Release update 2026-11-05: 5760 sessions, instructions, annotations (part 80)

.gitattributes

@@ -41873,3 +41873,14 @@ actions/environment_coupled_wholebody/EC07/session_022/raw/sensors/robowrist_imu
 actions/environment_coupled_wholebody/EC07/session_022/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/environment_coupled_wholebody/EC07/session_022/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/environment_coupled_wholebody/EC07/session_022/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC08/session_021/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC08/session_021/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC08/session_021/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC08/session_021/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC08/session_021/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC08/session_021/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC08/session_021/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC08/session_021/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC08/session_021/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC08/session_022/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC08/session_022/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/environment_coupled_wholebody/EC08/session_019/cameras/gsi_online_calibration.json

@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.473
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 2.4598,
+   "gate_fail": [],
+   "held_out_px_after": 0.565,
+   "held_out_px_before": 9.416,
+   "inliers": 1019,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.0525,
+    -1.3062,
+    0.363
+   ],
+   "split_deg": 0.1195,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8142,
+   "gate_fail": [],
+   "held_out_px_after": 0.664,
+   "held_out_px_before": 3.954,
+   "inliers": 2084,
+   "position_fitted": true,
+   "position_mm": [
+    -0.44,
+    -13.93,
+    3.34
+   ],
+   "position_sigma_mm": 0.328,
+   "position_split_mm": 2.336,
+   "rotvec_deg": [
+    0.0071,
+    -0.411,
+    0.7028
+   ],
+   "split_deg": 0.0843,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.8943,
+   "gate_fail": [],
+   "held_out_px_after": 0.593,
+   "held_out_px_before": 8.482,
+   "inliers": 1736,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.2843,
+    -0.8122,
+    3.0476
+   ],
+   "split_deg": 0.0462,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9704,
+   "gate_fail": [],
+   "held_out_px_after": 0.444,
+   "held_out_px_before": 6.924,
+   "inliers": 3192,
+   "position_fitted": true,
+   "position_mm": [
+    -1.57,
+    -14.61,
+    2.59
+   ],
+   "position_sigma_mm": 0.23,
+   "position_split_mm": 0.556,
+   "rotvec_deg": [
+    0.4132,
+    -0.9264,
+    1.6892
+   ],
+   "split_deg": 0.0476,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.9336,
+   "gate_fail": [],
+   "held_out_px_after": 0.403,
+   "held_out_px_before": 6.363,
+   "inliers": 2652,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.6301,
+    -0.4181,
+    -0.5475
+   ],
+   "split_deg": 0.0256,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e3296774a321bb51",
+ "factory_root_name": "e3296774a321bb51",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "bcc24a98120694ea711d320cef7a16677c24a3d02d2fd1bc519c091e338f254c",
+   "source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "13d327a6359176a28fe91fd3f9bfc939e2c0dfba23e773ff6a15cb175318c1ad",
+   "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "0e48f8b59e3c740b627d272ef10156a9d8d3ed79f0a04eaed49dbe7411939413",
+   "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "45d901b3561c6ec65e4ba5e0ab637a9d984f6d113f8fd7fed40506431cdb9d2d",
+   "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
+  }
+ },
+ "input_fingerprint": "81b9cdba27220f27",
+ "kind": "online_calibration",
+ "output_sha256": "197c8951b57fb679380d05ce637c5bf12cb6852907a972705b8d876e183bcfdb",
+ "overlap": {
+  "left-right": 0.489,
+  "left_eye-left": 0.684,
+  "left_eye-right": 0.685,
+  "left_eye-right_eye": 1.0,
+  "left_front-left": 0.466,
+  "left_front-left_eye": 0.717,
+  "left_front-right": 0.447,
+  "left_front-right_eye": 0.72,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.672,
+  "right_eye-right": 0.676,
+  "right_front-left": 0.469,
+  "right_front-left_eye": 0.746,
+  "right_front-right": 0.472,
+  "right_front-right_eye": 0.74
+ },
+ "picture_change": {
+  "left": 37.822,
+  "left_eye": 73.048,
+  "left_front": 39.176,
+  "right": 39.627,
+  "right_eye": 46.476,
+  "right_front": 41.091
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   7713690759000,
+   7714690759000,
+   7716690759000,
+   7717690759000,
+   7718690759000,
+   7719690759000,
+   7722690759000,
+   7724690747888,
+   7725690759000,
+   7728690759000,
+   7729690770111,
+   7730690892333,
+   7731690781222,
+   7733690825666,
+   7734690903444,
+   7737690770111,
+   7738690759000,
+   7740690759000,
+   7741690836777,
+   7742690781222,
+   7743690803444,
+   7744690770111,
+   7748690781222,
+   7749690792333,
+   7750690759000,
+   7754690792333,
+   7755690759000,
+   7756690836777,
+   7758690836777,
+   7759690892333,
+   7761690759000,
+   7762690759000,
+   7765690759000,
+   7766690759000,
+   7768690781222,
+   7769690770111,
+   7770690836777,
+   7771690847888,
+   7772690770111,
+   7773690759000,
+   7775690836777,
+   7776690770111,
+   7780690759000,
+   7781690792333,
+   7782690781222,
+   7783690759000,
+   7786690792333,
+   7787690770111,
+   7788690759000,
+   7792690759000,
+   7793690770111,
+   7794690770111,
+   7795690770111,
+   7797690759000,
+   7798690803444
+  ]
+ },
+ "version": 1
+}

actions/environment_coupled_wholebody/EC08/session_019/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db3c7f306f5a2407120aaf86817820c6f38100f9041af15923e5a0187c972eba
+size 527969

