Upload folder using huggingface_hub (part 505)

.gitattributes

@@ -16522,3 +16522,26 @@ actions/locomanipulation/LM71/session_006/raw/sensors/robowrist_imu_left.db filt
 actions/locomanipulation/LM71/session_006/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM71/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM71/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_007/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_007/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_007/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_007/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_007/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_008/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_008/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_008/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_008/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_008/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_008/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_008/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_008/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_008/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_009/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_009/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_009/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_009/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_009/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_009/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_009/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_009/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_009/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM71/session_007/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1376bb808f961bcd1d9efc023442db34e73807a18087b75312f79672c0f6181
+size 133218578

actions/locomanipulation/LM71/session_007/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b5b0f8ad148f1f7291e25a4bf257ef60453ba5c0028c4c68b085f68b2908e9d
+size 29245925

actions/locomanipulation/LM71/session_007/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fbf42473d1a71c4db3dcd58148899f729c82baf0cca3bb3645bc70b99f0a5cc
+size 1376256

actions/locomanipulation/LM71/session_007/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cad36a629a9b61076190acd055a4197fdeed8c0b3160e5a48d99e07dccb69cb
+size 1331200

actions/locomanipulation/LM71/session_007/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c101d927de89e19825273a9cb28ccc0e523fbc041e48469c5677e46f59d42246
+size 356352

actions/locomanipulation/LM71/session_007/scene/infer.json

@@ -0,0 +1,36 @@
+{
+  "model": "facebook/map-anything",
+  "views": 266,
+  "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": 0.0386,
+    "trans_p95_m": 0.1347,
+    "rot_median_deg": 0.504,
+    "rot_p95_deg": 1.317
+  }
+}

actions/locomanipulation/LM71/session_007/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60b7a4fe9a395e8481fff954df500aae7cc5cbbefdd04196d52b57062d7a9d64
+size 223571776

actions/locomanipulation/LM71/session_007/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4cc212f5f488b502cd9fc87ec70902a32b577f959535ed34675faf2596beda2
+size 1418189

actions/locomanipulation/LM71/session_007/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a5890f5f07fd9cdeeaa10ff328a6fb675253856f67f1f562bcb35802f7922b9
+size 163028

actions/locomanipulation/LM71/session_007/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e6f4c61a1b4df13dd9ae32a0c4aa0cf4c75ba28c32017e1262bb2db3737cce0
+size 211498

actions/locomanipulation/LM71/session_007/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:219491960f229477004526873ba45ccf4dfa396726a3a4f0a93edbc2cd389d9f
+size 66304043

actions/locomanipulation/LM71/session_007/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a82c20b58c37389c500549125ea4609104ca2258e0a1b48e6e159c205817048d
+size 66151628

actions/locomanipulation/LM71/session_007/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b0146de5822a4452d614425836cc4d8139dc021e3ae28117276ac58964a5f14
+size 66370954

actions/locomanipulation/LM71/session_007/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ad1efd3143e605b19807d2db2d4319e803777216a112bd59096738a13fdd949
+size 66327345

actions/locomanipulation/LM71/session_007/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f52c1d9be60c8846efcdea252f30799ffd91cbf6544459cd92c3c9120b64b5bd
+size 66325278

actions/locomanipulation/LM71/session_007/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:add1eeded60bf7166031a621ea584a7fc4e6df6be229e2c70fb8bfb9fc6fa62d
+size 66370675

actions/locomanipulation/LM71/session_007/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7a6da1c8590617e6c5abfb6924d63252c5ce5723cd4fb8eb925b27b0312dba0
+size 67029777

actions/locomanipulation/LM71/session_008/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b9aeac602302b5a0594f3e208fdef1846129500bfd6e503d3be158a4a3f93aa
+size 1030439

