Release update 2026-11-05: 5760 sessions, instructions, annotations (part 99)

.gitattributes

@@ -42252,3 +42252,21 @@ actions/environment_coupled_wholebody/EC11/session_024/raw/sensors/robowrist_imu
 actions/environment_coupled_wholebody/EC11/session_024/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/environment_coupled_wholebody/EC11/session_024/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/environment_coupled_wholebody/EC11/session_024/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC11/session_025/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC11/session_025/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC11/session_025/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC11/session_025/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC11/session_025/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC11/session_025/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC11/session_025/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC11/session_025/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC11/session_025/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC11/session_026/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC11/session_026/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC11/session_026/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC11/session_026/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC11/session_026/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC11/session_026/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC11/session_026/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC11/session_026/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC11/session_026/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/environment_coupled_wholebody/EC11/session_025/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89e4fa0271f0c9bf16748038cae4a7c598af0aa563c550ff25f4288823d43bf2
+size 106810148

actions/environment_coupled_wholebody/EC11/session_025/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:474a6059e2e5e4f6213173c7ab249c402c28f220e87555493ebd29c2bd072832
+size 23288459

actions/environment_coupled_wholebody/EC11/session_025/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6031b9bc8dda01b828f4b222718d76424802465fbeb5c048babbbcd07d441670
+size 1110016

actions/environment_coupled_wholebody/EC11/session_025/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e78ce9e6fa350998e6ca3af4754b261e79d375ee17733b93befe3dc95c8b6e5
+size 1073152

actions/environment_coupled_wholebody/EC11/session_025/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f98d7d0d5876520b36f8220c9ab1ea8965a5f260433239d87cc1ece7e8eddcaa
+size 290816

actions/environment_coupled_wholebody/EC11/session_025/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7366ce948cafbe7ea455561492310ce583f5586b5af2711a01990fd29e6c8c73
+size 1069056

actions/environment_coupled_wholebody/EC11/session_025/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68dbe6d208c7d6e4f598b3160e480573e2acd6e402692f2bb048c7a53601b685
+size 1077248

actions/environment_coupled_wholebody/EC11/session_025/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db137fd5b32fcb16729181afbc7c0773f7e72723e334ae3d5fcb2db28949309d
+size 278528

actions/environment_coupled_wholebody/EC11/session_025/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c51a3781d9fc9eab4b283c1fcf02d93b54c2572e9906e9417d25fda995ee2c1
+size 278528

actions/environment_coupled_wholebody/EC11/session_025/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9913216cb5b1971d821e5e36c33ac5c666fa3ad28a6caa13dd69976be0f6d2c3
+size 1172543

actions/environment_coupled_wholebody/EC11/session_025/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba3c57a93f4a5cff7331be021e5924047073bf57319171c28c942615efd6867d
+size 135518

actions/environment_coupled_wholebody/EC11/session_025/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf2f70177eb9ab234392101d3498aa66d4e1382bb1e25cf3a9c646755fa7a9ba
+size 1200543

actions/environment_coupled_wholebody/EC11/session_025/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f01f3cb1b5b21bc90e347b5b3e61a76f1dae27e55801862f01d86cdd218f619
+size 245468

actions/environment_coupled_wholebody/EC11/session_025/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d58475c26028b566062cd1a225282cc6cdaaaf3c41798fbe5971f0572419c558
+size 207119

actions/environment_coupled_wholebody/EC11/session_025/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5c0f7a474702f544a9945dd821bf12feca7c7c4885dc734e0d38407f717ca93
+size 53439542

actions/environment_coupled_wholebody/EC11/session_025/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb020516c769788db8e3e3009426acdb093f9c7b11e813b4018c35d848a3a524
+size 47252731

actions/environment_coupled_wholebody/EC11/session_025/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3df06e3354ad864aaa8f2e679fa43b012e31febf368d6f0bc0f786c86b74b2a7
+size 53386074

actions/environment_coupled_wholebody/EC11/session_025/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f85278d8a71eb79d95281736e2ce78624ce64a980eb5b2662da0649dde1a406e
+size 53398938

