Upload folder using huggingface_hub (part 25)

.gitattributes

@@ -1664,3 +1664,30 @@ actions/environment_coupled_wholebody/EC05/session_016/raw/sensors/robowrist_mag
 actions/environment_coupled_wholebody/EC05/session_017/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
 actions/environment_coupled_wholebody/EC05/session_017/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
 actions/environment_coupled_wholebody/EC05/session_017/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_017/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_017/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_017/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_017/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_017/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_017/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_017/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_018/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_018/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_018/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_018/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_018/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_018/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_018/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_018/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_018/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_019/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_019/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_019/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_019/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_019/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_019/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_019/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_019/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_019/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_020/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_020/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/environment_coupled_wholebody/EC05/session_017/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c35e614fa8a335a8622b5cd69ad5ff643994815b00494f4acd23d93a77e99e9
+size 1536000

actions/environment_coupled_wholebody/EC05/session_017/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a78eb5695c13244a519b8b6ac7d0838166cb0050536fe361b480594bcc39828
+size 1486848

actions/environment_coupled_wholebody/EC05/session_017/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6d8cba473386e9e1d6bacfbea5fc92d9134fbf422a02fa2fc1227d8fac6651f
+size 393216

actions/environment_coupled_wholebody/EC05/session_017/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a42a7e6d82dd0a24e8055af8d6fa4407b1bb7350a515b344003f10d15ae137c
+size 1437696

actions/environment_coupled_wholebody/EC05/session_017/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:306281b1cc2b7ddd04a721d86601ddaa15d8edb26cced890105af790c9032576
+size 1474560

actions/environment_coupled_wholebody/EC05/session_017/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d67c1796ae958be8aec627edda96a3879ffcf497bc58c5653a45b120d3708fc
+size 376832

actions/environment_coupled_wholebody/EC05/session_017/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98290aa5e5aec84c3c062edf66b1285204146dfd10f7d16779a36707b91f563e
+size 376832

actions/environment_coupled_wholebody/EC05/session_017/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e64d1bafe8543690ee38ca3fedac9b3bc5f2eb99bad7c0d264f97cd876353a2
+size 1627819

actions/environment_coupled_wholebody/EC05/session_017/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2673a38eb6cc3f1f9ecc5db3538c31f67601841616c8cb4ff292ef52fa82216
+size 188569

actions/environment_coupled_wholebody/EC05/session_017/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d43f792c0b10fcc81fbb93aaa8e9f78e4e3b44ad5b5c3b118bb82728141796f5
+size 1651074

actions/environment_coupled_wholebody/EC05/session_017/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b64b3ed53874b12d5efa46e27f04a894192baa5e5cea7c421e87d0dc088e005b
+size 325818

actions/environment_coupled_wholebody/EC05/session_017/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01e7f138a13a4b84b2534f45f2983d83ddee4398a7ac3fe562721f5b71a487ff
+size 296395

actions/environment_coupled_wholebody/EC05/session_017/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:073b9bc6e1c9d7d83c54b05f2b74ea6bde87d7e33f5caf5e597f72aba142b381
+size 73820713

actions/environment_coupled_wholebody/EC05/session_017/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a3ca1b908f156a406896a62796fce72328634f8a4b14ce86803f52df5daa194
+size 73691140

actions/environment_coupled_wholebody/EC05/session_017/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f836b10aa020c8b077806f124ee4addeccf0fabe8c7a47b3bbc22f5fa9937a2c
+size 73753768

actions/environment_coupled_wholebody/EC05/session_017/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e593d05cea280d77443a7e9746a9806605091f40e3f673138779f011d196e6c
+size 73754962

actions/environment_coupled_wholebody/EC05/session_017/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:814575228b3309419498194ff50074aacc8939a09e3f045ca5e40a1122b3ece8
+size 73687410

actions/environment_coupled_wholebody/EC05/session_017/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8aa2711ae880892130e58934d8993d8dfcf07cba51bd2910a14a9454addb8cfc
+size 73720867

actions/environment_coupled_wholebody/EC05/session_017/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:360914e59a3e7e19cf8c9091491a6c0f3c097bfc24f0f6e70935b3da9b9ae6d7
+size 50268787

