Release update 2026-11-05: 5760 sessions, instructions, annotations (part 73)

.gitattributes

@@ -41771,3 +41771,32 @@ actions/environment_coupled_wholebody/EC06/session_032/raw/sensors/robowrist_imu
 actions/environment_coupled_wholebody/EC06/session_032/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/environment_coupled_wholebody/EC06/session_032/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/environment_coupled_wholebody/EC06/session_032/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC07/session_012/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC07/session_012/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC07/session_012/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC07/session_012/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC07/session_012/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC07/session_012/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC07/session_012/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC07/session_012/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC07/session_012/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC07/session_012/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC07/session_013/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC07/session_013/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC07/session_013/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC07/session_013/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC07/session_013/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC07/session_013/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC07/session_013/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC07/session_013/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC07/session_013/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC07/session_013/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC07/session_014/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC07/session_014/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC07/session_014/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC07/session_014/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC07/session_014/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC07/session_014/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC07/session_014/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC07/session_014/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC07/session_014/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/environment_coupled_wholebody/EC07/session_011/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": "EC07",
+ "instruction": "Push the cart across the room using only the hand the operator calls. Keep your other arm at your side.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.866556,
+   "video": "left_eye",
+   "video_t_start": -0.017881920538172613
+  }
+ ],
+ "episodes": [
+  {
+   "id": "b3410144-0952-4d0c-a696-1aaf624e4e0a",
+   "segment": "segment1",
+   "action": "EC07",
+   "quality": "valid",
+   "start_s": 1.002,
+   "end_s": 129.988,
+   "t_start": 0.9841,
+   "t_end": 129.9701,
+   "instruction": "Push the cart across the room using only the hand the operator calls. Keep your other arm at your side."
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC07/session_011/cameras/gsi_online_calibration.json

@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.388
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.7373,
+   "gate_fail": [],
+   "held_out_px_after": 0.581,
+   "held_out_px_before": 16.202,
+   "inliers": 2191,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.068,
+    -0.2215,
+    -1.3523
+   ],
+   "split_deg": 0.1132,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.2426,
+   "gate_fail": [],
+   "held_out_px_after": 0.862,
+   "held_out_px_before": 8.3,
+   "inliers": 3773,
+   "position_fitted": true,
+   "position_mm": [
+    1.61,
+    -31.22,
+    -6.12
+   ],
+   "position_sigma_mm": 0.3,
+   "position_split_mm": 7.75,
+   "rotvec_deg": [
+    1.603,
+    -0.8812,
+    1.2973
+   ],
+   "split_deg": 0.2401,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.9181,
+   "gate_fail": [],
+   "held_out_px_after": 0.608,
+   "held_out_px_before": 12.391,
+   "inliers": 1845,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.8963,
+    -1.2494,
+    3.1929
+   ],
+   "split_deg": 0.1333,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.9599,
+   "gate_fail": [],
+   "held_out_px_after": 0.541,
+   "held_out_px_before": 6.719,
+   "inliers": 3691,
+   "position_fitted": true,
+   "position_mm": [
+    2.35,
+    -18.66,
+    -1.41
+   ],
+   "position_sigma_mm": 0.226,
+   "position_split_mm": 6.329,
+   "rotvec_deg": [
+    1.8078,
+    -1.3855,
+    1.8903
+   ],
+   "split_deg": 0.2027,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.6336,
+   "gate_fail": [],
+   "held_out_px_after": 0.372,
+   "held_out_px_before": 2.634,
+   "inliers": 4729,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2764,
+    -0.4507,
+    -0.3491
+   ],
+   "split_deg": 0.0639,
+   "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": "fbf8407bd35d66aaac1e9d1a16eb158f394a208ee49379f5bf4ed5606a212957",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "7f44ff4fe663b61690b0b04a7ef855603d09f0b680d47601ace1870723eb8e0d",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "1f64638956e68f0f6dd30e65fde12b0f8f9b02bceb9076c58fa4269092ac945d",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "d24ff54cd6e8d08c03b2df6a07e0704c37413b3fe37e94285093c4daa944c74c",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "86ce96512897c34d",
+ "kind": "online_calibration",
+ "output_sha256": "c39914f9f395f0ce8213b3af109c250ff9de9916d03f2675b4dd6a09ff40b50a",
+ "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": 44.579,
+  "left_eye": 41.939,
+  "left_front": 44.28,
+  "right": 45.754,
+  "right_eye": 43.134,
+  "right_front": 42.177
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   6162908117444,
+   6163908150777,
+   6166908150777,
+   6167908150777,
+   6169908128555,
+   6170908150777,
+   6175908150777,
+   6176908150777,
+   6180908150777,
+   6181908128555,
+   6182908161888,
+   6183908128555,
+   6188908150777,
+   6189908128555,
+   6194908161888,
+   6195908173000,
+   6198908161888,
+   6199908161888,
+   6202908128555,
+   6203908139666,
+   6208908128555,
+   6209908161888,
+   6210908117444,
+   6213908150777,
+   6214908150777,
+   6219908161888,
+   6220908161888,
+   6225908161888,
+   6226908139666,
+   6227908161888,
+   6231908150777,
+   6232908128555,
+   6238908161888,
+   6239908195222,
+   6241908150777,
+   6242908161888,
+   6247908150777,
+   6248908150777,
+   6249908161888,
+   6256908150777,
+   6257908150777,
+   6259908150777,
+   6260908150777,
+   6263908128555,
+   6264908139666,
+   6266908128555,
+   6267908139666,
+   6273908150777,
+   6274908128555,
+   6275908150777,
+   6278908161888,
+   6279908128555,
+   6284908128555,
+   6285908139666,
+   6289908150777,
+   6290908150777
+  ]
+ },
+ "version": 1
+}

