Upload folder using huggingface_hub (part 239)

.gitattributes

@@ -7657,3 +7657,57 @@ actions/locomanipulation/LM19/session_008/raw/sensors/robowrist_mag_left.db filt
 actions/locomanipulation/LM19/session_008/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM19/session_009/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM19/session_009/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_009/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_009/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_009/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_009/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_009/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_009/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_009/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_010/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_010/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_010/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_010/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_010/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_010/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_010/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_010/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_011/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_011/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_011/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_011/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_011/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_011/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_011/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_011/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_011/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_012/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_012/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_012/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_012/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_012/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_012/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_012/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_012/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_012/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_013/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_013/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_013/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_013/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_013/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_013/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_013/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_013/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_013/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_014/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_014/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_014/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_014/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_014/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_014/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_014/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_014/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_014/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_015/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_015/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM19/session_015/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM19/session_009/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:becbfb7bbb6d6a0e9091755908b98c6f81e3d71f887ceaecc8f254ca9d12cd05
+size 1302528

actions/locomanipulation/LM19/session_009/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78c2c86d5c3361396bd4cedb9d9f248cd64a4dbf5510ee09202c53166b620957
+size 1253376

actions/locomanipulation/LM19/session_009/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3b27ec54dbdf85118b922f8d2459d3451c90f004c03ea29ecb23e7d61634136
+size 339968

actions/locomanipulation/LM19/session_009/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb043ab0e8188bbf4bbf82979690871b7178e3020cb3cf8621f399c1e9e91bbd
+size 1212416

actions/locomanipulation/LM19/session_009/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b0427a4cabc067fdc576a7d9954467833e4e81f24cf9c93e0de417df4e5a7f7
+size 1241088

actions/locomanipulation/LM19/session_009/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d93939563ed2ac17fad2b07ab19612a85b50dda716f828f51b940b3df6fea41
+size 319488

actions/locomanipulation/LM19/session_009/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be4f76fe21e7915b8dae3a972fb9fac6bbb207eef77fc55550067acaa09aa82e
+size 319488

actions/locomanipulation/LM19/session_009/scene/infer.json

@@ -0,0 +1,36 @@
+{
+  "model": "facebook/map-anything",
+  "views": 248,
+  "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": 0.0577,
+    "trans_p95_m": 0.2078,
+    "rot_median_deg": 0.609,
+    "rot_p95_deg": 1.778
+  }
+}

actions/locomanipulation/LM19/session_009/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d4a2b4bdcf32bcd404fdd7dfaed272f5e42e090e40402ae027f54a9a3b49996
+size 217729613

actions/locomanipulation/LM19/session_009/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67fb45622939744fc66145020f38a1a8e137165d445aa865181e3374c3f2c079
+size 1344328

actions/locomanipulation/LM19/session_009/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:284e3c8fee6ace82df04bde192bc39c6f8c0a410ce7b24a0f603745e49f15d2e
+size 116738

actions/locomanipulation/LM19/session_009/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5004047c71de205d76c10746647cf2c932704a2275d617c21c9de4e9c3f4a867
+size 1366209

actions/locomanipulation/LM19/session_009/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c4e1745580e08d135b56bb7c5bd82cc07bbfdcb30c413600951bc2f50071d73
+size 263015

actions/locomanipulation/LM19/session_009/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d278a253d07a314e82b6ca6e1436f1e967a5ac0612e3d4ed4501ae7c89f84bfb
+size 253477

actions/locomanipulation/LM19/session_009/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a86eed0d37a827dadbcf2ba700ede349de6c968d4b1d82347837f5a584c48cb5
+size 62091037

actions/locomanipulation/LM19/session_009/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:988c2ebb2d1efe89c76303cfb8c57c02945d07fc8a1e08f7ef7dac02b6101b03
+size 62081461

actions/locomanipulation/LM19/session_009/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b8cf9850f4a0244d6b13c46139dd2d259aba6d1c29cdd7b52f78fca2865ede3
+size 62145191

