Upload folder using huggingface_hub (part 13)

.gitattributes

@@ -654,3 +654,46 @@ actions/dynamic_recovery/DR06/session_003/raw/sensors/robocap_mag_middle.db filt
 actions/dynamic_recovery/DR06/session_003/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
 actions/dynamic_recovery/DR06/session_003/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/dynamic_recovery/DR06/session_003/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_004/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_004/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_004/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_004/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_004/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_004/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_004/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_004/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_005/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_005/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_005/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_005/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_005/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_005/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_005/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_005/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_006/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_006/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_006/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_006/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_006/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_006/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_006/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_007/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_007/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_007/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_007/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_007/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_007/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_007/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_007/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_007/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_008/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_008/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_008/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_008/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_008/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_008/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_008/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_008/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR06/session_008/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/dynamic_recovery/DR06/session_004/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecd197a79fa5379637bf8f5aed2af8d32253de4258968c3014791a1b5bb5c8b0
+size 126989641

actions/dynamic_recovery/DR06/session_004/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18bd083b4ddf932394aef00b47ec6f36457417c8108e2812d10744e472a18ccd
+size 27983177

actions/dynamic_recovery/DR06/session_004/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72a8977cca8bf38b0e0892ac1eb83ece6ed0f34c685e8d67432ccfb7d4009f63
+size 1347584

actions/dynamic_recovery/DR06/session_004/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86f6499f371082bfb02bbec2b1d13f8d1f0981ef788ca865019407d5ee053b63
+size 1298432

actions/dynamic_recovery/DR06/session_004/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4125765adb3ec5602b85c715156078bdd85d3523352e177d0541f471609dea1d
+size 352256

actions/dynamic_recovery/DR06/session_004/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ee7a1be40b15ef7b18d013ef567e05f0ce77a4313b7034a168e194eea2e5fc5
+size 1273856

actions/dynamic_recovery/DR06/session_004/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41287746a1d7b61a6e589ccbd095796ae986aaf309765dfb3d151ac152c1ce21
+size 327680

actions/dynamic_recovery/DR06/session_004/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91e65971c73a1b3d72d2f7054c416c59f624f939f81c36be3832bec4b801abd7
+size 323584

actions/dynamic_recovery/DR06/session_004/scene/infer.json

@@ -0,0 +1,36 @@
+{
+  "model": "facebook/map-anything",
+  "views": 258,
+  "windows": 6,
+  "cams": "left_front,right_front",
+  "stride_s": 1.0,
+  "size": [
+    518,
+    392
+  ],
+  "K": [
+    [
+      308.6641804819004,
+      0.0,
+      259.0
+    ],
+    [
+      0.0,
+      308.6641804819004,
+      196.0
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "pitch_deg": -20.0,
+  "hfov_deg": 80.0,
+  "pose_agreement_window_aligned": {
+    "trans_median_m": 0.0105,
+    "trans_p95_m": 0.0498,
+    "rot_median_deg": 0.341,
+    "rot_p95_deg": 1.251
+  }
+}

actions/dynamic_recovery/DR06/session_004/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89b02cd6bd0c1f9d69f87329b64f3e60dd6d9ed020600f5cfbcf5b837fa3dbcc
+size 257937935

actions/dynamic_recovery/DR06/session_004/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a29e06b16fce23a1844f6f7a14477bbc6713fd2831b9774c128e781e6a340639
+size 1385753

actions/dynamic_recovery/DR06/session_004/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be269d988c2b06ce94d19f90707bf46769725519596ad88e4dff5b16b9cfe404
+size 119151

actions/dynamic_recovery/DR06/session_004/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82a293ffed8f5ca5e126d4969d830244bc6d3cb2288ea33ad03281bc21cb7917
+size 679063

actions/dynamic_recovery/DR06/session_004/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fddac5eaa9a6c5701a653432b499109245d7f726db48287e718087ad7b8e4508
+size 289065

actions/dynamic_recovery/DR06/session_004/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b53b18339bb19ae90650fcf1bf7d2c44b1a1cd6421aaa22a8201bc25d2a3d171
+size 261959

actions/dynamic_recovery/DR06/session_004/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d01cab08dccd9eabf24b14e9ea70ed9456af820ba0891fdaef3bf698d4930419
+size 64674640

actions/dynamic_recovery/DR06/session_004/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:787fddf7521566aa7cd8cd24fc6442e3197cf5fd3c81118d06786e21b9aa3993
+size 64572036

actions/dynamic_recovery/DR06/session_004/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75186441f875e67f180f9216333690aa664020ab5e086aaf9b68ed22e46c0656
+size 64614994

