Upload folder using huggingface_hub (part 218)

.gitattributes

@@ -6705,3 +6705,33 @@ actions/locomanipulation/LM16/session_029/raw/sensors/robowrist_imu_left.db filt
 actions/locomanipulation/LM16/session_029/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM16/session_029/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM16/session_029/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_030/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_030/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_030/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_030/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_030/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_030/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_030/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_030/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_030/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_031/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_031/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_031/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_031/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_031/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_031/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_031/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_031/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_031/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_032/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_032/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_032/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_032/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_032/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_032/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_032/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_032/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_032/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_033/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_033/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_033/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM16/session_030/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccfc53befdd64bfe16b0f77a1c77a4842c8927a51e5cfd76c45419862bb339e3
+size 139268768

actions/locomanipulation/LM16/session_030/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e1389d8bc4223d5bbb2c596b21c62b9de52eb71009eab8f5b1f0f48caa34f19
+size 30930090

actions/locomanipulation/LM16/session_030/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9937335a14456e2a80ecbe80f45e7ac3139fc9a37a7d7fa970a6092c5ba2a1de
+size 1449984

actions/locomanipulation/LM16/session_030/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dee6332636e99d249b04d3bafce3f0e597ad0177ad3147512a9a69b17fcad9c6
+size 1396736

actions/locomanipulation/LM16/session_030/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eeca12951bace1bdb322519a988e3a4d758f8dc1fb2aa2c706b0dc4765453bcf
+size 376832

actions/locomanipulation/LM16/session_030/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb95a849e9c565004cd8483bf599a964de292be6db6b54bb2d0e6085ff495625
+size 1314816

actions/locomanipulation/LM16/session_030/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d920e913acbfd52a81dff6804ff935446a4b4ff85f7042dd0905af644447ea4
+size 1347584

actions/locomanipulation/LM16/session_030/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26150d86c493a8e9e5774c96d3698d8be3c85b7768eb0b91a61f24163e44d523
+size 348160

actions/locomanipulation/LM16/session_030/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c532ec03c91f7d9448efae0c45c409c64a301513e26b8225b24ec13eee73339
+size 348160

actions/locomanipulation/LM16/session_030/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": 0.0429,
+    "trans_p95_m": 0.142,
+    "rot_median_deg": 0.666,
+    "rot_p95_deg": 1.402
+  }
+}

actions/locomanipulation/LM16/session_030/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:057cd27e9de114fb771fbb5247224eeefaff70c294db95c71a6d73526a99237d
+size 252006425

actions/locomanipulation/LM16/session_030/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a798361922ce346647323af3b8ecfe7fb780c199fe20c8ede4d85fed8fe3f9f7
+size 1491453

actions/locomanipulation/LM16/session_030/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:952fb4705c3169bc838bd37ed5d54445f1077a17725025759136f1406b2c7549
+size 130445

actions/locomanipulation/LM16/session_030/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c0385bda8861198ea9d817c040967590241ef7e10166cd4a34544b8482c5fa8
+size 1400533

actions/locomanipulation/LM16/session_030/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd35dbdfb87127ebaf13c9d8bf5f80f4e489fd417ec3232563f6ef8921dd2b6e
+size 283682

actions/locomanipulation/LM16/session_030/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5231d615bb8a15828f5635bb64c15072ada4706a547dc5f42bba2bdd1a31c0e
+size 275361

actions/locomanipulation/LM16/session_030/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa3c89825902aa74edafe2aa9f3731d995ec5c1eedf96b4773cb76ff4d8f45ee
+size 69679782

actions/locomanipulation/LM16/session_030/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad9767ee6f4c523b29961c23cd2ec440bbaa6af5cf57b266fc0dc12fa764c49b
+size 69687380

actions/locomanipulation/LM16/session_030/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:343f35f06090fa67bb49d4c4868bab44b8bdec0826eeef94f9c0fd1d4f4c18bf
+size 69728785

actions/locomanipulation/LM16/session_030/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:795f30899eec6e96b039ee8b19271225f7c60f94f15f3e81e4e3e9fe6adf6150
+size 69676959

actions/locomanipulation/LM16/session_030/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eacfb61fe9aa32efad9b5f331efca2243258a4a69c7adfa178dd746b074535c4
+size 69629735

