Upload folder using huggingface_hub (part 682)

.gitattributes

@@ -26397,3 +26397,58 @@ actions/locomotion_primitives/L02/session_007/raw/sensors/robowrist_mag_left.db
 actions/locomotion_primitives/L02/session_007/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomotion_primitives/L02/session_008/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
 actions/locomotion_primitives/L02/session_008/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_008/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_008/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_008/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_008/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_008/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_008/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_008/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_009/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_009/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_009/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_009/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_009/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_009/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_009/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_009/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_009/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_010/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_010/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_010/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_010/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_010/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_010/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_010/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_010/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_010/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_011/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_011/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_011/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_011/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_011/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_011/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_011/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_011/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_011/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_012/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_012/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_012/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_012/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_012/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_012/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_012/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_012/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_012/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_013/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_013/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_013/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_013/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_013/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_013/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_013/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_013/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_013/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_014/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_014/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/L02/session_014/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/locomotion_primitives/L02/session_008/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45f8c44d6e7a28a6feba29a4774e403e6d166e373750c1db41cb026a01476a67
+size 1421312

actions/locomotion_primitives/L02/session_008/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9513b7137d843bbc6b4e79e91a942d30e3f57b6f862110d382737c0d4686bff8
+size 1363968

actions/locomotion_primitives/L02/session_008/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2233a0d0d563e75f10839d5a411659e19815e5f031e003a06f1fba0019416c2
+size 364544

actions/locomotion_primitives/L02/session_008/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec7d1695318291345b9874c3c6e300ac2fabbacf469a04db151ff1ceda61e4be
+size 1298432

actions/locomotion_primitives/L02/session_008/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c59977add2248642a17bb889afe1fad11fb8a119e8ccc4406517f976305255a
+size 1327104

actions/locomotion_primitives/L02/session_008/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d74bdb58695afd5d93aca69a36ee1029430759a036db0d2477a69cf0282c815
+size 339968

actions/locomotion_primitives/L02/session_008/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2883b623857778cc18f908a0629a06b8d3e03629a1bd764f938dd1aa0cdf836
+size 339968

actions/locomotion_primitives/L02/session_008/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": 0.1345,
+    "trans_p95_m": 0.3375,
+    "rot_median_deg": 0.365,
+    "rot_p95_deg": 1.284
+  }
+}

actions/locomotion_primitives/L02/session_008/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5e87d2086178ec6153dd623f19fc3fe668c3a5584e46623a8e5fa306505ec35
+size 276079898

actions/locomotion_primitives/L02/session_008/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8964cb2495768e47e2450ecd52dadc53d963b4763828178c1f47a42d118b695e
+size 1553008

actions/locomotion_primitives/L02/session_008/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:701181c4c144b5c093067975bcc10a3f315f1dd30c613efa7e69547903492d33
+size 174943

actions/locomotion_primitives/L02/session_008/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce43278bd17c96a94f4549e6979cde3dc24793d825423740a969cfadc0d913cd
+size 1534418

actions/locomotion_primitives/L02/session_008/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cc7d6f0053016d9c6603262ddc0df252d3eec933ebdd513c05387e3576a643d
+size 293137

actions/locomotion_primitives/L02/session_008/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f53b6df3a1efb63e4536931edf4c39a02a4ff2bc23b49dfe68937783b4aaa541
+size 248047

actions/locomotion_primitives/L02/session_008/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fb36448bef157474e47353eda2f6ddde2e547ae2805919ae1b5fd3225e7b904
+size 67108271

actions/locomotion_primitives/L02/session_008/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce8d5073b08fe0ca9468868005235948c802d43876af5da9c4066e2969ed91dd
+size 67107008

actions/locomotion_primitives/L02/session_008/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c6d576bdc4d131242497c9e6d042b9d30b39ba65e8a2b5da0fa536be1771fd6
+size 67124447

actions/locomotion_primitives/L02/session_008/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96e9e1315cdbe2be6de0756fdc7374df24218accc2f46b94ea3d2bff4e099d28
+size 67111469

actions/locomotion_primitives/L02/session_008/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4883c31ec92b09f76af2addec772de6f08db9fb9c1a44d11d1c650cfbc9a4b5f
+size 67121834

actions/locomotion_primitives/L02/session_008/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9188d50a9bdbcc898d6e175dd51d413e81521b6bf00073565c29a1eee430267
+size 67100288

actions/locomotion_primitives/L02/session_008/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78971ed14101adb9586db60eff388fe42fdbebecc60d38b0dea6981d7da2fab6
+size 35332745

