Upload folder using huggingface_hub (part 387)

.gitattributes

@@ -13628,3 +13628,60 @@ actions/locomanipulation/LM42/session_001/raw/sensors/robowrist_imu_left.db filt
 actions/locomanipulation/LM42/session_001/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM42/session_001/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM42/session_001/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_002/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_002/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_002/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_002/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_002/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_002/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_002/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_002/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_002/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_003/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_003/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_003/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_003/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_003/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_003/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_003/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_003/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_003/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_004/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_004/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_004/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_004/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_004/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_004/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_004/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_004/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_005/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_005/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_005/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_005/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_005/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_005/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_005/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_005/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_005/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_005/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_006/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_006/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_006/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_006/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_006/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_006/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_006/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_006/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_007/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_007/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_007/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_007/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_007/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_007/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_007/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_007/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_007/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_008/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_008/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM42/session_002/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c304675990eb014255269dbb8a1fff105ef454c84b1fbf8a4df6d3095816be4
+size 109101140

actions/locomanipulation/LM42/session_002/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7398df4a3fd5e032c9549e6c6ca8d9010c7f287725c078eb901427694b0a82c4
+size 23453555

actions/locomanipulation/LM42/session_002/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca82d8d68cd3160b7bf472275f989f03a2b48003bb5cfc472c585c6260f9e7a0
+size 1150976

actions/locomanipulation/LM42/session_002/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0070031657295923b7247c2106d630f2e07322933d94e6e32b40757a5a907da2
+size 1110016

actions/locomanipulation/LM42/session_002/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef2dd2b133d2db486fc572fdcf53a09b0189ca77dcec7df3c4cecd70f51b2cb4
+size 303104

actions/locomanipulation/LM42/session_002/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:264f587d03f425c0e23e26167a01b3052250a632684bc70fda2cfab619f2e765
+size 1032192

actions/locomanipulation/LM42/session_002/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95c289eed7e4ca1c125d2aa9674b2c2b656c7cf73b21f45c9d9d225fa6997e2c
+size 1060864

actions/locomanipulation/LM42/session_002/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23341022ab6db8d974d0549ddd4434ca3bcddff09b81a004c0b066bbddad645e
+size 274432

actions/locomanipulation/LM42/session_002/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fce2f53d7650e1b0a79b96dfa534103b681de23017a427b0df7d2df3528faa1
+size 274432

actions/locomanipulation/LM42/session_002/scene/infer.json

@@ -0,0 +1,36 @@
+{
+  "model": "facebook/map-anything",
+  "views": 218,
+  "windows": 5,
+  "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": 0.0367,
+    "trans_p95_m": 0.0951,
+    "rot_median_deg": 0.365,
+    "rot_p95_deg": 1.102
+  }
+}

actions/locomanipulation/LM42/session_002/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffbc2e6a5b1efac8a97b45edffe04cf09a6c0cbc3b0412f1f08411fd43123f73
+size 225939004

actions/locomanipulation/LM42/session_002/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90c50742ee69717ab4e0d8485a9489eab365f1fb324458b3a8d25a039639e7a9
+size 1211407

actions/locomanipulation/LM42/session_002/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf03bc752d354641659358c8a055da08b9707e43abb0f85637607c416d1ad267
+size 102523

actions/locomanipulation/LM42/session_002/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bec14d72e5c748162647e3b0a1aa5474bcf06609d995ed4631a8eb134597e76a
+size 1223554

actions/locomanipulation/LM42/session_002/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a14340cb317b7e4cbb5a2db87bd41f33f1927b7c4cd425e058247707b288c20
+size 228504

actions/locomanipulation/LM42/session_002/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:255404e158c65ad4cd99fbf308cc4e740105326c03881aea4c40408b15da80ca
+size 225194

actions/locomanipulation/LM42/session_002/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17470a79d6266ec4d08b3e86a729b6140481133892047ccb2ad1dabde2999d2a
+size 54682247

actions/locomanipulation/LM42/session_002/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b174e6cdc34cd8cd5f03a5016c5ada7cd64897f2add9a5d1c4276695273f06a4
+size 54619608

actions/locomanipulation/LM42/session_002/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94c156d8fecaac19bcfac9edab0de8a4cdf670a7d482aa156ec5d9348ddb32bf
+size 54553331

