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actions/locomotion_primitives/P21/session_003/meta.json

@@ -1,9 +1,9 @@
 {
  "schema_version": 1,
- "session": "EgoMotionActions/20260828/P21/20260828_072235_session37",
- "session_id": "20260828_072235_session37",
+ "session": "EgoMotionActions/20260903/P21/20260903_063531_session16",
+ "session_id": "20260903_063531_session16",
  "primitive": "P21",
- "batch": "20260828",
+ "batch": "20260903",
  "participant": "wangyang",
  "participant_source": "manifest",
  "device_ids": {
@@ -11,32 +11,39 @@
   "left": "cc5681142208e29a",
   "right": "60a6f081bbe60b0d"
  },
- "generated_at_utc": "2026-10-14T10:52:20.297558+00:00",
+ "generated_at_utc": "2026-10-14T13:00:30.159527+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": {
+   "declared_hz": 90.0,
+   "used_hz": 120.0,
+   "alignment_smoothing_sigma_frames": 3.0,
+   "peak_corr_at_declared_rate": 0.08,
+   "note": "Nokov header rate wrong (captured at 120 Hz); marker noise elevated in this block, smooth before differentiating; prefer training split only"
+  },
   "first_solved_frame": 0,
-  "duration_s": 144.025,
+  "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": -1.181783,
+  "offset_s": -1.166272,
   "rate": 0.0,
-  "global_lag_s": -1.18,
-  "peak_corr": 0.9752,
-  "reference_imu_first_sample_s": 6536.253666682,
+  "global_lag_s": -1.165,
+  "peak_corr": 0.9529,
+  "reference_imu_first_sample_s": 3443.221200528,
   "windows": {
-   "n_windows": 12,
-   "window_corr_median": 0.9876196968090795,
-   "drift_ppm": 6.405808405926716,
-   "drift_se_ppm": 7.889777949461971,
-   "drift_ms_over_take": 0.9225431739268792,
-   "lag_scatter_ms": 0.8612756644037638,
-   "lag_range_ms": 3.3503661757006142
+   "n_windows": 11,
+   "window_corr_median": 0.9576617256009385,
+   "drift_ppm": 25.58244197793673,
+   "drift_se_ppm": 41.15644820718796,
+   "drift_ms_over_take": 3.3005613891868038,
+   "lag_scatter_ms": 3.9044435021240225,
+   "lag_range_ms": 11.724080355408617
   }
  },
  "units": {
@@ -71,216 +78,225 @@
  "streams": {
   "sensors": {
    "imu_head_right": {
-    "n_acc": 29478,
-    "n_gyro": 29471,
-    "t_start": -1.193645786220563,
-    "t_end": 144.66575816877926
+    "n_acc": 26465,
+    "n_gyro": 26458,
+    "t_start": -1.1827923390513184,
+    "t_end": 129.76328465594878
    },
    "imu_head_left": {
-    "n_acc": 29469,
-    "n_gyro": 29462,
-    "t_start": -1.0750520412205646,
-    "t_end": 144.83806878177953
+    "n_acc": 26458,
+    "n_gyro": 26453,
+    "t_start": -1.0665195590511736,
+    "t_end": 129.93190275694877
    },
    "imu_wrist_right": {
-    "n_acc": 28365,
-    "n_gyro": 28365,
-    "t_start": 0.2453729017794699,
-    "t_end": 140.42699817377948
+    "n_acc": 25563,
+    "n_gyro": 25576,
+    "t_start": 0.4299942289487284,
+    "t_end": 126.75562729794883
    },
    "imu_wrist_left": {
-    "n_acc": 27696,
-    "n_gyro": 27706,
-    "t_start": 0.2029543147788586,
-    "t_end": 140.42708449177886
+    "n_acc": 24960,
+    "n_gyro": 24960,
+    "t_start": 0.40069608994890804,
+    "t_end": 126.75822653294854
    },
    "mag_head": {
-    "n": 14600,
-    "t_start": -0.989161791221099,
-    "t_end": 145.00087152777874
+    "n": 13109,
+    "t_start": -0.9874634340510944,
+    "t_end": 130.0926601699486
    },
    "mag_wrist_right": {
-    "n": 14016,
-    "t_start": 0.26292691877885366,
-    "t_end": 140.4129541837789
+    "n": 12632,
+    "t_start": 0.44318802894868203,
+    "t_end": 126.75294357294861
    },
    "mag_wrist_left": {
-    "n": 14022,
-    "t_start": 0.21742257377960916,
-    "t_end": 140.42734524277935
+    "n": 12635,
+    "t_start": 0.4144720399487618,
+    "t_end": 126.75464855594892
    }
   },
   "videos": {
    "left": {
     "fps": 30.0,
