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.gitattributes

@@ -32913,3 +32913,11 @@ actions/locomotion_primitives/P31/session_032/raw/sensors/robocap_mag_middle.db
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+ "schema_version": 1,
+ "session": "EgoMotionActions/20260912/P31/20260912_033349_session41",
+ "session_id": "20260912_033349_session41",
+ "primitive": "P31",
+ "batch": "20260912",
+ "participant": "wangzhixin",
+ "participant_source": "manifest",
+ "device_ids": {
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+  "left": "452031d7af00ef6f",
+  "right": "6ee5ee4472fe2ad7"
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+ "generated_at_utc": "2026-10-14T11:05:03.694378+00:00",
+ "generated_by": "scripts/sync_dataset.py",
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+  "duration_s": 129.025,
+  "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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+   "lag_range_ms": 0.7832724713909833
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+ "units": {
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+  "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"
+ },
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+  "status": "ok",
+  "date": "2026-09-08"
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+    "file": "robocap_segment1_video_left_eye.mp4",
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+   "third_person": {
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+    "clock": "nokov (frame index)",
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+ },
+ "flags": [
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+ ],
+ "sanity": {
+  "status": {
+   "structure": "FAIL",
+   "markers": "WARN",
+   "timing": "WARN"
+  },
+  "verdict": "READY_WITH_WARNINGS",
+  "issues": [
+   "FAIL S_DB_EMPTY",
+   "FAIL S_REPORT_EMPTY",
+   "WARN M_SPIKES",
+   "WARN M_TRACKER_LABELS",
+   "WARN S_INDEX",
+   "WARN S_PARTICIPANT",
+   "WARN T_EMPTY",
+   "WARN T_IMU_PAIR"
+  ]
+ },
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+  "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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+ },
+ "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": -1.168539,
+  "rate": 0.0,
+  "global_lag_s": -1.17,
+  "peak_corr": 0.9545,
+  "reference_imu_first_sample_s": 8841.271018213,
+  "windows": {
+   "n_windows": 11,
+   "window_corr_median": 0.9899408027694485,
+   "drift_ppm": 5.340514497156889,
+   "drift_se_ppm": 2.350052922084954,
+   "drift_ms_over_take": 0.7424205236797602,
+   "lag_scatter_ms": 0.22294559567168012,
+   "lag_range_ms": 0.827458108114909
+  }
+ },
+ "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": 28254,
+    "n_gyro": 28248,
+    "t_start": -1.180072782655039,
+    "t_end": 139.68294919034344
+   },
+   "imu_head_left": {
+    "n_acc": 28201,
+    "n_gyro": 28196,
+    "t_start": -1.0686040906559318,
+    "t_end": 139.8458936143441
+   },
+   "imu_wrist_left": {
+    "n_acc": 27132,
+    "n_gyro": 27132,
+    "t_start": 0.3064792803441416,
+    "t_end": 134.31621689534478
+   },
+   "mag_head": {
+    "n": 14101,
+    "t_start": -0.9899906736565716,
+    "t_end": 140.01011597634425
+   },
+   "mag_wrist_right": {
+    "n": 13415,
+    "t_start": 0.17720222234384364,
+    "t_end": 134.3179017223436
+   },
+   "mag_wrist_left": {
+    "n": 13401,
+    "t_start": 0.3179430463449573,
+    "t_end": 134.31848493834406
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 8842.476673,
+    "frames": 4170,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0023423887986386703,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.03945837514111572,
+    "t_end": 139.00612537514172,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 8842.47662,
+    "frames": 4170,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0019489646456461974,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.039011950989155775,
+    "t_end": 139.00567895098976,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 8842.476657,
+    "frames": 4170,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0018171232386612972,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.038917109581965814,
+    "t_end": 139.00558410958257,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 8842.47669,
+    "frames": 4170,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017295646474508202,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.03886255099023783,
+    "t_end": 139.00552955099084,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 8842.476638,
+    "frames": 4170,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.001668932298833096,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.038749918642501324,
+    "t_end": 139.0054169186431,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 8842.476593,
+    "frames": 4170,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017169377622902274,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.03875292410594211,
+    "t_end": 139.00541992410655,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 8842.742831,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": 0.3032739863436329,
+    "t_end": 134.27046098634383,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 8842.731072,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": 0.29151498634455875,