actions/locomanipulation/LM42/session_002/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e91605f5f5e0d6cfc95d8b7b421c051b4daea5b5227ca66eb43c63cc54c5071
+size 54663207

actions/locomanipulation/LM42/session_002/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92d18102b48b1a02fa0e352bf96387a20c232348d7165e9eecee2547ee3b84a8
+size 54616032

actions/locomanipulation/LM42/session_002/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a85068f0019d2e4f8e2cb6abb290afe01eddbc26038f3b4527d1cbec31e0fa8a
+size 54615086

actions/locomanipulation/LM42/session_002/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da8c2db4686eff750a491ae007bbfb4f24981b01131779b61322c2421adfff64
+size 31121031

actions/locomanipulation/LM42/session_002/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19294330f8bc7298cc0f0f2e41c17440e69b26ff171340a61d8652680d548c5d
+size 49884950

actions/locomanipulation/LM42/session_002/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:085084fa24d9770c56ab907291e39c8bb0321adedacb8eaeffe60a714b11761f
+size 51022289

actions/locomanipulation/LM42/session_003/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c174462e1e0a465cd59faaf15cffd5267ff9e82025eeca29589f3898f31ccd9e
+size 1050405

actions/locomanipulation/LM42/session_003/meta.json

@@ -0,0 +1,519 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20260915/LM42/20260915_071902_session80",
+ "session_id": "20260915_071902_session80",
+ "primitive": "LM42",
+ "batch": "20260915",
+ "participant": "liujiaxin",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e17c9efadb69e7b1",
+  "left": "cc5681142208e29a",
+  "right": "60a6f081bbe60b0d"
+ },
+ "generated_at_utc": "2026-10-14T11:08:16.389825+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": 119.025,
+  "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": -1.169972,
+  "rate": 0.0,
+  "global_lag_s": -1.17,
+  "peak_corr": 0.9841,
+  "reference_imu_first_sample_s": 23859.227581488,
+  "windows": {
+   "n_windows": 10,
+   "window_corr_median": 0.9955589946990708,
+   "drift_ppm": 0.6143988180691482,
+   "drift_se_ppm": 2.71863982190474,
+   "drift_ms_over_take": 0.07312369933052978,
+   "lag_scatter_ms": 0.22086334321526774,
+   "lag_range_ms": 0.6940520912754877
+  }
+ },
+ "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": 24264,
+    "n_gyro": 24257,
+    "t_start": -1.1865460986754663,
+    "t_end": 119.786780657325
+   },
+   "imu_head_left": {
+    "n_acc": 24221,
+    "n_gyro": 24216,
+    "t_start": -1.0709811406758711,
+    "t_end": 119.95790651032628
+   },
+   "imu_wrist_right": {
+    "n_acc": 23824,
+    "n_gyro": 23824,
+    "t_start": 0.2487338383235289,
+    "t_end": 117.9827750413261
+   },
+   "imu_wrist_left": {
+    "n_acc": 23242,
+    "n_gyro": 23242,
+    "t_start": 0.31811615232625234,
+    "t_end": 117.98326804432334
+   },
+   "mag_head": {
+    "n": 12112,
+    "t_start": -0.9895889736744032,
+    "t_end": 120.12045016732561
+   },
+   "mag_wrist_right": {
+    "n": 11773,
+    "t_start": 0.2621192153256522,
+    "t_end": 117.98156115632635
+   },
+   "mag_wrist_left": {
+    "n": 11766,
+    "t_start": 0.3323855603249064,
+    "t_end": 117.98226036532476
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 23860.435034,
+    "frames": 3570,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0023423887986386703,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.03982320512120685,
+    "t_end": 119.00654520512224,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 23860.434969,
+    "frames": 3570,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0019489646456461974,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.03936478097427942,
+    "t_end": 119.00608678097531,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 23860.43501,
+    "frames": 3570,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0018171232386612972,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.039273939566624616,
+    "t_end": 119.00599593956765,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 23860.435055,
+    "frames": 3570,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017295646474508202,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.039231380973502095,
+    "t_end": 119.00594238097445,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 23860.43499,
+    "frames": 3570,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.001668932298833096,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.0391057486250026,
+    "t_end": 119.00582774862603,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 23860.434934,
+    "frames": 3570,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017169377622902274,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.03909775408653848,
+    "t_end": 119.00581975408757,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 23860.702266,
+    "frames": 3530,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": 0.30471281632533254,
+    "t_end": 117.93791581632657,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 23860.626485,
+    "frames": 3532,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": 0.22893181632578097,