actions/locomanipulation/LM71/session_008/meta.json

@@ -0,0 +1,514 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261021/LM71/20261021_005312_session4",
+ "session_id": "20261021_005312_session4",
+ "primitive": "LM71",
+ "batch": "20261021",
+ "participant": "wangyang",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "c9205ac6e17d2d5c",
+  "left": "452031d7af00ef6f",
+  "right": "60a6f081bbe60b0d"
+ },
+ "generated_at_utc": "2026-10-26T04:50:45.515980+00:00",
+ "generated_by": "scripts/sync_dataset.py",
+ "time_base": {
+  "definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
+  "mocap_rate_hz": 120.0,
+  "mocap_rate_fix": null,
+  "first_solved_frame": 0,
+  "duration_s": 118.025,
+  "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": -0.088512,
+  "rate": 0.0,
+  "global_lag_s": -0.09,
+  "peak_corr": 0.993,
+  "reference_imu_first_sample_s": 1811.498161653,
+  "windows": {
+   "n_windows": 10,
+   "window_corr_median": 0.9920026297305407,
+   "drift_ppm": -13.585549390045546,
+   "drift_se_ppm": 7.589045735681124,
+   "drift_ms_over_take": -1.6033212538485417,
+   "lag_scatter_ms": 0.6165369901121222,
+   "lag_range_ms": 2.3849606682917193
+  }
+ },
+ "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": "c9205ac6e17d2d5c",
+  "status": "ok",
+  "date": "2026-10-21"
+ },
+ "streams": {
+  "sensors": {
+   "imu_head_right": {
+    "n_acc": 24023,
+    "n_gyro": 24018,
+    "t_start": -0.09994051265109413,
+    "t_end": 118.22257712534905
+   },
+   "imu_head_left": {
+    "n_acc": 23875,
+    "n_gyro": 23869,
+    "t_start": 0.01770128334894941,
+    "t_end": 118.38890180734892
+   },
+   "imu_wrist_right": {
+    "n_acc": 23791,
+    "n_gyro": 23791,
+    "t_start": -0.900249462650911,
+    "t_end": 116.64225842334893
+   },
+   "imu_wrist_left": {
+    "n_acc": 23785,
+    "n_gyro": 23784,
+    "t_start": -0.7807327916509825,
+    "t_end": 116.65350015534908
+   },
+   "mag_head": {
+    "n": 11845,
+    "t_start": 0.10674224134911817,
+    "t_end": 118.54672813134901
+   },
+   "mag_wrist_right": {
+    "n": 11753,
+    "t_start": -0.8826568396509833,
+    "t_end": 116.63701020634902
+   },
+   "mag_wrist_left": {
+    "n": 11742,
+    "t_start": -0.7629234686510449,
+    "t_end": 116.64651518734898
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 1811.623303,
+    "frames": 3540,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0026284356473863946,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.039257980996560554,
+    "t_end": 118.00589098099657,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 1811.623278,
+    "frames": 3540,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0024181146161434135,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.03902265996519197,
+    "t_end": 118.00564465996511,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 1811.623295,
+    "frames": 3540,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002458947067077895,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.03908049241611258,
+    "t_end": 118.00570249241603,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 1811.623311,
+    "frames": 3540,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0021420814739499558,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.038779626823022745,
+    "t_end": 118.00542362682312,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 60.0,
+    "start_device_s": 1811.623287,
+    "frames": 3537,
+    "pts_gaps": 3536,
+    "timing": "pts (gap undecided)",
+    "timeshift_cam_imu_s": 0.002801984596191448,
+    "gap_test": {
+     "pts": {
+      "offset_ms": 34.7,
+      "corr": 0.734,
+      "err_ms": 31.9
+     },
+     "nominal": {
+      "offset_ms": -150.0,
+      "corr": -0.102,
+      "err_ms": 152.8
+     }
+    },
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.039415529944997224,
+    "t_end": 118.02268252994507,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 1811.623264,
+    "frames": 3540,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002930366888236734,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.03952091223730128,
+    "t_end": 118.00614291223722,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 1810.808411,
+    "frames": 3522,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -0.7782624546510055,
+    "t_end": 116.5878185453489,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 1810.683222,
+    "frames": 3526,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -0.9034514546510968,
