Release update 2026-11-05: 5760 sessions, instructions, annotations (part 90)

.gitattributes

@@ -42044,3 +42044,5 @@ actions/environment_coupled_wholebody/EC09/session_025/raw/sensors/robowrist_imu
 actions/environment_coupled_wholebody/EC09/session_025/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/environment_coupled_wholebody/EC09/session_025/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/environment_coupled_wholebody/EC09/session_025/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC10/session_015/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC10/session_015/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/environment_coupled_wholebody/EC10/session_012/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "EC10",
+ "instruction": "Get the cart into the marked parking space and lined up with the tape. Take as many adjustments as you need. Then take it out again and repeat.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 98.733356,
+   "video": "left_eye",
+   "video_t_start": 0.0408155192179835
+  }
+ ],
+ "episodes": [
+  {
+   "id": "dcbcc46e-0cc3-4d64-8779-ba9421ab4acf",
+   "segment": "segment1",
+   "action": "EC10",
+   "quality": "valid",
+   "start_s": 0.858,
+   "end_s": 91.856,
+   "t_start": 0.8988,
+   "t_end": 91.8968,
+   "instruction": "Get the cart into the marked parking space and lined up with the tape. Take as many adjustments as you need. Then take it out again and repeat."
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC10/session_012/cameras/gsi_online_calibration.json

@@ -0,0 +1,254 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.394
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.6726,
+   "gate_fail": [],
+   "held_out_px_after": 0.412,
+   "held_out_px_before": 18.863,
+   "inliers": 2125,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.3098,
+    -0.1659,
+    -1.0269
+   ],
+   "split_deg": 0.0442,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.2313,
+   "gate_fail": [],
+   "held_out_px_after": 0.425,
+   "held_out_px_before": 9.288,
+   "inliers": 2947,
+   "position_fitted": true,
+   "position_mm": [
+    2.49,
+    -27.63,
+    -2.43
+   ],
+   "position_sigma_mm": 0.212,
+   "position_split_mm": 0.69,
+   "rotvec_deg": [
+    1.6182,
+    -0.7786,
+    1.3243
+   ],
+   "split_deg": 0.0412,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.1449,
+   "gate_fail": [],
+   "held_out_px_after": 0.822,
+   "held_out_px_before": 10.48,
+   "inliers": 908,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.5477,
+    -1.1448,
+    2.4869
+   ],
+   "split_deg": 0.1402,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.8459,
+   "gate_fail": [],
+   "held_out_px_after": 0.369,
+   "held_out_px_before": 5.254,
+   "inliers": 2927,
+   "position_fitted": true,
+   "position_mm": [
+    1.34,
+    -20.64,
+    -0.54
+   ],
+   "position_sigma_mm": 0.267,
+   "position_split_mm": 1.461,
+   "rotvec_deg": [
+    1.7087,
+    -1.4175,
+    1.7804
+   ],
+   "split_deg": 0.0586,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.539,
+   "gate_fail": [],
+   "held_out_px_after": 0.386,
+   "held_out_px_before": 3.695,
+   "inliers": 2555,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2353,
+    -0.393,
+    -0.284
+   ],
+   "split_deg": 0.025,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ad9285660249790357871a30b21b538912115a888477c34fc980ef07ac6d4f00",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "7af923ea5ae92f2219ac5ec9bf3a25055f701e283358fcab14f3f4a675c47a5b",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c64b3e2d4c0251e0fcab0e72e23311dd04a2fe5817bd67cd9590ad26ca566cb6",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "217d42e5e097cba8623eda95af3e85ff993e9fb8e580fd20e0f8c7e49c5f50f9",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "5a9b14686c577706",
+ "kind": "online_calibration",
+ "output_sha256": "e630f83eec289925ec3ada26168228ec10c031628b55a506b56d4f64abc0d6a8",
+ "overlap": {
+  "left-right": 0.5,
+  "left_eye-left": 0.695,
+  "left_eye-right": 0.702,
+  "left_front-left": 0.506,
+  "left_front-left_eye": 0.692,
+  "left_front-right": 0.458,
+  "left_front-right_eye": 0.698,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.699,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.706,
+  "right_front-left": 0.49,
+  "right_front-left_eye": 0.697,
+  "right_front-right": 0.464,
+  "right_front-right_eye": 0.704
+ },
+ "picture_change": {
+  "left": 40.534,
+  "left_eye": 42.44,
+  "left_front": 42.611,
+  "right": 43.275,
+  "right_eye": 41.245,
+  "right_front": 40.444
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   2817652744000,
+   2818652755111,
+   2820652755111,
+   2821652755111,
+   2822652744000,
+   2823652755111,
+   2824652755111,
+   2825652755111,
+   2826652744000,
+   2827652755111,
+   2829652744000,
+   2830652744000,
+   2831652755111,
+   2832652744000,
+   2833652810666,
+   2835652799555,
+   2836652788444,
+   2838652766222,
+   2839652799555,
+   2840652766222,
+   2841652755111,
+   2842652799555,
+   2844652788444,
+   2845652899555,
+   2846652755111,
+   2847652799555,
+   2848652844000,
+   2851652788444,
+   2852652788444,
+   2853652921777,
+   2854652788444,
+   2855652788444,
+   2856652788444,
+   2857652832888,
+   2858652844000,
+   2859652766222,
+   2860652844000,
+   2861652755111,
+   2863652799555,
+   2864652755111,
+   2866652788444,
+   2867652844000,
+   2868652755111,
+   2870652766222,
+   2871652799555,
+   2872652755111,
+   2873652799555,
+   2874652855111,
+   2875652799555,
+   2876652955111,
+   2878652788444,
+   2879652788444,
+   2880652799555
+  ]
+ },
+ "version": 1
+}

actions/environment_coupled_wholebody/EC10/session_012/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b1fa102a58c2dd9b386330d35f3c3d8f32a1b6b9185d4c53c14c5f70701205f
+size 567544

actions/environment_coupled_wholebody/EC10/session_012/meta.json

@@ -365,8 +365,8 @@
   "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)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -505,12 +505,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 7.19,
+    "offset_rotvec": [
+     -0.0633,
+     0.0752,
+     0.0779
+    ],
+    "dev_deg": {
+     "median": 9.67,
+     "p90": 24.65
+    },
+    "samples": 2907,
+    "accepted": 2782,
+    "wrist_pos_err_mm_median": 25.3,
+    "per_camera": {
+     "head": {
+      "samples": 2907,
+      "accepted": 2782,
+      "gate_deg": 30.0,
+      "offset_deg": 7.19,
+      "tier": "primary",
+      "dev_deg_median": 9.67,
+      "wrist_pos_err_mm_median": 25.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11178,
+     "interpolated": 666,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.999,
+    "observed_fraction_of_valid": 0.999,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 8.48,
+     "smplx": 1.8
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.1,
+      "p90": 7.3
+     },
+     "registered": {
+      "median": 5.8,
+      "p90": 7.3
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 19.72,
+    "offset_rotvec": [
+     -0.0649,
+     -0.2462,
+     0.2316
+    ],
+    "dev_deg": {
+     "median": 16.34,
+     "p90": 34.73
+    },
+    "samples": 2848,
+    "accepted": 2483,
+    "wrist_pos_err_mm_median": 35.1,
+    "per_camera": {
+     "head": {
+      "samples": 2848,
+      "accepted": 2483,
+      "gate_deg": 30.0,
+      "offset_deg": 19.72,
+      "tier": "primary",
+      "dev_deg_median": 16.34,
+      "wrist_pos_err_mm_median": 35.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9956,
+     "interpolated": 772,
+     "mean_hand": 1128,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9049,
+    "observed_fraction_of_valid": 0.9049,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 20.6,
+     "smplx": 1.76
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.8,
+      "p90": 8.5
+     },
+     "registered": {
+      "median": 6.2,
+      "p90": 8.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T19:53:15.101781+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/environment_coupled_wholebody/EC10/session_012",
   "family": "environment_coupled_wholebody",
   "primitive": "EC10",
   "source_session": "20261021/EC10/20261021_010957_session10"
  },
+ "task": {
+  "primitive": "EC10",
+  "instruction": "Get the cart into the marked parking space and lined up with the tape. Take as many adjustments as you need. Then take it out again and repeat."
+ },
  "objects": [
   {
    "name": "CcGreen",
@@ -524,12 +638,6 @@
    "source": "mocap",
    "pose_frame": "mesh"
   },
-  {
-   "name": "CcRed",
-   "object_type": "CcRed",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  },
   {
    "name": "CcYellow",
    "object_type": "CcYellow",