actions/locomanipulation/LM16/session_030/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec1abacd6c305ae3e0e1d63a556b65e0f5a35cb5db644fa478e71c74950caca9
+size 69659649

actions/locomanipulation/LM16/session_030/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4f19698b2048b5d539d34822997b52bc44425c5fbf1e0488f666d109de43574
+size 72368180

actions/locomanipulation/LM16/session_030/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:342639761c31edaa5d083bcea1d1644b61001d9414a20319c3acf6b741a8564d
+size 41472231

actions/locomanipulation/LM16/session_030/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5642fa1091213aefd1f8635b32f75411eecd1316aad6cd5a91ff89061c714080
+size 39873672

actions/locomanipulation/LM16/session_031/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce67bacdf7106dac969082c188a3d6ca63adf41f88a2727d28863407c07c584c
+size 1175013

actions/locomanipulation/LM16/session_031/meta.json

@@ -0,0 +1,534 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261015/LM16/20261015_093634_session47",
+ "session_id": "20261015_093634_session47",
+ "primitive": "LM16",
+ "batch": "20261015",
+ "participant": "lvaoshan",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e3296774a321bb51",
+  "left": "75b5984e04d1d236",
+  "right": "c84bc808cb6b47af"
+ },
+ "generated_at_utc": "2026-10-22T15:42:14.606848+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": 134.025,
+  "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": -0.083739,
+  "rate": 0.0,
+  "global_lag_s": -0.085,
+  "peak_corr": 0.9892,
+  "reference_imu_first_sample_s": 11183.349869455,
+  "windows": {
+   "n_windows": 12,
+   "window_corr_median": 0.9978560574557656,
+   "drift_ppm": -382.0384077877471,
+   "drift_se_ppm": 222.6102745371246,
+   "drift_ms_over_take": -51.19951395035457,
+   "lag_scatter_ms": 24.300913578707345,
+   "lag_range_ms": 100.52890322889003
+  }
+ },
+ "units": {
+  "mocap": "millimetres, Nokov world, Y-up (unchanged)",
+  "y_up_to_z_up": [
+   [
+    1.0,
+    0.0,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   [
+    0.0,
+    1.0,
+    0.0
+   ]
+  ],
+  "acc": "m/s^2 (8192 LSB/g)",
+  "gyro": "rad/s (65.536 LSB/dps)",
+  "mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
+  "quaternions": "xyzw, Nokov global"
+ },
+ "calibration": {
+  "device": "e3296774a321bb51",
+  "status": "ok",
+  "date": "2026-10-21"
+ },
+ "streams": {
+  "sensors": {
+   "imu_head_right": {
+    "n_acc": 27064,
+    "n_gyro": 27058,
+    "t_start": -0.09068895848254552,
+    "t_end": 134.226979999517
+   },
+   "imu_head_left": {
+    "n_acc": 26931,
+    "n_gyro": 26925,
+    "t_start": 0.027517624517300915,
+    "t_end": 134.39111522851775
+   },
+   "imu_wrist_right": {
+    "n_acc": 26912,
+    "n_gyro": 26924,
+    "t_start": -0.8459926554828178,
+    "t_end": 133.03402444451743
+   },
+   "imu_wrist_left": {
+    "n_acc": 27160,
+    "n_gyro": 27160,
+    "t_start": -0.9528514004836813,
+    "t_end": 133.03698785251757
+   },
+   "mag_head": {
+    "n": 13444,
+    "t_start": 0.12888254151725623,
+    "t_end": 134.5588836055172
+   },
+   "mag_wrist_right": {
+    "n": 13387,
+    "t_start": -0.8292565894830238,
+    "t_end": 133.03071760651758
+   },
+   "mag_wrist_left": {
+    "n": 13398,
+    "t_start": -0.9397842204839014,
+    "t_end": 133.03120712151716
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 11183.470851,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0025546514432425653,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.03979690295959362,
+    "t_end": 134.00639690295932,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 11183.470821,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002366886077403108,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.039579137595452535,
+    "t_end": 134.00619013759527,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 11183.470842,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0026728712083183277,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.03990612272677599,
+    "t_end": 134.0065061227265,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 11183.47086,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002595594493655556,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.03984684600941027,
+    "t_end": 134.00644684600914,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 11183.470833,
+    "frames": 4014,
+    "pts_gaps": 6,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002394386090989767,
+    "gap_test": {
+     "pts": {
+      "offset_ms": 23.1,
+      "corr": 0.773,
+      "err_ms": 20.7
+     },
+     "nominal": {
+      "offset_ms": 77.7,
+      "corr": 0.775,
+      "err_ms": 75.3
+     }
+    },
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.03961863760700571,
+    "t_end": 134.0228856376066,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 11183.470807,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002315656053021164,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.03951390756951359,
+    "t_end": 134.00613590756942,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 11182.468118,
+    "frames": 4019,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -0.9654907484823104,