actions/environment_coupled_wholebody/EC11/session_025/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:043a5502a38a39f6a0052336a7fca6234ea0b7a5eb6d2a8a4cd8547572260ade
+size 53386738

actions/environment_coupled_wholebody/EC11/session_025/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:718e12074d891c9e4f960b70b6787651b057fc6b838cd890b36c7b39db604246
+size 53415532

actions/environment_coupled_wholebody/EC11/session_025/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8642fb130d4802a9b91679cf1b3e29dd5a8481759add513848a9dc358b34b948
+size 56066438

actions/environment_coupled_wholebody/EC11/session_025/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffd82ca6cf0e708b12fa5783e812402f50dfb7613fcef4790f37464768973ea7
+size 44251519

actions/environment_coupled_wholebody/EC11/session_025/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a99aae44cc9255e8b8d84732382bda21f39328018da2fdc71a4d4ed9e9bf14d1
+size 46708887

actions/environment_coupled_wholebody/EC11/session_026/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:360fe276f85d9429acf82e5ee7deea2e48aaa78c1d2f714fd66d8ab387a0e40c
+size 871072

actions/environment_coupled_wholebody/EC11/session_026/meta.json

@@ -0,0 +1,533 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261031/EC11/20261031_110831_session29",
+ "session_id": "20261031_110831_session29",
+ "primitive": "EC11",
+ "batch": "20261031",
+ "participant": "zhangxinxin",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e3296774a321bb51",
+  "left": "39042f5fb5da3b12",
+  "right": "65a3481473d6e2a0"
+ },
+ "generated_at_utc": "2026-11-03T05:49:06.835492+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": 100.59166666666667,
+  "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": -0.093,
+  "rate": 0.0,
+  "global_lag_s": -0.095,
+  "peak_corr": 0.9959,
+  "reference_imu_first_sample_s": 7218.863911586,
+  "windows": {
+   "n_windows": 9,
+   "window_corr_median": 0.9969058434087976,
+   "drift_ppm": 9.72599023410324,
+   "drift_se_ppm": 3.7316944683809887,
+   "drift_ms_over_take": 0.9782725177135507,
+   "lag_scatter_ms": 0.2549232632740251,
+   "lag_range_ms": 1.084984094702507
+  }
+ },
+ "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": 20325,
+    "n_gyro": 20320,
+    "t_start": -0.09994930144359229,
+    "t_end": 100.77937164355598
+   },
+   "imu_head_left": {
+    "n_acc": 20231,
+    "n_gyro": 20224,
+    "t_start": 0.005718906556177655,
+    "t_end": 100.94807413355619
+   },
+   "imu_wrist_right": {
+    "n_acc": 20448,
+    "n_gyro": 20460,
+    "t_start": -0.8278200134439596,
+    "t_end": 99.96401747555655
+   },
+   "imu_wrist_left": {
+    "n_acc": 20359,
+    "n_gyro": 20371,
+    "t_start": -0.924237636443939,
+    "t_end": 99.96437355755614
+   },
+   "mag_head": {
+    "n": 10103,
+    "t_start": 0.0916529485563676,
+    "t_end": 101.11165058055639
+   },
+   "mag_wrist_right": {
+    "n": 10078,
+    "t_start": -0.8112389654436977,
+    "t_end": 99.95934952855595
+   },
+   "mag_wrist_left": {
+    "n": 10088,
+    "t_start": -0.9124012024433962,
+    "t_end": 99.9576454195564
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 7218.99434,
+    "frames": 3017,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0025546514432425653,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.03998290899988363,
+    "t_end": 100.573215909,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 7218.994297,
+    "frames": 3017,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002366886077403108,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.039752143634070064,
+    "t_end": 100.57299614363427,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 7218.994327,
+    "frames": 3017,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0026728712083183277,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.04008812876480236,
+    "t_end": 100.57332112876492,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 7218.994351,
+    "frames": 3017,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002595594493655556,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.04003485205037735,
+    "t_end": 100.57327885205058,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 60.0,
+    "start_device_s": 7218.994308,
+    "frames": 2952,
+    "pts_gaps": 2951,
+    "timing": "pts (gap undecided)",
+    "timeshift_cam_imu_s": 0.002394386090989767,
+    "gap_test": {
+     "pts": {
+      "offset_ms": 2.9,
+      "corr": 0.894,
+      "err_ms": 0.5
+     },
+     "nominal": {
+      "offset_ms": 150.0,
+      "corr": 0.048,
+      "err_ms": 147.6
+     }
+    },
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.03979064364710369,
+    "t_end": 100.58966864364692,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 7218.994278,
+    "frames": 3017,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002315656053021164,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.039681913609166924,
+    "t_end": 100.57292591360937,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 7218.03067,
+    "frames": 3026,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -0.9262417424436701,
+    "t_end": 99.90709125755592,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 7218.171837,