actions/environment_coupled_wholebody/EC10/session_012/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d25dcd0dcb311ee9c7210c510256a8e59c4bfbc4fa5a30841fccd693b742c478
+size 3889233

actions/environment_coupled_wholebody/EC10/session_012/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:16ab1e7de7a9065b07676dec3a24700fa9482cc7e56c2af9f9a212bf33b43808
-size 4548956
+oid sha256:0cdfb9c8a7dd89af47bd338b972f4a1fee69c7611b8d9e257759530198a7bd5f
+size 8405949

actions/environment_coupled_wholebody/EC10/session_013/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "EC10",
+ "instruction": "Get the cart into the marked parking space and lined up with the tape. Take as many adjustments as you need. Then take it out again and repeat.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.866644,
+   "video": "left_eye",
+   "video_t_start": 0.04046155985294968
+  }
+ ],
+ "episodes": [
+  {
+   "id": "d6669012-1c79-4772-b3ef-3cea5f2be0b2",
+   "segment": "segment1",
+   "action": "EC10",
+   "quality": "valid",
+   "start_s": 1.863,
+   "end_s": 131.16,
+   "t_start": 1.9035,
+   "t_end": 131.2005,
+   "instruction": "Get the cart into the marked parking space and lined up with the tape. Take as many adjustments as you need. Then take it out again and repeat."
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC10/session_013/cameras/gsi_online_calibration.json

@@ -0,0 +1,253 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.413
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.6738,
+   "gate_fail": [],
+   "held_out_px_after": 0.428,
+   "held_out_px_before": 20.302,
+   "inliers": 2423,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.0065,
+    -0.1989,
+    -1.3225
+   ],
+   "split_deg": 0.0603,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.2806,
+   "gate_fail": [],
+   "held_out_px_after": 0.435,
+   "held_out_px_before": 9.631,
+   "inliers": 3767,
+   "position_fitted": true,
+   "position_mm": [
+    2.02,
+    -27.77,
+    -1.66
+   ],
+   "position_sigma_mm": 0.214,
+   "position_split_mm": 0.5,
+   "rotvec_deg": [
+    1.5895,
+    -0.9443,
+    1.3352
+   ],
+   "split_deg": 0.0317,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.9137,
+   "gate_fail": [],
+   "held_out_px_after": 0.564,
+   "held_out_px_before": 10.46,
+   "inliers": 1238,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.8431,
+    -1.349,
+    3.178
+   ],
+   "split_deg": 0.1055,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.1184,
+   "gate_fail": [],
+   "held_out_px_after": 0.43,
+   "held_out_px_before": 6.003,
+   "inliers": 3581,
+   "position_fitted": true,
+   "position_mm": [
+    4.88,
+    -12.95,
+    -4.07
+   ],
+   "position_sigma_mm": 0.345,
+   "position_split_mm": 1.191,
+   "rotvec_deg": [
+    1.9593,
+    -1.4376,
+    1.9542
+   ],
+   "split_deg": 0.0329,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.5811,
+   "gate_fail": [],
+   "held_out_px_after": 0.354,
+   "held_out_px_before": 3.276,
+   "inliers": 2154,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2104,
+    -0.4535,
+    -0.2963
+   ],
+   "split_deg": 0.0251,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b04f5b974fb34ecccfe80de7e9de3c62f2fb0e5029586fbe54c150d72aab17db",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c4eadb67c9b48604660ab175420724df2563608161ea8b8116ba9a9919f15d84",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "e4fa09cd1f0ac49d54b0e7e7d0f61546ef68e5f67a41fdad16ba94505c62db13",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "0315964be562d34f7f6c1b8349526ac544e7cd569377691be31c921da0406887",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "c29aac2eb4d0abba",
+ "kind": "online_calibration",
+ "output_sha256": "d704dc6c4bb95afa2c6671c747e56beb15c56edbd5fff74dc21f6122eddfd480",
+ "overlap": {
+  "left-right": 0.5,
+  "left_eye-left": 0.695,
+  "left_eye-right": 0.702,
+  "left_front-left": 0.506,
+  "left_front-left_eye": 0.692,
+  "left_front-right": 0.458,
+  "left_front-right_eye": 0.698,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.699,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.706,
+  "right_front-left": 0.49,
+  "right_front-left_eye": 0.697,
+  "right_front-right": 0.464,
+  "right_front-right_eye": 0.704
+ },
+ "picture_change": {
+  "left": 38.269,
+  "left_eye": 33.452,
+  "left_front": 31.038,
+  "right": 36.518,
+  "right_eye": 32.429,
+  "right_front": 29.547
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   6525080532000,
+   6526080532000,
+   6530080509777,
+   6531080532000,
+   6532080654222,
+   6537080698666,
+   6538080543111,
+   6541080654222,
+   6542080532000,
+   6548080543111,
+   6549080509777,
+   6550080509777,
+   6554080532000,
+   6555080520888,
+   6559080532000,
+   6560080532000,
+   6562080543111,
+   6563080509777,
+   6569080509777,
+   6570080509777,
+   6571080543111,
+   6572080520888,
+   6575080543111,
+   6576080543111,
+   6583080498666,
+   6584080532000,
+   6585080654222,
+   6591080520888,
+   6592080509777,
+   6593080509777,
+   6597080509777,
+   6598080532000,
+   6604080509777,
+   6605080509777,
+   6606080543111,
+   6610080543111,
+   6611080532000,
+   6614080654222,
+   6615080532000,
+   6620080554222,
+   6621080576444,
+   6623080576444,
+   6624080654222,
+   6630080632000,
+   6631080532000,
+   6634080532000,
+   6635080532000,
+   6639080543111,
+   6640080532000,
+   6641080509777,
+   6647080554222,
+   6648080532000,
+   6652080587555,
+   6653080509777
+  ]
+ },
+ "version": 1
+}

actions/environment_coupled_wholebody/EC10/session_013/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b6425996465af507b1b87025c390519d1fc12248c391a30f16f8176de1f824d
+size 769898