+    "t_end": 116.59622254534882,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-LM71-S01-wangyang-01p2-1.mp4",
+    "frames": 3541,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 118.0
+   }
+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "c9205ac6e17d2d5c/20261021-morning/labels-235140/session-f7fdaf78fa0b25b8",
+  "R_tracker0_imu0": [
+   [
+    -0.69818259,
+    0.16486369,
+    -0.69667857
+   ],
+   [
+    0.70308756,
+    -0.02552249,
+    -0.71064512
+   ],
+   [
+    -0.13494055,
+    -0.98598609,
+    -0.09809425
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.17768521790255512,
+   -0.022411529570912955,
+   -0.022094236849684534
+  ],
+  "rig_check": {
+   "gyro_samples": 5420,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 1.663
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-26T10:25:02.974516+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": [
+   [
+    0.9999996167,
+    -0.0008755721,
+    -3.761e-06
+   ],
+   [
+    3.761e-06,
+    0.0085906853,
+    -0.9999630994
+   ],
+   [
+    0.0008755721,
+    0.9999627161,
+    0.0085906853
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999999617,
+    -8.75572e-07,
+    -3.761e-09,
+    0.0
+   ],
+   [
+    3.761e-09,
+    8.590685e-06,
+    -0.000999963099,
+    0.0
+   ],
+   [
+    8.75572e-07,
+    0.000999962716,
+    8.590685e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20261021-morning",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.4947660703921395,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 41.8,
+   "headtop_p95_mm": 1775.3
+  },
+  "gravity_check": {
+   "static_samples": 2038,
+   "g_world_mean_m_s2": [
+    -0.049,
+    0.0335,
+    9.7623
+   ],
+   "tilt_from_z_deg": 0.349,
+   "tilt_from_z_deg_before_levelling": 0.379,
+   "magnitude_m_s2": 9.7624
+  },
+  "rig_tracker_definition": "c9205ac6e17d2d5c/20261021-morning/labels-235140/session-f7fdaf78fa0b25b8",
+  "rig_check": {
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 1.663
+  },
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-26T13:08:54.189897+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": [
+      0.056380536407232285,
+      0.022371960803866386,
+      0.02426098845899105
+     ],
+     "LHandOut": [
+      0.04875287786126137,
+      0.024212021380662918,
+      -0.019476285204291344
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.04840807244181633,
+      -0.03331442549824715,
+      0.025486057624220848
+     ],
+     "RHandOut": [
+      -0.052210547029972076,
+      0.020661255344748497,
+      0.018519559875130653
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 4.71,
+   "p95_frame": 6.85
+  },
+  "worst_markers": [
+   "RKneeIn 14mm",
+   "LKneeIn 11mm",
+   "RKnee 9mm",
+   "LShin 9mm",
+   "RHeadBack 9mm"
+  ],
+  "valid_fraction": 0.9827,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 12.1,
+    "p5": 3.0
+   },
+   "frames_checked": 464,
+   "stature_mm": 1765.5
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 14.94
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 174.08,
+    "Q_rotvec": [
+     -2.95795,
+     -0.20782,
+     0.66204
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 128.4,
+    "opposite_sign_bend_deg": 56.0,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.2,
+    "hand_vs_marker_frame_deg": {
+     "before": 174.11,
+     "after": 2.2
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -126.97,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -5.9,
+       4.0
+      ]
+     },
+     "wrist_total_deg_median_after": 24.7,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1392
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 90.39,
+    "Q_rotvec": [
+     1.5318,
+     0.34756,
+     0.14621
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 63.7,
+    "opposite_sign_bend_deg": 127.6,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.16,
+    "hand_vs_marker_frame_deg": {
+     "before": 90.28,
+     "after": 2.16
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -58.13,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -2.0,
+       3.0
+      ]
+     },
+     "wrist_total_deg_median_after": 26.7,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1392
+   },
+   "generated_at_utc": "2026-10-26T13:08:57.378959+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM71/session_008",
+  "family": "locomanipulation",
+  "primitive": "LM71",
+  "source_session": "20261021/LM71/20261021_005312_session4"
+ }
+}