actions/locomotion_primitives/L02/session_008/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dc5a0eda333040cf5025e38fbc978454027d4394bd1ed7d1501e1f95815e4a8
+size 49736670

actions/locomotion_primitives/L02/session_008/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83be0b33217d449344d69f4fe22bb8801131cc5e9bb75e65363b477da45c4b64
+size 50052919

actions/locomotion_primitives/L02/session_009/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed52598dae52e0e1935a885a80c887296a26dfedc05a0fc5ec4755c582e64563
+size 1207282

actions/locomotion_primitives/L02/session_009/meta.json

@@ -0,0 +1,527 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20260902/L02/20260902_023639_session17",
+ "session_id": "20260902_023639_session17",
+ "primitive": "L02",
+ "batch": "20260902",
+ "participant": "wangyang",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "850a0e6aafa85fdf",
+  "left": "cc5681142208e29a",
+  "right": "60a6f081bbe60b0d"
+ },
+ "generated_at_utc": "2026-10-14T10:54:35.509951+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": 139.025,
+  "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": -1.177562,
+  "rate": 0.0,
+  "global_lag_s": -1.175,
+  "peak_corr": 0.9882,
+  "reference_imu_first_sample_s": 3892.368698605,
+  "windows": {
+   "n_windows": 12,
+   "window_corr_median": 0.9919077167483557,
+   "drift_ppm": -3.630072996855228,
+   "drift_se_ppm": 10.173713986069568,
+   "drift_ms_over_take": -0.5046406477794909,
+   "lag_scatter_ms": 1.1105980838666651,
+   "lag_range_ms": 4.216663360773865
+  }
+ },
+ "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": "850a0e6aafa85fdf",
+  "status": "ok",
+  "date": "2026-08-27"
+ },
+ "streams": {
+  "sensors": {
+   "imu_head_right": {
+    "n_acc": 28465,
+    "n_gyro": 28460,
+    "t_start": -1.1844856854884878,
+    "t_end": 139.6662117315115
+   },
+   "imu_head_left": {
+    "n_acc": 28458,
+    "n_gyro": 28451,
+    "t_start": -1.0766215604883822,
+    "t_end": 139.83358964251119
+   },
+   "imu_wrist_right": {
+    "n_acc": 27376,
+    "n_gyro": 27389,
+    "t_start": 0.35699715251137754,
+    "t_end": 135.6521775115113
+   },
+   "imu_wrist_left": {
+    "n_acc": 26735,
+    "n_gyro": 26745,
+    "t_start": 0.3085116915114501,
+    "t_end": 135.6663701025115
+   },
+   "mag_head": {
+    "n": 14099,
+    "t_start": -0.9880237264886258,
+    "t_end": 139.99197867351148
+   },
+   "mag_wrist_right": {
+    "n": 13530,
+    "t_start": 0.3702770555116164,
+    "t_end": 135.66031622951158
+   },
+   "mag_wrist_left": {
+    "n": 13535,
+    "t_start": 0.325696468511234,
+    "t_end": 135.66546943751126
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 3893.583562,
+    "frames": 4170,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0021483410603724603,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.0394495505717547,
+    "t_end": 139.0060275505718,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 3893.583511,
+    "frames": 4170,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002270132116606671,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.03952034162801432,
+    "t_end": 139.00609834162805,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 3893.583546,
+    "frames": 4170,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0020725870268354075,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.03935779653800786,
+    "t_end": 139.00593579653804,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 3893.583584,
+    "frames": 4170,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002043825050164052,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.03936703456172985,
+    "t_end": 139.00593403456168,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 3893.583528,
+    "frames": 4170,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.001465839471423729,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.03873304898314167,
+    "t_end": 139.00531104898317,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 3893.583483,
+    "frames": 4170,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.00141129548433604,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.038633504995852164,
+    "t_end": 139.00521150499588,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 3893.886755,
+    "frames": 4059,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": 0.34049420951139986,
+    "t_end": 135.6069002095116,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 3893.887821,
+    "frames": 4059,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": 0.3415602095112096,
+    "t_end": 135.60829220951126,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-L02-S04-wangyang-05p11-1.mp4",
+    "frames": 4171,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 139.0
+   }
+  }
+ },
+ "flags": [],
+ "sanity": {
+  "status": {
+   "structure": "WARN",