actions/environment_coupled_wholebody/EC10/session_013/meta.json

@@ -270,44 +270,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:42:58.977206+00:00",
+  "generated_at_utc": "2026-10-28T23:21:57.131790+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": [
    [
-    0.9999318201,
-    0.0116771196,
-    -7.9583e-06
+    0.9999319725,
+    0.0116640585,
+    -4.5245e-06
    ],
    [
-    7.9583e-06,
-    -0.0013630091,
-    -0.9999990711
+    4.5245e-06,
+    -0.0007757685,
+    -0.9999996991
    ],
    [
-    -0.0116771196,
-    0.9999308912,
-    -0.0013630091
+    -0.0116640585,
+    0.9999316716,
+    -0.0007757685
    ]
   ],
   "scale_nokov_to_canon": 0.001,
   "T_canon_nokov_mm": [
    [
-    0.00099993182,
-    1.167712e-05,
-    -7.958e-09,
+    0.000999931973,
+    1.1664059e-05,
+    -4.524e-09,
     0.0
    ],
    [
-    7.958e-09,
-    -1.363009e-06,
-    -0.000999999071,
+    4.524e-09,
+    -7.75769e-07,
+    -0.000999999699,
     0.0
    ],
    [
-    -1.167712e-05,
-    0.000999930891,
-    -1.363009e-06,
+    -1.1664059e-05,
+    0.000999931672,
+    -7.75769e-07,
     0.0
    ],
    [
@@ -319,20 +319,20 @@
   ],
   "block": "20261026-morning",
   "block_assignment": "trc",
-  "tilt_removed_deg": 0.6736075582400546,
+  "tilt_removed_deg": 0.6697930607742368,
   "plane_status": "ok",
   "floor": {
-   "sole_marker_p1_mm": 29.2,
+   "sole_marker_p1_mm": 29.3,
    "headtop_p95_mm": 1655.8
   },
   "gravity_check": {
    "static_samples": 1922,
    "g_world_mean_m_s2": [
-    -0.0944,
-    0.0025,
+    -0.0946,
+    0.0082,
     9.7559
    ],
-   "tilt_from_z_deg": 0.555,
+   "tilt_from_z_deg": 0.557,
    "tilt_from_z_deg_before_levelling": 1.227,
    "magnitude_m_s2": 9.7564
   },
@@ -351,7 +351,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-27T07:36:17.211932+00:00",
+  "generated_at_utc": "2026-10-29T04:34:33.095272+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -360,8 +360,8 @@
   "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)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -404,8 +404,8 @@
   "valid_fraction": 0.9995,
   "qc": {
    "lowest_vertex_mm": {
-    "median": -8.8,
-    "p5": -13.5
+    "median": -8.9,
+    "p5": -13.4
    },
    "frames_checked": 536,
    "stature_mm": 1614.2
@@ -420,19 +420,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 180.0,
+    "Q_deg": 177.76,
     "Q_rotvec": [
-     -2.98662,
-     0.4392,
-     0.86995
+     3.00391,
+     -0.63182,
+     -0.44993
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 173.7,
-    "opposite_sign_bend_deg": 24.2,
+    "wrist_bend_deg_median": 164.5,
+    "opposite_sign_bend_deg": 33.0,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 4.28,
     "hand_vs_marker_frame_deg": {
-     "before": 179.59,
+     "before": 177.7,
      "after": 4.28
     },
     "markers_on_wrist": [
@@ -440,15 +440,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -168.84,
+     "twist_moved_deg": 163.41,
      "wrist_twist_deg_after": {
-      "median": -5.99,
+      "median": 0.15,
       "iqr": [
-       -12.3,
-       -1.3
+       -6.2,
+       4.8
       ]
      },
-     "wrist_total_deg_median_after": 34.4,
+     "wrist_total_deg_median_after": 32.9,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -459,19 +459,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 161.01,
     "Q_rotvec": [
-     0.0,
-     0.0,
-     -0.0
+     -2.78726,
+     -0.28418,
+     -0.21792
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 22.3,
-    "opposite_sign_bend_deg": 175.8,
+    "wrist_bend_deg_median": 176.0,
+    "opposite_sign_bend_deg": 29.5,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 4.28,
     "hand_vs_marker_frame_deg": {
-     "before": 4.28,
+     "before": 161.07,
      "after": 4.28
     },
     "markers_on_wrist": [
@@ -479,15 +479,15 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -4.42,
+     "twist_moved_deg": -171.97,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -4.42,
       "iqr": [
-       -3.6,
-       4.4
+       -8.0,
+       0.0
       ]
      },
-     "wrist_total_deg_median_after": 22.2,
+     "wrist_total_deg_median_after": 22.5,
      "markers_on_forearm": [
       "RElbow",
       "RElbowIn",
@@ -498,22 +498,128 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-28T06:50:18.546453+00:00",
+   "generated_at_utc": "2026-10-29T04:34:36.147158+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 26.69,
+    "offset_rotvec": [
+     0.0239,
+     0.3868,
+     -0.2583
+    ],
+    "dev_deg": {
+     "median": 15.15,
+     "p90": 33.66
+    },
+    "samples": 3968,
+    "accepted": 3386,
+    "wrist_pos_err_mm_median": 54.8,
+    "per_camera": {
+     "head": {
+      "samples": 3968,
+      "accepted": 3386,
+      "gate_deg": 30.0,
+      "offset_deg": 26.69,
+      "tier": "primary",
+      "dev_deg_median": 15.15,
+      "wrist_pos_err_mm_median": 54.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13542,
+     "interpolated": 462,
+     "mean_hand": 2060,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.8713,
+    "observed_fraction_of_valid": 0.8718,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 24.09,
+     "smplx": 1.27
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 16.5,
+      "p90": 20.8
+     },
+     "registered": {
+      "median": 13.8,
+      "p90": 18.2
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 13.7,
+    "offset_rotvec": [
+     -0.0978,
+     -0.1127,
+     0.1869
+    ],
+    "dev_deg": {
+     "median": 10.06,
+     "p90": 20.15
+    },
+    "samples": 3949,
+    "accepted": 3823,
+    "wrist_pos_err_mm_median": 68.2,
+    "per_camera": {
+     "head": {
+      "samples": 3949,
+      "accepted": 3823,
+      "gate_deg": 30.0,
+      "offset_deg": 13.7,
+      "tier": "primary",
+      "dev_deg_median": 10.06,
+      "wrist_pos_err_mm_median": 68.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15309,
+     "interpolated": 338,
+     "mean_hand": 417,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9736,
+    "observed_fraction_of_valid": 0.974,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.8,
+     "smplx": 3.85
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 18.2,
+      "p90": 20.8
+     },
+     "registered": {
+      "median": 24.8,
+      "p90": 28.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:33:08.728251+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/environment_coupled_wholebody/EC10/session_013",
   "family": "environment_coupled_wholebody",
   "primitive": "EC10",
   "source_session": "20261026/EC10/20261026_021452_session19"
  },
- "objects": [
-  {
-   "name": "Ramp",
-   "object_type": "Ramp",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  }
- ]
+ "task": {
+  "primitive": "EC10",
+  "instruction": "Get the cart into the marked parking space and lined up with the tape. Take as many adjustments as you need. Then take it out again and repeat."
+ }
 }

actions/environment_coupled_wholebody/EC10/session_013/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18c018bcba6841f17dcb4a40664205239f985ef06c919984c812a24da84fec2e
+size 5352986