actions/locomanipulation/LM71/session_008/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b768fd4dfbd7783bdb0db59df071d32d5e9100805ee99c2f9a7b2f2bd47347c
+size 1054392

actions/locomanipulation/LM71/session_008/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9335f6ff8cef6e336c34a141e10981f55b702f58ef35038e28b5152f930eec47
+size 7981619

actions/locomanipulation/LM71/session_008/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3421003f663e2f13cf55b3e61551e1a2f6e1f9b85105e107c86f026219134f5e
+size 8065018

actions/locomanipulation/LM71/session_008/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a0f7361644fd36dead5ce1efa91f06fae76856f62e6f6b427237633aac45d2d
+size 5345998

actions/locomanipulation/LM71/session_008/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f112a272455bf0dd42fc07d7fa68112cac85e610b8c92612830a547e207b97e5
+size 22742478

actions/locomanipulation/LM71/session_008/raw/manifest.json

@@ -0,0 +1,306 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-10-22T16:20:50.675305+00:00",
+  "primitive_id": "LM71",
+  "session_id": "20261021_005312_session4",
+  "upload_batch_id": "20261021",
+  "dataset_path": "EgoMotionActions/20261021/LM71/20261021_005312_session4",
+  "segment": "auto/all",
+  "duration_s": 117.966633,
+  "device_ids": {
+    "main": "c9205ac6e17d2d5c",
+    "left": "452031d7af00ef6f",
+    "right": "60a6f081bbe60b0d"
+  },
+  "mocap_rigid_names": [
+    "Body0",
+    "CcGreen",
+    "LittleBox3",
+    "Tracker0"
+  ],
+  "objects": [
+    "CcGreen0",
+    "LittleBox3"
+  ],
+  "options": {
+    "raw_video": true,
+    "proxy_height": 540,
+    "proxy_crf": 28,
+    "proxy_bitrate": "1400k",
+    "mocap_selection": "explicit",
+    "mocap_files": [
+      "mocap-LM71-S01-wangyang-01p2/mocap-LM71-S01-wangyang-01p2-1.mp4",
+      "mocap-LM71-S01-wangyang-01p2/mocap-LM71-S01-wangyang-01p2-Body0.bvh",
+      "mocap-LM71-S01-wangyang-01p2/mocap-LM71-S01-wangyang-01p2-Body0.csv",
+      "mocap-LM71-S01-wangyang-01p2/mocap-LM71-S01-wangyang-01p2-Body0.trc",
+      "mocap-LM71-S01-wangyang-01p2/mocap-LM71-S01-wangyang-01p2-CcGreen.csv",
+      "mocap-LM71-S01-wangyang-01p2/mocap-LM71-S01-wangyang-01p2-CcGreen.trc",
+      "mocap-LM71-S01-wangyang-01p2/mocap-LM71-S01-wangyang-01p2-LittleBox3.csv",
+      "mocap-LM71-S01-wangyang-01p2/mocap-LM71-S01-wangyang-01p2-LittleBox3.trc",
+      "mocap-LM71-S01-wangyang-01p2/mocap-LM71-S01-wangyang-01p2-Tracker0.csv",
+      "mocap-LM71-S01-wangyang-01p2/mocap-LM71-S01-wangyang-01p2-Tracker0.trc"
+    ],
+    "include_rrd": false,
+    "rrd_files": [],
+    "aligned_intersection": false
+  },
+  "files": [
+    {
+      "source": "audio_segment1.wav",
+      "packaged_as": "audio_segment1.wav",
+      "kind": "data",
+      "original_bytes": 22742478,
+      "packaged_bytes": 22742478,
+      "compressed_video": false,
+      "sha256": "f112a272455bf0dd42fc07d7fa68112cac85e610b8c92612830a547e207b97e5"
+    },
+    {
+      "source": "mocap-LM71-S01-wangyang-01p2/mocap-LM71-S01-wangyang-01p2-1.mp4",
+      "packaged_as": "mocap/mocap-LM71-S01-wangyang-01p2-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 43999289,
+      "packaged_bytes": 43999289,
+      "compressed_video": false,
+      "sha256": "9f81181ad9029cda887da7b3aca6cc3be4cbff4460bcb09280d562d39062bce0"
+    },
+    {
+      "source": "mocap-LM71-S01-wangyang-01p2/mocap-LM71-S01-wangyang-01p2-Body0.bvh",
+      "packaged_as": "mocap/mocap-LM71-S01-wangyang-01p2-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 8424048,
+      "packaged_bytes": 8424048,
+      "compressed_video": false,
+      "sha256": "c21d13d3151e6097ef533e1a5a91b676d149e66227852b2a3ec1ca3a9da0ca92"
+    },
+    {