-    "start_device_s": 6537.472177,
-    "frames": 4320,
+    "start_device_s": 3444.424864,
+    "frames": 3870,
     "pts_gaps": 0,
     "timing": "pts",
     "timeshift_cam_imu_s": 0.0021483410603724603,
     "file": "robocap_segment1_video_left.mp4",
-    "t_start": 0.03887555883890448,
-    "t_end": 144.00554255883858,
+    "t_start": 0.03954018300937823,
+    "t_end": 129.00614018300956,
     "clock": "device",
     "calibrated": true
    },
    "right": {
     "fps": 30.0,
-    "start_device_s": 6537.472128,
-    "frames": 4320,
+    "start_device_s": 3444.424797,
+    "frames": 3870,
     "pts_gaps": 0,
     "timing": "pts",
     "timeshift_cam_imu_s": 0.002270132116606671,
     "file": "robocap_segment1_video_right.mp4",
-    "t_start": 0.03894834989629592,
-    "t_end": 144.00561534989598,
+    "t_start": 0.039594974065678246,
+    "t_end": 129.00623897406575,
     "clock": "device",
     "calibrated": true
    },
    "left_front": {
     "fps": 30.0,
-    "start_device_s": 6537.47216,
-    "frames": 4320,
+    "start_device_s": 3444.424845,
+    "frames": 3870,
     "pts_gaps": 0,
     "timing": "pts",
     "timeshift_cam_imu_s": 0.0020725870268354075,
     "file": "robocap_segment1_video_left_front.mp4",
-    "t_start": 0.038782804806638094,
-    "t_end": 144.00544980480632,
+    "t_start": 0.039445428975525276,
+    "t_end": 129.00605642897534,
     "clock": "device",
     "calibrated": true
    },
    "right_front": {
     "fps": 30.0,
-    "start_device_s": 6537.472191,
-    "frames": 4320,
+    "start_device_s": 3444.424881,
+    "frames": 3870,
     "pts_gaps": 0,
     "timing": "pts",
     "timeshift_cam_imu_s": 0.002043825050164052,
     "file": "robocap_segment1_video_right_front.mp4",
-    "t_start": 0.03878504282935458,
-    "t_end": 144.00545204282903,
+    "t_start": 0.03945266699902494,
+    "t_end": 129.00604166699912,
     "clock": "device",
     "calibrated": true
    },
    "left_eye": {
     "fps": 30.0,
-    "start_device_s": 6537.472145,
-    "frames": 4320,
+    "start_device_s": 3444.424824,
+    "frames": 3870,
     "pts_gaps": 0,
     "timing": "pts",
     "timeshift_cam_imu_s": 0.001465839471423729,
     "file": "robocap_segment1_video_left_eye.mp4",
-    "t_start": 0.03816105725005903,
-    "t_end": 144.00482805724974,
+    "t_start": 0.038817681420552974,
+    "t_end": 129.00543968142046,
     "clock": "device",
     "calibrated": true
    },
    "right_eye": {
     "fps": 30.0,
-    "start_device_s": 6537.472105,
-    "frames": 4320,
+    "start_device_s": 3444.42477,
+    "frames": 3870,
     "pts_gaps": 0,
     "timing": "pts",
     "timeshift_cam_imu_s": 0.00141129548433604,
     "file": "robocap_segment1_video_right_eye.mp4",
-    "t_start": 0.038066513263097956,
-    "t_end": 144.00473351326278,
+    "t_start": 0.038709137433399876,
+    "t_end": 129.00536513743344,
     "clock": "device",
     "calibrated": true
    },
    "wrist_left": {
     "fps": 30.0,
-    "start_device_s": 6537.661356,
-    "frames": 4205,
+    "start_device_s": 3444.777707,
+    "frames": 3790,
     "pts_gaps": 0,
     "timing": "pts",
     "timeshift_cam_imu_s": null,
     "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
-    "t_start": 0.22590621777877962,
-    "t_end": 140.35917421777836,
+    "t_start": 0.3902348419489521,
+    "t_end": 126.69042984194876,
     "clock": "device",
     "calibrated": false
    },
    "wrist_right": {
     "fps": 30.0,
-    "start_device_s": 6537.677379,
-    "frames": 4205,
+    "start_device_s": 3444.803779,
+    "frames": 3790,
     "pts_gaps": 0,
     "timing": "pts",
     "timeshift_cam_imu_s": null,
     "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
-    "t_start": 0.24192921777891163,
-    "t_end": 140.37526221777867,