actions/environment_coupled_wholebody/EC10/session_013/motions/head_rig.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:17538911bb333efd49e9fc01d95984f8037b0dc58ddfe9126a610cfb70c9bd67
-size 1196815
+oid sha256:7ef500c9e75ff5a821ac786bce087bbef8d47cea87781b00149678eefaabef2e
+size 1196956

actions/environment_coupled_wholebody/EC10/session_013/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:98ee46512051b1d4bd2c943f69c2022dbdec2df5e6702e9f28c4bcf33eabae5f
-size 6183077
+oid sha256:b5105e7aedf796e7a9d0044a888c477a05724a1342d2c6437278f8dac3e75a7c
+size 11278545

actions/environment_coupled_wholebody/EC10/session_014/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "EC10",
+ "instruction": "Get the cart into the marked parking space and lined up with the tape. Take as many adjustments as you need. Then take it out again and repeat.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 147.900022,
+   "video": "left_eye",
+   "video_t_start": 0.038055278030881205
+  }
+ ],
+ "episodes": [
+  {
+   "id": "db27524f-03dd-443e-aacc-113a3e5bae77",
+   "segment": "segment1",
+   "action": "EC10",
+   "quality": "valid",
+   "start_s": 1.388,
+   "end_s": 143.68,
+   "t_start": 1.4261,
+   "t_end": 143.7181,
+   "instruction": "Get the cart into the marked parking space and lined up with the tape. Take as many adjustments as you need. Then take it out again and repeat."
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC10/session_014/cameras/gsi_online_calibration.json

@@ -0,0 +1,259 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.387
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.655,
+   "gate_fail": [],
+   "held_out_px_after": 0.404,
+   "held_out_px_before": 20.388,
+   "inliers": 2582,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.0218,
+    -0.1872,
+    -1.2884
+   ],
+   "split_deg": 0.0551,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.3182,
+   "gate_fail": [],
+   "held_out_px_after": 0.422,
+   "held_out_px_before": 9.821,
+   "inliers": 4176,
+   "position_fitted": true,
+   "position_mm": [
+    1.95,
+    -27.42,
+    -1.78
+   ],
+   "position_sigma_mm": 0.159,
+   "position_split_mm": 0.221,
+   "rotvec_deg": [
+    1.6165,
+    -0.9469,
+    1.3654
+   ],
+   "split_deg": 0.0431,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.9018,
+   "gate_fail": [],
+   "held_out_px_after": 0.547,
+   "held_out_px_before": 10.356,
+   "inliers": 1304,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.9201,
+    -1.2567,
+    3.1557
+   ],
+   "split_deg": 0.0887,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.0881,
+   "gate_fail": [],
+   "held_out_px_after": 0.416,
+   "held_out_px_before": 5.339,
+   "inliers": 3980,
+   "position_fitted": true,
+   "position_mm": [
+    4.24,
+    -14.32,
+    -3.33
+   ],
+   "position_sigma_mm": 0.201,
+   "position_split_mm": 2.182,
+   "rotvec_deg": [
+    1.9254,
+    -1.4185,
+    1.9537
+   ],
+   "split_deg": 0.0355,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.5893,
+   "gate_fail": [],
+   "held_out_px_after": 0.312,
+   "held_out_px_before": 3.5,
+   "inliers": 2491,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2337,
+    -0.4492,
+    -0.3015
+   ],
+   "split_deg": 0.0204,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "92f080295692ff1b34bd5b1a9bb2b7aab83a42a4510da209889c5957874cd484",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ab367507f651eee0196601788020d6ba594ed51556d35d4c7c9f863c892e5158",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "3ebbe734a5e68738110da3c46310e16b9c01827d93abea33a98d6b1ffd20f94e",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "9491340da35cf251f48d935bbfe1bcb20f3a1ea1d7ced8659d6959d208cc0250",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "1dbde9230f71da3b",
+ "kind": "online_calibration",
+ "output_sha256": "c1486ba7cb97432f8bb298185a229cf6b9bf2aa77bdb2874599a2df6efaf592c",
+ "overlap": {
+  "left-right": 0.5,
+  "left_eye-left": 0.695,
+  "left_eye-right": 0.702,
+  "left_front-left": 0.506,
+  "left_front-left_eye": 0.692,
+  "left_front-right": 0.458,
+  "left_front-right_eye": 0.698,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.699,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.706,
+  "right_front-left": 0.49,
+  "right_front-left_eye": 0.697,
+  "right_front-right": 0.464,
+  "right_front-right_eye": 0.704
+ },
+ "picture_change": {
+  "left": 41.896,
+  "left_eye": 39.014,
+  "left_front": 32.954,
+  "right": 40.914,
+  "right_eye": 39.086,
+  "right_front": 32.149
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   6672718252000,
+   6673718252000,
+   6677718285333,
+   6678718252000,
+   6680718252000,
+   6681718263111,
+   6684718252000,
+   6685718252000,
+   6689718285333,
+   6690718296444,
+   6696718285333,
+   6697718296444,
+   6698718263111,
+   6699718285333,
+   6704718296444,
+   6705718263111,
+   6709718307555,
+   6710718296444,
+   6714718263111,
+   6715718285333,
+   6719718429777,
+   6720718285333,
+   6723718329777,
+   6724718296444,
+   6725718296444,
+   6726718407555,
+   6730718296444,
+   6731718429777,
+   6736718307555,
+   6737718296444,
+   6740718296444,
+   6741718285333,
+   6746718296444,
+   6747718296444,
+   6751718296444,
+   6752718296444,
+   6756718263111,
+   6757718296444,
+   6761718307555,
+   6762718307555,
+   6765718296444,
+   6766718307555,
+   6768718285333,
+   6769718296444,
+   6773718307555,
+   6774718285333,
+   6780718285333,
+   6781718263111,
+   6782718285333,
+   6783718263111,
+   6786718285333,
+   6787718340888,
+   6791718263111,
+   6792718263111,
+   6798718418666,
+   6799718407555,
+   6804718285333,
+   6805718263111,
+   6807718418666,
+   6808718263111
+  ]
+ },
+ "version": 1
+}

actions/environment_coupled_wholebody/EC10/session_014/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9273fbbc35a4b8c546ebd00ec9aa00a96d9ea57038ded2233cea7bf8c4fd5578
+size 866292