+      "source": "mocap-LM71-S01-wangyang-01p2/mocap-LM71-S01-wangyang-01p2-Body0.csv",
+      "packaged_as": "mocap/mocap-LM71-S01-wangyang-01p2-Body0.csv",
+      "kind": "data",
+      "original_bytes": 117455085,
+      "packaged_bytes": 117455085,
+      "compressed_video": false,
+      "sha256": "ebd30a81aa27d995d83455cf2781fae5f5f7ae9dd4516fe3a92581f44382b385"
+    },
+    {
+      "source": "mocap-LM71-S01-wangyang-01p2/mocap-LM71-S01-wangyang-01p2-Body0.trc",
+      "packaged_as": "mocap/mocap-LM71-S01-wangyang-01p2-Body0.trc",
+      "kind": "data",
+      "original_bytes": 25905313,
+      "packaged_bytes": 25905313,
+      "compressed_video": false,
+      "sha256": "2bcf9ec365dd7d73c40173eaa0324aa8608ad8d9408a4f25414b120afc64da3d"
+    },
+    {
+      "source": "mocap-LM71-S01-wangyang-01p2/mocap-LM71-S01-wangyang-01p2-CcGreen.csv",
+      "packaged_as": "mocap/mocap-LM71-S01-wangyang-01p2-CcGreen.csv",
+      "kind": "data",
+      "original_bytes": 4335188,
+      "packaged_bytes": 4335188,
+      "compressed_video": false,
+      "sha256": "43fc0edce75a33eb9575e16cb1af1917f367bdf0dc58ad962149bc21a38e40c5"
+    },
+    {
+      "source": "mocap-LM71-S01-wangyang-01p2/mocap-LM71-S01-wangyang-01p2-CcGreen.trc",
+      "packaged_as": "mocap/mocap-LM71-S01-wangyang-01p2-CcGreen.trc",
+      "kind": "data",
+      "original_bytes": 2228029,
+      "packaged_bytes": 2228029,
+      "compressed_video": false,
+      "sha256": "2a9ffd4b9520e04756247276e0cae85772b266c16a34af6a054fdfa8b98c108b"
+    },
+    {
+      "source": "mocap-LM71-S01-wangyang-01p2/mocap-LM71-S01-wangyang-01p2-LittleBox3.csv",
+      "packaged_as": "mocap/mocap-LM71-S01-wangyang-01p2-LittleBox3.csv",
+      "kind": "data",
+      "original_bytes": 4196132,
+      "packaged_bytes": 4196132,
+      "compressed_video": false,
+      "sha256": "9d56dc99136f6d0ed528d36a38229b844cd5f15b13e3ea4af2137d2f832485a7"
+    },
+    {
+      "source": "mocap-LM71-S01-wangyang-01p2/mocap-LM71-S01-wangyang-01p2-LittleBox3.trc",
+      "packaged_as": "mocap/mocap-LM71-S01-wangyang-01p2-LittleBox3.trc",
+      "kind": "data",
+      "original_bytes": 1790826,
+      "packaged_bytes": 1790826,
+      "compressed_video": false,
+      "sha256": "5fb8be12e760c45cd562542d7e1953d606704ec7375c1842ea22c45053017be1"
+    },
+    {
+      "source": "mocap-LM71-S01-wangyang-01p2/mocap-LM71-S01-wangyang-01p2-Tracker0.csv",
+      "packaged_as": "mocap/mocap-LM71-S01-wangyang-01p2-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 4511716,
+      "packaged_bytes": 4511716,
+      "compressed_video": false,
+      "sha256": "b53d44b64e9f115aa06f65d897e8bb0617b4d4805c49e9947b74647bc77ee562"
+    },
+    {
+      "source": "mocap-LM71-S01-wangyang-01p2/mocap-LM71-S01-wangyang-01p2-Tracker0.trc",
+      "packaged_as": "mocap/mocap-LM71-S01-wangyang-01p2-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 4378642,
+      "packaged_bytes": 4378642,
+      "compressed_video": false,
+      "sha256": "bfbb95ba423c916909eaaa83bfeb754ff9ca6932ae4202dd719df8336baccf07"
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1228800,
+      "packaged_bytes": 1228800,
+      "compressed_video": false,
+      "sha256": "1ea4f9b4933a816ec0f1c0551ed7053ac3f49d91470f6e920a5235df75632b0f"
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1187840,
+      "packaged_bytes": 1187840,
+      "compressed_video": false,
+      "sha256": "e9cd071b1546bed1cd120fa36ee32754a550e7cb62b4645913427943ccaac385"
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 319488,
+      "packaged_bytes": 319488,
+      "compressed_video": false,
+      "sha256": "e9435c38faf640f67cb68ecd31302232895683e318287293d14adf0bbcdd0f9c"
