Upload folder using huggingface_hub (part 894)

.gitattributes

@@ -35964,3 +35964,47 @@ actions/locomotion_primitives/P36/session_067/raw/sensors/robocap_mag_middle.db
 actions/locomotion_primitives/P36/session_067/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomotion_primitives/P36/session_067/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomotion_primitives/P36/session_067/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_068/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_068/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_068/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_068/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_068/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_068/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_068/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_068/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_069/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_069/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_069/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_069/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_069/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_069/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_069/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_069/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_070/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_070/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_070/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_070/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_070/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_070/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_070/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_070/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_070/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_071/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_071/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_071/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_071/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_071/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_071/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_071/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_071/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_072/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_072/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_072/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_072/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_072/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_072/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_072/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_072/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_072/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_073/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P36/session_073/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/locomotion_primitives/P36/session_068/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:044d3800f764f6e50cf2511e39633d16776cca1b5fe70d87fecdcc397ec2df5a
+size 129329451

actions/locomotion_primitives/P36/session_068/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:858db6338a98e5a41aea0d71fb2810ca99780d277100c68c08514e4868816a09
+size 28568507

actions/locomotion_primitives/P36/session_068/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d436fd2c8c2a594e1a00fb0cf05d9cd04f5197e71dcc28c7937e7171698d0b7
+size 1355776

actions/locomotion_primitives/P36/session_068/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf4f32cf70c0b936a0f2e89e521d833dfb3617c5d37c00d34d709b325612cc13
+size 1306624

actions/locomotion_primitives/P36/session_068/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4ba418991b3e3c6266a94b8e80bc02027ec0aba3aa295604fd7c1b476d73b3e
+size 352256

actions/locomotion_primitives/P36/session_068/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bd4b2d7eb403f8390463f9c42f3dc3e5cf6f85efb9c2c3f942565131e594c26
+size 1290240

actions/locomotion_primitives/P36/session_068/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ec38b38441af397096979b552c5beacc9cfaede3d1528257d87d4b06deb324f
+size 327680

actions/locomotion_primitives/P36/session_068/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:834658fc518dff71baf2e86f6923b40e445c01d18160af36c3b4dca5cbfc1a1a
+size 327680

actions/locomotion_primitives/P36/session_068/scene/infer.json

@@ -0,0 +1,36 @@
+{
+  "model": "facebook/map-anything",
+  "views": 258,
+  "windows": 6,
+  "cams": "left_front,right_front",
+  "stride_s": 1.0,
+  "size": [
+    518,
+    392
+  ],
+  "K": [
+    [
+      308.6641804819004,
+      0.0,
+      259.0
+    ],
+    [
+      0.0,
+      308.6641804819004,
+      196.0
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "pitch_deg": -20.0,
+  "hfov_deg": 80.0,
+  "pose_agreement_window_aligned": {
+    "trans_median_m": 0.2564,
+    "trans_p95_m": 0.4714,
+    "rot_median_deg": 0.649,
+    "rot_p95_deg": 1.224
+  }
+}

actions/locomotion_primitives/P36/session_068/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bfdf47feb850cc0b2fdc47797e6346754e09633aad7fe136980b6fdd6402314
+size 269760594

actions/locomotion_primitives/P36/session_068/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c4eca83986d6234f2232551783f82a81479221fd0522e9fc7bcaf26583aaf36
+size 1452379

actions/locomotion_primitives/P36/session_068/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0da5b79327046b5043f8602942c6cad8408359b18fa8af7faac423b4ee4606be
+size 119264

actions/locomotion_primitives/P36/session_068/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54dfc8d7c6c54c8e37e2e1f764e711f18e582bed4d12c15050e5ae6cd0b3ea0c
+size 706898

actions/locomotion_primitives/P36/session_068/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0282624acf975a0614c133b98798bc63d99d6750901ae5d43917cce57bf7a327
+size 293822

actions/locomotion_primitives/P36/session_068/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1acc8c5df690912b719a6180a96a6c429f5cbc687947517124aa8150757955d8
+size 258748

actions/locomotion_primitives/P36/session_068/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e9ae1bdd05457d0547a1755fca290e68cf3825b3889844a73581ed031131369
+size 64631233

actions/locomotion_primitives/P36/session_068/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0abaa0c3f37d1b0b4e4b70b10b3dc5faa6c724c602fa42daa365402dba02bea1
+size 64605391

actions/locomotion_primitives/P36/session_068/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98109328d3ef143069f4d5fc9c0e539f8dfced9157172703a29a306ff523fbc6
+size 64674015

