Upload folder using huggingface_hub (part 32)

.gitattributes

@@ -40011,3 +40011,28 @@ actions/dynamic_recovery/DR15/session_007/raw/sensors/robowrist_mag_left.db filt
 actions/dynamic_recovery/DR15/session_007/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
 actions/environment_coupled_wholebody/EC01/session_011/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
 actions/environment_coupled_wholebody/EC01/session_011/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_011/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_011/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_011/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_011/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_011/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_011/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_011/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_012/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_012/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_012/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_012/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_012/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_012/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_012/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_012/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_012/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_013/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_013/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_013/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_013/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_013/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_013/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_013/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_013/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_013/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/environment_coupled_wholebody/EC01/session_011/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7b810f792f42d3b0afd90f23e7294246421cc9e06d700fcf5b67ced982ed631
+size 1380352

actions/environment_coupled_wholebody/EC01/session_011/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78e70f4cabb6e5eccd1814445369cfb5b917cb10f357e3f5e799100474f79d3a
+size 1331200

actions/environment_coupled_wholebody/EC01/session_011/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83d60b255d209e125993121e7ddf955b430c70cce686a16d26b2a7c9a31e333d
+size 356352

actions/environment_coupled_wholebody/EC01/session_011/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2318ec4672b0d43d5684fb5d33f49bdcb27dcb0d5e72f6cf3036f58eb1261a4
+size 1294336

actions/environment_coupled_wholebody/EC01/session_011/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad01813f60e0f2a5d366c49d7b18bef0a715bc5ccd9b08c54602714b135d97f8
+size 1294336

actions/environment_coupled_wholebody/EC01/session_011/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c91407bd5c93a982a0e1d3b729861914340cf88743121087b98cbdab8c1b092
+size 339968

actions/environment_coupled_wholebody/EC01/session_011/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9faefaed1b26521ff557e9b0d6dab79dc6a23bf650e9fbcc8a6dade1bc22428
+size 339968

actions/environment_coupled_wholebody/EC01/session_011/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa192aacdec5dedfbd15290e1b171562ca5cb6920632279400ba9b60d420c0c7
+size 1427067

actions/environment_coupled_wholebody/EC01/session_011/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a847e2691632ee36400498d22c8a5cd2bc14fb3cd998da356bf77bce9d92ff9a
+size 165335

actions/environment_coupled_wholebody/EC01/session_011/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fb1035b8800b3d3d79e5bc627cebe2401109c7e42d607dd883fbd5fab48da0f
+size 1420461

actions/environment_coupled_wholebody/EC01/session_011/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2165cabc4eec867cd3d549c31972259e1ab71f80879e62d421121578d0103159
+size 290391

actions/environment_coupled_wholebody/EC01/session_011/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0177782bf1a3470278b0b3e2f84d5ed4e0628048892ab3d5e82967f97ee4271
+size 253577

actions/environment_coupled_wholebody/EC01/session_011/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecb14079976644e191f0bc44ab31368d80abc7f10d85be54c7cf4b8cc8aff57f
+size 66096467

actions/environment_coupled_wholebody/EC01/session_011/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97d2e9a7e96db6f20a5198cbbe36c53e9b32fd8c4a40aa0beab1df05ec80bfb7
+size 65338702

actions/environment_coupled_wholebody/EC01/session_011/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a3092afc5e30934ed050719348c920816a3afecb066aa4a69533cff34ad7dd0
+size 66066156

actions/environment_coupled_wholebody/EC01/session_011/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:278c5f8819ee65cb8512d8cb2a12ec2365a29e694c43918149a963cac1155664
+size 66136770

actions/environment_coupled_wholebody/EC01/session_011/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d25c9e1cef6030f164027525bf2e3ca5f1947202c16c7b73eba2874304d0024
+size 66035421

actions/environment_coupled_wholebody/EC01/session_011/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46b2569f3bbbf3dfb0ab5ac45ee0ab153ef392c4cf82d4d4ce4c0ec068925931
+size 66107999