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 59082270,
+      "packaged_bytes": 59082270,
+      "compressed_video": false,
+      "sha256": "2559d37336ad61948806687415c1069beee6711d6070379ad4437d9af0190ae7"
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 59008560,
+      "packaged_bytes": 59008560,
+      "compressed_video": false,
+      "sha256": "edf6f5742510ba9cbf36fccf595fd57228faec05440c6d0209634d84c1fbb9d2"
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 59171625,
+      "packaged_bytes": 59171625,
+      "compressed_video": false,
+      "sha256": "2803bd81e8e2a6c224ce2da05f92a38ee394234aaeb0a69d3a76ba8c091196e7"
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 59124570,
+      "packaged_bytes": 59124570,
+      "compressed_video": false,
+      "sha256": "2562d3c4ac5cbe5be2b80c141b0b6ba4f04f1f1b980df1ce281379b99f6c632b"
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 59081529,
+      "packaged_bytes": 59081529,
+      "compressed_video": false,
+      "sha256": "74f98550900948dd40f3bf8e0a59446ffa50172a8f61ff762f53b4318113ac9f"
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 59176570,
+      "packaged_bytes": 59176570,
+      "compressed_video": false,
+      "sha256": "fe3c37efcde0d767b10e10f17800af8b15557e314dffc768e920d9025863ca96"
+    },
+    {
+      "source": "robowrist_452031d7af00ef6f_left/robowrist_segment1_imu_left.db",
+      "packaged_as": "robowrist_452031d7af00ef6f_left/robowrist_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1175552,
+      "packaged_bytes": 1175552,
+      "compressed_video": false,
+      "sha256": "150e058f3631449e9fcdf3d474d7d7dab8c0f4166eed9c454f32cbf4bdd3c237"
+    },
+    {
+      "source": "robowrist_452031d7af00ef6f_left/robowrist_segment1_mag_left.db",
+      "packaged_as": "robowrist_452031d7af00ef6f_left/robowrist_segment1_mag_left.db",
+      "kind": "data",
+      "original_bytes": 307200,
+      "packaged_bytes": 307200,
+      "compressed_video": false,
+      "sha256": "b886fcff5ade74cd64498708fe23f7f542d34f8b9e7dfdbe6e403ecd3fc1f4fa"
+    },
+    {
+      "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": 37409409,
+      "packaged_bytes": 37409409,
+      "compressed_video": false,
+      "sha256": "17f266c6034fe30e2b97af954ce892937ff949ecde3e4a5d06a1a0c06359f685"
+    },
+    {
+      "source": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_imu_right.db",
+      "packaged_as": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1175552,
+      "packaged_bytes": 1175552,
+      "compressed_video": false,
+      "sha256": "c1bab76312e72696759d5dc6e0ba644ee8be7365c2ccfd68c9ebba13c35647eb"
+    },
+    {
+      "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,
+      "sha256": "36252402d73502ad54c20b0dc16c75ce008579d5a492d6cc02c82da4e067f648"
+    },
+    {
+      "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": 41754297,
+      "packaged_bytes": 41754297,
+      "compressed_video": false,
+      "sha256": "e267c7371d16fa5110835f2d3f63592c8832cb2110f708acc20d63a0de163a6d"
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 2717431,
+      "packaged_bytes": 2717380,
+      "compressed_video": false,
+      "sha256": "d451d830a64741c8809f49e3b8241478ec23c132cb0ae7cca353d39a86543a6e"
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-LM71-S01-wangyang-01p2",
+    "action_id": "LM71",
+    "collection_session_index": 1,
+    "participant": "wangyang",
+    "repetition_count": 1
+  },
+  "upload_batch_created_at": "2026-10-23T00:51:20.535829+08:00",
+  "participant_gender": "male",
+  "participant_height_cm": 176,
+  "participant_weight_kg": 66,
+  "collection_site": {
+    "id": "site_01"
+  }
+}