actions/environment_coupled_wholebody/EC08/session_019/meta.json

@@ -372,8 +372,8 @@
   "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": {
@@ -514,12 +514,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 22.43,
+    "offset_rotvec": [
+     0.0488,
+     0.2751,
+     -0.2741
+    ],
+    "dev_deg": {
+     "median": 15.46,
+     "p90": 36.34
+    },
+    "samples": 2527,
+    "accepted": 2153,
+    "wrist_pos_err_mm_median": 60.2,
+    "per_camera": {
+     "head": {
+      "samples": 2527,
+      "accepted": 2153,
+      "gate_deg": 30.0,
+      "offset_deg": 22.43,
+      "tier": "primary",
+      "dev_deg_median": 15.46,
+      "wrist_pos_err_mm_median": 60.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8834,
+     "interpolated": 1118,
+     "mean_hand": 1036,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9057,
+    "observed_fraction_of_valid": 0.9057,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 21.03,
+     "smplx": 1.52
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.1,
+      "p90": 9.7
+     },
+     "registered": {
+      "median": 6.7,
+      "p90": 9.3
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 37.63,
+    "offset_rotvec": [
+     0.1346,
+     -0.4107,
+     0.4946
+    ],
+    "dev_deg": {
+     "median": 16.14,
+     "p90": 34.45
+    },
+    "samples": 2584,
+    "accepted": 2183,
+    "wrist_pos_err_mm_median": 45.6,
+    "per_camera": {
+     "head": {
+      "samples": 2584,
+      "accepted": 2183,
+      "gate_deg": 30.0,
+      "offset_deg": 37.63,
+      "tier": "primary",
+      "dev_deg_median": 16.14,
+      "wrist_pos_err_mm_median": 45.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8952,
+     "interpolated": 800,
+     "mean_hand": 1236,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.8875,
+    "observed_fraction_of_valid": 0.8875,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 31.87,
+     "smplx": 2.53
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 13.8,
+      "p90": 25.4
+     },
+     "registered": {
+      "median": 13.1,
+      "p90": 24.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T18:23:00.832869+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/EC08/session_019",
   "family": "environment_coupled_wholebody",
   "primitive": "EC08",
   "source_session": "20261022/EC08/20261022_114833_session47"
  },
+ "task": {
+  "primitive": "EC08",
+  "instruction": "Push the cart up over the low platform edge and down the other side, then bring it back over."
+ },
  "objects": [
   {
    "name": "BigBox",

actions/environment_coupled_wholebody/EC08/session_019/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8568f917547e0e018b074e090f8a8a904d60373e9b8f1f9093af466119019aa7
+size 3445122

actions/environment_coupled_wholebody/EC08/session_019/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:831981a83949177d4efe19ace847b0e99d5e0346971658348c0d74c88d715c90
-size 4211356
+oid sha256:ec3a9904910b5f59726724a74ecea118481cabb8cbab07a9ac7b3dc76fda34ff
+size 7628366

actions/environment_coupled_wholebody/EC08/session_020/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": "EC08",
+ "instruction": "Push the cart up over the low platform edge and down the other side, then bring it back over.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 136.899944,
+   "video": "left_eye",
+   "video_t_start": 0.04021095037603502
+  }
+ ],
+ "episodes": [
+  {
+   "id": "c4c8e09f-7608-40db-8516-b9af9350b2ba",
+   "segment": "segment1",
+   "action": "EC08",
+   "quality": "valid",
+   "start_s": 1.504,
+   "end_s": 132.897,
+   "t_start": 1.5442,
+   "t_end": 132.9372,
+   "instruction": "Push the cart up over the low platform edge and down the other side, then bring it back over."
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC08/session_020/cameras/gsi_online_calibration.json