+   "markers": "WARN",
+   "timing": "WARN"
+  },
+  "verdict": "READY_WITH_WARNINGS",
+  "issues": [
+   "WARN M_SPIKES",
+   "WARN M_TRACKER_LABELS",
+   "WARN S_INDEX",
+   "WARN S_PARTICIPANT",
+   "WARN T_UNITS"
+  ]
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-24T05:10:16.775325+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": [
+   [
+    0.9999899566,
+    -0.004481827,
+    -2.0287e-06
+   ],
+   [
+    2.0287e-06,
+    0.0009052792,
+    -0.9999995902
+   ],
+   [
+    0.004481827,
+    0.9999895468,
+    0.0009052792
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999989957,
+    -4.481827e-06,
+    -2.029e-09,
+    0.0
+   ],
+   [
+    2.029e-09,
+    9.05279e-07,
+    -0.00099999959,
+    0.0
+   ],
+   [
+    4.481827e-06,
+    0.000999989547,
+    9.05279e-07,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20260902-morning",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.2619767614165878,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 31.6,
+   "headtop_p95_mm": 1756.9
+  },
+  "gravity_check": {
+   "static_samples": 2733,
+   "g_world_mean_m_s2": [
+    -0.0473,
+    -0.0339,
+    9.8092
+   ],
+   "tilt_from_z_deg": 0.34,
+   "tilt_from_z_deg_before_levelling": 0.251,
+   "magnitude_m_s2": 9.8094
+  },
+  "rig_tracker_definition": "850a0e6aafa85fdf/20260902-morning/labels-035142/session-e34c7b85b52840a0",
+  "rig_check": {
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 0.869
+  },
+  "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": "2026-10-15T00:16:15.059586+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": [
+      0.0783899649977684,
+      -0.019316641613841057,
+      0.010663207620382309
+     ],
+     "LHandOut": [
+      0.0617532916367054,
+      0.025387341156601906,
+      0.013829577714204788
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.05125155299901962,
+      -0.0321957990527153,
+      0.014146480709314346
+     ],
+     "RHandOut": [
+      -0.05456062778830528,
+      0.016592105850577354,
+      0.02056753635406494
+     ],
+     "RWristOut": [
+      0.01943395845592022,
+      0.03909258916974068,
+      0.011101847514510155
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 5.73,
+   "p95_frame": 13.16
+  },
+  "worst_markers": [
+   "LThigh 14mm",
+   "LKneeIn 13mm",
+   "STRN 13mm",
+   "T10 11mm",
+   "WaistRSide 11mm"
+  ],
+  "valid_fraction": 1.0,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 13.9,
+    "p5": 5.6
+   },
+   "frames_checked": 557,
+   "stature_mm": 1765.5
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 14.36
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 87.04,
+    "Q_rotvec": [
+     -1.35968,
+     -0.45211,
+     0.5046
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 97.5,
+    "opposite_sign_bend_deg": 92.6,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.84,
+    "hand_vs_marker_frame_deg": {
+     "before": 86.83,
+     "after": 1.84
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -93.37,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -10.2,
+       3.9
+      ]
+     },
+     "wrist_total_deg_median_after": 29.7,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 107.66,
+    "Q_rotvec": [
+     1.78922,
+     0.57345,
+     -0.02406
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 81.7,
+    "opposite_sign_bend_deg": 105.0,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.3,
+    "hand_vs_marker_frame_deg": {
+     "before": 107.9,
+     "after": 1.3
+    },
+    "markers_on_wrist": [
+     "RWristOut",
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -79.88,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -2.8,
+       6.2
+      ]
+     },
+     "wrist_total_deg_median_after": 20.5,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-15T00:16:18.280613+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "rig_tracker": {
+  "definition": "850a0e6aafa85fdf/20260902-morning/labels-035142/session-e34c7b85b52840a0",
+  "R_tracker0_imu0": [
+   [
+    -0.64060377,
+    0.15672358,
+    -0.75170774
+   ],
+   [
+    0.76776459,
+    0.11438584,
+    -0.63043907
+   ],
+   [
+    -0.01281995,
+    -0.98099623,
+    -0.19360282
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   0.02826591116139149,
+   -0.001003374130409111,
+   -0.06028675194125641
+  ],
+  "rig_check": {
+   "gyro_samples": 7025,
+   "gyro_max_deg": 2.5,
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 0.869,
+   "video_solve": {
+    "status": "ok",
+    "reason": "",
+    "reprojection_px": 3.106,
+    "n_assoc": 703,
+    "gyro_deg": 0.869
+   }
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "release": {
+  "release_path": "actions/locomotion_primitives/L02/session_009",
+  "family": "locomotion_primitives",
+  "primitive": "L02",
+  "source_session": "20260902/L02/20260902_023639_session17"
+ }
+}