actions/locomanipulation/LM71/session_008/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebd30a81aa27d995d83455cf2781fae5f5f7ae9dd4516fe3a92581f44382b385
+size 117455085

actions/locomanipulation/LM71/session_008/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bcf9ec365dd7d73c40173eaa0324aa8608ad8d9408a4f25414b120afc64da3d
+size 25905313

actions/locomanipulation/LM71/session_008/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ea4f9b4933a816ec0f1c0551ed7053ac3f49d91470f6e920a5235df75632b0f
+size 1228800

actions/locomanipulation/LM71/session_008/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9cd071b1546bed1cd120fa36ee32754a550e7cb62b4645913427943ccaac385
+size 1187840

actions/locomanipulation/LM71/session_008/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9435c38faf640f67cb68ecd31302232895683e318287293d14adf0bbcdd0f9c
+size 319488

actions/locomanipulation/LM71/session_008/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:150e058f3631449e9fcdf3d474d7d7dab8c0f4166eed9c454f32cbf4bdd3c237
+size 1175552

actions/locomanipulation/LM71/session_008/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1bab76312e72696759d5dc6e0ba644ee8be7365c2ccfd68c9ebba13c35647eb
+size 1175552

actions/locomanipulation/LM71/session_008/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b886fcff5ade74cd64498708fe23f7f542d34f8b9e7dfdbe6e403ecd3fc1f4fa
+size 307200

actions/locomanipulation/LM71/session_008/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36252402d73502ad54c20b0dc16c75ce008579d5a492d6cc02c82da4e067f648
+size 307200

actions/locomanipulation/LM71/session_008/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e31a96edb84f0fc0ba702702a50f02cd0f9a9f0f910ced55f96d8994206fad28
+size 1339002

actions/locomanipulation/LM71/session_008/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f56ccf598fb939d9f675d577d16b601ad9910c5fd5e1e6f20fa7457c8b76122d
+size 153223