actions/environment_coupled_wholebody/EC01/session_011/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:506bc86eca2af307c58a6026eb4f846bed811e99312e4f880fef0db9d3b2bc89
+size 44448855

actions/environment_coupled_wholebody/EC01/session_011/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:486887081aaec85e9dff4a44b5948c6d19d16a01fb0ed8de0f10c088ba5e04e0
+size 48069996

actions/environment_coupled_wholebody/EC01/session_011/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b064e1d78e5d7ce8d8dab95ea99db88d269ddfd727eb6e897964483296b17ef
+size 55459108

actions/environment_coupled_wholebody/EC01/session_012/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:370c4fa2263d5fcfb2864ecb03ea9b70fbeaf79a2c2fb312b3747ac5b88aba67
+size 1097780

actions/environment_coupled_wholebody/EC01/session_012/meta.json

@@ -0,0 +1,524 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261026/EC01/20261026_023209_session25",
+ "session_id": "20261026_023209_session25",
+ "primitive": "EC01",
+ "batch": "20261026",
+ "participant": "liujiaxin",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "c9205ac6e17d2d5c",
+  "left": "cc5681142208e29a",
+  "right": "a85418f7d807dff9"
+ },
+ "generated_at_utc": "2026-10-27T04:53:28.364649+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": 127.825,
+  "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": -0.089209,
+  "rate": 0.0,
+  "global_lag_s": -0.09,
+  "peak_corr": 0.9435,
+  "reference_imu_first_sample_s": 7557.718615585,
+  "windows": {
+   "n_windows": 10,
+   "window_corr_median": 0.9617177536612775,
+   "drift_ppm": 4.912742008200933,
+   "drift_se_ppm": 5.051260555706459,
+   "drift_ms_over_take": 0.6279303076815491,
+   "lag_scatter_ms": 0.4103663474638206,
+   "lag_range_ms": 1.3055410280361501
+  }
+ },
+ "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": "c9205ac6e17d2d5c",
+  "status": "ok",
+  "date": "2026-10-21"
+ },
+ "streams": {
+  "sensors": {
+   "imu_head_right": {
+    "n_acc": 26010,
+    "n_gyro": 26005,
+    "t_start": -0.10063741417192924,
+    "t_end": 128.02168669982862
+   },
+   "imu_head_left": {
+    "n_acc": 25851,
+    "n_gyro": 25845,
+    "t_start": 0.006638760828222609,
+    "t_end": 128.1878014188284
+   },
+   "imu_wrist_right": {
+    "n_acc": 25334,
+    "n_gyro": 25333,
+    "t_start": -0.9445946501712983,
+    "t_end": 126.99886380682861
+   },
+   "imu_wrist_left": {
+    "n_acc": 25255,
+    "n_gyro": 25269,
+    "t_start": -0.8608023441714481,
+    "t_end": 127.00362284682856
+   },
+   "mag_head": {
+    "n": 12827,
+    "t_start": 0.09029746482852223,
+    "t_end": 128.35035215082794
+   },
+   "mag_wrist_right": {
+    "n": 12793,
+    "t_start": -0.9261799551717063,
+    "t_end": 126.99405782282852
+   },
+   "mag_wrist_left": {
+    "n": 12785,
+    "t_start": -0.8423729581712409,
+    "t_end": 126.99754631482816
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 7557.844888,
+    "frames": 3834,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0026284356473863946,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.03969229847521509,
+    "t_end": 127.80638129847526,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 7557.844869,
+    "frames": 3834,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0024181146161434135,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.039462977444286104,
+    "t_end": 127.80614097744424,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 7557.844881,
+    "frames": 3834,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002458947067077895,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.039515809895105655,
+    "t_end": 127.80619380989506,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 7557.844895,
+    "frames": 3834,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0021420814739499558,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.03921294430224824,
+    "t_end": 127.80591294430238,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 60.0,
+    "start_device_s": 7557.844875,
+    "frames": 3722,
+    "pts_gaps": 3721,
+    "timing": "pts (gap undecided)",
+    "timeshift_cam_imu_s": 0.002801984596191448,
+    "gap_test": {
+     "pts": {
+      "offset_ms": -2.9,
+      "corr": 0.78,
+      "err_ms": 5.7
+     },
+     "nominal": {
+      "offset_ms": -63.4,
+      "corr": 0.128,
+      "err_ms": 66.2
+     }
+    },
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.039852847423985246,
+    "t_end": 127.82317484742421,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 7557.84486,
+    "frames": 3834,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002930366888236734,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.03996622971649648,
+    "t_end": 127.80663322971637,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 7556.944975,
+    "frames": 3835,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -0.8628491371713112,