+    "frames": 3022,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -0.7850747424439016,
+    "t_end": 99.91551125755603,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-EC11-S03-zhangxinxin-01p1-1.mp4",
+    "frames": 3018,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 100.56666666666666
+   }
+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "e3296774a321bb51/20261031-afternoon/labels-053412/session-51db3f31983662b1",
+  "R_tracker0_imu0": [
+   [
+    -0.733009,
+    0.12196911,
+    -0.66919455
+   ],
+   [
+    0.67601814,
+    0.0214568,
+    -0.73657252
+   ],
+   [
+    -0.07548032,
+    -0.99230194,
+    -0.09818135
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   0.01285651117126252,
+   -0.0018687558053998442,
+   -0.021792937623619547
+  ],
+  "rig_check": {
+   "gyro_samples": 5921,
+   "gyro_max_deg": 2.5,
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 1.509,
+   "video_solve": {
+    "status": "ok",
+    "reason": "",
+    "reprojection_px": 3.198,
+    "n_assoc": 444,
+    "gyro_deg": 1.509
+   }
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-11-03T09:17:57.674412+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": [
+   [
+    0.9999980753,
+    0.0019619693,
+    8.2636e-06
+   ],
+   [
+    -8.2636e-06,
+    0.0084236237,
+    -0.9999645206
+   ],
+   [
+    -0.0019619693,
+    0.9999625959,
+    0.0084236237
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999998075,
+    1.961969e-06,
+    8.264e-09,
+    0.0
+   ],
+   [
+    -8.264e-09,
+    8.423624e-06,
+    -0.000999964521,
+    0.0
+   ],
+   [
+    -1.961969e-06,
+    0.000999962596,
+    8.423624e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20261031-afternoon",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.4955625379774218,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 36.9,
+   "headtop_p95_mm": 1634.0
+  },
+  "gravity_check": {
+   "static_samples": 1019,
+   "g_world_mean_m_s2": [
+    0.0592,
+    0.0411,
+    9.7478
+   ],
+   "tilt_from_z_deg": 0.423,
+   "tilt_from_z_deg_before_levelling": 0.337,
+   "magnitude_m_s2": 9.748
+  },
+  "rig_tracker_definition": "e3296774a321bb51/20261031-afternoon/labels-053412/session-51db3f31983662b1",
+  "rig_check": {
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 1.509
+  },
+  "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": "2026-11-03T11:51:03.222243+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": [
+      0.05741187557578087,
+      -0.025412889197468758,
+      0.010664576664566994
+     ],
+     "LHandOut": [
+      0.06475561857223511,
+      0.012614976614713669,
+      0.002192806452512741
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.08776360750198364,
+      -0.026041576638817787,
+      0.023947374895215034
+     ],
+     "RHandOut": [
+      -0.10351427644491196,
+      0.006888567935675383,
+      0.001410129712894559
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 3.98,
+   "p95_frame": 5.86
+  },
+  "worst_markers": [
+   "LHeel 8mm",
+   "LShin 7mm",
+   "RKnee 6mm",
+   "LKneeIn 6mm",
+   "RHeel 6mm"
+  ],
+  "valid_fraction": 0.9993,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 11.0,
+    "p5": 2.6
+   },
+   "frames_checked": 403,
+   "stature_mm": 1627.7
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 13.15
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 86.33,
+    "Q_rotvec": [
+     1.41595,
+     -0.39843,
+     -0.32686
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 84.8,
+    "opposite_sign_bend_deg": 107.2,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.45,
+    "hand_vs_marker_frame_deg": {
+     "before": 86.28,
+     "after": 3.45
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 77.15,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -6.0,
+       5.2
+      ]
+     },
+     "wrist_total_deg_median_after": 37.2,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1207
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 71.07,
+    "Q_rotvec": [
+     1.02637,
+     0.66401,
+     0.21087
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 81.0,
+    "opposite_sign_bend_deg": 104.8,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.46,
+    "hand_vs_marker_frame_deg": {
+     "before": 70.95,
+     "after": 1.46
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -73.46,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -5.4,
+       5.1
+      ]
+     },
+     "wrist_total_deg_median_after": 36.7,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1207
+   },
+   "generated_at_utc": "2026-11-03T11:51:06.086190+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/environment_coupled_wholebody/EC11/session_026",
+  "family": "environment_coupled_wholebody",
+  "primitive": "EC11",
+  "source_session": "20261031/EC11/20261031_110831_session29"
+ },
+ "task": {
+  "primitive": "EC11",
+  "instruction": "Turn the cart round to face the other way without moving it out of the marked square, then turn it back. Repeat until the operator says stop."
+ },
+ "objects": [
+  {
+   "name": "BigBox1",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC11/session_026/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5ede8909547ac0aa6ad83b1e2c2cb882ae41d41bd46f0da33e8a36211f59e8e
+size 903815