actions/environment_coupled_wholebody/EC07/session_011/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd170689a75aea6b2cf4bfea75fe6f5b75883f86460c354231d04f119fc092d2
+size 771254

actions/environment_coupled_wholebody/EC07/session_011/meta.json

@@ -263,44 +263,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:42:57.662722+00:00",
+  "generated_at_utc": "2026-10-28T23:21:54.134832+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
    ],
    [
@@ -312,20 +312,20 @@
   ],
   "block": "20261026-morning",
   "block_assignment": "trc",
-  "tilt_removed_deg": 0.6736075582400546,
+  "tilt_removed_deg": 0.6697930607742368,
   "plane_status": "ok",
   "floor": {
-   "sole_marker_p1_mm": 29.9,
-   "headtop_p95_mm": 1652.9
+   "sole_marker_p1_mm": 29.8,
+   "headtop_p95_mm": 1653.1
   },
   "gravity_check": {
    "static_samples": 405,
    "g_world_mean_m_s2": [
-    -0.0983,
-    0.0296,
+    -0.0985,
+    0.0353,
     9.7369
    ],
-   "tilt_from_z_deg": 0.604,
+   "tilt_from_z_deg": 0.615,
    "tilt_from_z_deg_before_levelling": 1.273,
    "magnitude_m_s2": 9.7375
   },
@@ -344,7 +344,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-27T07:32:38.034347+00:00",
+  "generated_at_utc": "2026-10-29T04:27:49.438980+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -353,8 +353,8 @@
   "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 @@
   "qc": {
    "lowest_vertex_mm": {
     "median": 14.4,
-    "p5": 9.0
+    "p5": 9.6
    },
    "frames_checked": 536,
    "stature_mm": 1614.2
@@ -413,19 +413,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 180.0,
+    "Q_deg": 15.72,
     "Q_rotvec": [
-     -2.98662,
-     0.4392,
-     0.86995
+     -0.12683,
+     -0.06573,
+     0.23418
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 177.2,
-    "opposite_sign_bend_deg": 30.9,
+    "wrist_bend_deg_median": 39.9,
+    "opposite_sign_bend_deg": 141.0,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 0.94,
     "hand_vs_marker_frame_deg": {
-     "before": 179.64,
+     "before": 16.04,
      "after": 0.94
     },
     "markers_on_wrist": [
@@ -433,12 +433,12 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -176.25,
+     "twist_moved_deg": -37.86,
      "wrist_twist_deg_after": {
-      "median": -1.27,
+      "median": -0.07,
       "iqr": [
-       -3.1,
-       0.6
+       -1.9,
+       1.7
       ]
      },
      "wrist_total_deg_median_after": 11.9,
@@ -453,19 +453,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 94.21,
     "Q_rotvec": [
-     0.0,
-     0.0,
-     -0.0
+     1.62666,
+     0.24005,
+     -0.00487
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 30.0,
-    "opposite_sign_bend_deg": 172.8,
+    "wrist_bend_deg_median": 85.9,
+    "opposite_sign_bend_deg": 106.0,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 4.38,
     "hand_vs_marker_frame_deg": {
-     "before": 4.38,
+     "before": 94.98,
      "after": 4.38
     },
     "markers_on_wrist": [
@@ -473,7 +473,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -0.0,
+     "twist_moved_deg": -81.88,
      "wrist_twist_deg_after": {
       "median": 0.0,
       "iqr": [
@@ -490,14 +490,128 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-28T06:50:15.657776+00:00",
+   "generated_at_utc": "2026-10-29T04:27:52.769440+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 31.51,
+    "offset_rotvec": [
+     0.4623,
+     -0.281,
+     0.099
+    ],
+    "dev_deg": {
+     "median": 14.98,
+     "p90": 39.03
+    },
+    "samples": 3207,
+    "accepted": 2659,
+    "wrist_pos_err_mm_median": 41.7,
+    "per_camera": {
+     "head": {
+      "samples": 3207,
+      "accepted": 2659,
+      "gate_deg": 30.0,
+      "offset_deg": 31.51,
+      "tier": "primary",
+      "dev_deg_median": 14.98,
+      "wrist_pos_err_mm_median": 41.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10880,
+     "interpolated": 3208,
+     "mean_hand": 1977,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.8769,
+    "observed_fraction_of_valid": 0.8769,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 30.05,
+     "smplx": 0.67
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.2,
+      "p90": 9.6
+     },
+     "registered": {
+      "median": 8.4,
+      "p90": 9.4
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 12.34,
+    "offset_rotvec": [
+     0.1526,
+     -0.0988,
+     0.1157
+    ],
+    "dev_deg": {
+     "median": 13.41,
+     "p90": 24.53
+    },
+    "samples": 3993,
+    "accepted": 3786,
+    "wrist_pos_err_mm_median": 48.5,
+    "per_camera": {
+     "head": {
+      "samples": 3993,
+      "accepted": 3786,
+      "gate_deg": 30.0,
+      "offset_deg": 12.34,
+      "tier": "primary",
+      "dev_deg_median": 13.41,
+      "wrist_pos_err_mm_median": 48.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15176,
+     "interpolated": 504,
+     "mean_hand": 385,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.976,
+    "observed_fraction_of_valid": 0.976,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.41,
+     "smplx": 4.2
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 16.0,
+      "p90": 18.6
+     },
+     "registered": {
+      "median": 19.5,
+      "p90": 21.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:33:13.589219+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/EC07/session_011",
   "family": "environment_coupled_wholebody",
   "primitive": "EC07",
   "source_session": "20261026/EC07/20261026_020851_session16"
+ },
+ "task": {
+  "primitive": "EC07",
+  "instruction": "Push the cart across the room using only the hand the operator calls. Keep your other arm at your side."
  }
 }