+    "t_end": 126.9370858628287,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 7556.864069,
+    "frames": 3838,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -0.9437551371714521,
+    "t_end": 126.9565048628289,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-EC01-S02-liujiaxin-01p2-1.mp4",
+    "frames": 3835,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 127.8
+   }
+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "c9205ac6e17d2d5c/20261026-morning/labels-235140/session-ab1d2c0b309c8c89",
+  "R_tracker0_imu0": [
+   [
+    -0.6170546,
+    -0.01200238,
+    -0.7868288
+   ],
+   [
+    0.78214402,
+    0.10064387,
+    -0.61491588
+   ],
+   [
+    0.08656995,
+    -0.99485012,
+    -0.05271517
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.1794866923784175,
+   -0.0014621626060413381,
+   0.009308217723915903
+  ],
+  "rig_check": {
+   "gyro_samples": 3434,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 2.394
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-27T06:42:54.677129+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
+   ],
+   [
+    7.9583e-06,
+    -0.0013630091,
+    -0.9999990711
+   ],
+   [
+    -0.0116771196,
+    0.9999308912,
+    -0.0013630091
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.00099993182,
+    1.167712e-05,
+    -7.958e-09,
+    0.0
+   ],
+   [
+    7.958e-09,
+    -1.363009e-06,
+    -0.000999999071,
+    0.0
+   ],
+   [
+    -1.167712e-05,
+    0.000999930891,
+    -1.363009e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20261026-morning",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.6736075582400546,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 28.1,
+   "headtop_p95_mm": 1652.4
+  },
+  "gravity_check": {
+   "static_samples": 1105,
+   "g_world_mean_m_s2": [
+    -0.0513,
+    -0.062,
+    9.7959
+   ],
+   "tilt_from_z_deg": 0.471,
+   "tilt_from_z_deg_before_levelling": 1.01,
+   "magnitude_m_s2": 9.7963
+  },
+  "rig_tracker_definition": "c9205ac6e17d2d5c/20261026-morning/labels-235140/session-ab1d2c0b309c8c89",
+  "rig_check": {
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 2.394
+  },
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-27T07:21:37.522497+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": [
+      0.06972447037696838,
+      -0.028930634260177612,
+      0.03352167829871178
+     ],
+     "LHandOut": [
+      0.0738711804151535,
+      0.01900746487081051,
+      -0.0020905290730297565
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.10751502960920334,
+      -0.037357404828071594,
+      0.015265088528394699
+     ],
+     "RHandOut": [
+      -0.10560791194438934,
+      0.014679488725960255,
+      0.02528424747288227
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 5.17,
+   "p95_frame": 9.07
+  },
+  "worst_markers": [
+   "RKneeIn 12mm",
+   "LShin 12mm",
+   "LKneeIn 10mm",
+   "LMT1 9mm",
+   "LHeel 9mm"
+  ],
+  "valid_fraction": 0.9815,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 14.5,
+    "p5": 11.5
+   },
+   "frames_checked": 502,
+   "stature_mm": 1614.2
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 14.05
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 180.0,
+    "Q_rotvec": [
+     -2.98662,
+     0.4392,
+     0.86995
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 174.1,
+    "opposite_sign_bend_deg": 27.1,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 4.07,
+    "hand_vs_marker_frame_deg": {
+     "before": 179.51,
+     "after": 4.07
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -171.54,
+     "wrist_twist_deg_after": {
+      "median": -2.92,
+      "iqr": [
+       -7.0,
+       1.6
+      ]
+     },
+     "wrist_total_deg_median_after": 35.0,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 0.0,
+    "Q_rotvec": [
+     0.0,
+     0.0,
+     -0.0
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 26.0,
+    "opposite_sign_bend_deg": 176.3,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 4.51,
+    "hand_vs_marker_frame_deg": {
+     "before": 4.51,
+     "after": 4.51
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -0.0,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -3.2,
+       5.7
+      ]
+     },
+     "wrist_total_deg_median_after": 26.0,
+     "markers_on_forearm": [
+      "RElbow",
+      "RElbowIn",
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-28T06:50:07.336847+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/environment_coupled_wholebody/EC01/session_012",
+  "family": "environment_coupled_wholebody",
+  "primitive": "EC01",
+  "source_session": "20261026/EC01/20261026_023209_session25"
+ },
+ "objects": [
+  {
+   "name": "Ramp",
+   "object_type": "Ramp",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC01/session_012/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cae3389485ded7bccc4711eb5bfba36db38da850ccfb62b71dd27d8ab089697b
+size 1131841