actions/locomanipulation/LM19/session_009/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65050f31d7f3205bc238a8b2d1300fcf7d41aa78d6e8d116a4208693b3223aa4
+size 62105877

actions/locomanipulation/LM19/session_009/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbfe6fd377305b9899b81fff2955a2a8e5c74b0ca7b9105cc88b0553b23ac248
+size 62103299

actions/locomanipulation/LM19/session_009/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efcd02eb1018961b09911d1e4878c41b3e3a6c73b3a7788744cbdf463c9b03e1
+size 62098731

actions/locomanipulation/LM19/session_009/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1c40fc41e876722a3ad32186438d068517c1fe4129ef89a84841060574cff97
+size 52808490

actions/locomanipulation/LM19/session_009/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e60b7d0037016b1a6f9e2ed229a1506889b575ea40aca03e0910946706992b7
+size 55182616

actions/locomanipulation/LM19/session_009/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a6285d38212f0f44bd6685a8b55fe096140e9a71a261a7bfd693b7b38e08807
+size 61460379

actions/locomanipulation/LM19/session_010/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5daa46fd4cc4689dbfa26b9d11ddce1f302a990f49ab0ea457cea9d4d3c214d1
+size 1132963

actions/locomanipulation/LM19/session_010/meta.json

@@ -0,0 +1,515 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20260919/LM19/20260919_061926_session98",
+ "session_id": "20260919_061926_session98",
+ "primitive": "LM19",
+ "batch": "20260919",
+ "participant": "liujiaxin",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e17c9efadb69e7b1",
+  "left": "452031d7af00ef6f",
+  "right": "6ee5ee4472fe2ad7"
+ },
+ "generated_at_utc": "2026-10-14T11:15:20.891143+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": 129.025,
+  "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": -1.178975,
+  "rate": 0.0,
+  "global_lag_s": -1.18,
+  "peak_corr": 0.9457,
+  "reference_imu_first_sample_s": 20767.835295313,
+  "windows": {
+   "n_windows": 10,
+   "window_corr_median": 0.9985292470651923,
+   "drift_ppm": -0.1775559912667111,
+   "drift_se_ppm": 3.5201780308370174,
+   "drift_ms_over_take": -0.022907682139926843,
+   "lag_scatter_ms": 0.2859806151367572,
+   "lag_range_ms": 0.9515663706864963
+  }
+ },
+ "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": 26268,
+    "n_gyro": 26263,
+    "t_start": -1.1859561411561823,
+    "t_end": 129.77288338284637
+   },
+   "imu_head_left": {
+    "n_acc": 26220,
+    "n_gyro": 26215,
+    "t_start": -1.0689732281549165,
+    "t_end": 129.94284951484445
+   },
+   "imu_wrist_left": {
+    "n_acc": 25714,
+    "n_gyro": 25724,
+    "t_start": 0.3185320568431256,
+    "t_end": 127.31240044784356
+   },
+   "mag_head": {
+    "n": 13111,
+    "t_start": -0.989732266154149,
+    "t_end": 130.11026712984534
+   },
+   "mag_wrist_right": {
+    "n": 12709,
+    "t_start": 0.23026822184549234,
+    "t_end": 127.3090706318457
+   },
+   "mag_wrist_left": {
+    "n": 12698,
+    "t_start": 0.33568931384290623,
+    "t_end": 127.30471682484351
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 20769.051585,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0023423887986386703,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.03965722164359464,
+    "t_end": 129.00631322164412,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 20769.051534,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0019489646456461974,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.03921279749049278,
+    "t_end": 129.0058797974911,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 20769.051567,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0018171232386612972,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.039113956083767665,
+    "t_end": 129.00578095608438,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 20769.051603,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017295646474508202,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.0390623974912363,
+    "t_end": 129.00571839749176,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 20769.051551,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.001668932298833096,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.03894976514349979,
+    "t_end": 129.0056167651441,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 20769.051507,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017169377622902274,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.038953770605460125,
+    "t_end": 129.00562077060607,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 20769.371864,
+    "frames": 3808,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": 0.3575938328453252,
+    "t_end": 127.25661683284709,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 20769.359221,
+    "frames": 3808,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": 0.3449508328434807,
