Upload folder using huggingface_hub (part 704)

.gitattributes

@@ -27800,3 +27800,65 @@ actions/locomotion_primitives/P06/session_009/raw/sensors/robowrist_imu_left.db
 actions/locomotion_primitives/P06/session_009/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomotion_primitives/P06/session_009/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomotion_primitives/P06/session_009/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_010/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_010/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_010/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_010/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_010/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_010/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_010/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_010/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_010/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_011/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_011/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_011/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_011/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_011/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_011/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_011/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_011/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_011/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_012/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_012/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_012/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_012/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_012/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_012/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_012/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_012/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_012/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_013/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_013/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_013/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_013/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_013/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_013/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_013/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_013/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_013/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_014/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_014/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_014/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_014/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_014/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_014/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_014/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_014/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_015/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_015/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_015/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_015/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_015/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_015/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_015/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_015/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_015/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_016/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_016/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_016/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_016/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_016/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_016/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_016/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_016/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P06/session_016/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/locomotion_primitives/P06/session_010/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b9309837437984feddcbb8282d2d713fe456c885ef3e81c08f44aa4a0cfc288
+size 134359403

actions/locomotion_primitives/P06/session_010/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6b169ab9698e639b05bab65f96afd683a5055cdc80bf3f5e99a7e1d35d529af
+size 30251199

actions/locomotion_primitives/P06/session_010/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76ed9aff4adbd7b59983e9be002119386a9acc10e5c2fa56b8b28a46fd9b7c62
+size 1404928

actions/locomotion_primitives/P06/session_010/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d0f7a87b9b733de7e897740e4777b67cd024c905fdb9029d19b1b9e732e4f12
+size 1347584

actions/locomotion_primitives/P06/session_010/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0f4a46d896744193e73a1bc55cd699c2f3b4cd5f10219b2055fcacf2ea583f6
+size 364544

actions/locomotion_primitives/P06/session_010/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebba256b343473cdfb5e71f319b802bc5ca83d4ffabae4b7ed9b90873f9a71cc
+size 1290240

actions/locomotion_primitives/P06/session_010/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7825379820357a6e7c1149599ed2a8612883f9438b74cb3adffe8075ad7346f
+size 1323008

actions/locomotion_primitives/P06/session_010/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f40c46ec730b723395300feb20371f0d82fc45de47fc725c5b3bd1631b907edf
+size 339968

actions/locomotion_primitives/P06/session_010/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dd28983b1b7dc3c3096739bffaf4f112080ce9bb3ab3e326c1440a0ed10acaa
+size 339968

actions/locomotion_primitives/P06/session_010/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": 0.0671,
+    "trans_p95_m": 0.3389,
+    "rot_median_deg": 0.445,
+    "rot_p95_deg": 0.923
+  }
+}

actions/locomotion_primitives/P06/session_010/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9082d660d5a8aa8c284919535a449ff12cbe81e44bc294736c5b2d11bb36109
+size 248808210

actions/locomotion_primitives/P06/session_010/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f12bea6a7a4801121f2688b8b6d8ce1e87c4666c65dd1da3e27178e4791a5dfb
+size 1432944

actions/locomotion_primitives/P06/session_010/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7000c68009a9d08a307879f8d35b575659268339cd1885b503a80098ddb965ac
+size 166708

actions/locomotion_primitives/P06/session_010/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:155bac54988875002d8cf7986a43b8330a63b4d985c12654fb5bc1a6cc222bf4
+size 1441636

actions/locomotion_primitives/P06/session_010/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f98cc3d2b6406b06db65e0e96a8c806a00d1f7bd65ca6a032ab173f8ed8ff369
+size 279445

actions/locomotion_primitives/P06/session_010/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe116dc4f1970fecd59d98cc65bf2279b061acc19029f49077bc112e964fc0e8
+size 249833

actions/locomotion_primitives/P06/session_010/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4c9493ada3758eae910bd097ef6a68b02163458a089e3d7b0b218dc0d601150
+size 67140338

actions/locomotion_primitives/P06/session_010/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c221feade52f049e22a5228f529a9582829a28572613f5c3335bb5747d8a8c29
+size 67092916

actions/locomotion_primitives/P06/session_010/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8e8c5add3cb5ddf1e3d9259a0c6683fc8b52d4985448e083b14ff9177de5b5b
+size 67193046

actions/locomotion_primitives/P06/session_010/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:063fe9cbb7010934b8a1a22bb99e546146f585c6fec9d19467ff38e95e64e6aa
+size 67134759

actions/locomotion_primitives/P06/session_010/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0098737cb74bb438d36f41fe1cd881e847e008b4be29802e1effe9aa395676df
+size 67107907