actions/environment_coupled_wholebody/EC10/session_014/meta.json

@@ -264,44 +264,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:42:59.281249+00:00",
+  "generated_at_utc": "2026-10-28T23:21:57.149438+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": [
    [
-    0.9999318201,
-    0.0116771196,
-    -7.9583e-06
+    0.9999319725,
+    0.0116640585,
+    -4.5245e-06
    ],
    [
-    7.9583e-06,
-    -0.0013630091,
-    -0.9999990711
+    4.5245e-06,
+    -0.0007757685,
+    -0.9999996991
    ],
    [
-    -0.0116771196,
-    0.9999308912,
-    -0.0013630091
+    -0.0116640585,
+    0.9999316716,
+    -0.0007757685
    ]
   ],
   "scale_nokov_to_canon": 0.001,
   "T_canon_nokov_mm": [
    [
-    0.00099993182,
-    1.167712e-05,
-    -7.958e-09,
+    0.000999931973,
+    1.1664059e-05,
+    -4.524e-09,
     0.0
    ],
    [
-    7.958e-09,
-    -1.363009e-06,
-    -0.000999999071,
+    4.524e-09,
+    -7.75769e-07,
+    -0.000999999699,
     0.0
    ],
    [
-    -1.167712e-05,
-    0.000999930891,
-    -1.363009e-06,
+    -1.1664059e-05,
+    0.000999931672,
+    -7.75769e-07,
     0.0
    ],
    [
@@ -313,20 +313,20 @@
   ],
   "block": "20261026-morning",
   "block_assignment": "trc",
-  "tilt_removed_deg": 0.6736075582400546,
+  "tilt_removed_deg": 0.6697930607742368,
   "plane_status": "ok",
   "floor": {
-   "sole_marker_p1_mm": 29.8,
-   "headtop_p95_mm": 1653.9
+   "sole_marker_p1_mm": 29.9,
+   "headtop_p95_mm": 1653.7
   },
   "gravity_check": {
    "static_samples": 1843,
    "g_world_mean_m_s2": [
-    -0.187,
-    -0.0538,
-    9.7621
+    -0.1872,
+    -0.048,
+    9.7622
    ],
-   "tilt_from_z_deg": 1.142,
+   "tilt_from_z_deg": 1.134,
    "tilt_from_z_deg_before_levelling": 1.783,
    "magnitude_m_s2": 9.7641
   },
@@ -345,7 +345,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-27T07:38:22.244142+00:00",
+  "generated_at_utc": "2026-10-29T04:35:33.192791+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -354,8 +354,8 @@
   "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)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -398,7 +398,7 @@
   "valid_fraction": 0.9995,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 8.3,
+    "median": 8.4,
     "p5": 4.3
    },
    "frames_checked": 592,
@@ -414,19 +414,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 180.0,
+    "Q_deg": 179.8,
     "Q_rotvec": [
-     -2.98662,
-     0.4392,
-     0.86995
+     3.06363,
+     -0.58192,
+     -0.3513
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 175.0,
-    "opposite_sign_bend_deg": 19.9,
+    "wrist_bend_deg_median": 142.7,
+    "opposite_sign_bend_deg": 48.1,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.97,
     "hand_vs_marker_frame_deg": {
-     "before": 179.61,
+     "before": 179.41,
      "after": 2.97
     },
     "markers_on_wrist": [
@@ -434,15 +434,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -168.8,
+     "twist_moved_deg": 140.34,
      "wrist_twist_deg_after": {
-      "median": -6.85,
+      "median": 0.0,
       "iqr": [
-       -11.4,
-       -0.2
+       -4.6,
+       6.7
       ]
      },
-     "wrist_total_deg_median_after": 38.5,
+     "wrist_total_deg_median_after": 37.8,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -453,19 +453,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 162.2,
     "Q_rotvec": [
-     0.0,
-     0.0,
-     -0.0
+     -2.8177,
+     -0.25519,
+     -0.09588
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 24.1,
-    "opposite_sign_bend_deg": 175.8,
+    "wrist_bend_deg_median": 175.8,
+    "opposite_sign_bend_deg": 33.6,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 5.37,
     "hand_vs_marker_frame_deg": {
-     "before": 5.37,
+     "before": 161.93,
      "after": 5.37
     },
     "markers_on_wrist": [
@@ -473,15 +473,15 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -3.28,
+     "twist_moved_deg": -173.24,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -3.28,
       "iqr": [
-       -2.8,
-       4.0
+       -6.1,
+       0.7
       ]
      },
-     "wrist_total_deg_median_after": 23.7,
+     "wrist_total_deg_median_after": 23.9,
      "markers_on_forearm": [
       "RElbow",
       "RElbowIn",
@@ -492,22 +492,128 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-28T06:50:19.874957+00:00",
+   "generated_at_utc": "2026-10-29T04:35:36.426849+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 23.47,
+    "offset_rotvec": [
+     0.0129,
+     0.3553,
+     -0.2035
+    ],
+    "dev_deg": {
+     "median": 13.84,
+     "p90": 31.9
+    },
+    "samples": 4428,
+    "accepted": 3860,
+    "wrist_pos_err_mm_median": 27.9,
+    "per_camera": {
+     "head": {
+      "samples": 4428,
+      "accepted": 3860,
+      "gate_deg": 30.0,
+      "offset_deg": 23.47,
+      "tier": "primary",
+      "dev_deg_median": 13.84,
+      "wrist_pos_err_mm_median": 27.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15464,
+     "interpolated": 712,
+     "mean_hand": 1572,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.911,
+    "observed_fraction_of_valid": 0.9114,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 24.25,
+     "smplx": 1.64
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 14.2,
+      "p90": 19.8
+     },
+     "registered": {
+      "median": 13.0,
+      "p90": 17.1
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 9.67,
+    "offset_rotvec": [
+     -0.0687,
+     -0.0575,
+     0.143
+    ],
+    "dev_deg": {
+     "median": 7.9,
+     "p90": 20.26
+    },
+    "samples": 4402,
+    "accepted": 4254,
+    "wrist_pos_err_mm_median": 53.1,
+    "per_camera": {
+     "head": {
+      "samples": 4402,
+      "accepted": 4254,
+      "gate_deg": 30.0,
+      "offset_deg": 9.67,
+      "tier": "primary",
+      "dev_deg_median": 7.9,
+      "wrist_pos_err_mm_median": 53.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 17041,
+     "interpolated": 426,
+     "mean_hand": 281,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9837,
+    "observed_fraction_of_valid": 0.9842,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 8.82,
+     "smplx": 5.37
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 17.9,
+      "p90": 19.6
+     },
+     "registered": {
+      "median": 24.7,
+      "p90": 28.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:33:06.725724+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/environment_coupled_wholebody/EC10/session_014",
   "family": "environment_coupled_wholebody",
   "primitive": "EC10",
   "source_session": "20261026/EC10/20261026_021720_session20"
  },
- "objects": [
-  {
-   "name": "Ramp",
-   "object_type": "Ramp",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  }
- ]
+ "task": {
+  "primitive": "EC10",
+  "instruction": "Get the cart into the marked parking space and lined up with the tape. Take as many adjustments as you need. Then take it out again and repeat."
+ }
 }

actions/environment_coupled_wholebody/EC10/session_014/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1324b4e0b9ca336e1175ac8e9a94c678f2dbc9e39eab9839d7bc33ef3e00fde9
+size 5978148

actions/environment_coupled_wholebody/EC10/session_014/motions/head_rig.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:efb8e7f929f88d9b169f9a1648d38d15f31d4021ed4975ce9d83a9f5ae23f6de
-size 1322802
+oid sha256:266a3bb064c4acb111d49c66e92fb7d9d3fc82745513d34b1768896f76579712
+size 1322828

actions/environment_coupled_wholebody/EC10/session_014/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7e10e4914a1cb5f882b9df7e5c3e6fa619f915a14f8266a9e0878bc1e398db07
-size 6826997
+oid sha256:c064590a81845f9e3cbb86dd6f846fcca8abc30db0557a66ccd0eb36c9e972ba
+size 12560493

actions/environment_coupled_wholebody/EC10/session_015/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a855b94600c6f1195084d38f45b12b1b2bd440ad76a3a72847288fa4c12796d
+size 900076