@@ -0,0 +1,259 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.429
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.6229,
+   "gate_fail": [],
+   "held_out_px_after": 0.441,
+   "held_out_px_before": 21.074,
+   "inliers": 2537,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.0776,
+    -0.2089,
+    -1.1953
+   ],
+   "split_deg": 0.0717,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.2605,
+   "gate_fail": [],
+   "held_out_px_after": 0.487,
+   "held_out_px_before": 10.679,
+   "inliers": 4478,
+   "position_fitted": true,
+   "position_mm": [
+    1.7,
+    -27.21,
+    -1.57
+   ],
+   "position_sigma_mm": 0.165,
+   "position_split_mm": 1.48,
+   "rotvec_deg": [
+    1.5273,
+    -0.9139,
+    1.3936
+   ],
+   "split_deg": 0.1104,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.6647,
+   "gate_fail": [],
+   "held_out_px_after": 0.986,
+   "held_out_px_before": 10.685,
+   "inliers": 1478,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.6855,
+    -1.2316,
+    3.012
+   ],
+   "split_deg": 0.3519,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.9216,
+   "gate_fail": [],
+   "held_out_px_after": 0.445,
+   "held_out_px_before": 6.119,
+   "inliers": 4301,
+   "position_fitted": true,
+   "position_mm": [
+    0.77,
+    -22.27,
+    -0.1
+   ],
+   "position_sigma_mm": 0.177,
+   "position_split_mm": 2.759,
+   "rotvec_deg": [
+    1.7159,
+    -1.4045,
+    1.9024
+   ],
+   "split_deg": 0.119,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.5594,
+   "gate_fail": [],
+   "held_out_px_after": 0.364,
+   "held_out_px_before": 4.706,
+   "inliers": 2940,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.1998,
+    -0.4342,
+    -0.2906
+   ],
+   "split_deg": 0.0151,
+   "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": "695572b10f6acb5dc7c25162801d9278fefe3e8d3435e8071f4caf64ead0588e",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "4f235eb9f7a916386fce869c3d4067bbace2a2938dd8207d6253a9fa92ddeaa2",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "72e9c172c5e664172d52da73fddfb76f2f130cb14caa3372f3b7ee2b0e38076b",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "1a3dcf2fa14bfd5d5c490207f3aecd1be840a6f238cf80e812c6d100d091005c",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "bbc01be107d6ccf9",
+ "kind": "online_calibration",
+ "output_sha256": "b2b7ad35cd6910b4d57e31ba9190d984e9fdd6ff437b5a3a51cdf2a0fe9b7139",
+ "overlap": {
+  "left-right": 0.5,
+  "left_eye-left": 0.695,
+  "left_eye-right": 0.702,
+  "left_front-left": 0.506,
+  "left_front-left_eye": 0.692,
+  "left_front-right": 0.458,
+  "left_front-right_eye": 0.698,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.699,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.706,
+  "right_front-left": 0.49,
+  "right_front-left_eye": 0.697,
+  "right_front-right": 0.464,
+  "right_front-right_eye": 0.704
+ },
+ "picture_change": {
+  "left": 41.491,
+  "left_eye": 38.81,
+  "left_front": 37.607,
+  "right": 42.337,
+  "right_eye": 38.334,
+  "right_front": 34.415
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   4771365535222,
+   4772365501888,
+   4776365490777,
+   4777365457444,
+   4778365479666,
+   4779365457444,
+   4785365479666,
+   4786365468555,
+   4789365479666,
+   4790365601888,
+   4794365613000,
+   4795365490777,
+   4798365479666,
+   4799365501888,
+   4802365457444,
+   4803365546333,
+   4806365479666,
+   4807365468555,
+   4809365457444,
+   4810365479666,
+   4813365468555,
+   4814365479666,
+   4820365468555,
+   4821365457444,
+   4826365479666,
+   4827365468555,
+   4828365501888,
+   4835365457444,
+   4836365657444,
+   4838365468555,
+   4839365479666,
+   4843365479666,
+   4844365601888,
+   4845365457444,
+   4850365457444,
+   4851365613000,
+   4857365468555,
+   4858365479666,
+   4859365490777,
+   4860365457444,
+   4864365457444,
+   4865365479666,
+   4870365479666,
+   4871365479666,
+   4873365590777,
+   4874365468555,
+   4879365479666,
+   4880365490777,
+   4882365479666,
+   4883365490777,
+   4887365524111,
+   4888365457444,
+   4890365490777,
+   4891365635222,
+   4895365479666,
+   4896365457444,
+   4898365546333,
+   4899365457444
+  ]
+ },
+ "version": 1
+}

actions/environment_coupled_wholebody/EC08/session_020/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b6980bf16b3ad72f7099c762502b34de4c927f4eada959f222d969e4d2b9be6
+size 788887