actions/environment_coupled_wholebody/EC07/session_011/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ce533300be84bd0ca7fc39e5fdcfc34c85e8ce7d39b46bd74d55ce89a1c5414
+size 4884640

actions/environment_coupled_wholebody/EC07/session_011/motions/head_rig.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a6d826ba8f6108db08ea1081556ffdfe9be5234bc5b69a86b947a38af946c499
-size 1194034
+oid sha256:b4dc77cb9f41f25c2302a85da21421967f46370c234ef5bc2c2197d31dea6122
+size 1193847

actions/environment_coupled_wholebody/EC07/session_011/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c876161c70a6a874adb008db954a0eada98f59157a90ab08bf8902fdb631eadc
-size 6169204
+oid sha256:ffd22dfb5e0301cbe53e613f157ef3ac1cc0fa72c34e40a08174f3e7db28969a
+size 11233088

actions/environment_coupled_wholebody/EC07/session_012/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55f6e7b76ed09f036f75e53a1b69993bb176badd4dc526a8fd20617286f4ead4
+size 1274482

actions/environment_coupled_wholebody/EC07/session_012/meta.json

@@ -0,0 +1,544 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261026/EC07/20261026_095750_session82",
+ "session_id": "20261026_095750_session82",
+ "primitive": "EC07",
+ "batch": "20261026",
+ "participant": "wangzhixin",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e3296774a321bb51",
+  "left": "75b5984e04d1d236",
+  "right": "c84bc808cb6b47af"
+ },
+ "generated_at_utc": "2026-10-28T19:35:28.992559+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": 147.15833333333333,
+  "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": -0.090696,
+  "rate": 0.0,
+  "global_lag_s": -0.09,
+  "peak_corr": 0.9414,
+  "reference_imu_first_sample_s": 29015.094711234,
+  "windows": {
+   "n_windows": 13,
+   "window_corr_median": 0.9888235389451977,
+   "drift_ppm": -353.7419976962644,
+   "drift_se_ppm": 204.5317679616157,
+   "drift_ms_over_take": -52.053134961005306,
+   "lag_scatter_ms": 25.381724906411797,
+   "lag_range_ms": 108.41384219341649
+  }
+ },
+ "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": 29706,
+    "n_gyro": 29701,
+    "t_start": -0.09764351581145961,
+    "t_end": 147.34736525418737
+   },
+   "imu_head_left": {
+    "n_acc": 29563,
+    "n_gyro": 29556,
+    "t_start": 0.009941984186635139,
+    "t_end": 147.51923407018728
+   },
+   "imu_wrist_right": {
+    "n_acc": 29451,
+    "n_gyro": 29462,
+    "t_start": -0.7981344078140223,
+    "t_end": 145.72664668318646
+   },
+   "imu_wrist_left": {
+    "n_acc": 29706,
+    "n_gyro": 29715,
+    "t_start": -0.844102776812751,
+    "t_end": 145.72240469918722
+   },
+   "mag_head": {
+    "n": 14759,
+    "t_start": 0.09556760918746518,
+    "t_end": 147.67556617918706
+   },
+   "mag_wrist_right": {
+    "n": 14651,
+    "t_start": -0.7814134988108249,
+    "t_end": 145.71909876718598
+   },
+   "mag_wrist_left": {
+    "n": 14655,
+    "t_start": -0.8246185418134969,
+    "t_end": 145.715609363186
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 29015.223294,
+    "frames": 4414,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0025546514432425653,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.04044105163154241,
+    "t_end": 147.14048505163044,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 29015.223251,
+    "frames": 4414,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002366886077403108,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.040210286264819345,
+    "t_end": 147.14026628626414,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 29015.223279,
+    "frames": 4414,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0026728712083183277,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.04054427139669356,
+    "t_end": 147.1405882713956,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 29015.223309,
+    "frames": 4414,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002595594493655556,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.04049699468339027,
+    "t_end": 147.1405299946822,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 29015.223265,
+    "frames": 4412,
+    "pts_gaps": 2,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002394386090989767,
+    "gap_test": {
+     "pts": {
+      "offset_ms": 34.0,
+      "corr": 0.902,
+      "err_ms": 31.6
+     },
+     "nominal": {
+      "offset_ms": 83.9,
+      "corr": 0.902,
+      "err_ms": 81.6
+     }
+    },
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.04025178627886858,
+    "t_end": 147.15688478628033,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 29015.223231,
+    "frames": 4414,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002315656053021164,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.040139056240487164,
+    "t_end": 147.1402060562399,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 29014.374288,
+    "frames": 4395,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -0.8111195998132003,
+    "t_end": 145.65574240018793,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 29014.421498,
+    "frames": 4394,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -0.7639095998125681,
+    "t_end": 145.6699444001864,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-EC07-S01-wangzhixin-02p1-1.mp4",
+    "frames": 4415,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 147.13333333333333
+   }
+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "e3296774a321bb51/20261026-afternoon/labels-235140/session-8be919b1a74fa7d8",
+  "R_tracker0_imu0": [
+   [
+    0.63480002,
+    -0.31821708,
+    0.70410711
+   ],
+   [
+    0.7611527,
+    0.10074143,
+    -0.64070097
+   ],
+   [
+    0.13294924,
+    0.94265001,
+    0.30616246
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   0.17504828989402535,
+   -0.013977471777216316,
+   0.03885957239681033
+  ],
+  "rig_check": {
+   "gyro_samples": 1842,
+   "gyro_max_deg": 2.5,
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 1.765,
+   "video_solve": {
+    "status": "ok",
+    "reason": "",
+    "reprojection_px": 2.818,
+    "n_assoc": 864,
+    "gyro_deg": 1.765
+   }
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-28T23:21:54.152066+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": 32.7,
+   "headtop_p95_mm": 1575.2
+  },
+  "gravity_check": {
+   "static_samples": 4310,
+   "g_world_mean_m_s2": [
+    0.154,
+    0.0649,
+    9.7361
+   ],
+   "tilt_from_z_deg": 0.983,
+   "tilt_from_z_deg_before_levelling": 0.546,
+   "magnitude_m_s2": 9.7375
+  },
+  "rig_tracker_definition": "e3296774a321bb51/20261026-afternoon/labels-235140/session-8be919b1a74fa7d8",
+  "rig_check": {
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 1.765
+  },
+  "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": "2026-10-29T04:29:23.332251+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": [
+      0.04835771769285202,
+      0.015898460522294044,
+      0.011149325408041477
+     ],
+     "LHandOut": [
+      0.04020143672823906,
+      0.008732601068913937,
+      -0.03782598674297333
+     ],
+     "LWristIn": [
+      -0.02429729886353016,
+      -0.0019021171610802412,
+      0.030772745609283447
+     ],
+     "LWristOut": [
+      -0.024343786761164665,
+      0.022542323917150497,
+      -0.016528604552149773
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.04798787087202072,
+      -0.03165765851736069,
+      0.02344268560409546
+     ],
+     "RHandOut": [
+      -0.06250127404928207,
+      0.016733676195144653,
+      0.03242975473403931
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 4.06,
+   "p95_frame": 6.12
+  },
+  "worst_markers": [
+   "WaistLFront 8mm",
+   "RKneeIn 8mm",
+   "LKneeIn 7mm",
+   "LHeel 7mm",
+   "LShin 7mm"
+  ],
+  "valid_fraction": 1.0,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": -6.4,
+    "p5": -20.7
+   },
+   "frames_checked": 589,
+   "stature_mm": 1582.0
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 11.87
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 13.06,
+    "Q_rotvec": [
+     -0.02027,
+     -0.12554,
+     0.18913
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 27.2,
+    "opposite_sign_bend_deg": 170.9,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 0.83,
+    "hand_vs_marker_frame_deg": {
+     "before": 13.03,
+     "after": 0.83
+    },
+    "markers_on_wrist": [
+     "LWristIn",
+     "LWristOut",
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 3.07,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -3.8,
+       13.9
+      ]
+     },
+     "wrist_total_deg_median_after": 27.1,
+     "markers_on_forearm": [
+      "LForearm"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 109.57,
+    "Q_rotvec": [
+     1.76959,
+     0.66604,
+     0.28598
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 111.5,
+    "opposite_sign_bend_deg": 87.2,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.2,
+    "hand_vs_marker_frame_deg": {
+     "before": 109.16,
+     "after": 3.2
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -104.37,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -3.9,
+       10.2
+      ]
+     },
+     "wrist_total_deg_median_after": 43.6,
+     "markers_on_forearm": [
+      "RElbowIn",
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-29T04:29:26.420798+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/environment_coupled_wholebody/EC07/session_012",
+  "family": "environment_coupled_wholebody",
+  "primitive": "EC07",
+  "source_session": "20261026/EC07/20261026_095750_session82"
+ },
+ "task": {
+  "primitive": "EC07",
+  "instruction": "Push the cart across the room using only the hand the operator calls. Keep your other arm at your side."
+ },
+ "objects": [
+  {
+   "name": "BigBox1",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC07/session_012/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f83116695efbc11ca5f630319e663ddd7fcf6764c9bf106670440edb8f5d21c
+size 1303409