actions/environment_coupled_wholebody/EC10/session_015/meta.json

@@ -0,0 +1,523 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261026/EC10/20261026_100557_session85",
+ "session_id": "20261026_100557_session85",
+ "primitive": "EC10",
+ "batch": "20261026",
+ "participant": "wangzhixin",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e3296774a321bb51",
+  "left": "75b5984e04d1d236",
+  "right": "c84bc808cb6b47af"
+ },
+ "generated_at_utc": "2026-10-28T19:35:28.775778+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": null,
+  "first_solved_frame": 0,
+  "duration_s": 103.79166666666667,
+  "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": -0.088075,
+  "rate": 0.0,
+  "global_lag_s": -0.09,
+  "peak_corr": 0.8563,
+  "reference_imu_first_sample_s": 29501.981185554,
+  "windows": {
+   "n_windows": 9,
+   "window_corr_median": 0.9821412743449158,
+   "drift_ppm": -706.3703941729998,
+   "drift_se_ppm": 404.6921601675254,
+   "drift_ms_over_take": -73.3094740752545,
+   "lag_scatter_ms": 27.64573760404312,
+   "lag_range_ms": 105.92201247581134
+  }
+ },
+ "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": "e3296774a321bb51",
+  "status": "ok",
+  "date": "2026-10-21"
+ },
+ "streams": {
+  "sensors": {
+   "imu_head_right": {
+    "n_acc": 20971,
+    "n_gyro": 20965,
+    "t_start": -0.09502393424739372,
+    "t_end": 103.99489135075234
+   },
+   "imu_head_left": {
+    "n_acc": 20873,
+    "n_gyro": 20867,
+    "t_start": 0.013466732752902805,
+    "t_end": 104.16298080875092
+   },
+   "imu_wrist_right": {
+    "n_acc": 20780,
+    "n_gyro": 20779,
+    "t_start": -0.9556559842476704,
+    "t_end": 102.43233314175265
+   },
+   "imu_wrist_left": {
+    "n_acc": 20925,
+    "n_gyro": 20936,
+    "t_start": -0.8167745892478993,
+    "t_end": 102.42797563075325
+   },
+   "mag_head": {
+    "n": 10424,
+    "t_start": 0.09470494075318905,
+    "t_end": 104.32479640775088
+   },
+   "mag_wrist_right": {
+    "n": 10337,
+    "t_start": -0.9346217322472798,
+    "t_end": 102.42568870475404
+   },
+   "mag_wrist_left": {
+    "n": 10323,
+    "t_start": -0.7972557772464202,
+    "t_end": 102.4227324127514
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 29502.106474,
+    "frames": 3113,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0025546514432425653,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.039768401196823594,
+    "t_end": 103.7731794011979,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 29502.106454,
+    "frames": 3113,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002366886077403108,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.039560635830610896,
+    "t_end": 103.7729606358316,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 29502.106468,
+    "frames": 3113,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0026728712083183277,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.03988062096138359,
+    "t_end": 103.77329162096245,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 29502.10648,
+    "frames": 3113,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002595594493655556,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.039815344245624634,
+    "t_end": 103.77323734424678,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 29502.106462,
+    "frames": 3113,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002394386090989767,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.039596135842628916,
+    "t_end": 103.77299613584361,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 29502.106445,
+    "frames": 3113,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002315656053021164,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.03950040580636463,
+    "t_end": 103.77290040580735,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 29501.304564,
+    "frames": 3095,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -0.7646962502495003,
+    "t_end": 102.36863674975208,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 29501.114403,
+    "frames": 3101,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -0.9548572502481252,
+    "t_end": 102.37880174975177,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-EC10-S02-wangzhixin-01p1-1.mp4",
+    "frames": 3114,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 103.76666666666667
+   }
+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "e3296774a321bb51/20261026-afternoon/labels-235140/session-de7e375c8069259d",
+  "R_tracker0_imu0": [
+   [
+    0.63224141,
+    -0.32436576,
+    0.70360334
+   ],
+   [
+    0.75552167,
+    0.05693945,
+    -0.65264454
+   ],
+   [
+    0.17163275,
+    0.94421648,
+    0.28106484
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   0.16634992804643448,
+   -0.008900832448133307,
+   0.05008176115558591
+  ],
+  "rig_check": {
+   "gyro_samples": 323,
+   "gyro_max_deg": 2.5,
+   "status": "gyro_rotation",
+   "dropped_marker": null,
+   "gyro_deg": 0.0,
+   "video_solve": {
+    "status": "ok",
+    "reason": "",
+    "reprojection_px": 2.994,
+    "n_assoc": 1006,
+    "gyro_deg": 2.83
+   }
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-28T23:21:57.076436+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": [
+   [
+    0.9999789449,
+    0.0064891782,
+    1.5185e-05
+   ],
+   [
+    -1.5185e-05,
+    0.0046800169,
+    -0.9999890485
+   ],
+   [
+    -0.0064891782,
+    0.9999679935,
+    0.0046800169
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999978945,
+    6.489178e-06,
+    1.5185e-08,
+    0.0
+   ],
+   [
+    -1.5185e-08,
+    4.680017e-06,
+    -0.000999989049,
+    0.0
+   ],
+   [
+    -6.489178e-06,
+    0.000999967993,
+    4.680017e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20261026-afternoon",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.458414067009704,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 36.8,
+   "headtop_p95_mm": 1573.4
+  },
+  "gravity_check": {
+   "static_samples": 5637,
+   "g_world_mean_m_s2": [
+    0.0825,
+    0.0799,
+    9.7467
+   ],
+   "tilt_from_z_deg": 0.675,
+   "tilt_from_z_deg_before_levelling": 0.231,
+   "magnitude_m_s2": 9.7474
+  },
+  "rig_tracker_definition": "e3296774a321bb51/20261026-afternoon/labels-235140/session-de7e375c8069259d",
+  "rig_check": {
+   "status": "gyro_rotation",
+   "dropped_marker": null,
+   "gyro_deg": 0.0
+  },
+  "camera_pose_source": "T_tracker0_imu0 @ inv(T_cam_imu)",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-29T04:34:45.039859+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": [
+      0.027990587055683136,
+      0.008147770538926125,
+      0.04669555276632309
+     ],
+     "LHandOut": [
+      0.0260421484708786,
+      0.05111149698495865,
+      0.016879824921488762
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.041156332939863205,
+      0.002714435337111354,
+      0.04471251368522644
+     ],
+     "RHandOut": [
+      -0.06130314990878105,
+      0.03231516107916832,
+      0.007351323030889034
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 3.45,
+   "p95_frame": 5.51
+  },
+  "worst_markers": [
+   "WaistLFront 8mm",
+   "RElbow 6mm",
+   "WaistRFront 6mm",
+   "LKneeIn 5mm",
+   "LElbowIn 5mm"
+  ],
+  "valid_fraction": 0.9994,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": -13.7,
+    "p5": -23.4
+   },
+   "frames_checked": 415,
+   "stature_mm": 1582.0
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 11.63
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 86.14,
+    "Q_rotvec": [
+     1.11779,
+     -0.64712,
+     0.76945
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 86.2,
+    "opposite_sign_bend_deg": 121.7,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.78,
+    "hand_vs_marker_frame_deg": {
+     "before": 85.98,
+     "after": 3.78
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 75.4,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -5.1,
+       8.4
+      ]
+     },
+     "wrist_total_deg_median_after": 45.8,
+     "markers_on_forearm": [
+      "LElbow",
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1245
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 60.34,
+    "Q_rotvec": [
+     0.6584,
+     0.79528,
+     -0.20736
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 86.0,
+    "opposite_sign_bend_deg": 108.0,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.06,
+    "hand_vs_marker_frame_deg": {
+     "before": 59.93,
+     "after": 2.06
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -76.77,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -2.7,
+       3.6
+      ]
+     },
+     "wrist_total_deg_median_after": 40.7,
+     "markers_on_forearm": [
+      "RElbowIn",
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1245
+   },
+   "generated_at_utc": "2026-10-29T04:34:47.801427+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/environment_coupled_wholebody/EC10/session_015",
+  "family": "environment_coupled_wholebody",
+  "primitive": "EC10",
+  "source_session": "20261026/EC10/20261026_100557_session85"
+ },
+ "task": {
+  "primitive": "EC10",
+  "instruction": "Get the cart into the marked parking space and lined up with the tape. Take as many adjustments as you need. Then take it out again and repeat."
+ },
+ "objects": [
+  {
+   "name": "BigBox1",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC10/session_015/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96e9e0d8ccfea11167e4335d8297eb683e07d4860e026f16b4e3d6f158f5168f
+size 919123