+    "t_start": 0.41630684194861023,
+    "t_end": 126.71604684194854,
     "clock": "device",
     "calibrated": false
    },
    "third_person": {
-    "file": "mocap/mocap-P21-S02-wangyang-10p-1.mp4",
-    "frames": 4321,
+    "file": "mocap/mocap-P21-S01-wangyang-05p2-1.mp4",
+    "frames": 3871,
     "fps": 30.0,
     "clock": "nokov (frame index)",
     "t_start": 0.0,
-    "t_end": 144.0
+    "t_end": 129.0
    }
   }
  },
- "flags": [],
+ "flags": [
+  "mocap rate corrected 90 -> 120 Hz (header wrong); alignment on smoothed Tracker0"
+ ],
  "sanity": {
   "status": {
    "structure": "WARN",
    "markers": "WARN",
-   "timing": "WARN"
+   "timing": "FAIL"
   },
-  "verdict": "READY_WITH_WARNINGS",
+  "verdict": "NOT_READY",
   "issues": [
+   "FAIL T_CORR",
+   "WARN M_BODY_ID",
+   "WARN M_RATE",
    "WARN M_SPIKES",
+   "WARN M_TRACKER",
    "WARN M_TRACKER_LABELS",
    "WARN S_INDEX",
+   "WARN S_MOCAP_TS",
    "WARN S_PARTICIPANT",
    "WARN S_REPORT_TIMING",
+   "WARN T_LAG_OUTLIER",
+   "WARN T_MOCAP_TS",
    "WARN T_UNITS"
   ]
  },
  "canonical": {
-  "generated_at_utc": "2026-10-24T05:09:46.522470+00:00",
+  "generated_at_utc": "2026-10-24T05:10:28.911657+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": [
    [
-    0.9999520938,
-    0.009788254,
-    1.0607e-05
+    0.9999774391,
+    0.0067172159,
+    1.78557e-05
    ],
    [
-    -1.0607e-05,
-    0.0021672441,
-    -0.9999976515
+    -1.78557e-05,
+    0.0053163105,
+    -0.9999858682
    ],
    [
-    -0.009788254,
-    0.9999497453,
-    0.0021672441
+    -0.0067172159,
+    0.9999633073,
+    0.0053163105
    ]
   ],
   "scale_nokov_to_canon": 0.001,
   "T_canon_nokov_mm": [
    [
-    0.000999952094,
-    9.788254e-06,
-    1.0607e-08,
+    0.000999977439,
+    6.717216e-06,
+    1.7856e-08,
     0.0
    ],
    [
-    -1.0607e-08,
-    2.167244e-06,
-    -0.000999997651,
+    -1.7856e-08,
+    5.31631e-06,
+    -0.000999985868,
     0.0
    ],
    [
-    -9.788254e-06,
-    0.000999949745,
-    2.167244e-06,
+    -6.717216e-06,
+    0.000999963307,
+    5.31631e-06,
     0.0
    ],
    [
@@ -290,30 +306,30 @@
     1.0
    ]
   ],
-  "block": "20260828-xiawu",
+  "block": "20230903-afternoon",
   "block_assignment": "trc",
-  "tilt_removed_deg": 0.574417641477752,
+  "tilt_removed_deg": 0.4908277065541819,
   "plane_status": "ok",
   "floor": {
-   "sole_marker_p1_mm": 25.5,
-   "headtop_p95_mm": 1769.3
+   "sole_marker_p1_mm": 32.8,
+   "headtop_p95_mm": 1757.0
   },
   "gravity_check": {
-   "static_samples": 2212,
+   "static_samples": 1786,
    "g_world_mean_m_s2": [
-    -0.0114,
-    -0.0629,
-    9.8131
+    0.0401,
+    -0.0761,
+    9.7832
    ],
-   "tilt_from_z_deg": 0.373,
-   "tilt_from_z_deg_before_levelling": 0.797,
-   "magnitude_m_s2": 9.8133
+   "tilt_from_z_deg": 0.504,
+   "tilt_from_z_deg_before_levelling": 0.765,
+   "magnitude_m_s2": 9.7836
   },
-  "rig_tracker_definition": "850a0e6aafa85fdf/20260828-xiawu/labels-530412/session-6eb68a5c30c8756b",
+  "rig_tracker_definition": "850a0e6aafa85fdf/20230903-afternoon/labels-302145/session-b0fdb4138f6e13a0",
   "rig_check": {
    "status": "video_solve",
    "dropped_marker": null,
-   "gyro_deg": 0.977
+   "gyro_deg": 2.289
   },
   "camera_pose_source": "T_tracker0_imu0 @ inv(T_cam_imu)",
   "files": [
@@ -323,8 +339,49 @@
    "cameras_zup.npz"
   ]
  },
+ "rig_tracker": {
+  "definition": "850a0e6aafa85fdf/20230903-afternoon/labels-302145/session-b0fdb4138f6e13a0",
+  "R_tracker0_imu0": [
+   [
+    -0.704907,
+    0.20784966,
+    -0.67816269
+   ],
+   [
+    0.70860436,
+    0.24868597,
+    -0.66032957
+   ],
+   [
+    0.03140027,
+    -0.94601998,
+    -0.32258366
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.10771189668645945,