actions/environment_coupled_wholebody/EC05/session_017/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b518d89c0dee0a7f3dc64f4dfd4f1c5ada35e11514b4acac304d65d7a60ef25
+size 55525218

actions/environment_coupled_wholebody/EC05/session_017/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6981d911dc4b3cd25a936741609b620c2c7f904730a28b1277fac50097426031
+size 59815566

actions/environment_coupled_wholebody/EC05/session_018/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0951a009be77e1c8b063853c645c6b0ee3cda2985e5eabedd5a6296e4a56980
+size 887633

actions/environment_coupled_wholebody/EC05/session_018/meta.json

@@ -0,0 +1,559 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261022/EC05/20261022_103939_session22",
+ "session_id": "20261022_103939_session22",
+ "primitive": "EC05",
+ "batch": "20261022",
+ "participant": "wangjingjing",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e3296774a321bb51",
+  "left": "39042f5fb5da3b12",
+  "right": "65a3481473d6e2a0"
+ },
+ "generated_at_utc": "2026-10-26T04:54:19.067202+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": 7,
+  "duration_s": 101.73333333333333,
+  "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": -0.089122,
+  "rate": 0.0,
+  "global_lag_s": -0.09,
+  "peak_corr": 0.9974,
+  "reference_imu_first_sample_s": 3575.814569494,
+  "windows": {
+   "n_windows": 9,
+   "window_corr_median": 0.9979652727788071,
+   "drift_ppm": -1.811962333870443,
+   "drift_se_ppm": 2.2675295144159193,
+   "drift_ms_over_take": -0.1844275662157799,
+   "lag_scatter_ms": 0.15490175529720132,
+   "lag_range_ms": 0.5277591319520492
+  }
+ },
+ "units": {
+  "mocap": "millimetres, Nokov world, Y-up (unchanged)",
+  "y_up_to_z_up": [
+   [
+    1.0,
+    0.0,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   [
+    0.0,
+    1.0,
+    0.0
+   ]
+  ],
+  "acc": "m/s^2 (8192 LSB/g)",
+  "gyro": "rad/s (65.536 LSB/dps)",
+  "mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
+  "quaternions": "xyzw, Nokov global"
+ },
+ "calibration": {
+  "device": "e3296774a321bb51",
+  "status": "ok",
+  "date": "2026-10-21"
+ },
+ "streams": {
+  "sensors": {
+   "imu_head_right": {
+    "n_acc": 20571,
+    "n_gyro": 20566,
+    "t_start": -0.15896860656348205,
+    "t_end": 101.93712737443647
+   },
+   "imu_head_left": {
+    "n_acc": 20475,
+    "n_gyro": 20469,
+    "t_start": -0.0517116495633642,
+    "t_end": 102.10440036543659
+   },
+   "imu_wrist_right": {
+    "n_acc": 20573,
+    "n_gyro": 20573,
+    "t_start": -0.8178391035634347,
+    "t_end": 100.58748102943682
+   },
+   "imu_wrist_left": {
+    "n_acc": 20504,
+    "n_gyro": 20502,
+    "t_start": -1.0117284185634132,
+    "t_end": 100.58252901143678
+   },
+   "mag_head": {
+    "n": 10225,
+    "t_start": 0.029821141436608148,
+    "t_end": 102.26981602343639
+   },
+   "mag_wrist_right": {
+    "n": 10139,
+    "t_start": -0.8001795525632558,
+    "t_end": 100.5801890894364
+   },
+   "mag_wrist_left": {
+    "n": 10147,
+    "t_start": -0.9850325375631626,
+    "t_end": 100.5748813054366
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 3575.940639,
+    "frames": 3053,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0025546514432425653,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": -0.018831327120002836,
+    "t_end": 101.71452467288017,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 3575.94062,
+    "frames": 3053,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002366886077403108,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": -0.019038092486331745,
+    "t_end": 101.71430590751388,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 3575.940633,