actions/environment_coupled_wholebody/EC08/session_020/meta.json

@@ -275,44 +275,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:42:57.876457+00:00",
+  "generated_at_utc": "2026-10-28T23:21:54.126091+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
    ],
    [
@@ -324,20 +324,20 @@
   ],
   "block": "20261026-morning",
   "block_assignment": "trc",
-  "tilt_removed_deg": 0.6736075582400546,
+  "tilt_removed_deg": 0.6697930607742368,
   "plane_status": "ok",
   "floor": {
-   "sole_marker_p1_mm": 30.1,
-   "headtop_p95_mm": 1601.4
+   "sole_marker_p1_mm": 30.3,
+   "headtop_p95_mm": 1601.8
   },
   "gravity_check": {
    "static_samples": 1224,
    "g_world_mean_m_s2": [
-    -0.1308,
-    0.0202,
+    -0.1309,
+    0.0259,
     9.7206
    ],
-   "tilt_from_z_deg": 0.78,
+   "tilt_from_z_deg": 0.787,
    "tilt_from_z_deg_before_levelling": 1.453,
    "magnitude_m_s2": 9.7215
   },
@@ -356,7 +356,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-27T07:33:33.964517+00:00",
+  "generated_at_utc": "2026-10-29T04:29:39.820654+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -365,8 +365,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -409,8 +409,8 @@
   "valid_fraction": 1.0,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 0.1,
-    "p5": -5.0
+    "median": 0.6,
+    "p5": -4.7
    },
    "frames_checked": 548,
    "stature_mm": 1614.2
@@ -425,19 +425,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 180.0,
+    "Q_deg": 178.73,
     "Q_rotvec": [
-     -2.98662,
-     0.4392,
-     0.86995
+     -3.05576,
+     0.57696,
+     0.24636
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 175.7,
-    "opposite_sign_bend_deg": 18.8,
+    "wrist_bend_deg_median": 176.0,
+    "opposite_sign_bend_deg": 19.0,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.44,
     "hand_vs_marker_frame_deg": {
-     "before": 179.27,
+     "before": 178.68,
      "after": 3.44
     },
     "markers_on_wrist": [
@@ -445,15 +445,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -171.03,
+     "twist_moved_deg": 163.61,
      "wrist_twist_deg_after": {
-      "median": -6.59,
+      "median": 15.52,
       "iqr": [
-       -10.9,
-       -2.3
+       11.2,
+       19.8
       ]
      },
-     "wrist_total_deg_median_after": 33.1,
+     "wrist_total_deg_median_after": 34.8,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -464,19 +464,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 177.84,
     "Q_rotvec": [
-     0.0,
-     0.0,
-     -0.0
+     -3.09073,
+     -0.28273,
+     0.03793
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 24.8,
-    "opposite_sign_bend_deg": 174.9,
+    "wrist_bend_deg_median": 174.8,
+    "opposite_sign_bend_deg": 41.8,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 4.96,
     "hand_vs_marker_frame_deg": {
-     "before": 4.96,
+     "before": 176.56,
      "after": 4.96
     },
     "markers_on_wrist": [
@@ -484,15 +484,15 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -4.77,
+     "twist_moved_deg": -169.72,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -4.77,
       "iqr": [
-       -4.7,
-       6.1
+       -9.5,
+       1.3
       ]
      },
-     "wrist_total_deg_median_after": 25.5,
+     "wrist_total_deg_median_after": 25.4,
      "markers_on_forearm": [
       "RElbow",
       "RElbowIn",
@@ -503,16 +503,130 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-28T06:50:15.879943+00:00",
+   "generated_at_utc": "2026-10-29T04:29:42.805816+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 19.24,
+    "offset_rotvec": [
+     0.0049,
+     0.2946,
+     -0.1611
+    ],
+    "dev_deg": {
+     "median": 14.27,
+     "p90": 29.79
+    },
+    "samples": 4029,
+    "accepted": 3634,
+    "wrist_pos_err_mm_median": 25.4,
+    "per_camera": {
+     "head": {
+      "samples": 4029,
+      "accepted": 3634,
+      "gate_deg": 30.0,
+      "offset_deg": 19.24,
+      "tier": "primary",
+      "dev_deg_median": 14.27,
+      "wrist_pos_err_mm_median": 25.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14554,
+     "interpolated": 740,
+     "mean_hand": 1142,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9305,
+    "observed_fraction_of_valid": 0.9305,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 21.41,
+     "smplx": 2.02
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.0,
+      "p90": 11.7
+     },
+     "registered": {
+      "median": 7.8,
+      "p90": 10.6
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 10.49,
+    "offset_rotvec": [
+     -0.0199,
+     0.1503,
+     0.1024
+    ],
+    "dev_deg": {
+     "median": 8.47,
+     "p90": 18.92
+    },
+    "samples": 3953,
+    "accepted": 3794,
+    "wrist_pos_err_mm_median": 54.7,
+    "per_camera": {
+     "head": {
+      "samples": 3953,
+      "accepted": 3794,
+      "gate_deg": 30.0,
+      "offset_deg": 10.49,
+      "tier": "primary",
+      "dev_deg_median": 8.47,
+      "wrist_pos_err_mm_median": 54.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15200,
+     "interpolated": 680,
+     "mean_hand": 556,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9662,
+    "observed_fraction_of_valid": 0.9662,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 11.13,
+     "smplx": 4.42
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 13.9,
+      "p90": 18.0
+     },
+     "registered": {
+      "median": 24.3,
+      "p90": 32.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:33:13.699794+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/EC08/session_020",
   "family": "environment_coupled_wholebody",
   "primitive": "EC08",
   "source_session": "20261026/EC08/20261026_014539_session12"
  },
+ "task": {
+  "primitive": "EC08",
+  "instruction": "Push the cart up over the low platform edge and down the other side, then bring it back over."
+ },
  "objects": [
   {
    "name": "BigBox2",
@@ -525,12 +639,6 @@
    "object_type": "LowStep",
    "source": "mocap",
    "pose_frame": "rigid_body"
-  },
-  {
-   "name": "Ramp",
-   "object_type": "Ramp",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
   }
  ]
 }

actions/environment_coupled_wholebody/EC08/session_020/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c248ca9879136d9d6f3b18fc3c7b87c284b8cae6aa07c0e27d9ff8b4a3862a72
+size 5419501

actions/environment_coupled_wholebody/EC08/session_020/motions/head_rig.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:bc2e47977d74fde535a8cd3eb95e98533d09299602b8dc8bd757f160e616f737
-size 1228406
+oid sha256:cd34891ee74677576e94bd02ab2499ab1b2cf202f3c665cc12a5f4e40be32a4d
+size 1228375

actions/environment_coupled_wholebody/EC08/session_020/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:de64474ce4f71db2ed45fcdc09177afd5d51a256c06684775e425f7ce3792b50
-size 6313210
+oid sha256:a5a14226a85d1ae1a26d25bfeafc3e2a649fe420d19abbecb7c6aa2ef3ee41c6
+size 11632547

actions/environment_coupled_wholebody/EC08/session_021/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2575ed75bb67028094844123e8739ec99e7add90adcc0df6cb911e95bb750f2
+size 865631