actions/locomotion_primitives/P06/session_010/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:decd0aaafb6350a5f18469612a24688ec4144f66a582c135ccc2b5107d43e415
+size 67186883

actions/locomotion_primitives/P06/session_010/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:056a3323678860b84ccd3601204e07e32ec2c33776c0ee2d1bfc99241942a360
+size 35269027

actions/locomotion_primitives/P06/session_010/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c5dd4ad12bc9411e597ef663297720bef5226ef1136e829d6d5980384e49d93
+size 45596724

actions/locomotion_primitives/P06/session_010/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42a937deb36fa53e42f3423c512b38875581846221a9d8db4b4bb57c74f49681
+size 40838298

actions/locomotion_primitives/P06/session_011/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e987c05181f5ba3b48da6162bc114fc81eb5d68537ada6b2fbe78de10924c204
+size 1202711

actions/locomotion_primitives/P06/session_011/meta.json

@@ -0,0 +1,526 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20260831/P06/20260831_092543_session68",
+ "session_id": "20260831_092543_session68",
+ "primitive": "P06",
+ "batch": "20260831",
+ "participant": "wangyang",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "850a0e6aafa85fdf",
+  "left": "cc5681142208e29a",
+  "right": "60a6f081bbe60b0d"
+ },
+ "generated_at_utc": "2026-10-14T10:53:16.914226+00:00",
+ "generated_by": "scripts/sync_dataset.py",
+ "time_base": {
+  "definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
+  "mocap_rate_hz": 120.0,
+  "first_solved_frame": 0,
+  "duration_s": 139.025,
+  "mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
+ },
+ "alignment": {
+  "reference_imu": "imu_head_right",
+  "model": "offset (median of windows)",
+  "mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
+  "offset_s": -1.163637,
+  "rate": 0.0,
+  "global_lag_s": -1.165,
+  "peak_corr": 0.9879,
+  "reference_imu_first_sample_s": 13073.365048535,
+  "windows": {
+   "n_windows": 12,
+   "window_corr_median": 0.9938998912631588,
+   "drift_ppm": -138.75971452197925,
+   "drift_se_ppm": 76.18660772883914,
+   "drift_ms_over_take": -19.289912980463818,
+   "lag_scatter_ms": 8.316795683052087,
+   "lag_range_ms": 37.20532910969965
+  }
+ },
+ "units": {
+  "mocap": "millimetres, Nokov world, Y-up (unchanged)",
+  "y_up_to_z_up": [
+   [
+    1.0,
+    0.0,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   [
+    0.0,
+    1.0,
+    0.0
+   ]
+  ],
+  "acc": "m/s^2 (8192 LSB/g)",
+  "gyro": "rad/s (65.536 LSB/dps)",
+  "mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
+  "quaternions": "xyzw, Nokov global"
+ },
+ "calibration": {
+  "device": "850a0e6aafa85fdf",
+  "status": "ok",
+  "date": "2026-08-27"
+ },
+ "streams": {
+  "sensors": {
+   "imu_head_right": {
+    "n_acc": 28446,
+    "n_gyro": 28439,
+    "t_start": -1.1800229205404817,
+    "t_end": 139.5745132144598
+   },
+   "imu_head_left": {
+    "n_acc": 28438,
+    "n_gyro": 28432,
+    "t_start": -1.066067594540486,
+    "t_end": 139.74372006845945
+   },
+   "imu_wrist_right": {
+    "n_acc": 27500,
+    "n_gyro": 27512,
+    "t_start": 0.31148738545884536,
+    "t_end": 136.21742126845996
+   },
+   "imu_wrist_left": {
+    "n_acc": 26842,
+    "n_gyro": 26854,
+    "t_start": 0.31400406245988544,
+    "t_end": 136.20529392345955
+   },
+   "mag_head": {
+    "n": 14090,
+    "t_start": -0.9876115455394525,
+    "t_end": 139.90239572945896
+   },
+   "mag_wrist_right": {
+    "n": 13588,
+    "t_start": 0.32996285046060203,
+    "t_end": 136.19984357745992
+   },
+   "mag_wrist_left": {
+    "n": 13588,
+    "t_start": 0.3330154824594005,
+    "t_end": 136.2028592514594
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 13074.565941,
+    "frames": 4170,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0021483410603724603,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.03940377052053501,
+    "t_end": 139.00605977052103,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 13074.565916,
+    "frames": 4170,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002270132116606671,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.03950056157513737,
+    "t_end": 139.00612256157504,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 13074.565932,
+    "frames": 4170,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0020725870268354075,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.03931901648642944,
+    "t_end": 139.0059630164865,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 13074.565949,
+    "frames": 4170,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002043825050164052,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.03930725450986339,
+    "t_end": 139.00596325451036,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 13074.565925,
+    "frames": 4170,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.001465839471423729,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.038705268932558656,
+    "t_end": 139.00533826893255,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 13074.565901,
+    "frames": 4170,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.00141129548433604,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.038626724944647695,
+    "t_end": 139.00524872494455,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 13074.833957,
+    "frames": 4077,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": 0.3052714294604315,