actions/environment_coupled_wholebody/EC07/session_012/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a93ab64718193631dc6a91c80c1df1b0f550fff3f47889bc55e19f28fc668f1a
+size 10037145

actions/environment_coupled_wholebody/EC07/session_012/motions/object_markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01c0e7abcdd5a37033d2c53304d14a0402a4759848f7ace0ef8da69ef655d916
+size 778731

actions/environment_coupled_wholebody/EC07/session_012/motions/objects.json

@@ -0,0 +1,39 @@
+{
+ "session": "20261026/EC07/20261026_095750_session82",
+ "generated_at_utc": "2026-11-04T19:42:36.027599+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": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 84.93,
+   "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/EC07/session_012/motions/objects.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9aca736e0574f1c6fd50f5c549167a942a3733004955151084f06cef57118465
+size 818161

actions/environment_coupled_wholebody/EC07/session_012/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d90afc6a9e09783cf12097248682395f3272fbe1c5eda4cc9e5c6e2b4c1ce59
+size 10062823

actions/environment_coupled_wholebody/EC07/session_012/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ad7f05f5130ace1a3de6b4c548c8510da8feb7763e89a5142fe556eb068532d
+size 6748310

actions/environment_coupled_wholebody/EC07/session_012/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:049bcf30427bc18c68ef9f84524553e9dca6827162ed0fe294bab5c4aac1a6dc
+size 28335438