actions/environment_coupled_wholebody/EC11/session_026/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a1df992abe5058d14fdab3dce25ef9e21e58197e3a4f3788efe885aed54c6a5
+size 7015889

actions/environment_coupled_wholebody/EC11/session_026/motions/object_markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66c41bb116249a3ba613afcd05f36260b9d746c6818e37d2a810a3d6a2e227c1
+size 556639

actions/environment_coupled_wholebody/EC11/session_026/motions/objects.json

@@ -0,0 +1,55 @@
+{
+ "session": "20261031/EC11/20261031_110831_session29",
+ "generated_at_utc": "2026-11-04T20:59:49.906127+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": "mesh",
+   "mesh": "objects/BigBox/bigbox.ply",
+   "calibration": {
+    "instance": "BigBox",
+    "rms_mm": 0.69
+   },
+   "valid_pct": 99.98,
+   "verified_pct": 99.98,
+   "moving_pct": 76.33,
+   "vision_source": null
+  }
+ ],
+ "absent": [
+  {
+   "name": "Table",
+   "object_type": "Table",
+   "valid_s": 0.0
+  }
+ ],
+ "object_list": {
+  "status": "corrected",
+  "notes": [],
+  "declared": [
+   "BigBox1",
+   "Table0"
+  ],
+  "listed": [
+   {
+    "name": "BigBox1",
+    "object": "BigBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "Table",
+    "object": null,
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/environment_coupled_wholebody/EC11/session_026/motions/objects.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d96973dd34b832b98501eed97bf73dec559021c660cf1134d92308587ad8624
+size 578693

actions/environment_coupled_wholebody/EC11/session_026/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1dddc423dc9b648f174a8ec535068f082ec29dfca227caeb4931324f6bf3779
+size 7064336

actions/environment_coupled_wholebody/EC11/session_026/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0902b8aa38e560800a6a7f6a28bb1feaedf019371a4c7a997511606805049d0
+size 4640792

actions/environment_coupled_wholebody/EC11/session_026/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc0e24cbeb64e1a427bbf3a9b22875843547db3a0fc25e4b93b76c4b23b5b833
+size 18741198