+    "t_end": 136.17180742945996,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 13074.877111,
+    "frames": 4076,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": 0.34842542945948063,
+    "t_end": 136.1816284294596,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-P06-S13-wangyang-10p1-1.mp4",
+    "frames": 4171,
+    "fps": 60.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 69.5
+   }
+  }
+ },
+ "flags": [],
+ "sanity": {
+  "status": {
+   "structure": "WARN",
+   "markers": "WARN",
+   "timing": "WARN"
+  },
+  "verdict": "READY_WITH_WARNINGS",
+  "issues": [
+   "WARN M_FLOOR_SHIFT",
+   "WARN M_RIGID",
+   "WARN M_SPIKES",
+   "WARN M_TRACKER_LABELS",
+   "WARN S_INDEX",
+   "WARN S_PARTICIPANT",
+   "WARN S_REPORT_TIMING",
+   "WARN S_VIDEO_FPS",
+   "WARN T_UNITS"
+  ]
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-24T05:10:01.591474+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": [
+   [
+    0.9998855167,
+    -0.0151311823,
+    -3.00453e-05
+   ],
+   [
+    3.00453e-05,
+    0.0039710626,
+    -0.9999921148
+   ],
+   [
+    0.0151311823,
+    0.9998776315,
+    0.0039710626
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999885517,
+    -1.5131182e-05,
+    -3.0045e-08,
+    0.0
+   ],
+   [
+    3.0045e-08,
+    3.971063e-06,
+    -0.000999992115,
+    0.0
+   ],
+   [
+    1.5131182e-05,
+    0.000999877632,
+    3.971063e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20260831-afternoon",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.8963484408350886,
+  "plane_status": "contacts span only 0.52 m",
+  "floor": {
+   "sole_marker_p1_mm": 43.4,
+   "headtop_p95_mm": 1742.7
+  },
+  "gravity_check": {
+   "static_samples": 8441,
+   "g_world_mean_m_s2": [
+    -0.0135,
+    -0.0225,
+    9.8223
+   ],
+   "tilt_from_z_deg": 0.153,
+   "tilt_from_z_deg_before_levelling": 0.866,
+   "magnitude_m_s2": 9.8224
+  },
+  "rig_tracker_definition": "850a0e6aafa85fdf/20260831-afternoon/labels-035142/session-cce618a2d9dd0784",
+  "rig_check": {
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 1.033
+  },
+  "camera_pose_source": "T_tracker0_imu0 @ inv(T_cam_imu)",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-14T23:21:33.367305+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": [
+      0.08484432101249695,
+      0.005197159014642239,
+      0.0338972806930542
+     ],
+     "LHandOut": [
+      0.06862712651491165,
+      0.03533853590488434,
+      0.0007372341933660209
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.04551916942000389,
+      -0.032138001173734665,
+      0.012728921137750149
+     ],
+     "RHandOut": [
+      -0.04638201743364334,
+      0.01611829362809658,
+      0.019645821303129196
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 5.88,
+   "p95_frame": 13.15
+  },
+  "worst_markers": [
+   "RAnkleOut 38mm",
+   "RMT5 11mm",
+   "LKneeIn 9mm",
+   "LThigh 9mm",
+   "RHeel 9mm"
+  ],
+  "valid_fraction": 0.9998,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 10.7,
+    "p5": 1.8
+   },
+   "frames_checked": 557,
+   "stature_mm": 1765.5
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 12.57
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 133.99,
+    "Q_rotvec": [
+     -2.18556,
+     -0.57471,
+     0.60135
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 148.2,
+    "opposite_sign_bend_deg": 40.0,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.26,
+    "hand_vs_marker_frame_deg": {
+     "before": 134.72,
+     "after": 1.26
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -147.37,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -2.4,
+       1.9
+      ]
+     },
+     "wrist_total_deg_median_after": 24.8,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 106.81,
+    "Q_rotvec": [
+     1.81438,
+     0.4259,
+     0.04374
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 74.8,
+    "opposite_sign_bend_deg": 111.3,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.33,
+    "hand_vs_marker_frame_deg": {
+     "before": 106.43,
+     "after": 1.33
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -72.29,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -1.7,
+       2.0
+      ]
+     },
+     "wrist_total_deg_median_after": 20.5,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-14T23:21:36.354127+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "rig_tracker": {
+  "definition": "850a0e6aafa85fdf/20260831-afternoon/labels-035142/session-cce618a2d9dd0784",
+  "R_tracker0_imu0": [
+   [
+    -0.64207298,
+    0.28405182,
+    -0.71207924
+   ],
+   [
+    0.75869647,
+    0.36882207,
+    -0.53698226
+   ],
+   [
+    0.11009975,
+    -0.88503381,
+    -0.4523198
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   0.034277074481616786,
+   0.012848069047995528,
+   -0.030693007837044737
+  ],
+  "rig_check": {
+   "gyro_samples": 2918,
+   "gyro_max_deg": 2.5,
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 1.033,
+   "video_solve": {
+    "status": "ok",
+    "reason": "",
+    "reprojection_px": 2.253,
+    "n_assoc": 1184,
+    "gyro_deg": 1.033
+   }
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "release": {
+  "release_path": "actions/locomotion_primitives/P06/session_011",
+  "family": "locomotion_primitives",
+  "primitive": "P06",
+  "source_session": "20260831/P06/20260831_092543_session68"
+ }
+}