+    "t_end": 117.92834581632458,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-LM42-S03-liujiaxin-01p1-1.mp4",
+    "frames": 3571,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 119.0
+   }
+  }
+ },
+ "flags": [],
+ "sanity": {
+  "status": {
+   "structure": "PASS",
+   "markers": "WARN",
+   "timing": "PASS"
+  },
+  "verdict": "READY",
+  "issues": [
+   "WARN M_BODY_ID",
+   "WARN M_SPIKES",
+   "WARN M_TRACKER_LABELS"
+  ]
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-14T12:19:38.549401+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": [
+   [
+    0.9999190098,
+    -0.0127267742,
+    -5.4524e-05
+   ],
+   [
+    5.4524e-05,
+    0.0085678898,
+    -0.9999632935
+   ],
+   [
+    0.0127267742,
+    0.9998823033,
+    0.0085678898
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.00099991901,
+    -1.2726774e-05,
+    -5.4524e-08,
+    0.0
+   ],
+   [
+    5.4524e-08,
+    8.56789e-06,
+    -0.000999963293,
+    0.0
+   ],
+   [
+    1.2726774e-05,
+    0.000999882303,
+    8.56789e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20260915afternoon",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.8790711063327165,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 43.6,
+   "headtop_p95_mm": 1646.0
+  },
+  "gravity_check": {
+   "static_samples": 456,
+   "g_world_mean_m_s2": [
+    0.1826,
+    0.1046,
+    9.9758
+   ],
+   "tilt_from_z_deg": 1.208,
+   "tilt_from_z_deg_before_levelling": 1.781,
+   "magnitude_m_s2": 9.978
+  },
+  "rig_tracker_definition": "e17c9efadb69e7b1/20260915afternoon/labels-530412/session-927b732be87db83f",
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-14T23:20:37.532212+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": [
+      0.07209285348653793,
+      -0.0007164566195569932,
+      0.031313296407461166
+     ],
+     "LHandOut": [
+      0.06767986714839935,
+      0.03362318128347397,
+      -0.007270380388945341
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.055964503437280655,
+      0.01617691107094288,
+      0.02295088954269886
+     ],
+     "RHandOut": [
+      -0.05467446148395538,
+      0.02911527082324028,
+      -0.026241803541779518
+     ],
+     "RWristOut": [
+      0.03168385103344917,
+      0.014505784027278423,
+      -0.035793520510196686
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 6.59,
+   "p95_frame": 11.48
+  },
+  "worst_markers": [
+   "RElbow 22mm",
+   "RElbowIn 19mm",
+   "RKneeIn 13mm",
+   "CLAV 12mm",
+   "RThigh 10mm"
+  ],
+  "valid_fraction": 1.0,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 20.2,
+    "p5": 15.8
+   },
+   "frames_checked": 477,
+   "stature_mm": 1614.2
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 13.4
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 133.68,
+    "Q_rotvec": [
+     -2.28551,
+     -0.16808,
+     0.43777
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 134.0,
+    "opposite_sign_bend_deg": 60.5,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.39,
+    "hand_vs_marker_frame_deg": {
+     "before": 133.68,
+     "after": 2.39
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -131.89,
+     "wrist_twist_deg_after": {
+      "median": -0.11,
+      "iqr": [
+       -6.2,
+       5.3
+      ]
+     },
+     "wrist_total_deg_median_after": 31.2,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1429
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 36.63,
+    "Q_rotvec": [
+     0.41682,
+     0.29322,
+     -0.38592
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 25.9,
+    "opposite_sign_bend_deg": 171.4,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 4.5,
+    "hand_vs_marker_frame_deg": {
+     "before": 36.88,
+     "after": 4.5
+    },
+    "markers_on_wrist": [
+     "RWristOut",
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -14.74,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -7.0,
+       7.2
+      ]
+     },
+     "wrist_total_deg_median_after": 22.9,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn"
+     ]
+    },
+    "frames_used": 1429
+   },
+   "generated_at_utc": "2026-10-14T23:20:40.230780+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "rig_tracker": {
+  "definition": "e17c9efadb69e7b1/20260915afternoon/labels-530412/session-927b732be87db83f",
+  "R_tracker0_imu0": [
+   [
+    -0.58645442,
+    0.36233064,
+    -0.72442233
+   ],
+   [
+    0.80449548,
+    0.15663887,
+    -0.57293218
+   ],
+   [
+    -0.09411819,
+    -0.91879311,
+    -0.38335492
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.17322738623130166,
+   -0.0008331887883230457,
+   -0.045306330510859506
+  ],
+  "rig_check": {
+   "gyro_samples": 8973,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 1.107
+  },
+  "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": "2026-10-18T18:53:33.111840+00:00",
+  "generated_by": "scripts/correct_processed_rig.py",
+  "remaining_gyro_frame_deg": 1.0358413895059155
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM42/session_003",
+  "family": "locomanipulation",
+  "primitive": "LM42",
+  "source_session": "20260915/LM42/20260915_071902_session80"
+ }
+}