actions/environment_coupled_wholebody/EC11/session_026/raw/manifest.json

@@ -0,0 +1,308 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-10-31T14:45:03.499016+00:00",
+  "primitive_id": "EC11",
+  "session_id": "20261031_110831_session29",
+  "upload_batch_id": "20261031",
+  "dataset_path": "EgoMotionActions/20261031/EC11/20261031_110831_session29",
+  "segment": "auto/all",
+  "duration_s": 100.533233,
+  "device_ids": {
+    "main": "e3296774a321bb51",
+    "left": "39042f5fb5da3b12",
+    "right": "65a3481473d6e2a0"
+  },
+  "mocap_rigid_names": [
+    "BigBox1",
+    "Body0",
+    "Table",
+    "Tracker0"
+  ],
+  "objects": [
+    "BigBox1",
+    "Table0"
+  ],
+  "options": {
+    "raw_video": true,
+    "proxy_height": 540,
+    "proxy_crf": 28,
+    "proxy_bitrate": "1400k",
+    "mocap_selection": "explicit",
+    "mocap_files": [
+      "mocap-EC11-S03-zhangxinxin-01p1/mocap-EC11-S03-zhangxinxin-01p1-1.mp4",
+      "mocap-EC11-S03-zhangxinxin-01p1/mocap-EC11-S03-zhangxinxin-01p1-BigBox1.csv",
+      "mocap-EC11-S03-zhangxinxin-01p1/mocap-EC11-S03-zhangxinxin-01p1-BigBox1.trc",
+      "mocap-EC11-S03-zhangxinxin-01p1/mocap-EC11-S03-zhangxinxin-01p1-Body0.bvh",
+      "mocap-EC11-S03-zhangxinxin-01p1/mocap-EC11-S03-zhangxinxin-01p1-Body0.csv",
+      "mocap-EC11-S03-zhangxinxin-01p1/mocap-EC11-S03-zhangxinxin-01p1-Body0.trc",
+      "mocap-EC11-S03-zhangxinxin-01p1/mocap-EC11-S03-zhangxinxin-01p1-Table.csv",
+      "mocap-EC11-S03-zhangxinxin-01p1/mocap-EC11-S03-zhangxinxin-01p1-Table.trc",
+      "mocap-EC11-S03-zhangxinxin-01p1/mocap-EC11-S03-zhangxinxin-01p1-Tracker0.csv",
+      "mocap-EC11-S03-zhangxinxin-01p1/mocap-EC11-S03-zhangxinxin-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": 18741198,
+      "packaged_bytes": 18741198,
+      "compressed_video": false,
+      "sha256": "fc0e24cbeb64e1a427bbf3a9b22875843547db3a0fc25e4b93b76c4b23b5b833"
+    },
+    {
+      "source": "mocap-EC11-S03-zhangxinxin-01p1/mocap-EC11-S03-zhangxinxin-01p1-1.mp4",
+      "packaged_as": "mocap/mocap-EC11-S03-zhangxinxin-01p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 53432007,
+      "packaged_bytes": 53432007,
+      "compressed_video": false,
+      "sha256": "f9d0efbf931bcb1894d9dccddb4212d250d73a3333d082238aa75ca47465da80"
+    },
+    {
+      "source": "mocap-EC11-S03-zhangxinxin-01p1/mocap-EC11-S03-zhangxinxin-01p1-BigBox1.csv",
+      "packaged_as": "mocap/mocap-EC11-S03-zhangxinxin-01p1-BigBox1.csv",
+      "kind": "data",
+      "original_bytes": 3765985,
+      "packaged_bytes": 3765985,
+      "compressed_video": false,
+      "sha256": "bcf6e2a89315ea7976af32aae939ab97442fea2048680913a44550dbf16b8d19"
+    },
+    {
+      "source": "mocap-EC11-S03-zhangxinxin-01p1/mocap-EC11-S03-zhangxinxin-01p1-BigBox1.trc",
+      "packaged_as": "mocap/mocap-EC11-S03-zhangxinxin-01p1-BigBox1.trc",
+      "kind": "data",
+      "original_bytes": 3508408,
+      "packaged_bytes": 3508408,
+      "compressed_video": false,
+      "sha256": "9bf4401aa1e7b58bb6a4fac480c75fe95cfbaf5a125832052a143f52a39f5c38"
+    },
+    {
+      "source": "mocap-EC11-S03-zhangxinxin-01p1/mocap-EC11-S03-zhangxinxin-01p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-EC11-S03-zhangxinxin-01p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 7207972,
+      "packaged_bytes": 7207972,
+      "compressed_video": false,
+      "sha256": "8a838d56daf138f008651430a25aebd29c62c6404b7cda103a73f92f9c8355c6"
+    },
+    {
+      "source": "mocap-EC11-S03-zhangxinxin-01p1/mocap-EC11-S03-zhangxinxin-01p1-Body0.csv",
+      "packaged_as": "mocap/mocap-EC11-S03-zhangxinxin-01p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 100591428,
+      "packaged_bytes": 100591428,
+      "compressed_video": false,