+    "t_end": 132.96881925151823,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 11182.579422,
+    "frames": 4016,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -0.8541867484822921,
+    "t_end": 132.9791462515182,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-LM16-S01-lvaoshan-01p1-1.mp4",
+    "frames": 4021,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 134.0
+   }
+  }
+ },
+ "flags": [],
+ "sanity": {
+  "status": {
+   "structure": "WARN",
+   "markers": "WARN",
+   "timing": "WARN"
+  },
+  "verdict": "READY_WITH_WARNINGS",
+  "issues": [
+   "WARN M_SPIKES",
+   "WARN M_TRACKER_GEOM",
+   "WARN S_CALIB",
+   "WARN S_MOCAP_TS",
+   "WARN S_REPORT_TIMING",
+   "WARN T_FRAMES",
+   "WARN T_LAG_OUTLIER",
+   "WARN T_LAG_SCATTER",
+   "WARN T_PTS"
+  ]
+ },
+ "rig_tracker": {
+  "definition": "e3296774a321bb51/20261015-afternoon/labels-235410/session-05277b9fa9f7717d",
+  "R_tracker0_imu0": [
+   [
+    -0.59983559,
+    0.21771949,
+    -0.76993213
+   ],
+   [
+    0.7612212,
+    -0.14111347,
+    -0.63295283
+   ],
+   [
+    -0.24645396,
+    -0.96575629,
+    -0.08108781
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   0.019841645145091878,
+   -0.014105036422824352,
+   -0.02817187296318474
+  ],
+  "rig_check": {
+   "gyro_samples": 7337,
+   "gyro_max_deg": 2.5,
+   "status": "dropped_marker",
+   "dropped_marker": 0,
+   "gyro_deg": 2.267
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-24T05:11:05.457082+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": [
+   [
+    0.999907077,
+    -0.0136318504,
+    -0.00010024
+   ],
+   [
+    0.00010024,
+    0.0147052486,
+    -0.999891867
+   ],
+   [
+    0.0136318504,
+    0.9997989439,
+    0.0147052486
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999907077,
+    -1.363185e-05,
+    -1.0024e-07,
+    0.0
+   ],
+   [
+    1.0024e-07,
+    1.4705249e-05,
+    -0.000999891867,
+    0.0
+   ],
+   [
+    1.363185e-05,
+    0.000999798944,
+    1.4705249e-05,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20261015-afternoon",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 1.1489562255076442,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 28.6,
+   "headtop_p95_mm": 1679.5
+  },
+  "gravity_check": {
+   "static_samples": 635,
+   "g_world_mean_m_s2": [
+    0.0155,
+    0.0256,
+    9.6842
+   ],
+   "tilt_from_z_deg": 0.177,
+   "tilt_from_z_deg_before_levelling": 1.113,
+   "magnitude_m_s2": 9.6843
+  },
+  "rig_tracker_definition": "e3296774a321bb51/20261015-afternoon/labels-235410/session-05277b9fa9f7717d",
+  "rig_check": {
+   "status": "dropped_marker",
+   "dropped_marker": 0,
+   "gyro_deg": 2.267
+  },
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-23T00:06:19.911572+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": [
+      0.07900132238864899,
+      -0.0021401348058134317,
+      0.0141890998929739
+     ],
+     "LHandOut": [
+      0.07529336214065552,
+      0.02625429257750511,
+      -0.013868134468793869
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.0503108873963356,
+      -0.0241047665476799,
+      0.0026659604627639055
+     ],
+     "RHandOut": [
+      -0.0517466738820076,
+      0.017300138249993324,
+      0.004525598604232073
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 7.44,
+   "p95_frame": 13.14
+  },
+  "worst_markers": [
+   "STRN 54mm",
+   "RKneeIn 10mm",
+   "RThigh 10mm",
+   "LKneeIn 9mm",
+   "WaistLFront 8mm"
+  ],
+  "valid_fraction": 0.9762,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 12.3,
+    "p5": 5.3
+   },
+   "frames_checked": 524,
+   "stature_mm": 1659.4
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 12.95
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 127.46,
+    "Q_rotvec": [
+     -2.16663,
+     -0.0497,
+     0.50181
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 133.7,
+    "opposite_sign_bend_deg": 55.1,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.2,
+    "hand_vs_marker_frame_deg": {
+     "before": 127.04,
+     "after": 1.2
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -130.71,
+     "wrist_twist_deg_after": {
+      "median": -0.11,
+      "iqr": [
+       -2.1,
+       1.6
+      ]
+     },
+     "wrist_total_deg_median_after": 38.3,
+     "markers_on_forearm": [
+      "LElbow",
+      "LElbowIn",
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 100.02,
+    "Q_rotvec": [
+     1.70158,
+     0.34987,
+     0.17235
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 88.8,
+    "opposite_sign_bend_deg": 93.8,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.86,
+    "hand_vs_marker_frame_deg": {
+     "before": 99.87,
+     "after": 1.86
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -86.74,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -1.4,
+       5.4
+      ]
+     },
+     "wrist_total_deg_median_after": 20.2,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-23T00:06:23.033566+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM16/session_031",
+  "family": "locomanipulation",
+  "primitive": "LM16",
+  "source_session": "20261015/LM16/20261015_093634_session47"
+ }
+}