actions/locomanipulation/LM42/session_003/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eaf1c9204fbd0fdfc8f94d60105da9e0414b0bd5084ea68faeffc41180cb6e89
+size 1068190

actions/locomanipulation/LM42/session_003/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f3f2814e6c236ca645f05c5b4ac7d6fe7668afd881703668034a2442580d753
+size 8291980

actions/locomanipulation/LM42/session_003/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb3adc8f9591b95a23be52d19c6cc52794f0463f9adbc23ccb9adec039811054
+size 8357870

actions/locomanipulation/LM42/session_003/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e94d6a7a21dff7da9e224a8fa84129a222da00bbcde45f469add7d338345fb11
+size 5513792

actions/locomanipulation/LM42/session_003/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24b3a66de4214c4c8164113123ded4de7fd75ac3353cb035e1ca250094e7d5cc
+size 23080398

actions/locomanipulation/LM42/session_003/raw/manifest.json

@@ -0,0 +1,248 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-10-09T01:06:08.360260+00:00",
+  "primitive_id": "LM42",
+  "session_id": "20260915_071902_session80",
+  "upload_batch_id": "20260915",
+  "dataset_path": "EgoMotionActions/20260915/LM42/20260915_071902_session80",
+  "segment": "auto/all",
+  "duration_s": 118.966722,
+  "device_ids": {
+    "main": "e17c9efadb69e7b1",
+    "left": "cc5681142208e29a",
+    "right": "60a6f081bbe60b0d"
+  },
+  "options": {
+    "raw_video": true,
+    "proxy_height": 540,
+    "proxy_crf": 28,
+    "proxy_bitrate": "1400k",
+    "mocap_selection": "explicit",
+    "mocap_files": [
+      "mocap-LM42-S03-liujiaxin-01p1/mocap-LM42-S03-liujiaxin-01p1-1.mp4",
+      "mocap-LM42-S03-liujiaxin-01p1/mocap-LM42-S03-liujiaxin-01p1-Body0.bvh",
+      "mocap-LM42-S03-liujiaxin-01p1/mocap-LM42-S03-liujiaxin-01p1-Body0.csv",
+      "mocap-LM42-S03-liujiaxin-01p1/mocap-LM42-S03-liujiaxin-01p1-Body0.trc",
+      "mocap-LM42-S03-liujiaxin-01p1/mocap-LM42-S03-liujiaxin-01p1-Tracker0.csv",
+      "mocap-LM42-S03-liujiaxin-01p1/mocap-LM42-S03-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": 23080398,
+      "packaged_bytes": 23080398,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM42-S03-liujiaxin-01p1/mocap-LM42-S03-liujiaxin-01p1-1.mp4",
+      "packaged_as": "mocap/mocap-LM42-S03-liujiaxin-01p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 33299610,
+      "packaged_bytes": 33299610,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM42-S03-liujiaxin-01p1/mocap-LM42-S03-liujiaxin-01p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-LM42-S03-liujiaxin-01p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 8524447,
+      "packaged_bytes": 8524447,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM42-S03-liujiaxin-01p1/mocap-LM42-S03-liujiaxin-01p1-Body0.csv",
+      "packaged_as": "mocap/mocap-LM42-S03-liujiaxin-01p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 118975022,
+      "packaged_bytes": 118975022,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM42-S03-liujiaxin-01p1/mocap-LM42-S03-liujiaxin-01p1-Body0.trc",
+      "packaged_as": "mocap/mocap-LM42-S03-liujiaxin-01p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 25661756,
+      "packaged_bytes": 25661756,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM42-S03-liujiaxin-01p1/mocap-LM42-S03-liujiaxin-01p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-LM42-S03-liujiaxin-01p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 4494172,
+      "packaged_bytes": 4494172,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM42-S03-liujiaxin-01p1/mocap-LM42-S03-liujiaxin-01p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-LM42-S03-liujiaxin-01p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 4315473,
+      "packaged_bytes": 4315473,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1257472,
+      "packaged_bytes": 1257472,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1208320,
+      "packaged_bytes": 1208320,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 327680,
+      "packaged_bytes": 327680,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 59623499,
+      "packaged_bytes": 59623499,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 59610208,
+      "packaged_bytes": 59610208,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 59621139,
+      "packaged_bytes": 59621139,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 59641712,
+      "packaged_bytes": 59641712,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 59587425,
+      "packaged_bytes": 59587425,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 59652209,
+      "packaged_bytes": 59652209,
+      "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": 1187840,
+      "packaged_bytes": 1187840,
+      "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": 307200,
+      "packaged_bytes": 307200,
+      "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": 57412412,
+      "packaged_bytes": 57412412,
+      "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": 1159168,
+      "packaged_bytes": 1159168,
+      "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": 307200,
+      "packaged_bytes": 307200,
+      "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": 54806597,
+      "packaged_bytes": 54806597,
+      "compressed_video": false
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 601297,
+      "packaged_bytes": 601244,
+      "compressed_video": false
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-LM42-S03-liujiaxin-01p1",
+    "action_id": "LM42",
+    "collection_session_index": 3,
+    "participant": "liujiaxin",
+    "repetition_count": 1
+  },
+  "upload_batch_created_at": "2026-10-09T09:07:52.788447+08:00",
+  "participant_gender": "female",
+  "participant_height_cm": 161,
+  "participant_weight_kg": 44,
+  "objects": [
+    {
+      "name": "LittleBox",
+      "num": 6,
+      "scan_file": "3dobjs/LittleBox.objcap/models/box[0, 1, 2].usdz",
+      "rigid_names": [
+        "LittleBox0",
+        "LittleBox1",
+        "LittleBox2",
+        "LittleBox3",
+        "LittleBox4",
+        "LittleBox5"
+      ]
+    }
+  ],
+  "collection_site": {
+    "id": "site_00"
+  }
+}