+      "sha256": "56055168ebf7652ad78b64539bd11646dd83c96131ebba2357f780fed2da351b"
+    },
+    {
+      "source": "mocap-EC11-S03-zhangxinxin-01p1/mocap-EC11-S03-zhangxinxin-01p1-Body0.trc",
+      "packaged_as": "mocap/mocap-EC11-S03-zhangxinxin-01p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 21882805,
+      "packaged_bytes": 21882805,
+      "compressed_video": false,
+      "sha256": "19f11caf25b292e5b3f9c96acaa09bc992ca217bcf4112658db3ce1673d88bd0"
+    },
+    {
+      "source": "mocap-EC11-S03-zhangxinxin-01p1/mocap-EC11-S03-zhangxinxin-01p1-Table.csv",
+      "packaged_as": "mocap/mocap-EC11-S03-zhangxinxin-01p1-Table.csv",
+      "kind": "data",
+      "original_bytes": 3128227,
+      "packaged_bytes": 3128227,
+      "compressed_video": false,
+      "sha256": "04fffa68050d01c60b280336013ef65bebb8bf407e691a996b1ab70c8fcc7a13"
+    },
+    {
+      "source": "mocap-EC11-S03-zhangxinxin-01p1/mocap-EC11-S03-zhangxinxin-01p1-Table.trc",
+      "packaged_as": "mocap/mocap-EC11-S03-zhangxinxin-01p1-Table.trc",
+      "kind": "data",
+      "original_bytes": 338247,
+      "packaged_bytes": 338247,
+      "compressed_video": false,
+      "sha256": "e5a28930970f73b21f6feb2a496f837de491fbe5c01d8a9651a5b253bc111f3f"
+    },
+    {
+      "source": "mocap-EC11-S03-zhangxinxin-01p1/mocap-EC11-S03-zhangxinxin-01p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-EC11-S03-zhangxinxin-01p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 3782432,
+      "packaged_bytes": 3782432,
+      "compressed_video": false,
+      "sha256": "f55f40e8617ceb4fc98e7854cf2d333777d92d52a17639cba258f3359045c2ca"
+    },
+    {
+      "source": "mocap-EC11-S03-zhangxinxin-01p1/mocap-EC11-S03-zhangxinxin-01p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-EC11-S03-zhangxinxin-01p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 3613313,
+      "packaged_bytes": 3613313,
+      "compressed_video": false,
+      "sha256": "7253e6471ef9cfb009210df8c7858784d5a277eef3f68cc0f13dc97681585d4a"
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1044480,
+      "packaged_bytes": 1044480,
+      "compressed_video": false,
+      "sha256": "a091a4320fda983c432e45cff28c30d9c0eba6edf20997ded3f84918da9d85cd"
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1007616,
+      "packaged_bytes": 1007616,
+      "compressed_video": false,
+      "sha256": "c27a2148106375473724d094e8486d95cfc74d6b31c735ea5057e1ec4d5704cf"
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 274432,
+      "packaged_bytes": 274432,
+      "compressed_video": false,
+      "sha256": "15f24642d0b8098a15a9e1b8f5003a2cb7fdd80d50d265bfdf53d8985c1a4f36"
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 50361264,
+      "packaged_bytes": 50361264,
+      "compressed_video": false,
+      "sha256": "a50b85110a02a0117addd2f46a1b5875e199e1b85719f24e400e7f32d1d0de01"
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 49210230,
+      "packaged_bytes": 49210230,
+      "compressed_video": false,
+      "sha256": "2eb539ba7b6b2ec26fe832e04963209e46881e86a8c55bc58219b8d32c3398b3"
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 50365401,
+      "packaged_bytes": 50365401,
+      "compressed_video": false,
+      "sha256": "edb83a12139a187f2ec5b5c7c9e64c5839c69ac8d4f7c9f70bb829fb1209e448"
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 50417485,
+      "packaged_bytes": 50417485,
+      "compressed_video": false,
+      "sha256": "3006c0a3acf6a66e65e3e5aadffad4b1b267b0e2475d6b11d68d2766ebe142bc"
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 50350778,
+      "packaged_bytes": 50350778,
+      "compressed_video": false,
+      "sha256": "f14cc836d65ba2f90fca50e8fbd4ec541c2d440a4702a0bacca0767e307a1fb9"