actions/environment_coupled_wholebody/EC08/session_021/meta.json

@@ -0,0 +1,506 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261027/EC08/20261027_101527_session40",
+ "session_id": "20261027_101527_session40",
+ "primitive": "EC08",
+ "batch": "20261027",
+ "participant": "gaoziyue",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "c9205ac6e17d2d5c",
+  "left": "cc5681142208e29a",
+  "right": "a85418f7d807dff9"
+ },
+ "generated_at_utc": "2026-10-28T19:42:05.433207+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": 196,
+  "duration_s": 96.95833333333333,
+  "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": -0.082809,
+  "rate": 0.0,
+  "global_lag_s": -0.08,
+  "peak_corr": 0.6679,
+  "reference_imu_first_sample_s": 9298.312000149,
+  "windows": {
+   "n_windows": 7,
+   "window_corr_median": 0.8399565478743789,
+   "drift_ppm": 8.80788499771329,
+   "drift_se_ppm": 25.00720516566418,
+   "drift_ms_over_take": 0.8683106626912349,
+   "lag_scatter_ms": 1.1183562135541796,
+   "lag_range_ms": 3.2639320562851957
+  }
+ },
+ "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": 20078,
+    "n_gyro": 20072,
+    "t_start": -1.7275695092304064,
+    "t_end": 97.16984430977017
+   },
+   "imu_head_left": {
+    "n_acc": 19956,
+    "n_gyro": 19951,
+    "t_start": -1.6166917912306504,
+    "t_end": 97.33012106476953
+   },
+   "imu_wrist_right": {
+    "n_acc": 19427,
+    "n_gyro": 19438,
+    "t_start": -2.5249476082300224,
+    "t_end": 95.58219795476897
+   },
+   "imu_wrist_left": {
+    "n_acc": 19372,
+    "n_gyro": 19385,
+    "t_start": -2.4978802572314724,
+    "t_end": 95.5743781277687
+   },
+   "mag_head": {
+    "n": 9904,
+    "t_start": -1.5336144582307585,
+    "t_end": 97.49637858976884
+   },
+   "mag_wrist_right": {
+    "n": 9810,
+    "t_start": -2.5108998042306756,
+    "t_end": 95.5785163467698
+   },
+   "mag_wrist_left": {
+    "n": 9806,
+    "t_start": -2.4793595222309794,
+    "t_end": 95.57056503876983
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 9298.431591,
+    "frames": 2957,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0026284356473863946,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": -1.5939226635820065,
+    "t_end": 96.93945533641808,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 9298.431565,
+    "frames": 2957,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0024181146161434135,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": -1.5941589846134863,
+    "t_end": 96.939185015386,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 9298.431583,
+    "frames": 2957,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002458947067077895,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": -1.5941001521642735,
+    "t_end": 96.93926684783573,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 9298.4316,
+    "frames": 2957,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0021420814739499558,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": -1.5944000177570248,
+    "t_end": 96.93897798224306,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 9298.431575,
+    "frames": 2957,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002801984596191448,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": -1.593765114634252,
+    "t_end": 96.93959088536566,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 9298.43155,
+    "frames": 2957,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002930366888236734,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": -1.5936617323423976,
+    "t_end": 96.939671267657,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 9297.530209,
+    "frames": 2942,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -2.4979330992301674,
+    "t_end": 95.53533490076906,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 9297.5407,
+    "frames": 2942,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -2.487442099231075,
+    "t_end": 95.54530490076822,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-EC08-S04-gaoziyue-01p1-1.mp4",
+    "frames": 2958,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": -1.6333333333333333,
+    "t_end": 96.93333333333332
+   }
+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "c9205ac6e17d2d5c/20261027-afternoon/labels-053142/session-c90f4fb179882b4f",
+  "R_tracker0_imu0": [
+   [
+    -0.67672074,
+    0.09545585,
+    -0.7300255
+   ],
+   [
+    0.73332269,
+    -0.00078862,
+    -0.67988029
+   ],
+   [
+    -0.06547427,
+    -0.99543335,
+    -0.06946626
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.18020304922776567,
+   -0.014905811789010707,
+   -0.008867833103809114
+  ],
+  "rig_check": {
+   "gyro_samples": 196,
+   "gyro_max_deg": 2.5,
+   "status": "unchecked",
+   "dropped_marker": null,
+   "gyro_deg": null
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-28T23:23:01.119333+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": [
+   [
+    0.9999951019,
+    0.0031298597,
+    1.01836e-05
+   ],
+   [
+    -1.01836e-05,
+    0.0065073133,
+    -0.9999788272
+   ],
+   [
+    -0.0031298597,
+    0.9999739291,
+    0.0065073133
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999995102,
+    3.12986e-06,
+    1.0184e-08,
+    0.0
+   ],
+   [
+    -1.0184e-08,
+    6.507313e-06,
+    -0.000999978827,
+    0.0
+   ],
+   [
+    -3.12986e-06,
+    0.000999973929,
+    6.507313e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20261027-afternoon",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.413729700581665,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 33.1,
+   "headtop_p95_mm": 1641.2
+  },
+  "gravity_check": {
+   "static_samples": 4262,
+   "g_world_mean_m_s2": [
+    -0.2293,
+    0.1771,
+    9.7852
+   ],
+   "tilt_from_z_deg": 1.696,
+   "tilt_from_z_deg_before_levelling": 1.66,
+   "magnitude_m_s2": 9.7895
+  },
+  "rig_tracker_definition": "c9205ac6e17d2d5c/20261027-afternoon/labels-053142/session-c90f4fb179882b4f",
+  "rig_check": {
+   "status": "unchecked",
+   "dropped_marker": null,
+   "gyro_deg": null
+  },
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-29T06:19:00.572333+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": [
+      0.05689617618918419,
+      -0.02880995161831379,
+      -0.010294496081769466
+     ],
+     "LHandOut": [
+      0.0477060005068779,
+      0.0007277397089637816,
+      0.037381861358881
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.053934525698423386,
+      -0.025062303990125656,
+      0.014078966341912746
+     ],
+     "RHandOut": [
+      -0.04027528315782547,
+      -0.0019359525758773088,
+      0.047616757452487946
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 4.15,
+   "p95_frame": 6.86
+  },
+  "worst_markers": [
+   "LShin 15mm",
+   "LKneeIn 8mm",
+   "RElbowIn 7mm",
+   "LShoulderFront 7mm",
+   "LElbowIn 7mm"
+  ],
+  "valid_fraction": 1.0,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 14.2,
+    "p5": 6.5
+   },
+   "frames_checked": 388,
+   "stature_mm": 1598.8
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 13.3
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 155.08,
+    "Q_rotvec": [
+     2.68849,
+     -0.29417,
+     -0.10486
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 162.3,
+    "opposite_sign_bend_deg": 41.9,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.19,
+    "hand_vs_marker_frame_deg": {
+     "before": 155.36,
+     "after": 3.19
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 161.84,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -6.2,
+       4.4
+      ]
+     },
+     "wrist_total_deg_median_after": 21.6,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1164
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 155.52,
+    "Q_rotvec": [
+     2.68944,
+     0.32653,
+     -0.16776
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 147.4,
+    "opposite_sign_bend_deg": 51.9,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.91,
+    "hand_vs_marker_frame_deg": {
+     "before": 155.88,
+     "after": 3.91
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -146.39,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -2.8,
+       4.1
+      ]
+     },
+     "wrist_total_deg_median_after": 26.4,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1164
+   },
+   "generated_at_utc": "2026-10-29T06:19:03.347281+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/environment_coupled_wholebody/EC08/session_021",
+  "family": "environment_coupled_wholebody",
+  "primitive": "EC08",
+  "source_session": "20261027/EC08/20261027_101527_session40"
+ },
+ "task": {
+  "primitive": "EC08",
+  "instruction": "Push the cart up over the low platform edge and down the other side, then bring it back over."
+ }
+}