actions/dynamic_recovery/DR06/session_004/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a026bc5e483c3429b889cfa902d93471a05c18736a3ce12b23ba6298f37c25d1
+size 64590568

actions/dynamic_recovery/DR06/session_004/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fe5e168401f24015499c0362ce18e4e6dfefd7f13d0bdd8da47bfea52e28122
+size 64586129

actions/dynamic_recovery/DR06/session_004/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13923a6c34ad6c62a8c6b6291a43fcca58060292015bfdcd1bd75df3234fc448
+size 64584179

actions/dynamic_recovery/DR06/session_004/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e524434e478de504f732262abdd41328b178a248532dd656212ce78faec71124
+size 63494934

actions/dynamic_recovery/DR06/session_004/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:576a42998f63ebaefa0945d01c1357b96aec392694d24b13ba3f78177e5f3664
+size 54046141

actions/dynamic_recovery/DR06/session_004/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:687c82adc21461afb0f6839c02b81297f13dc94b0d3962d2cd59cf84041c0b62
+size 52877433

actions/dynamic_recovery/DR06/session_005/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce0928522a260368651e906e8125b7902d8f8da68fccf8bd24eb5173c8ae35b2
+size 1180646

actions/dynamic_recovery/DR06/session_005/meta.json

@@ -0,0 +1,526 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20260922/DR06/20260922_052726_session71",
+ "session_id": "20260922_052726_session71",
+ "primitive": "DR06",
+ "batch": "20260922",
+ "participant": "wangyang",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e17c9efadb69e7b1",
+  "left": "452031d7af00ef6f",
+  "right": "6ee5ee4472fe2ad7"
+ },
+ "generated_at_utc": "2026-10-14T11:21:28.134327+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,
+  "first_solved_frame": 0,
+  "duration_s": 134.025,
+  "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": -1.186408,
+  "rate": 0.0,
+  "global_lag_s": -1.185,
+  "peak_corr": 0.9906,
+  "reference_imu_first_sample_s": 13553.348822492,
+  "windows": {
+   "n_windows": 12,
+   "window_corr_median": 0.9954973949724686,
+   "drift_ppm": -4.382601319358016,
+   "drift_se_ppm": 2.7359723169705927,
+   "drift_ms_over_take": -0.5873416201492968,
+   "lag_scatter_ms": 0.2986682756071537,
+   "lag_range_ms": 1.2078767819989622
+  }
+ },
+ "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": "e17c9efadb69e7b1",
+  "status": "ok",
+  "date": "2026-09-08"
+ },
+ "streams": {
+  "sensors": {
+   "imu_head_right": {
+    "n_acc": 27277,
+    "n_gyro": 27271,
+    "t_start": -1.19837447495575,
+    "t_end": 134.78848207004575
+   },
+   "imu_head_left": {
+    "n_acc": 27228,
+    "n_gyro": 27223,
+    "t_start": -1.0840208399547973,
+    "t_end": 134.96216116804516
+   },
+   "imu_wrist_left": {
+    "n_acc": 25897,
+    "n_gyro": 25897,
+    "t_start": 0.25227288904552014,
+    "t_end": 128.14107922404418
+   },
+   "mag_head": {
+    "n": 13614,
+    "t_start": -0.9923228809546398,
+    "t_end": 135.13767522504548
+   },
+   "mag_wrist_right": {
+    "n": 13003,
+    "t_start": 0.1582446050453601,
+    "t_end": 130.17918179704446
+   },
+   "mag_wrist_left": {
+    "n": 12788,
+    "t_start": 0.2658701740439884,
+    "t_end": 128.13610110304415
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 13554.572106,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0023423887986386703,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.039218295842323725,
+    "t_end": 134.00585129584232,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 13554.572034,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0019489646456461974,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.03875287169120756,
+    "t_end": 134.0054088716917,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 13554.572082,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0018171232386612972,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.03866903028410351,
+    "t_end": 134.00531303028419,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 13554.572128,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017295646474508202,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.038627471691319526,
+    "t_end": 134.00524947169123,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 13554.572053,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.001668932298833096,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.038491839343072654,
+    "t_end": 134.00514783934358,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 13554.572,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017169377622902274,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.03848684480744313,
+    "t_end": 134.00515384480804,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 13554.774144,
+    "frames": 3837,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": 0.23891390704574778,
+    "t_end": 128.10584090704486,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 13554.796581,
+    "frames": 3897,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": 0.2613509070453748,
+    "t_end": 130.12892890704478,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-DR06-S02-wangyang-02p1-1.mp4",
+    "frames": 4021,
+    "fps": 60.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 67.0
+   }
+  }
+ },
+ "flags": [
+  "wrist_right_imu empty"