actions/environment_coupled_wholebody/EC01/session_012/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f4c55832347b44246eaf34771e927351109aac811e797096447a824fb2f9ed7
+size 8625130

actions/environment_coupled_wholebody/EC01/session_012/motions/object_markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7675ccbdab09799e052a527ed03b2f4103e20ad4f8de7a4bedefd1232cc31ced
+size 57104

actions/environment_coupled_wholebody/EC01/session_012/motions/objects.json

@@ -0,0 +1,38 @@
+{
+ "session": "20261026/EC01/20261026_023209_session25",
+ "generated_at_utc": "2026-10-28T03:33:42.287102+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": "Ramp",
+   "object_type": "Ramp",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 0.0,
+   "verified_pct": 0.0,
+   "moving_pct": 0.0,
+   "vision_source": null
+  }
+ ],
+ "object_list": {
+  "status": "corrected",
+  "notes": [],
+  "declared": [
+   "Ramp0"
+  ],
+  "listed": [
+   {
+    "name": "Ramp",
+    "object": "Ramp",
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/environment_coupled_wholebody/EC01/session_012/motions/objects.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:918d3410046f1e53a44b28444fbe15a37a37bdc73b7356dac5873468b7c4569c
+size 59057

actions/environment_coupled_wholebody/EC01/session_012/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d45b45bd2dc7272a4ecc9a6c7719fb021cfb588d9f1c4353af6d0b90f16ed8dc
+size 8728861

actions/environment_coupled_wholebody/EC01/session_012/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7aaa7481fcc048b854a58f7ab224e0286ed6ffcea06b6892bfb0894b35b872f5
+size 5781241

actions/environment_coupled_wholebody/EC01/session_012/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f6a19f2cc5d913eea0fa8a11d0c9dadd027e1405f1f815a7bc245fb95554303
+size 24627918