actions/locomotion_primitives/P36/session_068/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f6f30e8ddc2e4bae8c493119db1650386470bd669330f79719cf4276ad59bad
+size 64655476

actions/locomotion_primitives/P36/session_068/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5d7e04d5d8ea129a95cde3b30193ab80e83691992265164bfccabd3b1830816
+size 64610529

actions/locomotion_primitives/P36/session_068/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dfb63c8f37c6b485a2ab2f2f6fd4dbdbcad9fa2d6df43d062aa626b1921559f
+size 64703991

actions/locomotion_primitives/P36/session_068/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b6c0efd950843f928c05f37c18f91dbadb49f1862a6b68f09e5a834c64ac326
+size 61474586

actions/locomotion_primitives/P36/session_068/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3882842af207136c86d3b5f7eb8c2c164c7038895f769ce0a74d9a30ad38601d
+size 51337875

actions/locomotion_primitives/P36/session_068/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2d28a4abe627bbf6dd9053f1e7b0f556651ea5f1646900e40daecaca31d0e7f
+size 46985499

actions/locomotion_primitives/P36/session_069/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30a7f23324250001f98617987aecc9e8936aa68e8a7e9959929719a625221cca
+size 1173334

actions/locomotion_primitives/P36/session_069/meta.json

@@ -0,0 +1,524 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261009/P36/20261009_070545_session45",
+ "session_id": "20261009_070545_session45",
+ "primitive": "P36",
+ "batch": "20261009",
+ "participant": "wangzhixin",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e17c9efadb69e7b1",
+  "left": "452031d7af00ef6f",
+  "right": "6ee5ee4472fe2ad7"
+ },
+ "generated_at_utc": "2026-10-14T11:36:53.312527+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": 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": -1.173675,
+  "rate": 0.0,
+  "global_lag_s": -1.175,
+  "peak_corr": 0.9879,
+  "reference_imu_first_sample_s": 11846.62503393,
+  "windows": {
+   "n_windows": 12,
+   "window_corr_median": 0.9986556793006967,
+   "drift_ppm": -0.3979032659776417,
+   "drift_se_ppm": 1.0281851394138162,
+   "drift_ms_over_take": -0.053325669362103624,
+   "lag_scatter_ms": 0.11224027402939768,
+   "lag_range_ms": 0.3584376619252261
+  }
+ },
+ "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": 27253,
+    "n_gyro": 27247,
+    "t_start": -1.1806553665323198,
+    "t_end": 134.69194946946808
+   },
+   "imu_head_left": {
+    "n_acc": 27203,
+    "n_gyro": 27196,
+    "t_start": -1.0728247005321654,
+    "t_end": 134.85341264446797
+   },
+   "imu_wrist_left": {
+    "n_acc": 26659,
+    "n_gyro": 26659,
+    "t_start": 0.387224999467052,
+    "t_end": 132.06085082146782
+   },
+   "mag_head": {
+    "n": 13602,
+    "t_start": -0.9892335755325083,
+    "t_end": 135.02076528146753
+   },
+   "mag_wrist_right": {
+    "n": 13184,
+    "t_start": 0.233746394467361,
+    "t_end": 132.06292730446657
+   },
+   "mag_wrist_left": {
+    "n": 13167,
+    "t_start": 0.395212441467792,
+    "t_end": 132.05476741346646
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 11847.836141,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0023423887986386703,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.03977487426489379,
+    "t_end": 134.00638587426474,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 11847.836087,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0019489646456461974,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.03932745011259531,
+    "t_end": 134.0059714501127,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 11847.836124,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0018171232386612972,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.03923260870540535,
+    "t_end": 134.00585460870533,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 11847.836161,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017295646474508202,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.03918205011321252,
+    "t_end": 134.00578205011297,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 11847.836107,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.001668932298833096,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.03906741776479894,
+    "t_end": 134.0057004177648,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 11847.836056,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017169377622902274,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.03906442322984649,
+    "t_end": 134.00572042323037,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 11848.182213,
+    "frames": 3950,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": 0.38350448546732796,
+    "t_end": 132.0163824854677,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 11848.1378,
+    "frames": 3952,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": 0.33909148546770584,
+    "t_end": 132.03824548546763,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-P36-S04-wangzhixin-01p1-1.mp4",
+    "frames": 4021,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 134.0
+   }
+  }
+ },
+ "flags": [
+  "wrist_right_imu empty"
+ ],
+ "sanity": {