+    "frames": 3053,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0026728712083183277,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": -0.018719107354988093,
+    "t_end": 101.71462489264522,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 3575.940645,
+    "frames": 3051,
+    "pts_gaps": 1,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002595594493655556,
+    "gap_test": {
+     "pts": {
+      "offset_ms": 0.3,
+      "corr": 0.967,
+      "err_ms": 2.3
+     },
+     "nominal": {
+      "offset_ms": 67.0,
+      "corr": 0.967,
+      "err_ms": 64.4
+     }
+    },
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": -0.018784384069382806,
+    "t_end": 101.71458261593042,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 3575.940627,
+    "frames": 3041,
+    "pts_gaps": 11,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002394386090989767,
+    "gap_test": {
+     "pts": {
+      "offset_ms": 26.6,
+      "corr": 0.921,
+      "err_ms": 24.2
+     },
+     "nominal": {
+      "offset_ms": 150.0,
+      "corr": 0.837,
+      "err_ms": 147.6
+     }
+    },
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": -0.019003592472378525,
+    "t_end": 101.73098540752753,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 3575.940613,
+    "frames": 3051,
+    "pts_gaps": 1,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002315656053021164,
+    "gap_test": {
+     "pts": {
+      "offset_ms": -2.1,
+      "corr": 0.95,
+      "err_ms": 4.5
+     },
+     "nominal": {
+      "offset_ms": 64.5,
+      "corr": 0.95,
+      "err_ms": 62.2
+     }
+    },
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": -0.019096322510355687,
+    "t_end": 101.71423667748977,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 3574.962441,
+    "frames": 3045,
+    "pts_gaps": 1,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "gap_test": {
+     "pts": {
+      "offset_ms": 1.0,
+      "corr": 0.778,
+      "err_ms": 1.0
+     },
+     "nominal": {
+      "offset_ms": 67.8,
+      "corr": 0.778,
+      "err_ms": 67.8
+     }
+    },
+    "file": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -0.9995839785632568,
+    "t_end": 100.53368402143687,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 3575.141434,
+    "frames": 3042,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -0.8205909785632655,
+    "t_end": 100.54646602143666,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-EC05-S01-wangjingjing-01p2-1.mp4",
+    "frames": 3054,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": -0.058333333333333334,
+    "t_end": 101.70833333333333
+   }
+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "e3296774a321bb51/20261022-afternoon/labels-503412/session-546aad2c1726f7c8",
+  "R_tracker0_imu0": [
+   [
+    -0.60407937,
+    0.14375049,
+    -0.78385197
+   ],
+   [
+    0.78113473,
+    -0.08801913,
+    -0.61812714
+   ],
+   [
+    -0.15785005,
+    -0.98569185,
+    -0.05911796
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   0.019724673201091697,
+   -0.0076224447482599045,
+   -0.024891845728285678
+  ],
+  "rig_check": {
+   "gyro_samples": 3767,
+   "gyro_max_deg": 2.5,
+   "status": "gyro_rotation",
+   "dropped_marker": null,
+   "gyro_deg": 0.0,
+   "video_solve": {
+    "status": "ok",
+    "reason": "",
+    "reprojection_px": 3.135,
+    "n_assoc": 880,
+    "gyro_deg": 2.77
+   }
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-26T10:25:14.480462+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": [
+   [
+    0.9999851379,
+    0.0054519001,
+    2.63344e-05
+   ],
+   [
+    -2.63344e-05,
+    0.0096603389,
+    -0.9999533375