actions/environment_coupled_wholebody/EC08/session_021/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b6b3462e95949518bb81e88576dbda70ef025696702f1d05bc3f577ea542700
+size 860968

actions/environment_coupled_wholebody/EC08/session_021/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fefe9320966c245d425460addb55546baa61564e4b5dcf22d33b91450d084db7
+size 6646845

actions/environment_coupled_wholebody/EC08/session_021/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:428c8bcd53b891b694da30946c06d946466409f27da66d05f4c431a774448992
+size 6790029

actions/environment_coupled_wholebody/EC08/session_021/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aef27ef6b3f871610d344379c93997ee6482f7a13c34344348c0717b58d29ba9
+size 4460653

actions/environment_coupled_wholebody/EC08/session_021/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b49e901cc7215a1697ead686413e7bf7ad03a610e46675b70aa277e968c4e4f0
+size 19009998

actions/environment_coupled_wholebody/EC08/session_021/raw/manifest.json

@@ -0,0 +1,286 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-10-27T14:07:47.109304+00:00",
+  "primitive_id": "EC08",
+  "session_id": "20261027_101527_session40",
+  "upload_batch_id": "20261027",
+  "dataset_path": "EgoMotionActions/20261027/EC08/20261027_101527_session40",
+  "segment": "auto/all",
+  "duration_s": 98.533378,
+  "device_ids": {
+    "main": "c9205ac6e17d2d5c",
+    "left": "cc5681142208e29a",
+    "right": "a85418f7d807dff9"
+  },
+  "mocap_rigid_names": [
+    "Body0",
+    "LowStep",
+    "Tracker0"
+  ],
+  "objects": [
+    "LowStep0"
+  ],
+  "options": {
+    "raw_video": true,
+    "proxy_height": 540,
+    "proxy_crf": 28,
+    "proxy_bitrate": "1400k",
+    "mocap_selection": "explicit",
+    "mocap_files": [
+      "mocap-EC08-S04-gaoziyue-01p1/mocap-EC08-S04-gaoziyue-01p1-1.mp4",
+      "mocap-EC08-S04-gaoziyue-01p1/mocap-EC08-S04-gaoziyue-01p1-Body0.bvh",
+      "mocap-EC08-S04-gaoziyue-01p1/mocap-EC08-S04-gaoziyue-01p1-Body0.csv",
+      "mocap-EC08-S04-gaoziyue-01p1/mocap-EC08-S04-gaoziyue-01p1-Body0.trc",
+      "mocap-EC08-S04-gaoziyue-01p1/mocap-EC08-S04-gaoziyue-01p1-LowStep.csv",
+      "mocap-EC08-S04-gaoziyue-01p1/mocap-EC08-S04-gaoziyue-01p1-LowStep.trc",
+      "mocap-EC08-S04-gaoziyue-01p1/mocap-EC08-S04-gaoziyue-01p1-Tracker0.csv",
+      "mocap-EC08-S04-gaoziyue-01p1/mocap-EC08-S04-gaoziyue-01p1-Tracker0.trc"
+    ],
+    "include_rrd": false,
+    "rrd_files": [],
+    "aligned_intersection": false
+  },
+  "files": [
+    {
+      "source": "audio_segment1.wav",
+      "packaged_as": "audio_segment1.wav",
+      "kind": "data",
+      "original_bytes": 19009998,
+      "packaged_bytes": 19009998,
+      "compressed_video": false,
+      "sha256": "b49e901cc7215a1697ead686413e7bf7ad03a610e46675b70aa277e968c4e4f0"
+    },
+    {
+      "source": "mocap-EC08-S04-gaoziyue-01p1/mocap-EC08-S04-gaoziyue-01p1-1.mp4",
+      "packaged_as": "mocap/mocap-EC08-S04-gaoziyue-01p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 32321646,
+      "packaged_bytes": 32321646,
+      "compressed_video": false,
+      "sha256": "9d83f147a902244babe47de2fb8d2f29c22b6699813621d27f8ac8b9324165b9"
+    },
+    {
+      "source": "mocap-EC08-S04-gaoziyue-01p1/mocap-EC08-S04-gaoziyue-01p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-EC08-S04-gaoziyue-01p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 7013041,
+      "packaged_bytes": 7013041,
+      "compressed_video": false,
+      "sha256": "d0d2def1a7524467fb70f6d16b3782668e881a63af3737a6eeeea99267b30de7"
+    },
+    {
+      "source": "mocap-EC08-S04-gaoziyue-01p1/mocap-EC08-S04-gaoziyue-01p1-Body0.csv",
+      "packaged_as": "mocap/mocap-EC08-S04-gaoziyue-01p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 97794641,
+      "packaged_bytes": 97794641,
+      "compressed_video": false,
+      "sha256": "b7d0f28a6d37f1b17c8e836628f5133697f2b23b3e609aecb287a9a5cd6339e6"
+    },
+    {
+      "source": "mocap-EC08-S04-gaoziyue-01p1/mocap-EC08-S04-gaoziyue-01p1-Body0.trc",
+      "packaged_as": "mocap/mocap-EC08-S04-gaoziyue-01p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 21157438,
+      "packaged_bytes": 21157438,
+      "compressed_video": false,
+      "sha256": "68ead76298edb84586f7be25024c7dbd2e7efb35aa2d41b91d65047ab812c060"
+    },
+    {
+      "source": "mocap-EC08-S04-gaoziyue-01p1/mocap-EC08-S04-gaoziyue-01p1-LowStep.csv",
+      "packaged_as": "mocap/mocap-EC08-S04-gaoziyue-01p1-LowStep.csv",
+      "kind": "data",
+      "original_bytes": 3594549,
+      "packaged_bytes": 3594549,
+      "compressed_video": false,
+      "sha256": "bcbe361af58e9d74518029adbf0c587ee31fac8525a11c7b62fbfcd8e7f93857"
+    },
+    {
+      "source": "mocap-EC08-S04-gaoziyue-01p1/mocap-EC08-S04-gaoziyue-01p1-LowStep.trc",
+      "packaged_as": "mocap/mocap-EC08-S04-gaoziyue-01p1-LowStep.trc",
+      "kind": "data",
+      "original_bytes": 1690313,
+      "packaged_bytes": 1690313,
+      "compressed_video": false,
+      "sha256": "14753f826ca0c0a79f5c602127797f0b8de4a2e5b29e79e99fdaa45833a366ad"
+    },
+    {
+      "source": "mocap-EC08-S04-gaoziyue-01p1/mocap-EC08-S04-gaoziyue-01p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-EC08-S04-gaoziyue-01p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 3751624,