actions/environment_coupled_wholebody/EC01/session_012/raw/manifest.json

@@ -0,0 +1,286 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-10-26T17:33:00.532142+00:00",
+  "primitive_id": "EC01",
+  "session_id": "20261026_023209_session25",
+  "upload_batch_id": "20261026",
+  "dataset_path": "EgoMotionActions/20261026/EC01/20261026_023209_session25",
+  "segment": "auto/all",
+  "duration_s": 127.766689,
+  "device_ids": {
+    "main": "c9205ac6e17d2d5c",
+    "left": "cc5681142208e29a",
+    "right": "a85418f7d807dff9"
+  },
+  "mocap_rigid_names": [
+    "Body0",
+    "Ramp",
+    "Tracker0"
+  ],
+  "objects": [
+    "Ramp0"
+  ],
+  "options": {
+    "raw_video": true,
+    "proxy_height": 540,
+    "proxy_crf": 28,
+    "proxy_bitrate": "1400k",
+    "mocap_selection": "explicit",
+    "mocap_files": [
+      "mocap-EC01-S02-liujiaxin-01p2/mocap-EC01-S02-liujiaxin-01p2-1.mp4",
+      "mocap-EC01-S02-liujiaxin-01p2/mocap-EC01-S02-liujiaxin-01p2-Body0.bvh",
+      "mocap-EC01-S02-liujiaxin-01p2/mocap-EC01-S02-liujiaxin-01p2-Body0.csv",
+      "mocap-EC01-S02-liujiaxin-01p2/mocap-EC01-S02-liujiaxin-01p2-Body0.trc",
+      "mocap-EC01-S02-liujiaxin-01p2/mocap-EC01-S02-liujiaxin-01p2-Ramp.csv",
+      "mocap-EC01-S02-liujiaxin-01p2/mocap-EC01-S02-liujiaxin-01p2-Ramp.trc",
+      "mocap-EC01-S02-liujiaxin-01p2/mocap-EC01-S02-liujiaxin-01p2-Tracker0.csv",
+      "mocap-EC01-S02-liujiaxin-01p2/mocap-EC01-S02-liujiaxin-01p2-Tracker0.trc"
+    ],
+    "include_rrd": false,
+    "rrd_files": [],
+    "aligned_intersection": false
+  },
+  "files": [
+    {
+      "source": "audio_segment1.wav",
+      "packaged_as": "audio_segment1.wav",
+      "kind": "data",
+      "original_bytes": 24627918,
+      "packaged_bytes": 24627918,
+      "compressed_video": false,
+      "sha256": "0f6a19f2cc5d913eea0fa8a11d0c9dadd027e1405f1f815a7bc245fb95554303"
+    },
+    {
+      "source": "mocap-EC01-S02-liujiaxin-01p2/mocap-EC01-S02-liujiaxin-01p2-1.mp4",
+      "packaged_as": "mocap/mocap-EC01-S02-liujiaxin-01p2-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 43990972,
+      "packaged_bytes": 43990972,
+      "compressed_video": false,
+      "sha256": "d816dd2e20f7ca51c5a99dda6aedf0d7adea3ff7bf542044912d876e7549fc99"
+    },
+    {
+      "source": "mocap-EC01-S02-liujiaxin-01p2/mocap-EC01-S02-liujiaxin-01p2-Body0.bvh",
+      "packaged_as": "mocap/mocap-EC01-S02-liujiaxin-01p2-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 9038864,
+      "packaged_bytes": 9038864,
+      "compressed_video": false,
+      "sha256": "85cf61488294c722ea6e58759a390752b4559e545004432ad9bbc82ca7a018a4"
+    },
+    {
+      "source": "mocap-EC01-S02-liujiaxin-01p2/mocap-EC01-S02-liujiaxin-01p2-Body0.csv",
+      "packaged_as": "mocap/mocap-EC01-S02-liujiaxin-01p2-Body0.csv",
+      "kind": "data",
+      "original_bytes": 127458025,
+      "packaged_bytes": 127458025,
+      "compressed_video": false,
+      "sha256": "3a2637c324d9fbb9c7c13dfae159072bf9371f8c9f4f65e07dc02cf35a25b3ff"
+    },
+    {
+      "source": "mocap-EC01-S02-liujiaxin-01p2/mocap-EC01-S02-liujiaxin-01p2-Body0.trc",
+      "packaged_as": "mocap/mocap-EC01-S02-liujiaxin-01p2-Body0.trc",
+      "kind": "data",
+      "original_bytes": 28193524,
+      "packaged_bytes": 28193524,
+      "compressed_video": false,
+      "sha256": "c54b38d69a006afc23171ce92066b8475e690249da9cbdb14d98e9dfec59b778"
+    },
+    {
+      "source": "mocap-EC01-S02-liujiaxin-01p2/mocap-EC01-S02-liujiaxin-01p2-Ramp.csv",
+      "packaged_as": "mocap/mocap-EC01-S02-liujiaxin-01p2-Ramp.csv",
+      "kind": "data",
+      "original_bytes": 3977907,
+      "packaged_bytes": 3977907,
+      "compressed_video": false,
+      "sha256": "3c2367acc79c4ea63166f86bd52fe88abbcf9a60c9897f7a404f1cec0e0bb657"
+    },
+    {
+      "source": "mocap-EC01-S02-liujiaxin-01p2/mocap-EC01-S02-liujiaxin-01p2-Ramp.trc",
+      "packaged_as": "mocap/mocap-EC01-S02-liujiaxin-01p2-Ramp.trc",
+      "kind": "data",
+      "original_bytes": 436280,
+      "packaged_bytes": 436280,
+      "compressed_video": false,
+      "sha256": "4b6106414301025afb24132f7dfdd7b55a0b80b8eadb15c03a2913bf09207631"
+    },
+    {
+      "source": "mocap-EC01-S02-liujiaxin-01p2/mocap-EC01-S02-liujiaxin-01p2-Tracker0.csv",
+      "packaged_as": "mocap/mocap-EC01-S02-liujiaxin-01p2-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 4912560,
+      "packaged_bytes": 4912560,
+      "compressed_video": false,
+      "sha256": "df3cf4ba3b2e0eb4a65988b71f9fb7708b2d93dc5600dd1203bbb7436caff3f1"
+    },
+    {
+      "source": "mocap-EC01-S02-liujiaxin-01p2/mocap-EC01-S02-liujiaxin-01p2-Tracker0.trc",
+      "packaged_as": "mocap/mocap-EC01-S02-liujiaxin-01p2-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 4797175,
+      "packaged_bytes": 4797175,
+      "compressed_video": false,