+   ],
+   [
+    -0.0054519001,
+    0.9999384754,
+    0.0096603389
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999985138,
+    5.4519e-06,
+    2.6334e-08,
+    0.0
+   ],
+   [
+    -2.6334e-08,
+    9.660339e-06,
+    -0.000999953337,
+    0.0
+   ],
+   [
+    -5.4519e-06,
+    0.000999938475,
+    9.660339e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20261022-afternoon",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.6355711327322124,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 26.7,
+   "headtop_p95_mm": 1524.2
+  },
+  "gravity_check": {
+   "static_samples": 1098,
+   "g_world_mean_m_s2": [
+    0.2011,
+    -0.1225,
+    9.7094
+   ],
+   "tilt_from_z_deg": 1.389,
+   "tilt_from_z_deg_before_levelling": 1.547,
+   "magnitude_m_s2": 9.7123
+  },
+  "rig_tracker_definition": "e3296774a321bb51/20261022-afternoon/labels-503412/session-546aad2c1726f7c8",
+  "rig_check": {
+   "status": "gyro_rotation",
+   "dropped_marker": null,
+   "gyro_deg": 0.0
+  },
+  "camera_pose_source": "T_tracker0_imu0 @ inv(T_cam_imu)",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-26T13:51:22.833204+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": [
+      0.03996520861983299,
+      0.02078207954764366,
+      0.0206297654658556
+     ],
+     "LHandOut": [
+      0.03708195313811302,
+      0.028091974556446075,
+      -0.01487208716571331
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.016922015696763992,
+      0.032663989812135696,
+      0.0026570563204586506
+     ],
+     "RHandOut": [
+      -0.032383836805820465,
+      0.01980963908135891,
+      -0.042084407061338425
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 4.98,
+   "p95_frame": 8.37
+  },
+  "worst_markers": [
+   "RElbowIn 24mm",
+   "RUArmHigh 11mm",
+   "RElbow 9mm",
+   "RThigh 8mm",
+   "LThigh 7mm"
+  ],
+  "valid_fraction": 1.0,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 11.7,
+    "p5": 0.6
+   },
+   "frames_checked": 407,
+   "stature_mm": 1502.4
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 10.77
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 165.0,
+    "Q_rotvec": [
+     -2.82255,
+     -0.23433,
+     0.52077
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 151.1,
+    "opposite_sign_bend_deg": 38.2,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 4.65,
+    "hand_vs_marker_frame_deg": {
+     "before": 165.71,
+     "after": 4.65
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -150.4,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -4.4,
+       2.4
+      ]
+     },
+     "wrist_total_deg_median_after": 26.2,
+     "markers_on_forearm": [
+      "LElbow",
+      "LElbowIn",
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1221
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 54.14,
+    "Q_rotvec": [
+     -0.19449,
+     0.44312,
+     -0.81158
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 57.6,
+    "opposite_sign_bend_deg": 154.1,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 7.61,
+    "hand_vs_marker_frame_deg": {
+     "before": 53.76,
+     "after": 7.61
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 18.7,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -6.9,
+       18.6
+      ]
+     },
+     "wrist_total_deg_median_after": 51.8,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1221
+   },
+   "generated_at_utc": "2026-10-26T13:51:25.677278+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/environment_coupled_wholebody/EC05/session_018",
+  "family": "environment_coupled_wholebody",
+  "primitive": "EC05",
+  "source_session": "20261022/EC05/20261022_103939_session22"
+ }
+}

