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@@ -58,3 +58,54 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_001/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_001/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_001/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_001/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_001/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_001/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_001/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_001/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_002/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_002/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_002/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_002/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_002/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_002/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_002/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_002/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_002/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_003/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_003/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_003/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_003/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_003/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_003/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_003/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_003/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_003/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_004/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_004/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_004/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_004/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_004/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_004/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_004/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_004/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_004/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_005/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_005/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_005/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_005/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_005/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_005/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_005/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_005/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_006/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_006/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_006/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_006/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_006/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_006/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR01/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/dynamic_recovery/DR01/session_001/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98190f8c6abda41abc908b1731a5aea7ac8c143dc03c023ac4f946b699f0c32d
+size 1134157

actions/dynamic_recovery/DR01/session_001/meta.json

@@ -0,0 +1,522 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20260907/DR01/20260907_105641_session209",
+ "session_id": "20260907_105641_session209",
+ "primitive": "DR01",
+ "batch": "20260907",
+ "participant": "mahui",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e17c9efadb69e7b1",
+  "left": "452031d7af00ef6f",
+  "right": "6ee5ee4472fe2ad7"
+ },
+ "generated_at_utc": "2026-10-14T10:56:41.429064+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": -1.167149,
+  "rate": 0.0,
+  "global_lag_s": -1.165,
+  "peak_corr": 0.966,
+  "reference_imu_first_sample_s": 14880.870181602,
+  "windows": {
+   "n_windows": 10,
+   "window_corr_median": 0.9804806018323244,
+   "drift_ppm": -0.5849296192871726,
+   "drift_se_ppm": 3.294375106140182,
+   "drift_ms_over_take": -0.07546566971503339,
+   "lag_scatter_ms": 0.2676362988155951,
+   "lag_range_ms": 0.8665731040364832
+  }
+ },
+ "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": 26269,
+    "n_gyro": 26262,
+    "t_start": -1.1837004499688828,
+    "t_end": 129.7821010000312
+   },
+   "imu_head_left": {
+    "n_acc": 26220,
+    "n_gyro": 26215,
+    "t_start": -1.0681973499690411,
+    "t_end": 129.94537762603025
+   },
+   "imu_wrist_left": {
+    "n_acc": 25644,
+    "n_gyro": 25643,
+    "t_start": 0.31332485703163004,
+    "t_end": 126.9441872210314
+   },
+   "mag_head": {
+    "n": 13111,
+    "t_start": -0.9893646409695702,
+    "t_end": 130.11062975503185
+   },
+   "mag_wrist_right": {
+    "n": 12688,
+    "t_start": 0.09252409903049741,
+    "t_end": 126.96231999003024
+   },
+   "mag_wrist_left": {
+    "n": 12662,
+    "t_start": 0.33058047703118976,
+    "t_end": 126.94047553603153
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 14882.074707,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0023423887986386703,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.039719027828623465,
+    "t_end": 129.0063630278287,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 14882.074653,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0019489646456461974,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.039271603676324984,
+    "t_end": 129.00592760367684,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 14882.074688,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0018171232386612972,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.03917476227027694,
+    "t_end": 129.00581876227037,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 14882.074723,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017295646474508202,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.03912220367740704,
+    "t_end": 129.0057552036774,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 14882.074673,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.001668932298833096,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.039011571328528616,
+    "t_end": 129.00566757132904,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 14882.07463,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017169377622902274,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.039016576792646473,
+    "t_end": 129.00568357679325,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 14882.352491,
+    "frames": 3799,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": 0.31516063903066427,
+    "t_end": 126.91503063903068,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 14882.242671,
+    "frames": 3802,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": 0.20534063903099198,
+    "t_end": 126.90514563903119,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-DR01-S01-mahui-02p2-1.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 T_EMPTY",
+   "WARN T_UNITS"
+  ]
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-14T12:18:06.136287+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": [
+   [
+    0.9999951749,
+    -0.003106429,
+    -1.63812e-05
+   ],
+   [
+    1.63812e-05,
+    0.0105462991,
+    -0.9999443861
+   ],
+   [
+    0.003106429,
+    0.999939561,
+    0.0105462991
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999995175,
+    -3.106429e-06,
+    -1.6381e-08,
+    0.0
+   ],
+   [
+    1.6381e-08,
+    1.0546299e-05,
+    -0.000999944386,
+    0.0
+   ],
+   [
+    3.106429e-06,
+    0.000999939561,
+    1.0546299e-05,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "0907-afternooon",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.629938878550402,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 41.4,
+   "headtop_p95_mm": 1653.2
+  },
+  "gravity_check": {
+   "static_samples": 884,
+   "g_world_mean_m_s2": [
+    0.1414,
+    0.011,
+    9.7785
+   ],
+   "tilt_from_z_deg": 0.831,
+   "tilt_from_z_deg_before_levelling": 1.142,
+   "magnitude_m_s2": 9.7796
+  },
+  "rig_tracker_definition": "e17c9efadb69e7b1/0907-afternooon/labels-431502/session-3a6acd294303f648",
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-15T02:29:29.568889+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": [
+      0.08889686316251755,
+      0.005817905068397522,
+      0.021897735074162483
+     ],
+     "LHandOut": [
+      0.08251773566007614,
+      0.013286720961332321,
+      -0.0246905330568552
+     ],
+     "LWristOut": [
+      0.0042170025408267975,
+      0.01457754336297512,
+      -0.010210102424025536
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.05973190441727638,
+      0.005412140395492315,
+      0.016478681936860085
+     ],
+     "RHandOut": [
+      -0.041301291435956955,
+      0.030361317098140717,
+      -0.020717110484838486
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 3.6,
+   "p95_frame": 7.29
+  },
+  "worst_markers": [
+   "RKneeIn 14mm",
+   "LKneeIn 9mm",
+   "LKnee 9mm",
+   "RKnee 7mm",
+   "LHeel 6mm"
+  ],
+  "valid_fraction": 0.9996,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 17.2,
+    "p5": 13.2
+   },
+   "frames_checked": 516,
+   "stature_mm": 1631.4
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 12.29
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 166.12,
+    "Q_rotvec": [
+     -2.83363,
+     -0.00552,
+     0.61346
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 153.7,
+    "opposite_sign_bend_deg": 30.4,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 0.72,
+    "hand_vs_marker_frame_deg": {
+     "before": 166.06,
+     "after": 0.72
+    },
+    "markers_on_wrist": [
+     "LWristOut",
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -152.25,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -3.1,
+       1.9
+      ]
+     },
+     "wrist_total_deg_median_after": 35.9,
+     "markers_on_forearm": [
+      "LElbowIn",
+      "LForearm",
+      "LWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 47.42,
+    "Q_rotvec": [
+     0.77463,
+     -0.02317,
+     -0.29033
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 32.5,
+    "opposite_sign_bend_deg": 155.8,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
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+    "hand_vs_marker_frame_deg": {
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