actions/environment_coupled_wholebody/EC07/session_012/raw/manifest.json

@@ -0,0 +1,286 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-10-27T11:32:15.841186+00:00",
+  "primitive_id": "EC07",
+  "session_id": "20261026_095750_session82",
+  "upload_batch_id": "20261026",
+  "dataset_path": "EgoMotionActions/20261026/EC07/20261026_095750_session82",
+  "segment": "auto/all",
+  "duration_s": 147.100044,
+  "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-EC07-S01-wangzhixin-02p1/mocap-EC07-S01-wangzhixin-02p1-1.mp4",
+      "mocap-EC07-S01-wangzhixin-02p1/mocap-EC07-S01-wangzhixin-02p1-BigBox1.csv",
+      "mocap-EC07-S01-wangzhixin-02p1/mocap-EC07-S01-wangzhixin-02p1-BigBox1.trc",
+      "mocap-EC07-S01-wangzhixin-02p1/mocap-EC07-S01-wangzhixin-02p1-Body0.bvh",
+      "mocap-EC07-S01-wangzhixin-02p1/mocap-EC07-S01-wangzhixin-02p1-Body0.csv",
+      "mocap-EC07-S01-wangzhixin-02p1/mocap-EC07-S01-wangzhixin-02p1-Body0.trc",
+      "mocap-EC07-S01-wangzhixin-02p1/mocap-EC07-S01-wangzhixin-02p1-Tracker0.csv",
+      "mocap-EC07-S01-wangzhixin-02p1/mocap-EC07-S01-wangzhixin-02p1-Tracker0.trc"
+    ],
+    "include_rrd": false,
+    "rrd_files": [],
+    "aligned_intersection": false
+  },
+  "files": [
+    {
+      "source": "audio_segment1.wav",
+      "packaged_as": "audio_segment1.wav",
+      "kind": "data",
+      "original_bytes": 28335438,
+      "packaged_bytes": 28335438,
+      "compressed_video": false,
+      "sha256": "049bcf30427bc18c68ef9f84524553e9dca6827162ed0fe294bab5c4aac1a6dc"
+    },
+    {
+      "source": "mocap-EC07-S01-wangzhixin-02p1/mocap-EC07-S01-wangzhixin-02p1-1.mp4",
+      "packaged_as": "mocap/mocap-EC07-S01-wangzhixin-02p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 74822500,
+      "packaged_bytes": 74822500,
+      "compressed_video": false,
+      "sha256": "e80ae5aed745eb6e310205dec1b741b00cff8ad1807eae9ddae7e6536394f6c8"
+    },
+    {
+      "source": "mocap-EC07-S01-wangzhixin-02p1/mocap-EC07-S01-wangzhixin-02p1-BigBox1.csv",
+      "packaged_as": "mocap/mocap-EC07-S01-wangzhixin-02p1-BigBox1.csv",
+      "kind": "data",
+      "original_bytes": 5456297,
+      "packaged_bytes": 5456297,
+      "compressed_video": false,
+      "sha256": "2adf2bb5124b36a2c5e0b161c8d8d79ccb3327f15d64c673bfb2f9047c2d936a"
+    },
+    {
+      "source": "mocap-EC07-S01-wangzhixin-02p1/mocap-EC07-S01-wangzhixin-02p1-BigBox1.trc",
+      "packaged_as": "mocap/mocap-EC07-S01-wangzhixin-02p1-BigBox1.trc",
+      "kind": "data",
+      "original_bytes": 5335091,
+      "packaged_bytes": 5335091,
+      "compressed_video": false,
+      "sha256": "77fc8241751f180797003fc3554f421b12d2e64104b84abbd76be3cb4e64c6f9"
+    },
+    {
+      "source": "mocap-EC07-S01-wangzhixin-02p1/mocap-EC07-S01-wangzhixin-02p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-EC07-S01-wangzhixin-02p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 10602696,
+      "packaged_bytes": 10602696,
+      "compressed_video": false,
+      "sha256": "3c0279986d31683eb08b7f8ea7b3ed261d8bf381ac87d4c72c39dfc08a3717e9"
+    },
+    {
+      "source": "mocap-EC07-S01-wangzhixin-02p1/mocap-EC07-S01-wangzhixin-02p1-Body0.csv",
+      "packaged_as": "mocap/mocap-EC07-S01-wangzhixin-02p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 146314727,
+      "packaged_bytes": 146314727,
+      "compressed_video": false,
+      "sha256": "fccd8e3ea64e719b4d99dd812d60084aab84788589385176d09827de56bc1f45"
+    },
+    {
+      "source": "mocap-EC07-S01-wangzhixin-02p1/mocap-EC07-S01-wangzhixin-02p1-Body0.trc",
+      "packaged_as": "mocap/mocap-EC07-S01-wangzhixin-02p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 32736670,
+      "packaged_bytes": 32736670,
+      "compressed_video": false,
+      "sha256": "35980659c4d4d98a4f247b2d9bada3139829610f7ab3974218d6b4a99ec2cbc2"
+    },
+    {
+      "source": "mocap-EC07-S01-wangzhixin-02p1/mocap-EC07-S01-wangzhixin-02p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-EC07-S01-wangzhixin-02p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 5575120,
+      "packaged_bytes": 5575120,
+      "compressed_video": false,
+      "sha256": "b1d1898058b78c70db2e3c298a147d072571b390ea18e44a36943cba584db1fc"
+    },
+    {
+      "source": "mocap-EC07-S01-wangzhixin-02p1/mocap-EC07-S01-wangzhixin-02p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-EC07-S01-wangzhixin-02p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 5491305,
+      "packaged_bytes": 5491305,
+      "compressed_video": false,