actions/environment_coupled_wholebody/EC05/session_018/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b06b0f0bb88027d1181b3418450110fecc9e4f44c49dfa2eb417591aa659cbe5
+size 910777

actions/environment_coupled_wholebody/EC05/session_018/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4dedbe677787b5591c2f429a9e6a71658811c4967448528aa92e9bca6ad228e
+size 7002899

actions/environment_coupled_wholebody/EC05/session_018/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91e91d706c8e07cde260083309097ae3979b9839fae6c079dc0fcb872f4e6fce
+size 7089378

actions/environment_coupled_wholebody/EC05/session_018/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f059ec98abc9c9627c566ded239bc0beaa7b17c00709b0c4dfbec55a8129de6
+size 4692373

actions/environment_coupled_wholebody/EC05/session_018/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:080004fe87b6e1c507aaef31dbc93c2480b38c4069a847a004f71bd746c2254a
+size 18873678

actions/environment_coupled_wholebody/EC05/session_018/raw/manifest.json

@@ -0,0 +1,308 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-10-26T12:26:57.973702+00:00",
+  "primitive_id": "EC05",
+  "session_id": "20261022_103939_session22",
+  "upload_batch_id": "20261022",
+  "dataset_path": "EgoMotionActions/20261022/EC05/20261022_103939_session22",
+  "segment": "auto/all",
+  "duration_s": 101.733356,
+  "device_ids": {
+    "main": "e3296774a321bb51",
+    "left": "39042f5fb5da3b12",
+    "right": "65a3481473d6e2a0"
+  },
+  "mocap_rigid_names": [
+    "Body0",
+    "CcOrange",
+    "CcYellow",
+    "Tracker0"
+  ],
+  "objects": [
+    "CcOrange0",
+    "CcYellow0"
+  ],
+  "options": {
+    "raw_video": true,
+    "proxy_height": 540,
+    "proxy_crf": 28,
+    "proxy_bitrate": "1400k",
+    "mocap_selection": "explicit",
+    "mocap_files": [
+      "mocap-EC05-S01-wangjingjing-01p2/mocap-EC05-S01-wangjingjing-01p2-1.mp4",
+      "mocap-EC05-S01-wangjingjing-01p2/mocap-EC05-S01-wangjingjing-01p2-Body0.bvh",
+      "mocap-EC05-S01-wangjingjing-01p2/mocap-EC05-S01-wangjingjing-01p2-Body0.csv",
+      "mocap-EC05-S01-wangjingjing-01p2/mocap-EC05-S01-wangjingjing-01p2-Body0.trc",
+      "mocap-EC05-S01-wangjingjing-01p2/mocap-EC05-S01-wangjingjing-01p2-CcOrange.csv",
+      "mocap-EC05-S01-wangjingjing-01p2/mocap-EC05-S01-wangjingjing-01p2-CcOrange.trc",
+      "mocap-EC05-S01-wangjingjing-01p2/mocap-EC05-S01-wangjingjing-01p2-CcYellow.csv",
+      "mocap-EC05-S01-wangjingjing-01p2/mocap-EC05-S01-wangjingjing-01p2-CcYellow.trc",
+      "mocap-EC05-S01-wangjingjing-01p2/mocap-EC05-S01-wangjingjing-01p2-Tracker0.csv",
+      "mocap-EC05-S01-wangjingjing-01p2/mocap-EC05-S01-wangjingjing-01p2-Tracker0.trc"
+    ],
+    "include_rrd": false,
+    "rrd_files": [],
+    "aligned_intersection": false
+  },
+  "files": [
+    {
+      "source": "audio_segment1.wav",
+      "packaged_as": "audio_segment1.wav",
+      "kind": "data",
+      "original_bytes": 18873678,
+      "packaged_bytes": 18873678,
+      "compressed_video": false,
+      "sha256": "080004fe87b6e1c507aaef31dbc93c2480b38c4069a847a004f71bd746c2254a"
+    },
+    {
+      "source": "mocap-EC05-S01-wangjingjing-01p2/mocap-EC05-S01-wangjingjing-01p2-1.mp4",
+      "packaged_as": "mocap/mocap-EC05-S01-wangjingjing-01p2-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 52000611,
+      "packaged_bytes": 52000611,
+      "compressed_video": false,
+      "sha256": "e314440be7557478b72f6bf60bd0912f42fd20d31cf1c5399e1797baa7ae141a"
+    },
+    {
+      "source": "mocap-EC05-S01-wangjingjing-01p2/mocap-EC05-S01-wangjingjing-01p2-Body0.bvh",
+      "packaged_as": "mocap/mocap-EC05-S01-wangjingjing-01p2-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 7255246,
+      "packaged_bytes": 7255246,
+      "compressed_video": false,
+      "sha256": "4c709bf01f6aa7ef82947e7891ff6cd85cc5fb56eaecade026df5678931e83a3"
+    },
+    {
+      "source": "mocap-EC05-S01-wangjingjing-01p2/mocap-EC05-S01-wangjingjing-01p2-Body0.csv",
+      "packaged_as": "mocap/mocap-EC05-S01-wangjingjing-01p2-Body0.csv",
+      "kind": "data",
+      "original_bytes": 101287753,
+      "packaged_bytes": 101287753,
+      "compressed_video": false,