+      "sha256": "0da12c19991ba1ac2eb12f9308422615cb8e420f7357cd3806b6cb3e8ac6c10b"
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1335296,
+      "packaged_bytes": 1335296,
+      "compressed_video": false,
+      "sha256": "2ab09e77825c1c1f677150c7d5e640cfd821225fec6b7b8de6b13539c89bb071"
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1290240,
+      "packaged_bytes": 1290240,
+      "compressed_video": false,
+      "sha256": "d7dcf318ae363e245cab2511088415e7d071dbc32aa951aab2d0919de43b5a1e"
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 344064,
+      "packaged_bytes": 344064,
+      "compressed_video": false,
+      "sha256": "9bb1739fc48413f98c0ed4316f8d985753314123312ec1113914a15a3ada2f81"
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64115268,
+      "packaged_bytes": 64115268,
+      "compressed_video": false,
+      "sha256": "211e485be7469b660292203d5b5621beaeebbf24f055c2acbee43463f8cf6117"
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 62100808,
+      "packaged_bytes": 62100808,
+      "compressed_video": false,
+      "sha256": "7483ef5c806b0bf0a139053fb39488b5dca2a2aeefa0c04c6669cab68e84f51a"
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64061511,
+      "packaged_bytes": 64061511,
+      "compressed_video": false,
+      "sha256": "a46c08656caac9eb7e7106b5cd48ea01ec51667782543b4a12447e5ea7da8ac6"
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 63993189,
+      "packaged_bytes": 63993189,
+      "compressed_video": false,
+      "sha256": "a6c863048f50ff27eb6e796d019b62d24372fe7aaa19d2b3b2c9d946012c5adb"
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64010042,
+      "packaged_bytes": 64010042,
+      "compressed_video": false,
+      "sha256": "a55d6a863501b8f23f8d64474e13b91c9ba31008db94380864db263278f930e4"
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 63993997,
+      "packaged_bytes": 63993997,
+      "compressed_video": false,
+      "sha256": "af4276498331a54971a6e6f6795404ed4445de4d861d1a1ebeb93bb185922b8a"
+    },
+    {
+      "source": "robowrist_a85418f7d807dff9_right/robowrist_segment1_imu_right.db",
+      "packaged_as": "robowrist_a85418f7d807dff9_right/robowrist_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1261568,
+      "packaged_bytes": 1261568,
+      "compressed_video": false,
+      "sha256": "9e685431f71dc257096880c1b7f81b4cfcf8e81f83d6e0ed1f2ea62e851ea87a"
+    },
+    {
+      "source": "robowrist_a85418f7d807dff9_right/robowrist_segment1_mag_right.db",
+      "packaged_as": "robowrist_a85418f7d807dff9_right/robowrist_segment1_mag_right.db",
+      "kind": "data",
+      "original_bytes": 331776,
+      "packaged_bytes": 331776,
+      "compressed_video": false,
+      "sha256": "fea00d10637ad14bc195ace0e03ff9bd306c96932ffd0d3af9372cb5210c66b7"
+    },
+    {
+      "source": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
+      "packaged_as": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 57299795,
+      "packaged_bytes": 57299795,
+      "compressed_video": false,
+      "sha256": "783b8b735f326680b308c5b05ad8178c7dd5f2b65bbfd165dc206d703258acbc"
+    },
+    {
+      "source": "robowrist_cc5681142208e29a_left/robowrist_segment1_imu_left.db",
+      "packaged_as": "robowrist_cc5681142208e29a_left/robowrist_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1253376,
+      "packaged_bytes": 1253376,
+      "compressed_video": false,
+      "sha256": "04baf766a901da97505a820db11af5a9c1f8770863e57359fa46c967eb1d525a"
+    },
+    {
+      "source": "robowrist_cc5681142208e29a_left/robowrist_segment1_mag_left.db",
+      "packaged_as": "robowrist_cc5681142208e29a_left/robowrist_segment1_mag_left.db",
+      "kind": "data",
+      "original_bytes": 331776,
+      "packaged_bytes": 331776,
+      "compressed_video": false,
+      "sha256": "7a9b7b68738b63c17070e693a501869fd503e14dccea0c3897240103fce59548"
+    },
+    {
+      "source": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+      "packaged_as": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 48954636,
+      "packaged_bytes": 48954636,
+      "compressed_video": false,
+      "sha256": "cd9f0c726ed7b66b1b54a7bc3a9de1fb00c62a05c38e9fe44965dc16694bbcbe"
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 8092980,
+      "packaged_bytes": 8092919,
+      "compressed_video": false,
+      "sha256": "33c12c961ab32e59896ab1d9061c20263a4384591aa99a6487f749ca641072f0"
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-EC01-S02-liujiaxin-01p2",
+    "action_id": "EC01",
+    "collection_session_index": 2,
+    "participant": "liujiaxin",
+    "repetition_count": 1
+  },
+  "upload_batch_created_at": "2026-10-27T01:57:48.288505+08:00",
+  "participant_gender": "female",
+  "participant_height_cm": 161,
+  "participant_weight_kg": 44,
+  "collection_site": {
+    "id": "site_01",
+    "assignment_method": "env",
+    "catalog": "collection_sites.json"
+  }
+}