+      "sha256": "949e0389c1f95a3b749b9a0c82438dc2de5987c16347615c06408508606ea279"
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1519616,
+      "packaged_bytes": 1519616,
+      "compressed_video": false,
+      "sha256": "877102b40ed07ecde983b68fc5c037f256162f604ea9a07ba815b13ec0976757"
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1470464,
+      "packaged_bytes": 1470464,
+      "compressed_video": false,
+      "sha256": "4600c4ad1359b30e857d2824f5502cbbd2d84fd9f296f054b561a87c0f7561e4"
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 393216,
+      "packaged_bytes": 393216,
+      "compressed_video": false,
+      "sha256": "66b74bf9915f7a9f851dc40b0ca3a7231c9ff2503ec746da48ae2c9f68342ec2"
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 73862491,
+      "packaged_bytes": 73862491,
+      "compressed_video": false,
+      "sha256": "d75c4b4ad91d261bdcb38881acd9cef5367fd46b1c686a7f9498779a351dcd93"
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 73805240,
+      "packaged_bytes": 73805240,
+      "compressed_video": false,
+      "sha256": "e60d5564b5f715d716a1e7c1b0610c424fee69cb699d8fe839ea613d67cff03b"
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 73838360,
+      "packaged_bytes": 73838360,
+      "compressed_video": false,
+      "sha256": "d3939aa8a26a98bcbcc92e097d9e2fa4e2ea851da4b278920a77eb99ccd2d1d0"
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 73837870,
+      "packaged_bytes": 73837870,
+      "compressed_video": false,
+      "sha256": "0c8d8760e37c47279294cbd6bed4e5abffceb5f4bbdb505c0c746a3aeabd9f6d"
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 73758451,
+      "packaged_bytes": 73758451,
+      "compressed_video": false,
+      "sha256": "2f42615d4bff2d180703506518ecf635f00f11be87461ffb8451cbdf06bda6f3"
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 73840101,
+      "packaged_bytes": 73840101,
+      "compressed_video": false,
+      "sha256": "57db39fae4bc763f0e4cfef52dfb5c979b980fe9c99fa1e5b6a7cb623de7ccde"
+    },
+    {
+      "source": "robowrist_75b5984e04d1d236_left/robowrist_segment1_imu_left.db",
+      "packaged_as": "robowrist_75b5984e04d1d236_left/robowrist_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1474560,
+      "packaged_bytes": 1474560,
+      "compressed_video": false,
+      "sha256": "673f4351dda617da5276adb014766656f1da0d07ba7a2b20e8cbecd953b29456"
+    },
+    {
+      "source": "robowrist_75b5984e04d1d236_left/robowrist_segment1_mag_left.db",
+      "packaged_as": "robowrist_75b5984e04d1d236_left/robowrist_segment1_mag_left.db",
+      "kind": "data",
+      "original_bytes": 376832,
+      "packaged_bytes": 376832,
+      "compressed_video": false,
+      "sha256": "4ddb3e443d5f5286fccb723e5f204c171bd64df00a02c6156c8cd078dc6cc688"
+    },
+    {
+      "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": 29903878,
+      "packaged_bytes": 29903878,
+      "compressed_video": false,
+      "sha256": "022bde41dafac68683707ea5d60208b8accfa5c1bec49f4f8126d99f8beb1287"
+    },
+    {
+      "source": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_imu_right.db",
+      "packaged_as": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1462272,
+      "packaged_bytes": 1462272,
+      "compressed_video": false,
+      "sha256": "65120d32f84b0bf4e69cd1ba9afc185513ea1256e4f8f29e608f294cbc536838"
+    },
+    {
+      "source": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_mag_right.db",
+      "packaged_as": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_mag_right.db",
+      "kind": "data",
+      "original_bytes": 376832,
+      "packaged_bytes": 376832,
+      "compressed_video": false,
+      "sha256": "ec9fb74b103ddf2df74834ee5077926ba49f0bac0693361c0a60e61527ba761a"
+    },
+    {
+      "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": 57362652,
+      "packaged_bytes": 57362652,
+      "compressed_video": false,
+      "sha256": "bc92b4530ddbc1e5da91f9c2093682baa855ef0a93c81e3f52c0efa83def1869"
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 797764,
+      "packaged_bytes": 797708,
+      "compressed_video": false,
+      "sha256": "39d07e03e6b255d19ba2731d10b4c267d72a91fc858b860796f66307fc3880d5"
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-EC07-S01-wangzhixin-02p1",
+    "action_id": "EC07",
+    "collection_session_index": 1,
+    "participant": "wangzhixin",
+    "repetition_count": 2
+  },
+  "upload_batch_created_at": "2026-10-27T19:33:15.194181+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/EC07/session_012/raw/mocap/Body0.bvh