actions/locomanipulation/LM16/session_031/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a2726e5fa410269533d84920437aaf5e806f6ad9673116cc939d01221f5a78f
+size 1206747

actions/locomanipulation/LM16/session_031/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d2bf1de961442c90625610e87d7900d2cb518373d3e266b78ad82672609aa41
+size 9098901

actions/locomanipulation/LM16/session_031/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efb3894c1ad92d6129f2b9486678159820674001519f019f4417cb5d2d89e79b
+size 9209362

actions/locomanipulation/LM16/session_031/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:250af61c25215241d0fa7643be4befed472f20e543450ccb0b7417bb514a2b7e
+size 6047378

actions/locomanipulation/LM16/session_031/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0debdbac408f902b84f95e9522097890c5343a97cdfb6f96405f051afc4d777a
+size 25810638

actions/locomanipulation/LM16/session_031/raw/manifest.json

@@ -0,0 +1,261 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-10-15T12:47:11.078492+00:00",
+  "primitive_id": "LM16",
+  "session_id": "20261015_093634_session47",
+  "upload_batch_id": "20261015",
+  "dataset_path": "EgoMotionActions/20261015/LM16/20261015_093634_session47",
+  "segment": "auto/all",
+  "duration_s": 133.9666,
+  "device_ids": {
+    "main": "e3296774a321bb51",
+    "left": "75b5984e04d1d236",
+    "right": "c84bc808cb6b47af"
+  },
+  "mocap_rigid_names": [
+    "Body0",
+    "Tracker0"
+  ],
+  "objects": [],
+  "options": {
+    "raw_video": true,
+    "proxy_height": 540,
+    "proxy_crf": 28,
+    "proxy_bitrate": "1400k",
+    "mocap_selection": "explicit",
+    "mocap_files": [
+      "mocap-LM16-S01-lvaoshan-01p1/mocap-LM16-S01-lvaoshan-01p1-1.mp4",
+      "mocap-LM16-S01-lvaoshan-01p1/mocap-LM16-S01-lvaoshan-01p1-Body0.bvh",
+      "mocap-LM16-S01-lvaoshan-01p1/mocap-LM16-S01-lvaoshan-01p1-Body0.csv",
+      "mocap-LM16-S01-lvaoshan-01p1/mocap-LM16-S01-lvaoshan-01p1-Body0.trc",
+      "mocap-LM16-S01-lvaoshan-01p1/mocap-LM16-S01-lvaoshan-01p1-Tracker0.csv",
+      "mocap-LM16-S01-lvaoshan-01p1/mocap-LM16-S01-lvaoshan-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": 25810638,
+      "packaged_bytes": 25810638,
+      "compressed_video": false,
+      "sha256": "0debdbac408f902b84f95e9522097890c5343a97cdfb6f96405f051afc4d777a"
+    },
+    {
+      "source": "mocap-LM16-S01-lvaoshan-01p1/mocap-LM16-S01-lvaoshan-01p1-1.mp4",
+      "packaged_as": "mocap/mocap-LM16-S01-lvaoshan-01p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 72351835,
+      "packaged_bytes": 72351835,
+      "compressed_video": false,
+      "sha256": "bdfcba1591485ba31a6301a96c1e1c5812883dc55035fe334bb55aa47de2e8b4"
+    },
+    {
+      "source": "mocap-LM16-S01-lvaoshan-01p1/mocap-LM16-S01-lvaoshan-01p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-LM16-S01-lvaoshan-01p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 9500252,
+      "packaged_bytes": 9500252,
+      "compressed_video": false,
+      "sha256": "5c5d67b76a9eeb16ae2f7fa8a7ab1700a4ce4a3977f9a4578e00fb671ea14c07"
+    },
+    {
+      "source": "mocap-LM16-S01-lvaoshan-01p1/mocap-LM16-S01-lvaoshan-01p1-Body0.csv",
+      "packaged_as": "mocap/mocap-LM16-S01-lvaoshan-01p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 133371396,