+  "status": {
+   "structure": "FAIL",
+   "markers": "WARN",
+   "timing": "WARN"
+  },
+  "verdict": "READY_WITH_WARNINGS",
+  "issues": [
+   "FAIL S_DB_EMPTY",
+   "FAIL S_REPORT_EMPTY",
+   "WARN M_BODY_ID",
+   "WARN M_TRACKER_LABELS",
+   "WARN T_EMPTY"
+  ]
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-14T12:23:11.732306+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": [
+   [
+    0.9999224264,
+    -0.0124552848,
+    -8.4556e-05
+   ],
+   [
+    8.4556e-05,
+    0.0135763823,
+    -0.9999078331
+   ],
+   [
+    0.0124552848,
+    0.9998302595,
+    0.0135763823
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999922426,
+    -1.2455285e-05,
+    -8.4556e-08,
+    0.0
+   ],
+   [
+    8.4556e-08,
+    1.3576382e-05,
+    -0.000999907833,
+    0.0
+   ],
+   [
+    1.2455285e-05,
+    0.000999830259,
+    1.3576382e-05,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20261009-afternoon",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 1.0556903911986237,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 45.9,
+   "headtop_p95_mm": 1566.8
+  },
+  "gravity_check": {
+   "static_samples": 844,
+   "g_world_mean_m_s2": [
+    -0.199,
+    0.0862,
+    9.8181
+   ],
+   "tilt_from_z_deg": 1.265,
+   "tilt_from_z_deg_before_levelling": 0.525,
+   "magnitude_m_s2": 9.8205
+  },
+  "rig_tracker_definition": "e17c9efadb69e7b1/20261009-afternoon/labels-045231/session-9b06397de97c52bc",
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-15T09:44:14.640016+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": [
+      0.06512277573347092,
+      0.016482962295413017,
+      0.016836216673254967
+     ],
+     "LHandOut": [
+      0.05656209588050842,
+      0.0102207837626338,
+      -0.03592284768819809
+     ],
+     "LWristOut": [
+      -0.0077408598735928535,
+      0.021259769797325134,
+      -0.021767621859908104
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.04369666799902916,
+      0.017300015315413475,
+      0.012227408587932587
+     ],
+     "RHandOut": [
+      -0.04483805596828461,
+      0.007476949132978916,
+      -0.04478408768773079
+     ],
+     "RWristOut": [
+      0.030455058440566063,
+      0.02218995988368988,
+      -0.025783829391002655
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 3.76,
+   "p95_frame": 4.84
+  },
+  "worst_markers": [
+   "LKneeIn 10mm",
+   "WaistRFront 7mm",
+   "RKneeIn 7mm",
+   "LHeel 7mm",
+   "LThigh 7mm"
+  ],
+  "valid_fraction": 0.9995,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": -6.9,
+    "p5": -11.6
+   },
+   "frames_checked": 536,
+   "stature_mm": 1582.0
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 11.8
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 178.06,
+    "Q_rotvec": [
+     3.02901,
+     -0.08926,
+     -0.68913
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 173.5,
+    "opposite_sign_bend_deg": 24.0,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 0.49,
+    "hand_vs_marker_frame_deg": {
+     "before": 178.02,
+     "after": 0.49
+    },
+    "markers_on_wrist": [
+     "LWristOut",
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 173.51,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -1.2,
+       1.5
+      ]
+     },
+     "wrist_total_deg_median_after": 23.9,
+     "markers_on_forearm": [
+      "LElbowIn",
+      "LForearm",
+      "LWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 24.77,
+    "Q_rotvec": [
+     -0.05139,
+     0.27672,
+     -0.32827
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 40.5,
+    "opposite_sign_bend_deg": 145.6,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 0.56,
+    "hand_vs_marker_frame_deg": {
+     "before": 24.82,
+     "after": 0.56
+    },
+    "markers_on_wrist": [
+     "RWristOut",
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -37.65,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -0.8,
+       0.8
+      ]
+     },
+     "wrist_total_deg_median_after": 15.3,
+     "markers_on_forearm": [
+      "RElbowIn",
+      "RForearm",
+      "RWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-15T09:44:17.539363+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "rig_tracker": {
+  "definition": "e17c9efadb69e7b1/20261009-afternoon/labels-045231/session-9b06397de97c52bc",
+  "R_tracker0_imu0": [
+   [
+    -0.56773027,
+    0.19317402,
+    -0.80022881
+   ],
+   [
+    0.81809597,
+    0.24062773,
+    -0.52231914
+   ],
+   [
+    0.09165876,
+    -0.95120034,
+    -0.29464653
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   0.012737812537423628,
+   0.005741885469024262,
+   -0.03487919878163282
+  ],
+  "rig_check": {
+   "gyro_samples": 11511,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 1.219
+  },
+  "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": "2026-10-18T19:10:01.364892+00:00",
+  "generated_by": "scripts/correct_processed_rig.py",
+  "remaining_gyro_frame_deg": 1.2613663246276887
+ },
+ "release": {
+  "release_path": "actions/locomotion_primitives/P36/session_069",
+  "family": "locomotion_primitives",
+  "primitive": "P36",
+  "source_session": "20261009/P36/20261009_070545_session45"
+ }
+}