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 50396857,
+      "packaged_bytes": 50396857,
+      "compressed_video": false,
+      "sha256": "ae3d3036517b1876c47a27343710884ace9110508d33cc8d46f4b41533a274a2"
+    },
+    {
+      "source": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_imu_left.db",
+      "packaged_as": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1011712,
+      "packaged_bytes": 1011712,
+      "compressed_video": false,
+      "sha256": "b5b29c8b475d46fb9265aa98e2f0c5075361661338e59807bc671160fd4ca3ef"
+    },
+    {
+      "source": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_mag_left.db",
+      "packaged_as": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_mag_left.db",
+      "kind": "data",
+      "original_bytes": 266240,
+      "packaged_bytes": 266240,
+      "compressed_video": false,
+      "sha256": "fdc6d554642c8ca6a02c08dbb2342f1fe8d34234eb57c27a07a42d6db7717903"
+    },
+    {
+      "source": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
+      "packaged_as": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 41303207,
+      "packaged_bytes": 41303207,
+      "compressed_video": false,
+      "sha256": "412eda7d108ce690c121e1f224b9a403ec29345b42b4d49d70c5dac2d73e3d67"
+    },
+    {
+      "source": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_imu_right.db",
+      "packaged_as": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1019904,
+      "packaged_bytes": 1019904,
+      "compressed_video": false,
+      "sha256": "c490152729907e02f0118bad0713ca239c6939c4444dcb7a60804498ec0127d2"
+    },
+    {
+      "source": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_mag_right.db",
+      "packaged_as": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_mag_right.db",
+      "kind": "data",
+      "original_bytes": 266240,
+      "packaged_bytes": 266240,
+      "compressed_video": false,
+      "sha256": "ce22f98429cf630ac9570183b7f8b3641d99269a7b1d3632b579cf865b31e641"
+    },
+    {
+      "source": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
+      "packaged_as": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 43679170,
+      "packaged_bytes": 43679170,
+      "compressed_video": false,
+      "sha256": "01abd81469d42faa7380120d5fb6f100535e8c1d16b61ba312c528f19c78baac"
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 3382900,
+      "packaged_bytes": 3382852,
+      "compressed_video": false,
+      "sha256": "df2d15526f353b274251ac8e91447cddcb1cdeeab74a07e7ce04af55adebfe01"
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-EC11-S03-zhangxinxin-01p1",
+    "action_id": "EC11",
+    "collection_session_index": 3,
+    "participant": "zhangxinxin",
+    "repetition_count": 1
+  },
+  "upload_batch_created_at": "2026-10-31T23:09:18.524911+08:00",
+  "participant_gender": "female",
+  "participant_height_cm": 160,
+  "participant_weight_kg": 60,
+  "collection_site": {
+    "id": "site_00",
+    "assignment_method": "env",
+    "catalog": "collection_sites.json"
+  }
+}

actions/environment_coupled_wholebody/EC11/session_026/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56055168ebf7652ad78b64539bd11646dd83c96131ebba2357f780fed2da351b
+size 100591428

actions/environment_coupled_wholebody/EC11/session_026/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19f11caf25b292e5b3f9c96acaa09bc992ca217bcf4112658db3ce1673d88bd0
+size 21882805

actions/environment_coupled_wholebody/EC11/session_026/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a091a4320fda983c432e45cff28c30d9c0eba6edf20997ded3f84918da9d85cd
+size 1044480

actions/environment_coupled_wholebody/EC11/session_026/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c27a2148106375473724d094e8486d95cfc74d6b31c735ea5057e1ec4d5704cf
+size 1007616