actions/locomanipulation/LM42/session_003/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1fe78b428ae51b02b1c7f85ff2e49d7b9cb4654084ca8cb30a14177c2fc2acc
+size 118975022

actions/locomanipulation/LM42/session_003/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26828703815ab88cad262940244ec7a751ffb0aa50235faa14669962a83c8b55
+size 25661756

actions/locomanipulation/LM42/session_003/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f8f1ce388de0645527c579aed37f1da2227dbf9ef3dfe62e33ffaf5975d5d29
+size 1257472

actions/locomanipulation/LM42/session_003/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4540dbe22bd5100769087a2cb68bf43257d03bc9db803e0243111ab3714896a8
+size 1208320

actions/locomanipulation/LM42/session_003/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f684a979a3c4de7f0472d8a6e28d26d87d4e8a11e7c9dec31901e9927b14f6a
+size 327680

actions/locomanipulation/LM42/session_003/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c56081c63d178237a787b571047b55d20456615e46914cac7b4d0d572586dd0
+size 1159168

actions/locomanipulation/LM42/session_003/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b3a9c493529ede136ed42f4d76eccfd202857bea0d2edf55b8e65c141ad1cfc
+size 1187840

actions/locomanipulation/LM42/session_003/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c84480c744b17bf724feb2214463b869ac022a9b02c08faa1daa9d7261007f3e
+size 307200

actions/locomanipulation/LM42/session_003/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47c8c19088a45f839c5e58f71950115d318df8266f37e3713731befa98a5262c
+size 307200

actions/locomanipulation/LM42/session_003/scene/infer.json

@@ -0,0 +1,36 @@
+{
+  "model": "facebook/map-anything",
+  "views": 238,
+  "windows": 5,
+  "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": 0.0222,
+    "trans_p95_m": 0.0714,
+    "rot_median_deg": 0.392,
+    "rot_p95_deg": 1.227
+  }
+}

actions/locomanipulation/LM42/session_003/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dfc0c20fddff40bce8696567f2db5d366e32449bd6022ae409194f1ca32ec8a
+size 250930055