+ ],
+ "sanity": {
+  "status": {
+   "structure": "FAIL",
+   "markers": "WARN",
+   "timing": "WARN"
+  },
+  "verdict": "READY_WITH_WARNINGS",
+  "issues": [
+   "FAIL S_DB_EMPTY",
+   "FAIL S_REPORT_EMPTY",
+   "WARN M_BODY_ID",
+   "WARN M_FLOOR_SHIFT",
+   "WARN M_TRACKER_LABELS",
+   "WARN S_REPORT_TIMING",
+   "WARN S_VIDEO_FPS",
+   "WARN T_EMPTY"
+  ]
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-14T12:21:20.469104+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": [
+   [
+    0.9999891338,
+    -0.0046617433,
+    -2.23966e-05
+   ],
+   [
+    2.23966e-05,
+    0.0096084269,
+    -0.9999538377
+   ],
+   [
+    0.0046617433,
+    0.9999429715,
+    0.0096084269
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999989134,
+    -4.661743e-06,
+    -2.2397e-08,
+    0.0
+   ],
+   [
+    2.2397e-08,
+    9.608427e-06,
+    -0.000999953838,
+    0.0
+   ],
+   [
+    4.661743e-06,
+    0.000999942972,
+    9.608427e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20260922-morning",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.6119072705165756,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 52.3,
+   "headtop_p95_mm": 1763.4
+  },
+  "gravity_check": {
+   "static_samples": 6767,
+   "g_world_mean_m_s2": [
+    0.2488,
+    0.18,
+    9.7827
+   ],
+   "tilt_from_z_deg": 1.798,
+   "tilt_from_z_deg_before_levelling": 1.796,
+   "magnitude_m_s2": 9.7876
+  },
+  "rig_tracker_definition": "e17c9efadb69e7b1/20260922-morning/labels-352410/session-9ad201e7880a064e",
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-15T09:51:44.022618+00:00",
+  "generated_by": "scripts/fit_smplx_dataset.py",
+  "file": "smplx.npz",
+  "gender": "male",
+  "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": [
+      0.06937326490879059,
+      0.02214810438454151,
+      0.015093086287379265
+     ],
+     "LHandOut": [
+      0.06979548186063766,
+      -0.023615123704075813,
+      -0.006432112772017717
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.0701444074511528,
+      0.024022936820983887,
+      0.036910559982061386
+     ],
+     "RHandOut": [
+      -0.07058858871459961,
+      0.007945320568978786,
+      -0.01074234489351511
+     ],
+     "RWristIn": [
+      0.011926522478461266,
+      -0.003627531696110964,
+      0.056172359734773636
+     ],
+     "RWristOut": [
+      0.011821109801530838,
+      -0.0039022108539938927,
+      -0.0013850292889401317
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 10.64,
+   "p95_frame": 19.47
+  },
+  "worst_markers": [
+   "CLAV 39mm",
+   "WaistLBack 35mm",
+   "RShin 30mm",
+   "STRN 27mm",
+   "WaistLFront 26mm"
+  ],
+  "valid_fraction": 0.9995,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": -3.3,
+    "p5": -11.2
+   },
+   "frames_checked": 536,
+   "stature_mm": 1765.5
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 17.86
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 121.61,
+    "Q_rotvec": [
+     2.09819,
+     -0.24512,
+     -0.20605
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 113.8,
+    "opposite_sign_bend_deg": 71.1,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.03,
+    "hand_vs_marker_frame_deg": {
+     "before": 121.49,
+     "after": 3.03
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 111.71,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -2.2,
+       2.0
+      ]
+     },
+     "wrist_total_deg_median_after": 29.5,
+     "markers_on_forearm": [
+      "LUArmHigh",
+      "LElbow",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 28.18,
+    "Q_rotvec": [
+     -0.17401,
+     0.18515,
+     -0.42114
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 22.2,
+    "opposite_sign_bend_deg": 176.1,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.14,
+    "hand_vs_marker_frame_deg": {
+     "before": 29.45,
+     "after": 2.14
+    },
+    "markers_on_wrist": [
+     "RWristIn",
+     "RWristOut",
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -3.45,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -4.5,
+       2.1
+      ]
+     },
+     "wrist_total_deg_median_after": 22.2,
+     "markers_on_forearm": [
+      "RForearm"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-15T09:51:47.058744+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "rig_tracker": {
+  "definition": "e17c9efadb69e7b1/20260922-morning/labels-352410/session-9ad201e7880a064e",
+  "R_tracker0_imu0": [
+   [
+    -0.63410714,
+    0.14150108,
+    -0.76018785
+   ],
+   [
+    0.7668923,
+    0.24084867,
+    -0.59486815
+   ],
+   [
+    0.09891575,
+    -0.96019236,
+    -0.26123996
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.1781700526951002,
+   -0.00977127744337308,
+   -0.006775825579538053
+  ],
+  "rig_check": {
+   "gyro_samples": 5429,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 0.959
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "rig_calibration_repair": {
+  "version": 2,
+  "applied_at_utc": "2026-10-18T19:00:57.111720+00:00",
+  "generated_by": "scripts/correct_processed_rig.py",
+  "remaining_gyro_frame_deg": 1.0310092117093468
+ },
+ "release": {
+  "release_path": "actions/dynamic_recovery/DR06/session_005",
+  "family": "dynamic_recovery",
+  "primitive": "DR06",
+  "source_session": "20260922/DR06/20260922_052726_session71"
+ }
+}