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c0279986d31683eb08b7f8ea7b3ed261d8bf381ac87d4c72c39dfc08a3717e9
+size 10602696

actions/environment_coupled_wholebody/EC07/session_012/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fccd8e3ea64e719b4d99dd812d60084aab84788589385176d09827de56bc1f45
+size 146314727

actions/environment_coupled_wholebody/EC07/session_012/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35980659c4d4d98a4f247b2d9bada3139829610f7ab3974218d6b4a99ec2cbc2
+size 32736670

actions/environment_coupled_wholebody/EC07/session_012/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:877102b40ed07ecde983b68fc5c037f256162f604ea9a07ba815b13ec0976757
+size 1519616

actions/environment_coupled_wholebody/EC07/session_012/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4600c4ad1359b30e857d2824f5502cbbd2d84fd9f296f054b561a87c0f7561e4
+size 1470464

actions/environment_coupled_wholebody/EC07/session_012/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66b74bf9915f7a9f851dc40b0ca3a7231c9ff2503ec746da48ae2c9f68342ec2
+size 393216

actions/environment_coupled_wholebody/EC07/session_012/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:673f4351dda617da5276adb014766656f1da0d07ba7a2b20e8cbecd953b29456
+size 1474560

actions/environment_coupled_wholebody/EC07/session_012/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65120d32f84b0bf4e69cd1ba9afc185513ea1256e4f8f29e608f294cbc536838
+size 1462272

actions/environment_coupled_wholebody/EC07/session_012/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ddb3e443d5f5286fccb723e5f204c171bd64df00a02c6156c8cd078dc6cc688
+size 376832

actions/environment_coupled_wholebody/EC07/session_012/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec9fb74b103ddf2df74834ee5077926ba49f0bac0693361c0a60e61527ba761a
+size 376832

actions/environment_coupled_wholebody/EC07/session_012/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d758750964fc0cd8c182571987de1b6affb34bfbe53d9b196cc29dca8690d33d
+size 1464920

actions/environment_coupled_wholebody/EC07/session_012/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86ebb14ad15b54f6ad491b00635ff0fb2a845b9a49b86ad05d8fc0f8f75b2060
+size 178774

actions/environment_coupled_wholebody/EC07/session_012/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9b1ef207ccdabb7ef55238d495497551bc6e0cea7a82742d0d8e572b33e9d0c
+size 1485091

actions/environment_coupled_wholebody/EC07/session_012/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ea86ddb9dbb002b929b9b036adf8c28a509701ab0059e98c10248a07392f152
+size 314995

actions/environment_coupled_wholebody/EC07/session_012/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57ef7bf4105efabc7d205c4bf14899301ca6247d6d47c8cc249577461d0e61bd
+size 286798

actions/environment_coupled_wholebody/EC07/session_012/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d75c4b4ad91d261bdcb38881acd9cef5367fd46b1c686a7f9498779a351dcd93
+size 73862491

actions/environment_coupled_wholebody/EC07/session_012/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e60d5564b5f715d716a1e7c1b0610c424fee69cb699d8fe839ea613d67cff03b
+size 73805240

actions/environment_coupled_wholebody/EC07/session_012/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3939aa8a26a98bcbcc92e097d9e2fa4e2ea851da4b278920a77eb99ccd2d1d0
+size 73838360

actions/environment_coupled_wholebody/EC07/session_012/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c8d8760e37c47279294cbd6bed4e5abffceb5f4bbdb505c0c746a3aeabd9f6d
+size 73837870

actions/environment_coupled_wholebody/EC07/session_012/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f42615d4bff2d180703506518ecf635f00f11be87461ffb8451cbdf06bda6f3
+size 73758451

actions/environment_coupled_wholebody/EC07/session_012/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57db39fae4bc763f0e4cfef52dfb5c979b980fe9c99fa1e5b6a7cb623de7ccde
+size 73840101

actions/environment_coupled_wholebody/EC07/session_012/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e80ae5aed745eb6e310205dec1b741b00cff8ad1807eae9ddae7e6536394f6c8
+size 74822500

actions/environment_coupled_wholebody/EC07/session_012/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:022bde41dafac68683707ea5d60208b8accfa5c1bec49f4f8126d99f8beb1287
+size 29903878

actions/environment_coupled_wholebody/EC07/session_012/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc92b4530ddbc1e5da91f9c2093682baa855ef0a93c81e3f52c0efa83def1869
+size 57362652

actions/environment_coupled_wholebody/EC07/session_013/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:720257540aa6f50da14e172fe4484d935170dc4761fe8810f8a77f46a1eea54e
+size 1339915