actions/locomotion_primitives/P36/session_069/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08b0ed004b99c192530d8630b15a0a05e3ca1940ec93b74c440376a42f83d975
+size 1206852

actions/locomotion_primitives/P36/session_069/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78c547c01b5a53c1d7ff854c41c05d5f95cc6a98bbc28d8a972615a60c0a2a51
+size 9227646

actions/locomotion_primitives/P36/session_069/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59aff5899fd0d0d8380c3e20271466f38f155a1b3d073511eab3368f5b801008
+size 9308585

actions/locomotion_primitives/P36/session_069/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49fd0cf82c9e0eab7805d5df023bd4916a52254ddcd35f937ca4a85ebcf4226f
+size 6201449

actions/locomotion_primitives/P36/session_069/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94798144ec7c4e7892d763cdb1af36f99f80a7151a2446279ff4125d7f1971f5
+size 25960398

actions/locomotion_primitives/P36/session_069/raw/manifest.json

@@ -0,0 +1,233 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-10-09T12:39:56.205484+00:00",
+  "primitive_id": "P36",
+  "session_id": "20261009_070545_session45",
+  "upload_batch_id": "20261009",
+  "dataset_path": "EgoMotionActions/20261009/P36/20261009_070545_session45",
+  "segment": "auto/all",
+  "duration_s": 133.966611,
+  "device_ids": {
+    "main": "e17c9efadb69e7b1",
+    "left": "452031d7af00ef6f",
+    "right": "6ee5ee4472fe2ad7"
+  },
+  "options": {
+    "raw_video": true,
+    "proxy_height": 540,
+    "proxy_crf": 28,
+    "proxy_bitrate": "1400k",
+    "mocap_selection": "explicit",
+    "mocap_files": [
+      "mocap-P36-S04-wangzhixin-01p1/mocap-P36-S04-wangzhixin-01p1-1.mp4",
+      "mocap-P36-S04-wangzhixin-01p1/mocap-P36-S04-wangzhixin-01p1-Body0.bvh",
+      "mocap-P36-S04-wangzhixin-01p1/mocap-P36-S04-wangzhixin-01p1-Body0.csv",
+      "mocap-P36-S04-wangzhixin-01p1/mocap-P36-S04-wangzhixin-01p1-Body0.trc",
+      "mocap-P36-S04-wangzhixin-01p1/mocap-P36-S04-wangzhixin-01p1-Tracker0.csv",
+      "mocap-P36-S04-wangzhixin-01p1/mocap-P36-S04-wangzhixin-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": 25960398,
+      "packaged_bytes": 25960398,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P36-S04-wangzhixin-01p1/mocap-P36-S04-wangzhixin-01p1-1.mp4",
+      "packaged_as": "mocap/mocap-P36-S04-wangzhixin-01p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 60056619,
+      "packaged_bytes": 60056619,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P36-S04-wangzhixin-01p1/mocap-P36-S04-wangzhixin-01p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-P36-S04-wangzhixin-01p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 9610626,
+      "packaged_bytes": 9610626,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P36-S04-wangzhixin-01p1/mocap-P36-S04-wangzhixin-01p1-Body0.csv",
+      "packaged_as": "mocap/mocap-P36-S04-wangzhixin-01p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 134952302,
+      "packaged_bytes": 134952302,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P36-S04-wangzhixin-01p1/mocap-P36-S04-wangzhixin-01p1-Body0.trc",
+      "packaged_as": "mocap/mocap-P36-S04-wangzhixin-01p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 29629528,
+      "packaged_bytes": 29629528,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P36-S04-wangzhixin-01p1/mocap-P36-S04-wangzhixin-01p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-P36-S04-wangzhixin-01p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 5145933,
+      "packaged_bytes": 5145933,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P36-S04-wangzhixin-01p1/mocap-P36-S04-wangzhixin-01p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-P36-S04-wangzhixin-01p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 4975049,
+      "packaged_bytes": 4975049,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1409024,
+      "packaged_bytes": 1409024,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1355776,
+      "packaged_bytes": 1355776,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 364544,
+      "packaged_bytes": 364544,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67069753,
+      "packaged_bytes": 67069753,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67121585,
+      "packaged_bytes": 67121585,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67132409,
+      "packaged_bytes": 67132409,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67109639,
+      "packaged_bytes": 67109639,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67111829,
+      "packaged_bytes": 67111829,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67203649,
+      "packaged_bytes": 67203649,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_452031d7af00ef6f_left/robowrist_segment1_imu_left.db",
+      "packaged_as": "robowrist_452031d7af00ef6f_left/robowrist_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1331200,
+      "packaged_bytes": 1331200,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_452031d7af00ef6f_left/robowrist_segment1_mag_left.db",
+      "packaged_as": "robowrist_452031d7af00ef6f_left/robowrist_segment1_mag_left.db",
+      "kind": "data",
+      "original_bytes": 339968,
+      "packaged_bytes": 339968,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+      "packaged_as": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 60484000,
+      "packaged_bytes": 60484000,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_imu_right.db",
+      "packaged_as": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 24576,
+      "packaged_bytes": 24576,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_mag_right.db",
+      "packaged_as": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_mag_right.db",
+      "kind": "data",
+      "original_bytes": 339968,
+      "packaged_bytes": 339968,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
+      "packaged_as": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 62630800,
+      "packaged_bytes": 62630800,
+      "compressed_video": false
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 808321,
+      "packaged_bytes": 808265,
+      "compressed_video": false
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-P36-S04-wangzhixin-01p1",
+    "action_id": "P36",
+    "collection_session_index": 4,
+    "participant": "wangzhixin",
+    "repetition_count": 1
+  },
+  "upload_batch_created_at": "2026-10-09T20:40:01.064602+08:00",
+  "participant_gender": "female",
+  "participant_height_cm": 155,
+  "participant_weight_kg": 43,
+  "collection_site": {
+    "id": "site_00"
+  }
+}