+    "t_end": 127.24377883284471,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-LM19-S04-liujiaxin-01p1-1.mp4",
+    "frames": 3871,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 129.0
+   }
+  }
+ },
+ "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_SPIKES",
+   "WARN M_TRACKER_LABELS",
+   "WARN S_INDEX_STALE",
+   "WARN S_PARTICIPANT",
+   "WARN T_EMPTY"
+  ]
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-14T12:20:32.463551+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": [
+   [
+    0.9998658868,
+    -0.0163768618,
+    -8.30319e-05
+   ],
+   [
+    8.30319e-05,
+    0.0101392104,
+    -0.9999485934
+   ],
+   [
+    0.0163768618,
+    0.9998144802,
+    0.0101392104
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999865887,
+    -1.6376862e-05,
+    -8.3032e-08,
+    0.0
+   ],
+   [
+    8.3032e-08,
+    1.013921e-05,
+    -0.000999948593,
+    0.0
+   ],
+   [
+    1.6376862e-05,
+    0.00099981448,
+    1.013921e-05,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20260919-morning",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 1.1036706221066361,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 31.9,
+   "headtop_p95_mm": 1642.4
+  },
+  "gravity_check": {
+   "static_samples": 924,
+   "g_world_mean_m_s2": [
+    0.0807,
+    -0.0442,
+    9.7848
+   ],
+   "tilt_from_z_deg": 0.539,
+   "tilt_from_z_deg_before_levelling": 1.642,
+   "magnitude_m_s2": 9.7853
+  },
+  "rig_tracker_definition": "e17c9efadb69e7b1/20260919-morning/labels-530412/session-19c0aac6ea2a0b7e",
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-15T04:49:35.534675+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": [
+      0.05529624596238136,
+      0.013933418318629265,
+      0.02515403740108013
+     ],
+     "LHandOut": [
+      0.05658748745918274,
+      -0.00020847812993451953,
+      -0.03397105634212494
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.052435923367738724,
+      0.02684755250811577,
+      -0.02213038131594658
+     ],
+     "RHandOut": [
+      -0.06196831539273262,
+      -0.034179963171482086,
+      0.010381389409303665
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 4.05,
+   "p95_frame": 7.58
+  },
+  "worst_markers": [
+   "RKneeIn 12mm",
+   "RThigh 10mm",
+   "LKnee 9mm",
+   "LKneeIn 8mm",
+   "RShin 8mm"
+  ],
+  "valid_fraction": 0.9998,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 8.1,
+    "p5": 1.6
+   },
+   "frames_checked": 517,
+   "stature_mm": 1614.2
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 12.64
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 172.46,
+    "Q_rotvec": [
+     2.98045,
+     -0.11031,
+     -0.40573
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 147.3,
+    "opposite_sign_bend_deg": 39.2,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 0.91,
+    "hand_vs_marker_frame_deg": {
+     "before": 172.26,
+     "after": 0.91
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 146.12,
+     "wrist_twist_deg_after": {
+      "median": 0.31,
+      "iqr": [
+       -1.4,
+       2.5
+      ]
+     },
+     "wrist_total_deg_median_after": 27.7,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 114.49,
+    "Q_rotvec": [
+     -1.92899,
+     0.14019,
+     -0.5025
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 109.9,
+    "opposite_sign_bend_deg": 72.2,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.13,
+    "hand_vs_marker_frame_deg": {
+     "before": 114.48,
+     "after": 1.13
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 107.99,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -3.8,
+       3.1
+      ]
+     },
+     "wrist_total_deg_median_after": 23.2,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-15T04:49:38.596703+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "rig_tracker": {
+  "definition": "e17c9efadb69e7b1/20260919-morning/labels-530412/session-19c0aac6ea2a0b7e",
+  "R_tracker0_imu0": [
+   [
+    -0.6025923,
+    0.25338987,
+    -0.75675365
+   ],
+   [
+    0.79689641,
+    0.14010386,
+    -0.58764532
+   ],
+   [
+    -0.04287927,
+    -0.95716482,
+    -0.28635098
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.17697245245763796,
+   -0.0035154908967138833,
+   -0.02533420904901737
+  ],
+  "rig_check": {
+   "gyro_samples": 4867,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 0.831
+  },
+  "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": "2026-10-18T18:57:23.399217+00:00",
+  "generated_by": "scripts/correct_processed_rig.py",
+  "remaining_gyro_frame_deg": 1.025218535479076
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM19/session_010",
+  "family": "locomanipulation",
+  "primitive": "LM19",
+  "source_session": "20260919/LM19/20260919_061926_session98"
+ }
+}