actions/dynamic_recovery/DR06/session_005/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f05bc463b4ecb54ee77b38492265a7decde32c6548c659bcbe7fd245b341ecea
+size 1183020

actions/dynamic_recovery/DR06/session_005/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b1381c0d2ecf4947cfb4de205fb3dc8fa5d7c8d15083da638a5a5d2e36bc4f9
+size 9287655

actions/dynamic_recovery/DR06/session_005/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7af560cf0b501d2049ac5eeacd566111389e19aae20c640e0dc20951c58174ad
+size 8935133

actions/dynamic_recovery/DR06/session_005/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45d4c3e5412651ff3379fdfe56e75de25f8a7bc082c804083627f65f52170e10
+size 6122850

actions/dynamic_recovery/DR06/session_005/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c53119db3824e0991ece53cac9c339bdb567b2ce50a8630c3e25505f6a25aad7
+size 25960398

actions/dynamic_recovery/DR06/session_005/raw/manifest.json

@@ -0,0 +1,233 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-09-28T08:21:30.918359+00:00",
+  "primitive_id": "DR06",
+  "session_id": "20260922_052726_session71",
+  "upload_batch_id": "20260922",
+  "dataset_path": "EgoMotionActions/20260922/DR06/20260922_052726_session71",
+  "segment": "auto/all",
+  "duration_s": 133.966633,
+  "device_ids": {
+    "main": "e17c9efadb69e7b1",
+    "left": "452031d7af00ef6f",
+    "right": "6ee5ee4472fe2ad7"
+  },
+  "options": {
+    "raw_video": true,
+    "proxy_height": 540,
+    "proxy_crf": 28,
+    "proxy_bitrate": "1400k",
+    "mocap_selection": "explicit",
+    "mocap_files": [
+      "mocap-DR06-S02-wangyang-02p1/mocap-DR06-S02-wangyang-02p1-1.mp4",
+      "mocap-DR06-S02-wangyang-02p1/mocap-DR06-S02-wangyang-02p1-Body0.bvh",
+      "mocap-DR06-S02-wangyang-02p1/mocap-DR06-S02-wangyang-02p1-Body0.csv",
+      "mocap-DR06-S02-wangyang-02p1/mocap-DR06-S02-wangyang-02p1-Body0.trc",
+      "mocap-DR06-S02-wangyang-02p1/mocap-DR06-S02-wangyang-02p1-Tracker0.csv",
+      "mocap-DR06-S02-wangyang-02p1/mocap-DR06-S02-wangyang-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": 25960398,
+      "packaged_bytes": 25960398,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-DR06-S02-wangyang-02p1/mocap-DR06-S02-wangyang-02p1-1.mp4",
+      "packaged_as": "mocap/mocap-DR06-S02-wangyang-02p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67679920,
+      "packaged_bytes": 67679920,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-DR06-S02-wangyang-02p1/mocap-DR06-S02-wangyang-02p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-DR06-S02-wangyang-02p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 9735400,
+      "packaged_bytes": 9735400,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-DR06-S02-wangyang-02p1/mocap-DR06-S02-wangyang-02p1-Body0.csv",
+      "packaged_as": "mocap/mocap-DR06-S02-wangyang-02p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 132303015,
+      "packaged_bytes": 132303015,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-DR06-S02-wangyang-02p1/mocap-DR06-S02-wangyang-02p1-Body0.trc",
+      "packaged_as": "mocap/mocap-DR06-S02-wangyang-02p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 28803215,
+      "packaged_bytes": 28803215,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-DR06-S02-wangyang-02p1/mocap-DR06-S02-wangyang-02p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-DR06-S02-wangyang-02p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 5115225,
+      "packaged_bytes": 5115225,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-DR06-S02-wangyang-02p1/mocap-DR06-S02-wangyang-02p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-DR06-S02-wangyang-02p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 4906052,
+      "packaged_bytes": 4906052,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1396736,
+      "packaged_bytes": 1396736,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1339392,
+      "packaged_bytes": 1339392,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 364544,
+      "packaged_bytes": 364544,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67218529,
+      "packaged_bytes": 67218529,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67152890,
+      "packaged_bytes": 67152890,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67151021,
+      "packaged_bytes": 67151021,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67133827,
+      "packaged_bytes": 67133827,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67118486,
+      "packaged_bytes": 67118486,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67151660,
+      "packaged_bytes": 67151660,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_452031d7af00ef6f_left/robowrist_segment1_imu_left.db",
+      "packaged_as": "robowrist_452031d7af00ef6f_left/robowrist_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1286144,
+      "packaged_bytes": 1286144,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_452031d7af00ef6f_left/robowrist_segment1_mag_left.db",
+      "packaged_as": "robowrist_452031d7af00ef6f_left/robowrist_segment1_mag_left.db",
+      "kind": "data",
+      "original_bytes": 331776,
+      "packaged_bytes": 331776,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+      "packaged_as": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 53590384,
+      "packaged_bytes": 53590384,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_imu_right.db",
+      "packaged_as": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 24576,
+      "packaged_bytes": 24576,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_mag_right.db",
+      "packaged_as": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_mag_right.db",
+      "kind": "data",
+      "original_bytes": 335872,
+      "packaged_bytes": 335872,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
+      "packaged_as": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 54947127,
+      "packaged_bytes": 54947127,
+      "compressed_video": false
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 793221,
+      "packaged_bytes": 793167,
+      "compressed_video": false
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-DR06-S02-wangyang-02p1",
+    "action_id": "DR06",
+    "collection_session_index": 2,
+    "participant": "wangyang",
+    "repetition_count": 2
+  },
+  "upload_batch_created_at": "2026-09-28T16:43:17.634170+08:00",
+  "participant_gender": "male",
+  "participant_height_cm": 176,
+  "participant_weight_kg": 66,
+  "collection_site": {
+    "id": "site_00"
+  }
+}