actions/locomotion_primitives/P36/session_069/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:983c8fd135358b02580ccd9239bfca155a28ff390238f94104d95ac04dd950c4
+size 134952302

actions/locomotion_primitives/P36/session_069/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b566bb256eceea3754cdf06466e0af46a0ecd5134d7872f3ef37bad789141ea8
+size 29629528

actions/locomotion_primitives/P36/session_069/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d1f14689e55320c94ee5a1fef149d61c7fac5d3cd0b3c1db262b49c93a058b8
+size 1409024

actions/locomotion_primitives/P36/session_069/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdd7998e9f8663f71bdf7bbe9dded68f60bd67f9ab237f65a0aad7675a43291f
+size 1355776

actions/locomotion_primitives/P36/session_069/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddfef5aadcea452884cd303906e52aabe563e1ce3e9787352a672dd71391afa3
+size 364544

actions/locomotion_primitives/P36/session_069/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e78ab603d4456636cc4fc72b7968c43c709772e8edc01c7545cbd59988bb897a
+size 1331200

actions/locomotion_primitives/P36/session_069/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:565866cb3d8e70a8ed0beae8b495b0a7859cf38399068cadd68a7f01af09bcbb
+size 339968

actions/locomotion_primitives/P36/session_069/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6a5f5e80664290c2ec4340f6110a0d91707a33afa37084d60e58093accb3a1b
+size 339968

actions/locomotion_primitives/P36/session_069/scene/infer.json

@@ -0,0 +1,36 @@
+{
+  "model": "facebook/map-anything",
+  "views": 268,
+  "windows": 6,
+  "cams": "left_front,right_front",
+  "stride_s": 1.0,
+  "size": [
+    518,
+    392
+  ],
+  "K": [
+    [
+      308.6641804819004,
+      0.0,
+      259.0
+    ],
+    [
+      0.0,
+      308.6641804819004,
+      196.0
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "pitch_deg": -20.0,
+  "hfov_deg": 80.0,
+  "pose_agreement_window_aligned": {
+    "trans_median_m": 0.2485,
+    "trans_p95_m": 0.4592,
+    "rot_median_deg": 0.447,
+    "rot_p95_deg": 1.017
+  }
+}

actions/locomotion_primitives/P36/session_069/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:554365d86e7809fae645bdf7a15c2aea6f709175a45a0b96aff0a11875b0909d
+size 287337150