actions/locomanipulation/LM19/session_010/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22640e6894ee6f5b26145583fa7a3a2c344ae7b5a0e2b16691d7824e155c4524
+size 1156806

actions/locomanipulation/LM19/session_010/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:905151cc3d6733cacaa16332a9820f2f5da4ce60f133756fff0fa702200ff2a5
+size 8965583

actions/locomanipulation/LM19/session_010/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b83651d20a298269d28773df31b75fc95a02d586442bf27550460021dba6c9ae
+size 9105048

actions/locomanipulation/LM19/session_010/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3986c752141bf4e87823ad3ec43d5ad5ba299bcfeed5861f3e911fc341739d5
+size 5974026

actions/locomanipulation/LM19/session_010/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da648341291792a9c5c93415c40115ce624221a78006ce84f19ecc0641d92f16
+size 25000398

actions/locomanipulation/LM19/session_010/raw/manifest.json

@@ -0,0 +1,230 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-09-19T17:00:29.980621+00:00",
+  "primitive_id": "LM19",
+  "session_id": "20260919_061926_session98",
+  "upload_batch_id": "20260919",
+  "dataset_path": "EgoMotionActions/20260919/LM19/20260919_061926_session98",
+  "segment": "auto/all",
+  "duration_s": 128.966656,
+  "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-LM19-S04-liujiaxin-01p1/mocap-LM19-S04-liujiaxin-01p1-1.mp4",
+      "mocap-LM19-S04-liujiaxin-01p1/mocap-LM19-S04-liujiaxin-01p1-Body0.bvh",
+      "mocap-LM19-S04-liujiaxin-01p1/mocap-LM19-S04-liujiaxin-01p1-Body0.csv",
+      "mocap-LM19-S04-liujiaxin-01p1/mocap-LM19-S04-liujiaxin-01p1-Body0.trc",
+      "mocap-LM19-S04-liujiaxin-01p1/mocap-LM19-S04-liujiaxin-01p1-Tracker0.csv",
+      "mocap-LM19-S04-liujiaxin-01p1/mocap-LM19-S04-liujiaxin-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": 25000398,
+      "packaged_bytes": 25000398,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM19-S04-liujiaxin-01p1/mocap-LM19-S04-liujiaxin-01p1-1.mp4",
+      "packaged_as": "mocap/mocap-LM19-S04-liujiaxin-01p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 54188273,
+      "packaged_bytes": 54188273,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM19-S04-liujiaxin-01p1/mocap-LM19-S04-liujiaxin-01p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-LM19-S04-liujiaxin-01p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 9272578,
+      "packaged_bytes": 9272578,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM19-S04-liujiaxin-01p1/mocap-LM19-S04-liujiaxin-01p1-Body0.csv",
+      "packaged_as": "mocap/mocap-LM19-S04-liujiaxin-01p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 129172200,
+      "packaged_bytes": 129172200,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM19-S04-liujiaxin-01p1/mocap-LM19-S04-liujiaxin-01p1-Body0.trc",
+      "packaged_as": "mocap/mocap-LM19-S04-liujiaxin-01p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 28490809,
+      "packaged_bytes": 28490809,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM19-S04-liujiaxin-01p1/mocap-LM19-S04-liujiaxin-01p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-LM19-S04-liujiaxin-01p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 4898244,
+      "packaged_bytes": 4898244,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM19-S04-liujiaxin-01p1/mocap-LM19-S04-liujiaxin-01p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-LM19-S04-liujiaxin-01p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 4759301,
+      "packaged_bytes": 4759301,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1355776,
+      "packaged_bytes": 1355776,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1302528,
+      "packaged_bytes": 1302528,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 352256,
+      "packaged_bytes": 352256,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64650998,
+      "packaged_bytes": 64650998,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64610808,
+      "packaged_bytes": 64610808,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64691433,
+      "packaged_bytes": 64691433,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64646557,
+      "packaged_bytes": 64646557,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64623882,
+      "packaged_bytes": 64623882,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64683279,
+      "packaged_bytes": 64683279,
+      "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": 1282048,
+      "packaged_bytes": 1282048,
+      "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": 327680,
+      "packaged_bytes": 327680,
+      "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": 54859259,
+      "packaged_bytes": 54859259,
+      "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": 327680,
+      "packaged_bytes": 327680,
+      "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": 63446208,
+      "packaged_bytes": 63446208,
+      "compressed_video": false
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 649202,
+      "packaged_bytes": 649148,
+      "compressed_video": false
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-LM19-S04-liujiaxin-01p1",
+    "action_id": "LM19",
+    "collection_session_index": 4,
+    "participant": "liujiaxin",
+    "repetition_count": 1
+  },
+  "upload_batch_created_at": "2026-09-20T01:18:43.139882+08:00",
+  "collection_site": {
+    "id": "site_00"
+  }
+}