actions/dynamic_recovery/DR06/session_005/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd447b0670ed24832eb27d39126c92ea011dec272208a6ce8388227c80906bc2
+size 132303015

actions/dynamic_recovery/DR06/session_005/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88707c8d5d203d39193edd13883236c11788cc3645aba6da768a98fe54414b15
+size 28803215

actions/dynamic_recovery/DR06/session_005/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b47f9575bc255e0fcb6a9e1374d2cf5d4d4699e9622b69b7e80e3077eb0b377
+size 1396736

actions/dynamic_recovery/DR06/session_005/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fd9dc39ae44ffe9c50d3fed7602a01e10ca3d1cfeb7beb7d2b7f5b7e5f20f7c
+size 1339392

actions/dynamic_recovery/DR06/session_005/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cb6aa58bfe9300dcc830865cbbc60bd015cb3e658a87602406cd08bc6cc0d1a
+size 364544

actions/dynamic_recovery/DR06/session_005/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c5dbd727c19aee8bc6c7f0659bed4372783ab728ae27f1945ba17358beba9b0
+size 1286144

actions/dynamic_recovery/DR06/session_005/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c18f6202def53bfb1a8bda5745fc3861bea9bd98a5743dedb52fa125327b9535
+size 331776

actions/dynamic_recovery/DR06/session_005/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df7c2289e6926d4cc82df17e823095e03025434ac893c6548db861be96ea11f7
+size 335872

actions/dynamic_recovery/DR06/session_005/scene/infer.json

@@ -0,0 +1,36 @@
+{
+  "model": "facebook/map-anything",
+  "views": 268,
+  "windows": 6,
+  "cams": "left_front,right_front",
+  "stride_s": 1.0,
+  "size": [
+    518,
+    392
+  ],
+  "K": [
+    [
+      308.6641804819004,
+      0.0,
+      259.0
+    ],
+    [
+      0.0,
+      308.6641804819004,
+      196.0
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "pitch_deg": -20.0,
+  "hfov_deg": 80.0,
+  "pose_agreement_window_aligned": {
+    "trans_median_m": 0.0135,
+    "trans_p95_m": 0.0488,
+    "rot_median_deg": 0.311,
+    "rot_p95_deg": 1.161
+  }
+}

actions/dynamic_recovery/DR06/session_005/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bd68daa8536ab3243f9b741f10ee09e8cfdb977077ebcdfc49310417e972646
+size 258462766