+   0.0031921542121020278,
+   -0.09445872270995438
+  ],
+  "rig_check": {
+   "gyro_samples": 7065,
+   "gyro_max_deg": 2.5,
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 2.289,
+   "video_solve": {
+    "status": "ok",
+    "reason": "",
+    "reprojection_px": 3.207,
+    "n_assoc": 271,
+    "gyro_deg": 2.289
+   }
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
  "smplx": {
-  "generated_at_utc": "2026-10-14T22:33:29.956712+00:00",
+  "generated_at_utc": "2026-10-22T21:01:52.193167+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "male",
@@ -339,91 +396,90 @@
    "hand_marker_offsets_m": {
     "left": {
      "LHandIn": [
-      0.059483930468559265,
-      0.008274140767753124,
-      0.035949792712926865
+      0.08286496251821518,
+      -0.022390734404325485,
+      0.012987297028303146
      ],
      "LHandOut": [
-      0.04138739034533501,
-      0.04127486050128937,
-      0.005452497862279415
+      0.07293074578046799,
+      0.022216228768229485,
+      -0.0005450722528621554
      ]
     },
     "right": {
      "RHandIn": [
-      -0.0670795887708664,
-      -0.02092389203608036,
-      0.03378092125058174
+      -0.05825209245085716,
+      -0.030578607693314552,
+      0.0226884912699461
      ],
      "RHandOut": [
-      -0.06324213743209839,
-      0.025198662653565407,
-      0.02008053846657276
+      -0.06188156083226204,
+      0.018419064581394196,
+      0.012187188491225243
      ]
     }
    }
   },
   "marker_rmse_mm": {
-   "median_frame": 4.58,
-   "p95_frame": 7.61
+   "median_frame": 5.64,
+   "p95_frame": 12.49
   },
   "worst_markers": [
-   "LKneeIn 13mm",
-   "RKneeIn 13mm",
-   "LThigh 10mm",
-   "LAnkleOut 9mm",
-   "LHeel 9mm"
+   "RElbowIn 18mm",
+   "RElbow 17mm",
+   "LKneeIn 14mm",
+   "RKneeIn 11mm",
+   "RKnee 9mm"
   ],
-  "valid_fraction": 1.0,
+  "valid_fraction": 0.9975,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 2.7,
-    "p5": -3.4
+    "median": 28.2,
+    "p5": 14.5
    },
-   "frames_checked": 577,
+   "frames_checked": 515,
    "stature_mm": 1765.5
   },
   "surface_term": {
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 12.18
+   "surface_rmse_mm_median": 14.08
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 129.9,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     -2.09,
-     -0.63644,
-     0.60547
+     -3.02706,
+     0.2415,
+     0.80509
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 158.8,
-    "opposite_sign_bend_deg": 33.3,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 0.91,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 175.9,
+    "opposite_sign_bend_deg": 24.0,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.12,
     "hand_vs_marker_frame_deg": {
-     "before": 129.89,
-     "after": 0.91
+     "before": 179.36,
+     "after": 1.12
     },
     "markers_on_wrist": [
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -158.08,
+     "twist_moved_deg": -174.37,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": -1.96,
       "iqr": [
-       -1.6,
-       1.5
+       -5.1,
+       0.2
       ]
      },
-     "wrist_total_deg_median_after": 25.5,
+     "wrist_total_deg_median_after": 19.4,
      "markers_on_forearm": [
-      "LElbow",
       "LForearm",
       "LWristIn",
       "LWristOut"
@@ -433,35 +489,35 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 83.09,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     1.40988,
-     0.31929,
-     -0.11619
+     0.0,
+     0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 60.5,
-    "opposite_sign_bend_deg": 129.4,
+    "wrist_bend_deg_median": 23.8,
+    "opposite_sign_bend_deg": 175.4,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
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