actions/locomotion_primitives/P06/session_011/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:738bec3db6c95662c8d18f3ff0f660015a2fc60a615e4a123bda237895a5ea20
+size 1228637

actions/locomotion_primitives/P06/session_011/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:352b6b78a7be59ebae299b6f39c321216e44e06d24823b007432f3ec294c3e33
+size 9560259

actions/locomotion_primitives/P06/session_011/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b0a1763c6021bf3f49245bb06abfd234f6ad96459c26c1cc46a48d60ec53d27
+size 9013639

actions/locomotion_primitives/P06/session_011/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97f9e37ba0dbed454154e10df5aacbb9465aa88afd1880e01123be272834d6bc
+size 6357219

actions/locomotion_primitives/P06/session_011/raw/manifest.json

@@ -0,0 +1,222 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-09-01T12:19:36.885835+00:00",
+  "primitive_id": "P06",
+  "session_id": "20260831_092543_session68",
+  "upload_batch_id": "20260831",
+  "dataset_path": "EgoMotionActions/20260831/P06/20260831_092543_session68",
+  "segment": "auto/all",
+  "duration_s": 138.966656,
+  "device_ids": {
+    "main": "850a0e6aafa85fdf",
+    "left": "cc5681142208e29a",
+    "right": "60a6f081bbe60b0d"
+  },
+  "options": {
+    "raw_video": true,
+    "proxy_height": 540,
+    "proxy_crf": 28,
+    "proxy_bitrate": "1400k",
+    "mocap_selection": "explicit",
+    "mocap_files": [
+      "mocap-P06-S13-wangyang-10p1/mocap-P06-S13-wangyang-10p1-1.mp4",
+      "mocap-P06-S13-wangyang-10p1/mocap-P06-S13-wangyang-10p1-Body0.bvh",
+      "mocap-P06-S13-wangyang-10p1/mocap-P06-S13-wangyang-10p1-Body0.csv",
+      "mocap-P06-S13-wangyang-10p1/mocap-P06-S13-wangyang-10p1-Body0.trc",
+      "mocap-P06-S13-wangyang-10p1/mocap-P06-S13-wangyang-10p1-Tracker0.csv",
+      "mocap-P06-S13-wangyang-10p1/mocap-P06-S13-wangyang-10p1-Tracker0.trc"
+    ],
+    "include_rrd": false,
+    "rrd_files": [],
+    "aligned_intersection": false
+  },
+  "files": [
+    {
+      "source": "mocap-P06-S13-wangyang-10p1/mocap-P06-S13-wangyang-10p1-1.mp4",
+      "packaged_as": "mocap/mocap-P06-S13-wangyang-10p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 36581934,
+      "packaged_bytes": 36581934,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P06-S13-wangyang-10p1/mocap-P06-S13-wangyang-10p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-P06-S13-wangyang-10p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 10105002,
+      "packaged_bytes": 10105002,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P06-S13-wangyang-10p1/mocap-P06-S13-wangyang-10p1-Body0.csv",
+      "packaged_as": "mocap/mocap-P06-S13-wangyang-10p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 139224055,
+      "packaged_bytes": 139224055,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P06-S13-wangyang-10p1/mocap-P06-S13-wangyang-10p1-Body0.trc",
+      "packaged_as": "mocap/mocap-P06-S13-wangyang-10p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 31395640,
+      "packaged_bytes": 31395640,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P06-S13-wangyang-10p1/mocap-P06-S13-wangyang-10p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-P06-S13-wangyang-10p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 5279851,
+      "packaged_bytes": 5279851,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P06-S13-wangyang-10p1/mocap-P06-S13-wangyang-10p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-P06-S13-wangyang-10p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 5265871,
+      "packaged_bytes": 5265871,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1454080,
+      "packaged_bytes": 1454080,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1396736,
+      "packaged_bytes": 1396736,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 376832,
+      "packaged_bytes": 376832,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 69621777,
+      "packaged_bytes": 69621777,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 69656385,
+      "packaged_bytes": 69656385,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 69692140,
+      "packaged_bytes": 69692140,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 69611995,
+      "packaged_bytes": 69611995,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 69587243,
+      "packaged_bytes": 69587243,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 69676749,
+      "packaged_bytes": 69676749,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_imu_right.db",
+      "packaged_as": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1359872,
+      "packaged_bytes": 1359872,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_mag_right.db",
+      "packaged_as": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_mag_right.db",
+      "kind": "data",
+      "original_bytes": 348160,
+      "packaged_bytes": 348160,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
+      "packaged_as": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 43158085,
+      "packaged_bytes": 43158085,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_cc5681142208e29a_left/robowrist_segment1_imu_left.db",
+      "packaged_as": "robowrist_cc5681142208e29a_left/robowrist_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1331200,
+      "packaged_bytes": 1331200,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_cc5681142208e29a_left/robowrist_segment1_mag_left.db",
+      "packaged_as": "robowrist_cc5681142208e29a_left/robowrist_segment1_mag_left.db",
+      "kind": "data",
+      "original_bytes": 348160,
+      "packaged_bytes": 348160,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+      "packaged_as": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 45953163,
+      "packaged_bytes": 45953163,
+      "compressed_video": false
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 905821,
+      "packaged_bytes": 905779,
+      "compressed_video": false
+    }
+  ],
+  "upload_batch_created_at": "2026-09-01T20:19:39.137575+08:00",
+  "mocap_capture": {
+    "source_directory": "mocap-P06-S13-wangyang-10p1",
+    "action_id": "P06",
+    "collection_session_index": 13,
+    "participant": "wangyang",
+    "repetition_count": 10
+  },
+  "collection_site": {
+    "id": "site_01"
+  }
+}