+      "packaged_bytes": 3751624,
+      "compressed_video": false,
+      "sha256": "9581b3fed1dc984c4c2e77134653e93414d3ecb2ebc156563090c5b593655d4c"
+    },
+    {
+      "source": "mocap-EC08-S04-gaoziyue-01p1/mocap-EC08-S04-gaoziyue-01p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-EC08-S04-gaoziyue-01p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 3592989,
+      "packaged_bytes": 3592989,
+      "compressed_video": false,
+      "sha256": "3258f8e4e0f8e43b21c926491a5d34e629a8af223438694c1465749aa81c10a3"
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1019904,
+      "packaged_bytes": 1019904,
+      "compressed_video": false,
+      "sha256": "05a124457d4b720390fec845be013f8f8aaf67417e77ab368277675845d96dbd"
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 983040,
+      "packaged_bytes": 983040,
+      "compressed_video": false,
+      "sha256": "d64c22ff78fad762670c1c409087853648b11a1738df652db290513f2c23adde"
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 270336,
+      "packaged_bytes": 270336,
+      "compressed_video": false,
+      "sha256": "017f6569f76415c9ff1e9f439a94f1a14026b3e387ee71071a749a406344c7f5"
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 49467057,
+      "packaged_bytes": 49467057,
+      "compressed_video": false,
+      "sha256": "c3aa9a7776703a2fafda385fff054b49f01d8d53579f300578c21ffb67c84da1"
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 49402448,
+      "packaged_bytes": 49402448,
+      "compressed_video": false,
+      "sha256": "23f079d85b755a693d4a54b827126b031c678f1a4bef09086841938c1ba293c3"
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 49348746,
+      "packaged_bytes": 49348746,
+      "compressed_video": false,
+      "sha256": "ca11a354dbd5a918a21794843f8b7f22512b8e1b88e5dd706267f6e753a79728"
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 49411224,
+      "packaged_bytes": 49411224,
+      "compressed_video": false,
+      "sha256": "feb6251ee6804bd3b5de26cbb0a98528d1caa0d0ff05c6114046938fba32acaf"
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 49394196,
+      "packaged_bytes": 49394196,
+      "compressed_video": false,
+      "sha256": "e2b576807aa71e2a335e6941a172c38c6c8ca6490df089637cb45b88c5e04a16"
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 49334578,
+      "packaged_bytes": 49334578,
+      "compressed_video": false,
+      "sha256": "dd6420c0aa48349a5f630aa2fac8e4fe88e86ddb827ba7018f1f8ba8f021d82c"
+    },
+    {
+      "source": "robowrist_a85418f7d807dff9_right/robowrist_segment1_imu_right.db",
+      "packaged_as": "robowrist_a85418f7d807dff9_right/robowrist_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 958464,
+      "packaged_bytes": 958464,
+      "compressed_video": false,
+      "sha256": "253c1d77699c83238a3132663e37672bf67dcdfdd99c8973de4ddd2771b00385"
+    },
+    {
+      "source": "robowrist_a85418f7d807dff9_right/robowrist_segment1_mag_right.db",
+      "packaged_as": "robowrist_a85418f7d807dff9_right/robowrist_segment1_mag_right.db",
+      "kind": "data",
+      "original_bytes": 258048,
+      "packaged_bytes": 258048,
+      "compressed_video": false,
+      "sha256": "b6d2130a008c2bf616aae29d931ed84d5d22353fcdc103031fb09cdc3a0e452c"
+    },
+    {
+      "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": 32425036,
+      "packaged_bytes": 32425036,
+      "compressed_video": false,
+      "sha256": "f5c5e4815586829b2f5167d0fa5aba6726672c635b25bd962d2fd72c0a36ca81"
+    },
+    {
+      "source": "robowrist_cc5681142208e29a_left/robowrist_segment1_imu_left.db",
+      "packaged_as": "robowrist_cc5681142208e29a_left/robowrist_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 958464,
+      "packaged_bytes": 958464,
+      "compressed_video": false,
+      "sha256": "4d54f23ebf40802566b7d4a98a87202753055e09de765a29f42276d91625260f"
+    },
+    {
+      "source": "robowrist_cc5681142208e29a_left/robowrist_segment1_mag_left.db",
+      "packaged_as": "robowrist_cc5681142208e29a_left/robowrist_segment1_mag_left.db",
+      "kind": "data",
+      "original_bytes": 258048,
+      "packaged_bytes": 258048,
+      "compressed_video": false,
+      "sha256": "3d5eb2c11a33bb95501c0e4a2a765f85a9bdd2afd7e4234bb7823890a7463456"
+    },
+    {
+      "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": 36616248,
+      "packaged_bytes": 36616248,
+      "compressed_video": false,
+      "sha256": "d64c4a7fcaaa8504ce41d32ef8d99c3e3f1f0c9d52f974039aa0d53061a7ea37"
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 1165748,
+      "packaged_bytes": 1165695,
+      "compressed_video": false,
+      "sha256": "b91323fdceac67afaeb32d195e1645f6301f7b9f5460caf182844b6e25d299dd"
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-EC08-S04-gaoziyue-01p1",
+    "action_id": "EC08",
+    "collection_session_index": 4,
+    "participant": "gaoziyue",
+    "repetition_count": 1
+  },
+  "upload_batch_created_at": "2026-10-27T22:28:09.010125+08:00",
+  "participant_gender": "female",
+  "participant_height_cm": 160,
+  "participant_weight_kg": 56,
+  "collection_site": {
+    "id": "site_01",
+    "assignment_method": "env",
+    "catalog": "collection_sites.json"
+  }
+}