+      "sha256": "f62a2abf78cc735f2519f3045082d4b41e099680508b012794d5dc2c03e04edf"
+    },
+    {
+      "source": "mocap-EC05-S01-wangjingjing-01p2/mocap-EC05-S01-wangjingjing-01p2-Body0.trc",
+      "packaged_as": "mocap/mocap-EC05-S01-wangjingjing-01p2-Body0.trc",
+      "kind": "data",
+      "original_bytes": 22273237,
+      "packaged_bytes": 22273237,
+      "compressed_video": false,
+      "sha256": "1c9f89feba3caf8bfc190ab5011189c5d13246038f61e870eff1ba06534516e1"
+    },
+    {
+      "source": "mocap-EC05-S01-wangjingjing-01p2/mocap-EC05-S01-wangjingjing-01p2-CcOrange.csv",
+      "packaged_as": "mocap/mocap-EC05-S01-wangjingjing-01p2-CcOrange.csv",
+      "kind": "data",
+      "original_bytes": 3750931,
+      "packaged_bytes": 3750931,
+      "compressed_video": false,
+      "sha256": "a1ce0b2d602de848d2c559201a14eec96bea38f6bbbd2d760f9bf012b324324a"
+    },
+    {
+      "source": "mocap-EC05-S01-wangjingjing-01p2/mocap-EC05-S01-wangjingjing-01p2-CcOrange.trc",
+      "packaged_as": "mocap/mocap-EC05-S01-wangjingjing-01p2-CcOrange.trc",
+      "kind": "data",
+      "original_bytes": 3543270,
+      "packaged_bytes": 3543270,
+      "compressed_video": false,
+      "sha256": "c3166316e9ae506f6e04fca9858bc6ac05394e4e9fd520ffb79ba9c6412efeaa"
+    },
+    {
+      "source": "mocap-EC05-S01-wangjingjing-01p2/mocap-EC05-S01-wangjingjing-01p2-CcYellow.csv",
+      "packaged_as": "mocap/mocap-EC05-S01-wangjingjing-01p2-CcYellow.csv",
+      "kind": "data",
+      "original_bytes": 3804191,
+      "packaged_bytes": 3804191,
+      "compressed_video": false,
+      "sha256": "4041be8ff03d8c4589e7e5168d78b53390dc520cedd15d8c5fa9a07fba294331"
+    },
+    {
+      "source": "mocap-EC05-S01-wangjingjing-01p2/mocap-EC05-S01-wangjingjing-01p2-CcYellow.trc",
+      "packaged_as": "mocap/mocap-EC05-S01-wangjingjing-01p2-CcYellow.trc",
+      "kind": "data",
+      "original_bytes": 3619488,
+      "packaged_bytes": 3619488,
+      "compressed_video": false,
+      "sha256": "e9c4432e0775a7440e6643c216647e334d9fef1a1df84d629aa987b534b2ef31"
+    },
+    {
+      "source": "mocap-EC05-S01-wangjingjing-01p2/mocap-EC05-S01-wangjingjing-01p2-Tracker0.csv",
+      "packaged_as": "mocap/mocap-EC05-S01-wangjingjing-01p2-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 3853276,
+      "packaged_bytes": 3853276,
+      "compressed_video": false,
+      "sha256": "c4bf425824fa6f30d8b9315406854a145ae6ef2509cdf9ca9c551a9d3ce3afd1"
+    },
+    {
+      "source": "mocap-EC05-S01-wangjingjing-01p2/mocap-EC05-S01-wangjingjing-01p2-Tracker0.trc",
+      "packaged_as": "mocap/mocap-EC05-S01-wangjingjing-01p2-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 3743168,
+      "packaged_bytes": 3743168,
+      "compressed_video": false,
+      "sha256": "2fbb477962cc79989938303abdf9c93283b2580c3ddaa2c80b148068998cebfe"
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1056768,
+      "packaged_bytes": 1056768,
+      "compressed_video": false,
+      "sha256": "4070fff6c2482015b7fcf02f76028dcf05ecff975159514eaebf6dae656427e8"
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1015808,
+      "packaged_bytes": 1015808,
+      "compressed_video": false,
+      "sha256": "c879d9ada7eed8667a742851b36c63f0d42030e0c9110c86241827abf252adb5"
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 278528,
+      "packaged_bytes": 278528,
+      "compressed_video": false,
+      "sha256": "137ae94aba4ec817ffe9a00399163f0e5bb24ff24924a9fc2a5e115012eaf1bd"
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 51013637,
+      "packaged_bytes": 51013637,
+      "compressed_video": false,
+      "sha256": "2cd7b998c4e15fed01fe76e00b3faf09345f56e6003cc02ad94e1d080f9604ed"
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 50728895,
+      "packaged_bytes": 50728895,
+      "compressed_video": false,
+      "sha256": "59fac6fc90510aa09eeab17441790857bbb8609fda38931d34cafd4ba44c72f4"
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 50993566,
+      "packaged_bytes": 50993566,
+      "compressed_video": false,
+      "sha256": "8841e76b87ec2c804724f7b023e3e65f924c04607f930e4f1ba9762add4a7db0"
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 51022656,