+      "packaged_bytes": 133371396,
+      "compressed_video": false,
+      "sha256": "398f7a9adf80c0cf23ca64eae0008b35b2d044c702e6f7f5d421a35f8f9a8dc2"
+    },
+    {
+      "source": "mocap-LM16-S01-lvaoshan-01p1/mocap-LM16-S01-lvaoshan-01p1-Body0.trc",
+      "packaged_as": "mocap/mocap-LM16-S01-lvaoshan-01p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 28838262,
+      "packaged_bytes": 28838262,
+      "compressed_video": false,
+      "sha256": "700de899112fcf541bf26133cad6a780e649d46ae75b4318ba5bc9dc84d56afe"
+    },
+    {
+      "source": "mocap-LM16-S01-lvaoshan-01p1/mocap-LM16-S01-lvaoshan-01p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-LM16-S01-lvaoshan-01p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 5126378,
+      "packaged_bytes": 5126378,
+      "compressed_video": false,
+      "sha256": "768e81bb324c06eef39c9b4daed1671f904d8f7b1c61232c11de165b5ade9fe1"
+    },
+    {
+      "source": "mocap-LM16-S01-lvaoshan-01p1/mocap-LM16-S01-lvaoshan-01p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-LM16-S01-lvaoshan-01p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 4912487,
+      "packaged_bytes": 4912487,
+      "compressed_video": false,
+      "sha256": "3c8bec36112cfe1fe6b37e36a0751182f88a30acdfe9ae219f4efa3a18c3e915"
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1388544,
+      "packaged_bytes": 1388544,
+      "compressed_video": false,
+      "sha256": "6c8d0741cf6e3c965b46c650fd66d6a092ce5885c3cf6a81ab2e05d7246d7c75"
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1343488,
+      "packaged_bytes": 1343488,
+      "compressed_video": false,
+      "sha256": "203b19bf71e76566455876447b450d955145f42f25b01c2ab2fba28a81ac86f6"
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 360448,
+      "packaged_bytes": 360448,
+      "compressed_video": false,
+      "sha256": "48fbb18d9d0f91a4128b3f4d11b96717d5d6bbf2139defd22846d1d3f1609577"
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67116601,
+      "packaged_bytes": 67116601,
+      "compressed_video": false,
+      "sha256": "e146444bc7562a92575260ea621ddd9e0b16f74f05397093062f5f524fc12533"
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67036233,
+      "packaged_bytes": 67036233,
+      "compressed_video": false,
+      "sha256": "fe8f6f8b4872b869bce7a351fb53c4c7107ee04972abeb5d9ecae4b107113961"
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67156251,
+      "packaged_bytes": 67156251,
+      "compressed_video": false,
+      "sha256": "b5f143d19529ef0865c367724835edf73a480990435e17d4c05696da7413b6dc"
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67137016,
+      "packaged_bytes": 67137016,
+      "compressed_video": false,
+      "sha256": "98b51612860e7ef331c2a37964f80b2558b56041601e1dcf7893ebf79334daa5"
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67163898,
+      "packaged_bytes": 67163898,
+      "compressed_video": false,
+      "sha256": "19ed3fc502dd98f050331ca5b428d185003fe4289fdd72011f3022965e5dfce7"
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67228726,
+      "packaged_bytes": 67228726,
+      "compressed_video": false,
+      "sha256": "f453f43387311213674758bf5b7a708f80595ca1d2324fb17943fc21eddb4682"
+    },
+    {