actions/environment_coupled_wholebody/EC08/session_021/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7d0f28a6d37f1b17c8e836628f5133697f2b23b3e609aecb287a9a5cd6339e6
+size 97794641

actions/environment_coupled_wholebody/EC08/session_021/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68ead76298edb84586f7be25024c7dbd2e7efb35aa2d41b91d65047ab812c060
+size 21157438

actions/environment_coupled_wholebody/EC08/session_021/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05a124457d4b720390fec845be013f8f8aaf67417e77ab368277675845d96dbd
+size 1019904

actions/environment_coupled_wholebody/EC08/session_021/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d64c22ff78fad762670c1c409087853648b11a1738df652db290513f2c23adde
+size 983040

actions/environment_coupled_wholebody/EC08/session_021/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:017f6569f76415c9ff1e9f439a94f1a14026b3e387ee71071a749a406344c7f5
+size 270336

actions/environment_coupled_wholebody/EC08/session_021/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d54f23ebf40802566b7d4a98a87202753055e09de765a29f42276d91625260f
+size 958464

actions/environment_coupled_wholebody/EC08/session_021/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:253c1d77699c83238a3132663e37672bf67dcdfdd99c8973de4ddd2771b00385
+size 958464

actions/environment_coupled_wholebody/EC08/session_021/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d5eb2c11a33bb95501c0e4a2a765f85a9bdd2afd7e4234bb7823890a7463456
+size 258048

actions/environment_coupled_wholebody/EC08/session_021/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6d2130a008c2bf616aae29d931ed84d5d22353fcdc103031fb09cdc3a0e452c
+size 258048

actions/environment_coupled_wholebody/EC08/session_021/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fec4e565dbf13f79d81c5071d6fbf3827b7837d5a12a5a6a87ed41cea235b204
+size 1001908

actions/environment_coupled_wholebody/EC08/session_021/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d7acea538aeffdd15c8917e7f48d3dd42926cf81ffc90c9e2bd8d96661bbd53
+size 120058

actions/environment_coupled_wholebody/EC08/session_021/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af06e4b93f356a893914c2c54820b6d08df6be8bc34251e731789e404a55abbe
+size 1040230

actions/environment_coupled_wholebody/EC08/session_021/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcb2d624addb3446d7c009f98f3d7ad65a5808913304f7bb42c174935bf6de31
+size 212602

actions/environment_coupled_wholebody/EC08/session_021/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6eb9e5f425447f15f26b5d2c4030dff36cd71256baec8e8ab209c2cb2936dfb2
+size 210342

actions/environment_coupled_wholebody/EC08/session_021/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3aa9a7776703a2fafda385fff054b49f01d8d53579f300578c21ffb67c84da1
+size 49467057

actions/environment_coupled_wholebody/EC08/session_021/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23f079d85b755a693d4a54b827126b031c678f1a4bef09086841938c1ba293c3
+size 49402448

actions/environment_coupled_wholebody/EC08/session_021/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca11a354dbd5a918a21794843f8b7f22512b8e1b88e5dd706267f6e753a79728
+size 49348746

actions/environment_coupled_wholebody/EC08/session_021/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:feb6251ee6804bd3b5de26cbb0a98528d1caa0d0ff05c6114046938fba32acaf
+size 49411224

actions/environment_coupled_wholebody/EC08/session_021/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2b576807aa71e2a335e6941a172c38c6c8ca6490df089637cb45b88c5e04a16
+size 49394196

actions/environment_coupled_wholebody/EC08/session_021/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd6420c0aa48349a5f630aa2fac8e4fe88e86ddb827ba7018f1f8ba8f021d82c
+size 49334578

actions/environment_coupled_wholebody/EC08/session_021/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d83f147a902244babe47de2fb8d2f29c22b6699813621d27f8ac8b9324165b9
+size 32321646

actions/environment_coupled_wholebody/EC08/session_021/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d64c4a7fcaaa8504ce41d32ef8d99c3e3f1f0c9d52f974039aa0d53061a7ea37
+size 36616248

actions/environment_coupled_wholebody/EC08/session_021/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5c5e4815586829b2f5167d0fa5aba6726672c635b25bd962d2fd72c0a36ca81
+size 32425036

actions/environment_coupled_wholebody/EC08/session_022/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e41e6eab0a4d03367af147ed843849277387cdd9ba553cb589df240fd1003050
+size 987633