actions/environment_coupled_wholebody/EC01/session_012/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a2637c324d9fbb9c7c13dfae159072bf9371f8c9f4f65e07dc02cf35a25b3ff
+size 127458025

actions/environment_coupled_wholebody/EC01/session_012/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c54b38d69a006afc23171ce92066b8475e690249da9cbdb14d98e9dfec59b778
+size 28193524

actions/environment_coupled_wholebody/EC01/session_012/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ab09e77825c1c1f677150c7d5e640cfd821225fec6b7b8de6b13539c89bb071
+size 1335296

actions/environment_coupled_wholebody/EC01/session_012/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7dcf318ae363e245cab2511088415e7d071dbc32aa951aab2d0919de43b5a1e
+size 1290240

actions/environment_coupled_wholebody/EC01/session_012/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bb1739fc48413f98c0ed4316f8d985753314123312ec1113914a15a3ada2f81
+size 344064

actions/environment_coupled_wholebody/EC01/session_012/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04baf766a901da97505a820db11af5a9c1f8770863e57359fa46c967eb1d525a
+size 1253376

actions/environment_coupled_wholebody/EC01/session_012/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e685431f71dc257096880c1b7f81b4cfcf8e81f83d6e0ed1f2ea62e851ea87a
+size 1261568

actions/environment_coupled_wholebody/EC01/session_012/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a9b7b68738b63c17070e693a501869fd503e14dccea0c3897240103fce59548
+size 331776

actions/environment_coupled_wholebody/EC01/session_012/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fea00d10637ad14bc195ace0e03ff9bd306c96932ffd0d3af9372cb5210c66b7
+size 331776