+      "source": "robowrist_75b5984e04d1d236_left/robowrist_segment1_imu_left.db",
+      "packaged_as": "robowrist_75b5984e04d1d236_left/robowrist_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1347584,
+      "packaged_bytes": 1347584,
+      "compressed_video": false,
+      "sha256": "92759afd91f7422579e8f96ea040c28c556ae9168cca0cb0adc2e382fba7d480"
+    },
+    {
+      "source": "robowrist_75b5984e04d1d236_left/robowrist_segment1_mag_left.db",
+      "packaged_as": "robowrist_75b5984e04d1d236_left/robowrist_segment1_mag_left.db",
+      "kind": "data",
+      "original_bytes": 344064,
+      "packaged_bytes": 344064,
+      "compressed_video": false,
+      "sha256": "8c2eb676ae2627f032822674c1b5a3c7da739e522917bc78abdbc4c103ef771f"
+    },
+    {
+      "source": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4",
+      "packaged_as": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 47554262,
+      "packaged_bytes": 47554262,
+      "compressed_video": false,
+      "sha256": "3b56ca3a9a0bc95d0660859b3eb7e0d55215e620a7ad84503a3525c9f3b33a41"
+    },
+    {
+      "source": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_imu_right.db",
+      "packaged_as": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1339392,
+      "packaged_bytes": 1339392,
+      "compressed_video": false,
+      "sha256": "c7c0b09efe774740e18b456827e0168274386f959645bebaeed5d6a63c78623c"
+    },
+    {
+      "source": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_mag_right.db",
+      "packaged_as": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_mag_right.db",
+      "kind": "data",
+      "original_bytes": 348160,
+      "packaged_bytes": 348160,
+      "compressed_video": false,
+      "sha256": "d4d51580fafb3a75c382960636d9d15b37195ff5cd09031401fe37da1349b80e"
+    },
+    {
+      "source": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4",
+      "packaged_as": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 44606176,
+      "packaged_bytes": 44606176,
+      "compressed_video": false,
+      "sha256": "afaf2a9e2d731eb07569459093f467363dffa355f66d29d91fc6dd8d5c27adfc"
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 873511,
+      "packaged_bytes": 873455,
+      "compressed_video": false,
+      "sha256": "97a871ecc3deb132ad2f32375b6667bc804cdf9a4e3c4b9b4269478fc45934f5"
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-LM16-S01-lvaoshan-01p1",
+    "action_id": "LM16",
+    "collection_session_index": 1,
+    "participant": "lvaoshan",
+    "repetition_count": 1
+  },
+  "upload_batch_created_at": "2026-10-15T21:09:24.218483+08:00",
+  "participant_gender": "female",
+  "participant_height_cm": 166,
+  "participant_weight_kg": 46,
+  "collection_site": {
+    "id": "site_00"
+  }
+}

actions/locomanipulation/LM16/session_031/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:398f7a9adf80c0cf23ca64eae0008b35b2d044c702e6f7f5d421a35f8f9a8dc2
+size 133371396

actions/locomanipulation/LM16/session_031/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:700de899112fcf541bf26133cad6a780e649d46ae75b4318ba5bc9dc84d56afe
+size 28838262

actions/locomanipulation/LM16/session_031/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c8d0741cf6e3c965b46c650fd66d6a092ce5885c3cf6a81ab2e05d7246d7c75
+size 1388544