actions/environment_coupled_wholebody/EC10/session_015/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47882f3f45d020f08913cc9cb018900c2cdcff90786f6bb1c048902958789be9
+size 7179304

actions/environment_coupled_wholebody/EC10/session_015/motions/object_markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32e22890b8df4383533e171377fe714a192b322b71133eca7d11fbd2cc4f8b2c
+size 547291

actions/environment_coupled_wholebody/EC10/session_015/motions/objects.json

@@ -0,0 +1,39 @@
+{
+ "session": "20261026/EC10/20261026_100557_session85",
+ "generated_at_utc": "2026-11-04T19:42:34.433153+00:00",
+ "generated_by": "scripts/export_objects.py",
+ "frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)",
+ "grid": "body grid (smplx.npz t / frame_index)",
+ "held_by": "from mocap hands",
+ "instances": [
+  {
+   "name": "BigBox1",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 99.98,
+   "verified_pct": 99.98,
+   "moving_pct": 63.33,
+   "vision_source": null
+  }
+ ],
+ "absent": [],
+ "object_list": {
+  "status": "match",
+  "notes": [],
+  "declared": [
+   "BigBox1"
+  ],
+  "listed": [
+   {
+    "name": "BigBox1",
+    "object": "BigBox",
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/environment_coupled_wholebody/EC10/session_015/motions/objects.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd00b0bdc5ccf3057e29cfff4c9e9316543552089b5b989be1d290fc4e3b7af7
+size 553336

actions/environment_coupled_wholebody/EC10/session_015/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:803f7248c2004f07789698ab2684b6ac31224874ed3e37342f85b70ea17ca581
+size 7171861

actions/environment_coupled_wholebody/EC10/session_015/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ceb4f0d9e4065f1b00a9f2a01bf91fe3e5879d4404ad571ae7a1a1808372d23
+size 4772226

actions/environment_coupled_wholebody/EC10/session_015/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b67221dce6c3fef0943bd04abf40c224551d611261cb5e30c1f84eaf71bd54c9
+size 20012238