actions/locomanipulation/LM19/session_010/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17f5ea824afc3239c6fb2cb5ecdc6982fef54cc9b2bc2c91d6fd5eb3663d79b8
+size 129172200

actions/locomanipulation/LM19/session_010/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1edab4706bd3fc2139f0f4ae20808665d85e370a951bebee92e2f7339bc353f5
+size 28490809

actions/locomanipulation/LM19/session_010/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a751398fd4e4c53be5777ecb8842ba5e7277ad113d9a2a94d66786f8eb5204e
+size 1355776

actions/locomanipulation/LM19/session_010/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c24a3f9e7de1ea15ecc08998ddb0c225e3898765a674a2b7c927e398d2cf073b
+size 1302528

actions/locomanipulation/LM19/session_010/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1447e74d81100d0e9b456d846560166e2bcdbe3c38cce0036f1350e3474d846
+size 352256

actions/locomanipulation/LM19/session_010/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c2b0a59499374ee3bb42beccde9ca5defe589f8f3d6f754f2dffdc6599a9511
+size 1282048

actions/locomanipulation/LM19/session_010/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8670fa333c70e8973146633fce407e513bc17811228ab7a508392f3390b51945
+size 327680

actions/locomanipulation/LM19/session_010/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78f9bc0d531164f8e159c50ca849d1e0bbb57c6f5527f02b25e76fdc92ba1840
+size 327680

actions/locomanipulation/LM19/session_010/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": 0.0844,
+    "trans_p95_m": 0.3695,
+    "rot_median_deg": 0.478,
+    "rot_p95_deg": 1.333
+  }
+}

actions/locomanipulation/LM19/session_010/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:751723050040918a3cd8f3c898bc4ac370537ab848c8ae40b0955df2b56cce52
+size 239071981

actions/locomanipulation/LM19/session_010/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6eddd7994bff0046bb7ef0b4e51acda503c30b54a06796bbf2b82b43e29fbfed
+size 1378859

actions/locomanipulation/LM19/session_010/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a380197749f4fb7b81367a337044e08788ac885c84095338637e046dbc539ee
+size 119141

actions/locomanipulation/LM19/session_010/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89231d19de9af52ad235520a4a10b43e66843c32afd3c16dc0c0b5a3a1ed6780
+size 692015

actions/locomanipulation/LM19/session_010/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29277714c979bf7d1fb9c98e5ab5735d2a42e125818d700eb7b823cdfb30b8a5
+size 290109