actions/locomotion_primitives/L02/session_009/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de38d2ad959a44c6d5ee88e5836cf114f01daa72510da8bf1031b86d3f2d621c
+size 1251040

actions/locomotion_primitives/L02/session_009/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:229b11bcf8f8d12cf96fe284828aa0164791852dd545514e1b379c2a140d0d8c
+size 9598282

actions/locomotion_primitives/L02/session_009/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3bf42096a726b1b42c67967b8ddf24e2e5bc5a3628794df6f032f971f2d10ed
+size 9641843

actions/locomotion_primitives/L02/session_009/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d231c147ca8df8d1b3812e51986f20049cd81e4639cbc0ba36758857e6b36276
+size 6427643

actions/locomotion_primitives/L02/session_009/raw/manifest.json

@@ -0,0 +1,222 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-09-02T08:39:48.044494+00:00",
+  "primitive_id": "L02",
+  "session_id": "20260902_023639_session17",
+  "upload_batch_id": "20260902",
+  "dataset_path": "EgoMotionActions/20260902/L02/20260902_023639_session17",
+  "segment": "auto/all",
+  "duration_s": 138.966578,
+  "device_ids": {
+    "main": "850a0e6aafa85fdf",
+    "left": "cc5681142208e29a",
+    "right": "60a6f081bbe60b0d"
+  },
+  "options": {
+    "raw_video": true,
+    "proxy_height": 540,
+    "proxy_crf": 28,
+    "proxy_bitrate": "1400k",
+    "mocap_selection": "explicit",
+    "mocap_files": [
+      "mocap-L02-S04-wangyang-05p11/mocap-L02-S04-wangyang-05p11-1.mp4",
+      "mocap-L02-S04-wangyang-05p11/mocap-L02-S04-wangyang-05p11-Body0.bvh",
+      "mocap-L02-S04-wangyang-05p11/mocap-L02-S04-wangyang-05p11-Body0.csv",
+      "mocap-L02-S04-wangyang-05p11/mocap-L02-S04-wangyang-05p11-Body0.trc",
+      "mocap-L02-S04-wangyang-05p11/mocap-L02-S04-wangyang-05p11-Tracker0.csv",
+      "mocap-L02-S04-wangyang-05p11/mocap-L02-S04-wangyang-05p11-Tracker0.trc"
+    ],
+    "include_rrd": false,
+    "rrd_files": [],
+    "aligned_intersection": false
+  },
+  "files": [
+    {
+      "source": "mocap-L02-S04-wangyang-05p11/mocap-L02-S04-wangyang-05p11-1.mp4",
+      "packaged_as": "mocap/mocap-L02-S04-wangyang-05p11-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 36782355,
+      "packaged_bytes": 36782355,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-L02-S04-wangyang-05p11/mocap-L02-S04-wangyang-05p11-Body0.bvh",
+      "packaged_as": "mocap/mocap-L02-S04-wangyang-05p11-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 10035472,
+      "packaged_bytes": 10035472,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-L02-S04-wangyang-05p11/mocap-L02-S04-wangyang-05p11-Body0.csv",
+      "packaged_as": "mocap/mocap-L02-S04-wangyang-05p11-Body0.csv",
+      "kind": "data",
+      "original_bytes": 140238474,
+      "packaged_bytes": 140238474,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-L02-S04-wangyang-05p11/mocap-L02-S04-wangyang-05p11-Body0.trc",
+      "packaged_as": "mocap/mocap-L02-S04-wangyang-05p11-Body0.trc",
+      "kind": "data",
+      "original_bytes": 31543956,
+      "packaged_bytes": 31543956,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-L02-S04-wangyang-05p11/mocap-L02-S04-wangyang-05p11-Tracker0.csv",
+      "packaged_as": "mocap/mocap-L02-S04-wangyang-05p11-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 5317285,
+      "packaged_bytes": 5317285,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-L02-S04-wangyang-05p11/mocap-L02-S04-wangyang-05p11-Tracker0.trc",
+      "packaged_as": "mocap/mocap-L02-S04-wangyang-05p11-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 5251053,
+      "packaged_bytes": 5251053,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1470464,
+      "packaged_bytes": 1470464,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1413120,
+      "packaged_bytes": 1413120,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 376832,
+      "packaged_bytes": 376832,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 69616413,
+      "packaged_bytes": 69616413,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 69652898,
+      "packaged_bytes": 69652898,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 69733554,
+      "packaged_bytes": 69733554,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 69662808,
+      "packaged_bytes": 69662808,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 69649215,
+      "packaged_bytes": 69649215,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 69719727,
+      "packaged_bytes": 69719727,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_imu_right.db",
+      "packaged_as": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1363968,
+      "packaged_bytes": 1363968,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_mag_right.db",
+      "packaged_as": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_mag_right.db",
+      "kind": "data",
+      "original_bytes": 348160,
+      "packaged_bytes": 348160,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
+      "packaged_as": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 53331811,
+      "packaged_bytes": 53331811,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_cc5681142208e29a_left/robowrist_segment1_imu_left.db",
+      "packaged_as": "robowrist_cc5681142208e29a_left/robowrist_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1331200,
+      "packaged_bytes": 1331200,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_cc5681142208e29a_left/robowrist_segment1_mag_left.db",
+      "packaged_as": "robowrist_cc5681142208e29a_left/robowrist_segment1_mag_left.db",
+      "kind": "data",
+      "original_bytes": 348160,
+      "packaged_bytes": 348160,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+      "packaged_as": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 53972141,
+      "packaged_bytes": 53972141,
+      "compressed_video": false
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 714595,
+      "packaged_bytes": 714553,
+      "compressed_video": false
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-L02-S04-wangyang-05p11",
+    "action_id": "L02",
+    "collection_session_index": 4,
+    "participant": "wangyang",
+    "repetition_count": 5
+  },
+  "upload_batch_created_at": "2026-09-02T16:39:50.135942+08:00",
+  "collection_site": {
+    "id": "site_01"
+  }
+}