actions/environment_coupled_wholebody/EC10/session_015/raw/manifest.json

@@ -0,0 +1,286 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-10-27T11:33:13.461435+00:00",
+  "primitive_id": "EC10",
+  "session_id": "20261026_100557_session85",
+  "upload_batch_id": "20261026",
+  "dataset_path": "EgoMotionActions/20261026/EC10/20261026_100557_session85",
+  "segment": "auto/all",
+  "duration_s": 103.733411,
+  "device_ids": {
+    "main": "e3296774a321bb51",
+    "left": "75b5984e04d1d236",
+    "right": "c84bc808cb6b47af"
+  },
+  "mocap_rigid_names": [
+    "BigBox1",
+    "Body0",
+    "Tracker0"
+  ],
+  "objects": [
+    "BigBox1"
+  ],
+  "options": {
+    "raw_video": true,
+    "proxy_height": 540,
+    "proxy_crf": 28,
+    "proxy_bitrate": "1400k",
+    "mocap_selection": "explicit",
+    "mocap_files": [
+      "mocap-EC10-S02-wangzhixin-01p1/mocap-EC10-S02-wangzhixin-01p1-1.mp4",
+      "mocap-EC10-S02-wangzhixin-01p1/mocap-EC10-S02-wangzhixin-01p1-BigBox1.csv",
+      "mocap-EC10-S02-wangzhixin-01p1/mocap-EC10-S02-wangzhixin-01p1-BigBox1.trc",
+      "mocap-EC10-S02-wangzhixin-01p1/mocap-EC10-S02-wangzhixin-01p1-Body0.bvh",
+      "mocap-EC10-S02-wangzhixin-01p1/mocap-EC10-S02-wangzhixin-01p1-Body0.csv",
+      "mocap-EC10-S02-wangzhixin-01p1/mocap-EC10-S02-wangzhixin-01p1-Body0.trc",
+      "mocap-EC10-S02-wangzhixin-01p1/mocap-EC10-S02-wangzhixin-01p1-Tracker0.csv",
+      "mocap-EC10-S02-wangzhixin-01p1/mocap-EC10-S02-wangzhixin-01p1-Tracker0.trc"
+    ],
+    "include_rrd": false,
+    "rrd_files": [],
+    "aligned_intersection": false
+  },
+  "files": [
+    {
+      "source": "audio_segment1.wav",
+      "packaged_as": "audio_segment1.wav",
+      "kind": "data",
+      "original_bytes": 20012238,
+      "packaged_bytes": 20012238,
+      "compressed_video": false,
+      "sha256": "b67221dce6c3fef0943bd04abf40c224551d611261cb5e30c1f84eaf71bd54c9"
+    },
+    {
+      "source": "mocap-EC10-S02-wangzhixin-01p1/mocap-EC10-S02-wangzhixin-01p1-1.mp4",
+      "packaged_as": "mocap/mocap-EC10-S02-wangzhixin-01p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 54165781,
+      "packaged_bytes": 54165781,
+      "compressed_video": false,
+      "sha256": "739798d0ba5170ca58a1392a76bfa0556c6b72194793873a180c28d58bbc7b5e"
+    },
+    {
+      "source": "mocap-EC10-S02-wangzhixin-01p1/mocap-EC10-S02-wangzhixin-01p1-BigBox1.csv",
+      "packaged_as": "mocap/mocap-EC10-S02-wangzhixin-01p1-BigBox1.csv",
+      "kind": "data",
+      "original_bytes": 3792060,
+      "packaged_bytes": 3792060,
+      "compressed_video": false,
+      "sha256": "0b7a8dbd4abfbafaea3e93c29e026c699b4e95d87ba1029753e2d00d6699e11b"
+    },
+    {
+      "source": "mocap-EC10-S02-wangzhixin-01p1/mocap-EC10-S02-wangzhixin-01p1-BigBox1.trc",
+      "packaged_as": "mocap/mocap-EC10-S02-wangzhixin-01p1-BigBox1.trc",
+      "kind": "data",
+      "original_bytes": 3650516,
+      "packaged_bytes": 3650516,
+      "compressed_video": false,
+      "sha256": "47ae309b19814a7afd85b7f7aa7fd446d9c9f79114089b728468454fe9ab5f2d"
+    },
+    {
+      "source": "mocap-EC10-S02-wangzhixin-01p1/mocap-EC10-S02-wangzhixin-01p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-EC10-S02-wangzhixin-01p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 7453458,
+      "packaged_bytes": 7453458,
+      "compressed_video": false,
+      "sha256": "d07cef984d120bc8eb47239ff580a62d0bd039256b7660e12e4614ea39dbe9d7"
+    },
+    {
+      "source": "mocap-EC10-S02-wangzhixin-01p1/mocap-EC10-S02-wangzhixin-01p1-Body0.csv",
+      "packaged_as": "mocap/mocap-EC10-S02-wangzhixin-01p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 102339556,
+      "packaged_bytes": 102339556,
+      "compressed_video": false,
+      "sha256": "f29aa15e930fb799249698ef532e6c1c5439c675acba2bdb9f494ace144a2c68"
+    },
+    {
+      "source": "mocap-EC10-S02-wangzhixin-01p1/mocap-EC10-S02-wangzhixin-01p1-Body0.trc",
+      "packaged_as": "mocap/mocap-EC10-S02-wangzhixin-01p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 22474180,
+      "packaged_bytes": 22474180,
+      "compressed_video": false,
+      "sha256": "22b03551409db1fbd10108cdcf9875a299980a4f02e7b5f13f5e53c41a9c4870"
+    },
+    {
+      "source": "mocap-EC10-S02-wangzhixin-01p1/mocap-EC10-S02-wangzhixin-01p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-EC10-S02-wangzhixin-01p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 3869463,
+      "packaged_bytes": 3869463,
+      "compressed_video": false,
+      "sha256": "bdc7d1169977ff075f3ac648533416b058fd62d69070f93b1abc5997e5298448"
+    },
+    {
+      "source": "mocap-EC10-S02-wangzhixin-01p1/mocap-EC10-S02-wangzhixin-01p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-EC10-S02-wangzhixin-01p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 3733588,
+      "packaged_bytes": 3733588,
+      "compressed_video": false,
+      "sha256": "ee0bb88d3ddeb5c479bcd7288169162081ee1bf3d0b0363e7ca88d6898572871"
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1064960,
+      "packaged_bytes": 1064960,
+      "compressed_video": false,
+      "sha256": "077491864a5a4d60dcc9ae86377626619afd599c9824b349fcd41df9bf33534d"
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1028096,
+      "packaged_bytes": 1028096,
+      "compressed_video": false,
+      "sha256": "d0e57cc56413b9ccc6f727bdf0e28445877295a1d1d1615940915eaec429dc44"
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 282624,
+      "packaged_bytes": 282624,
+      "compressed_video": false,
+      "sha256": "297247b1980b678aedb045b8c0cfa0280c15b50e94e8fec7b892dd2668b0e1dc"
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 52002639,
+      "packaged_bytes": 52002639,
+      "compressed_video": false,
+      "sha256": "5cd3110cc13fbfb42be953384047670e50402edeefcd730ac15ba0fcdda6db9e"
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 51991547,
+      "packaged_bytes": 51991547,
+      "compressed_video": false,
+      "sha256": "fa55fd82ce6de3fbada0a5bcaaac930dc078639c731990854497dcb4baba5a50"
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 51948815,
+      "packaged_bytes": 51948815,
+      "compressed_video": false,
+      "sha256": "d5a2c8040ff921f4560be553fc4989c1d037c25a730184b32f3e38ced139ede1"
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 51999997,
+      "packaged_bytes": 51999997,
+      "compressed_video": false,
+      "sha256": "43ba1e31dc4f58a4b0cd2bd14b5f45aea19b898888fb493f516ec962c3d76160"
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 51973067,
+      "packaged_bytes": 51973067,
+      "compressed_video": false,
+      "sha256": "42cb538d9c5304e673a1b2c453142c95b5c416fb6186f4708052c8aa046681d8"
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 52025693,
+      "packaged_bytes": 52025693,
+      "compressed_video": false,
+      "sha256": "47f9d8ae62fb3de3ef276d4ed67d7271f4ab55565e4f7a7c3acbe42b9a2f2fca"
+    },
+    {
+      "source": "robowrist_75b5984e04d1d236_left/robowrist_segment1_imu_left.db",
+      "packaged_as": "robowrist_75b5984e04d1d236_left/robowrist_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1032192,
+      "packaged_bytes": 1032192,
+      "compressed_video": false,
+      "sha256": "6406fde3a26bcf22a9c1a33edd4bbed1d56ed69ac7c066484a41d01ad0d373dd"
+    },
+    {
+      "source": "robowrist_75b5984e04d1d236_left/robowrist_segment1_mag_left.db",
+      "packaged_as": "robowrist_75b5984e04d1d236_left/robowrist_segment1_mag_left.db",
+      "kind": "data",
+      "original_bytes": 266240,
+      "packaged_bytes": 266240,
+      "compressed_video": false,
+      "sha256": "3c940a60b2e8db799437656dcd56cdee850606165067f923352ed2773cf7380d"
+    },
+    {
+      "source": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4",
+      "packaged_as": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 24615851,
+      "packaged_bytes": 24615851,
+      "compressed_video": false,
+      "sha256": "67132f0e76096032bfea88fc52d4062bf541a1e4ff51281f311b60dd204d00f0"
+    },
+    {
+      "source": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_imu_right.db",
+      "packaged_as": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1024000,
+      "packaged_bytes": 1024000,
+      "compressed_video": false,
+      "sha256": "47da48d196c224a7e75ee0eb4226afbe538302c6c3d282230b0fef6351eb0218"
+    },
+    {
+      "source": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_mag_right.db",
+      "packaged_as": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_mag_right.db",
+      "kind": "data",
+      "original_bytes": 270336,
+      "packaged_bytes": 270336,
+      "compressed_video": false,
+      "sha256": "b82f92fe8250c36bb308a017cdb8d1a3299c3423e874dcfdee7edac7ce173f5a"
+    },
+    {
+      "source": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4",
+      "packaged_as": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 35346309,
+      "packaged_bytes": 35346309,
+      "compressed_video": false,
+      "sha256": "bbaddc1106691a65aa58bc2a7e9dffe619439abd0291765f69ad2f2918112b00"
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 570157,
+      "packaged_bytes": 570101,
+      "compressed_video": false,
+      "sha256": "833dfaa67b4687bd5eeb6ac412468d2db761697d7c19f805d9cded08e6a8dbdd"
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-EC10-S02-wangzhixin-01p1",
+    "action_id": "EC10",
+    "collection_session_index": 2,
+    "participant": "wangzhixin",
+    "repetition_count": 1
+  },
+  "upload_batch_created_at": "2026-10-27T19:54:39.650719+08:00",
+  "participant_gender": "female",
+  "participant_height_cm": 155,
+  "participant_weight_kg": 43,
+  "collection_site": {
+    "id": "site_00",
+    "assignment_method": "env",
+    "catalog": "collection_sites.json"
+  }
+}

actions/environment_coupled_wholebody/EC10/session_015/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f29aa15e930fb799249698ef532e6c1c5439c675acba2bdb9f494ace144a2c68
+size 102339556

actions/environment_coupled_wholebody/EC10/session_015/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22b03551409db1fbd10108cdcf9875a299980a4f02e7b5f13f5e53c41a9c4870
+size 22474180