actions/locomotion_primitives/P06/session_011/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1319f4182d5f54838ebeb9020ed2e9fc10705588a776434cef3529cbfd95c12
+size 139224055

actions/locomotion_primitives/P06/session_011/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27796fe937d6e1ac8010022fcf40526c1a6c045296cf0ac4378fe1e9e6a5ca7b
+size 31395640

actions/locomotion_primitives/P06/session_011/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c41e9dc76b93bd42ed2f019bc11ba40e95f022d7d96d0bc25d095362c0f84b1a
+size 1454080

actions/locomotion_primitives/P06/session_011/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:747569e1501cd923dce7e4a00b1eb6f19e39faee813dcea65d5a59a1adc405ab
+size 1396736

actions/locomotion_primitives/P06/session_011/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:064245acc18fb56d82643c9937a0078ced6374a8b2545c671c16bfff140d000c
+size 376832

actions/locomotion_primitives/P06/session_011/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72a63d79016efdf31791c5bf0ffe148c9e49a1e6715a52712161d9ee9574e533
+size 1331200

actions/locomotion_primitives/P06/session_011/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ef56e23f4ed1c2e974f39aefb254a1c2d5ad20fbf463676808a687f66869372
+size 1359872

actions/locomotion_primitives/P06/session_011/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c7e4fbe509247ea8319dc0a627c6f8551cda0c6cc211edebb6645b2ebe9dd99
+size 348160

actions/locomotion_primitives/P06/session_011/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c070ee7a2b2c40879f53de7fafe479b5c7200533ff4d1c4b31131bae1c8f565a
+size 348160

actions/locomotion_primitives/P06/session_011/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": 0.0419,
+    "trans_p95_m": 0.3723,
+    "rot_median_deg": 0.416,
+    "rot_p95_deg": 0.87
+  }
+}

actions/locomotion_primitives/P06/session_011/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d0d1c25887da7ac2558f7156fab56d219851e974fde0c86438e61b23431981d
+size 261581454

actions/locomotion_primitives/P06/session_011/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04ef34fd964675452b6dd8120c8d517078f61da400b0f105b9c083d134eb1587
+size 1482648