actions/locomotion_primitives/L02/session_009/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34b2900cd7044a53533538738735e8662a17d8999c92efcd1767d560c45ba510
+size 140238474

actions/locomotion_primitives/L02/session_009/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:144f6c5475eb7e18d8f70236b31c2ea22df70ae739fb024ccdb707e654868265
+size 31543956

actions/locomotion_primitives/L02/session_009/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dc2fc7689d3f2f2836be2d7d6586d6b4dc04aaeb70986239187c930bf3269b6
+size 1470464

actions/locomotion_primitives/L02/session_009/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0081562fb149f642da3509a424522c3767e36ac94db7d3cc63bf1710a148e780
+size 1413120

actions/locomotion_primitives/L02/session_009/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0caa6cad952d6cbf0955c0de174c8b6879e870daf38d880ca3387f3b4d6c43ae
+size 376832

actions/locomotion_primitives/L02/session_009/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c449a099fd411ba2abed25a7e2298b08bf7125e65c534f590ab5221a55903507
+size 1331200

actions/locomotion_primitives/L02/session_009/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:125b4b84435d1199969cd609833ee2cb861c0ccb1c0e2a8d81a2bf21792429fd
+size 1363968

actions/locomotion_primitives/L02/session_009/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fb02a2dc835ab5bc06e4dfc3bc726808a55386e6ca1aea4d2c0141913868261
+size 348160

actions/locomotion_primitives/L02/session_009/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dafade5688f31d3d85a13bfb7abd04ee8657ce374510cb291c581abbdc291541
+size 348160

actions/locomotion_primitives/L02/session_009/scene/infer.json

@@ -0,0 +1,36 @@
+{
+  "model": "facebook/map-anything",
+  "views": 278,
+  "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": 0.1621,
+    "trans_p95_m": 0.3921,
+    "rot_median_deg": 0.357,
+    "rot_p95_deg": 1.036
+  }
+}

actions/locomotion_primitives/L02/session_009/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:524b1bd5691461f22516d0ec8f3e57c271d64b7f8c33e94f07a577f643fe8827
+size 284873639

actions/locomotion_primitives/L02/session_009/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c51c6a735a6c08f9a0cf53d549dd9eb514b701933809348b32e30ef2a47f714
+size 1603357

actions/locomotion_primitives/L02/session_009/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76eb81bb1b18609cb34dddfc65f64a9a12196a05fba9f5902bbd1ff9f98450c5
+size 181037

actions/locomotion_primitives/L02/session_009/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ebfa0cf27f7cb0082fdc6f57c0e03f86a991b96cf69b8ebd558bafc05c691c3
+size 1571581

actions/locomotion_primitives/L02/session_009/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b648d2ee37d706a2f58488560611a7bec983a2acfbd26e52aebecb19ae0619c
+size 301113

actions/locomotion_primitives/L02/session_009/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dfb8358d4bcf5999e9555a1fff941a34355b78c80988fd30d8f3aa9022c4ac8
+size 253415