actions/environment_coupled_wholebody/EC07/session_013/meta.json

@@ -0,0 +1,523 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261026/EC07/20261026_100043_session83",
+ "session_id": "20261026_100043_session83",
+ "primitive": "EC07",
+ "batch": "20261026",
+ "participant": "wangzhixin",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e3296774a321bb51",
+  "left": "75b5984e04d1d236",
+  "right": "c84bc808cb6b47af"
+ },
+ "generated_at_utc": "2026-10-28T19:35:17.185349+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": 154.19166666666666,
+  "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": -0.087871,
+  "rate": 0.0,
+  "global_lag_s": -0.09,
+  "peak_corr": 0.9915,
+  "reference_imu_first_sample_s": 29188.073639474,
+  "windows": {
+   "n_windows": 14,
+   "window_corr_median": 0.9905975889237533,
+   "drift_ppm": 0.033321548180908434,
+   "drift_se_ppm": 4.064341563497858,
+   "drift_ms_over_take": 0.005137627370359733,
+   "lag_scatter_ms": 0.5675544121255126,
+   "lag_range_ms": 1.8638780470912053
+  }
+ },
+ "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": 31121,
+    "n_gyro": 31115,
+    "t_start": -0.09482019187713132,
+    "t_end": 154.3758444811239
+   },
+   "imu_head_left": {
+    "n_acc": 30972,
+    "n_gyro": 30965,
+    "t_start": 0.008858850123163106,
+    "t_end": 154.55063429512225
+   },
+   "imu_wrist_right": {
+    "n_acc": 30965,
+    "n_gyro": 30977,
+    "t_start": -0.8141614478780478,
+    "t_end": 153.24808678512196
+   },
+   "imu_wrist_left": {
+    "n_acc": 31232,
+    "n_gyro": 31232,
+    "t_start": -0.8586924408781281,
+    "t_end": 153.2426773891231
+   },
+   "mag_head": {
+    "n": 15463,
+    "t_start": 0.09094930812274714,
+    "t_end": 154.71094221512172
+   },
+   "mag_wrist_right": {
+    "n": 15405,
+    "t_start": -0.7973138068781348,
+    "t_end": 153.24280557012312
+   },
+   "mag_wrist_left": {
+    "n": 15410,
+    "t_start": -0.850574727876717,
+    "t_end": 153.23964714912213
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 29188.198882,
+    "frames": 4625,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0025546514432425653,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.03992633456722859,
+    "t_end": 154.1732703345689,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 29188.198866,
+    "frames": 4625,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002366886077403108,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.03972256919873206,
+    "t_end": 154.17305556920033,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 29188.198877,
+    "frames": 4625,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0026728712083183277,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.040039554328489144,
+    "t_end": 154.1733725543301,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 29188.198888,
+    "frames": 4625,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002595594493655556,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.03997327761602963,
+    "t_end": 154.1733172776177,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 29188.198872,
+    "frames": 4625,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002394386090989767,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.039756069213710984,
+    "t_end": 154.1730890692153,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 29188.198856,
+    "frames": 4625,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002315656053021164,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.039661339174147256,
+    "t_end": 154.17299433917574,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 29187.299319,
+    "frames": 4623,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -0.862191316876176,
+    "t_end": 153.2046706831235,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 29187.339266,
+    "frames": 4622,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -0.8222443168786934,
+    "t_end": 153.2112196831214,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-EC07-S02-wangzhixin-02p1-1.mp4",
+    "frames": 4626,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 154.16666666666666
+   }
+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "e3296774a321bb51/20261026-afternoon/labels-235140/session-bd19c3dbc0759203",
+  "R_tracker0_imu0": [
+   [
+    0.62060355,
+    -0.31545324,
+    0.71787219
+   ],
+   [
+    0.7703121,
+    0.07419126,
+    -0.63333635
+   ],
+   [
+    0.14652816,
+    0.94603642,
+    0.2890408
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   0.17603862202330214,
+   -0.011680111961779984,
+   0.043058226697736006
+  ],
+  "rig_check": {
+   "gyro_samples": 3108,
+   "gyro_max_deg": 2.5,
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 1.305,
+   "video_solve": {
+    "status": "ok",
+    "reason": "",
+    "reprojection_px": 3.499,
+    "n_assoc": 478,
+    "gyro_deg": 1.305
+   }
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-28T23:21:54.152393+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": 34.1,
+   "headtop_p95_mm": 1573.5
+  },
+  "gravity_check": {
+   "static_samples": 2395,
+   "g_world_mean_m_s2": [
+    0.1411,
+    -0.0722,
+    9.7338
+   ],
+   "tilt_from_z_deg": 0.933,
+   "tilt_from_z_deg_before_levelling": 0.831,
+   "magnitude_m_s2": 9.7351
+  },
+  "rig_tracker_definition": "e3296774a321bb51/20261026-afternoon/labels-235140/session-bd19c3dbc0759203",
+  "rig_check": {
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 1.305
+  },
+  "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": "2026-10-29T04:29:36.680995+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": [
+      0.029236454516649246,
+      0.005667715333402157,
+      0.044796302914619446
+     ],
+     "LHandOut": [
+      0.0334395132958889,
+      0.04313822090625763,
+      0.010078617371618748
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.051867395639419556,
+      0.018446173518896103,
+      0.01626911573112011
+     ],
+     "RHandOut": [
+      -0.05710475519299507,
+      0.013302375562489033,
+      -0.03400381654500961
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 3.7,
+   "p95_frame": 5.88
+  },
+  "worst_markers": [
+   "LKneeIn 7mm",
+   "WaistLFront 7mm",
+   "LHeel 7mm",
+   "LThigh 6mm",
+   "RKneeIn 6mm"
+  ],
+  "valid_fraction": 0.9984,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": -8.3,
+    "p5": -22.4
+   },
+   "frames_checked": 616,
+   "stature_mm": 1582.0
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 13.14
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 68.28,
+    "Q_rotvec": [
+     0.92364,
+     -0.58716,
+     0.47145
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 100.8,
+    "opposite_sign_bend_deg": 105.7,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.09,
+    "hand_vs_marker_frame_deg": {
+     "before": 68.29,
+     "after": 2.09
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 90.77,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -3.1,
+       3.0
+      ]
+     },
+     "wrist_total_deg_median_after": 49.6,
+     "markers_on_forearm": [
+      "LElbow",
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 25.3,
+    "Q_rotvec": [
+     -0.00667,
+     0.38609,
+     -0.21404
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 30.8,
+    "opposite_sign_bend_deg": 167.5,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.32,
+    "hand_vs_marker_frame_deg": {
+     "before": 25.49,
+     "after": 1.32
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -16.39,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -1.3,
+       2.7
+      ]
+     },
+     "wrist_total_deg_median_after": 25.7,
+     "markers_on_forearm": [
+      "RElbowIn",
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-29T04:29:39.813013+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/environment_coupled_wholebody/EC07/session_013",
+  "family": "environment_coupled_wholebody",
+  "primitive": "EC07",
+  "source_session": "20261026/EC07/20261026_100043_session83"
+ },
+ "task": {
+  "primitive": "EC07",
+  "instruction": "Push the cart across the room using only the hand the operator calls. Keep your other arm at your side."
+ },
+ "objects": [
+  {
+   "name": "BigBox1",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC07/session_013/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9a14c631caa8d8223b707438fad89008c327005c668ab2325d242731b010522
+size 1375951