041/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P31/session_041/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P31/session_041/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P31/session_041/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P31/session_042/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P31/session_042/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P31/session_042/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P31/session_042/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P31/session_042/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P31/session_042/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P31/session_042/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P31/session_042/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/locomotion_primitives/P31/session_041/meta.json

@@ -0,0 +1,529 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20260912/P31/20260912_112202_session10",
+ "session_id": "20260912_112202_session10",
+ "primitive": "P31",
+ "batch": "20260912",
+ "participant": "zhangxinxin",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e17c9efadb69e7b1",
+  "left": "452031d7af00ef6f",
+  "right": "6ee5ee4472fe2ad7"
+ },
+ "generated_at_utc": "2026-10-14T11:05:13.623096+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,
+  "first_solved_frame": 0,
+  "duration_s": 129.025,
+  "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": -1.172,
+  "rate": 0.0,
+  "global_lag_s": -1.17,
+  "peak_corr": 0.8923,
+  "reference_imu_first_sample_s": 1719.917074992,
+  "windows": {
+   "n_windows": 10,
+   "window_corr_median": 0.9775332969491652,
+   "drift_ppm": 7.275131070966896,
+   "drift_se_ppm": 3.3831960870581024,
+   "drift_ms_over_take": 0.9386131603392458,
+   "lag_scatter_ms": 0.27485214941674124,
+   "lag_range_ms": 1.0418041237481024
+  }
+ },
+ "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": {
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+    "n_gyro": 26242,
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+   },
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+    "n_gyro": 26195,
+    "t_start": -1.069452023426368,
+    "t_end": 129.84589536857368
+   },
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+    "n_gyro": 25022,
+    "t_start": 0.4018875735736285,
+    "t_end": 123.91524503057362
+   },
+   "mag_head": {
+    "n": 13101,
+    "t_start": -0.9890842544262912,
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+   },
+   "mag_wrist_right": {
+    "n": 12370,
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+    "t_end": 123.91169049257373
+   },
+   "mag_wrist_left": {
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+    "t_start": 0.41049422957361204,
+    "t_end": 123.91051085957373
+   }
+  },
+  "videos": {
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+    "fps": 30.0,
+    "start_device_s": 1721.127292,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0023423887986386703,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.040559064372371,
+    "t_end": 129.00728106437225,
+    "clock": "device",
+    "calibrated": true
+   },
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+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
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+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.04011664021926409,
+    "t_end": 129.00682764021929,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
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+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
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+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.04001679881242781,
+    "t_end": 129.0067387988123,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
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+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
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+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.039963240221038365,
+    "t_end": 129.00667424022106,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 1721.12726,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.001668932298833096,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.039853607872498475,
+    "t_end": 129.00657560787238,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 1721.12722,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
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+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.039861613336040325,
+    "t_end": 129.00657261333606,
+    "clock": "device",
+    "calibrated": true
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+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 1721.487278,
+    "frames": 3705,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": 0.39820267557378175,
+    "t_end": 123.8648696755737,
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+    "calibrated": false
+   },
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+    "frames": 3707,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": 0.3404746755737844,
+    "t_end": 123.87439367557376,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-P31-S12-zhangxinxin-01p1-1.mp4",
+    "frames": 3871,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 129.0
+   }
+  }
+ },
+ "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 S_REPORT_TIMING",
+   "WARN T_EMPTY",
+   "WARN T_IMU_PAIR"
+  ]
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-14T12:19:17.170959+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": [
+   [
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+    -0.0145465621,
+    -5.74517e-05
+   ],
+   [
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+    0.0078984625,
+    -0.999968805
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+   [
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+    0.9998629965,
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+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999894192,
+    -1.4546562e-05,
+    -5.7452e-08,
+    0.0
+   ],
+   [
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+  "block": "20260912-afternoon",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.9484367639734627,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 42.4,
+   "headtop_p95_mm": 1615.9
+  },
+  "gravity_check": {
+   "static_samples": 275,
+   "g_world_mean_m_s2": [
+    0.1684,
+    -0.1646,
+    9.8389
+   ],
+   "tilt_from_z_deg": 1.371,
+   "tilt_from_z_deg_before_levelling": 2.298,
+   "magnitude_m_s2": 9.8417
+  },
+  "rig_tracker_definition": "e17c9efadb69e7b1/20260912-afternoon/labels-530412/session-1b053f88bccdabc0",
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-15T09:52:25.622631+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": {
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+     "LWristIn": [
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+      -0.00744675425812602,
+      0.033918023109436035
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+    },
+    "right": {
+     "RHandIn": [
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+      0.026568247005343437
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+     "RHandOut": [
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+      -0.0028022038750350475
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+  },
+  "marker_rmse_mm": {
+   "median_frame": 5.63,
+   "p95_frame": 8.06
+  },
+  "worst_markers": [
+   "RElbowIn 22mm",
+   "RElbow 18mm",
+   "LKneeIn 11mm",
+   "RKneeIn 9mm",
+   "STRN 8mm"
+  ],
+  "valid_fraction": 1.0,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 18.8,
+    "p5": 7.9
+   },
+   "frames_checked": 517,
+   "stature_mm": 1627.7
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 12.36
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 165.73,
+    "Q_rotvec": [
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+     -0.12461,
+     0.49901
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 164.1,
+    "opposite_sign_bend_deg": 28.0,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.02,
+    "hand_vs_marker_frame_deg": {
+     "before": 165.73,
+     "after": 1.02
+    },
+    "markers_on_wrist": [
+     "LWristIn",
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -163.42,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -2.1,
+       1.7
+      ]
+     },
+     "wrist_total_deg_median_after": 29.6,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 39.23,
+    "Q_rotvec": [
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+     -0.04257,
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+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 54.5,
+    "opposite_sign_bend_deg": 135.9,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.01,
+    "hand_vs_marker_frame_deg": {
+     "before": 39.46,
+     "after": 2.01
+    },
+    "markers_on_wrist": [
+     "RForearm",
+     "RWristOut",
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -52.1,
+     "wrist_twist_deg_after": {
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+      "iqr": [
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+       6.1
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+     },
+     "wrist_total_deg_median_after": 17.2,
+     "markers_on_forearm": [
+      "RUArmHigh",
+      "RElbowIn",
+      "RWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-15T09:52:28.487587+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "rig_tracker": {
+  "definition": "e17c9efadb69e7b1/20260912-afternoon/labels-530412/session-1b053f88bccdabc0",
+  "R_tracker0_imu0": [
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+   -0.015465610716300657,
+   -0.0005177379150821977
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+  "rig_check": {
+   "gyro_samples": 9473,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 1.087
+  },
+  "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": "2026-10-18T18:51:59.930410+00:00",
+  "generated_by": "scripts/correct_processed_rig.py",
+  "remaining_gyro_frame_deg": 1.0388795051483468
+ },
+ "release": {
+  "release_path": "actions/locomotion_primitives/P31/session_041",
+  "family": "locomotion_primitives",
+  "primitive": "P31",
+  "source_session": "20260912/P31/20260912_112202_session10"
+ }
+}

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