+    "t_end": 134.2588979863438,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-P31-S010-wangzhixin-01p1-1.mp4",
+    "frames": 4171,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 139.0
+   }
+  }
+ },
+ "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_SPIKES",
+   "WARN M_TRACKER_LABELS",
+   "WARN S_INDEX",
+   "WARN S_PARTICIPANT",
+   "WARN T_EMPTY",
+   "WARN T_IMU_PAIR"
+  ]
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-14T12:19:16.408938+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": [
+   [
+    0.9998808833,
+    -0.0154342452,
+    -5.7103e-05
+   ],
+   [
+    5.7103e-05,
+    0.0073989818,
+    -0.9999726255
+   ],
+   [
+    0.0154342452,
+    0.9998535088,
+    0.0073989818
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999880883,
+    -1.5434245e-05,
+    -5.7103e-08,
+    0.0
+   ],
+   [
+    5.7103e-08,
+    7.398982e-06,
+    -0.000999972626,
+    0.0
+   ],
+   [
+    1.5434245e-05,
+    0.000999853509,
+    7.398982e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20260912-morning",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.9807281424561228,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 43.3,
+   "headtop_p95_mm": 1571.5
+  },
+  "gravity_check": {
+   "static_samples": 949,
+   "g_world_mean_m_s2": [
+    -0.0744,
+    0.0326,
+    9.7892
+   ],
+   "tilt_from_z_deg": 0.476,
+   "tilt_from_z_deg_before_levelling": 0.506,
+   "magnitude_m_s2": 9.7895
+  },
+  "rig_tracker_definition": "e17c9efadb69e7b1/20260912-morning/labels-530412/session-45c413ae32d86243",
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-15T09:46:37.482800+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": [
+      0.07979587465524673,
+      0.005697985179722309,
+      0.028066536411643028
+     ],
+     "LHandOut": [
+      0.06689237803220749,
+      0.018774250522255898,
+      -0.026287652552127838
+     ],
+     "LWristOut": [
+      -0.007044972386211157,
+      0.02205192670226097,
+      -0.01780739240348339
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.04698123782873154,
+      0.0072807385586202145,
+      0.025630692020058632
+     ],
+     "RHandOut": [
+      -0.03370122238993645,
+      0.029364649206399918,
+      -0.027667108923196793
+     ],
+     "RWristOut": [
+      0.019298212602734566,
+      0.018785500898957253,
+      -0.019697576761245728
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 4.68,
+   "p95_frame": 6.2
+  },
+  "worst_markers": [
+   "RKneeIn 14mm",
+   "LShin 12mm",
+   "LThigh 10mm",
+   "LKnee 9mm",
+   "RShin 9mm"
+  ],
+  "valid_fraction": 0.9995,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 21.3,
+    "p5": 17.0
+   },
+   "frames_checked": 556,
+   "stature_mm": 1582.0
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 13.5
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 162.12,
+    "Q_rotvec": [
+     -2.72628,
+     0.14783,
+     0.74268
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 170.6,
+    "opposite_sign_bend_deg": 18.2,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 0.49,
+    "hand_vs_marker_frame_deg": {
+     "before": 162.14,
+     "after": 0.49
+    },
+    "markers_on_wrist": [
+     "LWristOut",
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -170.15,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -1.0,
+       0.9
+      ]
+     },
+     "wrist_total_deg_median_after": 34.9,
+     "markers_on_forearm": [
+      "LElbowIn",
+      "LForearm",
+      "LWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 39.63,
+    "Q_rotvec": [
+     0.56778,
+     0.13724,
+     -0.37037
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 34.2,
+    "opposite_sign_bend_deg": 153.7,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 0.93,
+    "hand_vs_marker_frame_deg": {
+     "before": 39.67,
+     "after": 0.93
+    },
+    "markers_on_wrist": [
+     "RWristOut",
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -31.74,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -1.2,
+       1.3
+      ]
+     },
+     "wrist_total_deg_median_after": 12.9,
+     "markers_on_forearm": [
+      "RElbow",
+      "RElbowIn",
+      "RForearm",
+      "RWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-15T09:46:40.434142+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "rig_tracker": {
+  "definition": "e17c9efadb69e7b1/20260912-morning/labels-530412/session-45c413ae32d86243",
+  "R_tracker0_imu0": [
+   [
+    -0.60220016,
+    -0.01317399,
+    -0.79823644
+   ],
+   [
+    0.79557639,
+    0.07329763,
+    -0.60140308
+   ],
+   [
+    0.06643171,
+    -0.9972231,
+    -0.03365893
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.17764027386459733,
+   -0.004104209403781283,
+   0.023322615525262085
+  ],
+  "rig_check": {
+   "gyro_samples": 12482,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 0.533
+  },
+  "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": "2026-10-18T18:51:55.710488+00:00",
+  "generated_by": "scripts/correct_processed_rig.py",
+  "remaining_gyro_frame_deg": 0.6760347414357568
+ },
+ "release": {
+  "release_path": "actions/locomotion_primitives/P31/session_034",
+  "family": "locomotion_primitives",
+  "primitive": "P31",
+  "source_session": "20260912/P31/20260912_033610_session42"
+ }
+}