+      "packaged_bytes": 51022656,
+      "compressed_video": false,
+      "sha256": "84b8d42c9627dcb69169e514db1902a54fdcfdf0cc99eadb8a5ed168f95640a7"
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 50942194,
+      "packaged_bytes": 50942194,
+      "compressed_video": false,
+      "sha256": "82100deb04c7708e5f317ea69ea61fdaa4622fcc743ce67cf9ffdc6fa5dd4f32"
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 50977493,
+      "packaged_bytes": 50977493,
+      "compressed_video": false,
+      "sha256": "558906cf621f38e26f8c609f3f7f18ddfd9996244cf19abc8f327a9e5078d489"
+    },
+    {
+      "source": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_imu_left.db",
+      "packaged_as": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1019904,
+      "packaged_bytes": 1019904,
+      "compressed_video": false,
+      "sha256": "1e6a1e9d2eb54cdaa9bcbed07f5db3495cffda8d4aeb9a007b3df946d984e640"
+    },
+    {
+      "source": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_mag_left.db",
+      "packaged_as": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_mag_left.db",
+      "kind": "data",
+      "original_bytes": 266240,
+      "packaged_bytes": 266240,
+      "compressed_video": false,
+      "sha256": "b365d8cf6708efa54bc3361fe760ba066dab8b314df9ad988129bb31aa8462af"
+    },
+    {
+      "source": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
+      "packaged_as": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 41625162,
+      "packaged_bytes": 41625162,
+      "compressed_video": false,
+      "sha256": "c93769f12fc2fab7e6ab6c0f9cec9bd053f92023f49e4cfe7ea822012203b848"
+    },
+    {
+      "source": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_imu_right.db",
+      "packaged_as": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1019904,
+      "packaged_bytes": 1019904,
+      "compressed_video": false,
+      "sha256": "822f82ddd6e926583150b882c9b6c230ef182bd7fdc463ef39460c2e310e73d9"
+    },
+    {
+      "source": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_mag_right.db",
+      "packaged_as": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_mag_right.db",
+      "kind": "data",
+      "original_bytes": 266240,
+      "packaged_bytes": 266240,
+      "compressed_video": false,
+      "sha256": "3aac07aebf3cff71b424e29de23cb0d448a90c0608c5e2e8b914afd3ee69bbf5"
+    },
+    {
+      "source": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
+      "packaged_as": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 32409881,
+      "packaged_bytes": 32409881,
+      "compressed_video": false,
+      "sha256": "b325bf999348cae78b7f57ef5130575f0a40a5b0a25cb9e2c4e2a622db40390a"
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 554748,
+      "packaged_bytes": 554692,
+      "compressed_video": false,
+      "sha256": "2cb1eb40acbb37cdac1cb763cfa41427cf876b555adedf24a8d06ef125316bea"
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-EC05-S01-wangjingjing-01p2",
+    "action_id": "EC05",
+    "collection_session_index": 1,
+    "participant": "wangjingjing",
+    "repetition_count": 1
+  },
+  "upload_batch_created_at": "2026-10-26T20:36:51.114932+08:00",
+  "participant_gender": "female",
+  "participant_height_cm": 154,
+  "participant_weight_kg": 42,
+  "collection_site": {
+    "id": "site_00",
+    "assignment_method": "env",
+    "catalog": "collection_sites.json"
+  }
+}

actions/environment_coupled_wholebody/EC05/session_018/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f62a2abf78cc735f2519f3045082d4b41e099680508b012794d5dc2c03e04edf
+size 101287753

actions/environment_coupled_wholebody/EC05/session_018/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c9f89feba3caf8bfc190ab5011189c5d13246038f61e870eff1ba06534516e1
+size 22273237

actions/environment_coupled_wholebody/EC05/session_018/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4070fff6c2482015b7fcf02f76028dcf05ecff975159514eaebf6dae656427e8
+size 1056768

actions/environment_coupled_wholebody/EC05/session_018/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c879d9ada7eed8667a742851b36c63f0d42030e0c9110c86241827abf252adb5
+size 1015808