Upload folder using huggingface_hub (part 465)

.gitattributes

@@ -15157,3 +15157,37 @@ actions/locomanipulation/LM59/session_003/raw/sensors/robowrist_mag_left.db filt
 actions/locomanipulation/LM59/session_003/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM59/session_004/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM59/session_004/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_004/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_004/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_004/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_004/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_004/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_004/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_004/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_005/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_005/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_005/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_005/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_005/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_005/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_005/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_005/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_006/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_006/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_006/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_006/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_006/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_006/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_007/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_007/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_007/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_007/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_007/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_007/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_007/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_007/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_007/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_008/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_008/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM59/session_004/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3daf6f09d1d734318d42fc1edeee038eba3df850d28b6cd2a719fded0c1e0e3a
+size 1359872

actions/locomanipulation/LM59/session_004/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af8058f3e7e8db8e7ffb623993cadc6678d9abe00de1472c56dd9bdead67e38e
+size 1306624

actions/locomanipulation/LM59/session_004/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55c70aad4780ce2dd76bec6edf4e97ed8edbd600b6f3c733677a1dedef5a5b25
+size 352256

actions/locomanipulation/LM59/session_004/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ecd42bd3dbfe7145cf517ee8517d4c8d57882a6a59ce9998655ef97bee5989a
+size 1265664

actions/locomanipulation/LM59/session_004/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bb784bc104fb8c4a856686eb35febcd621e7a8625d26f6bd53cf829e6eede5e
+size 1290240

actions/locomanipulation/LM59/session_004/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6aa14bbae7f30c6f76984054115f7f418aa8ecfec025dd74556ef60a41de49f
+size 331776

actions/locomanipulation/LM59/session_004/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40ad673aa6c01f3a35bc621439a958a12033e87f0db13751f64dbca502cb5986
+size 331776

actions/locomanipulation/LM59/session_004/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": 0.02,
+    "trans_p95_m": 0.0554,
+    "rot_median_deg": 0.628,
+    "rot_p95_deg": 1.268
+  }
+}

actions/locomanipulation/LM59/session_004/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:901fc579dd5ec3836421bf568eb2da421520259e4e5596dd30683d76fe736e1b
+size 279446641

actions/locomanipulation/LM59/session_004/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:372ccfb9e4ea7d2cc2b98fcc69b82fcb014e072b304055efa4c0fae772782438
+size 1406350

actions/locomanipulation/LM59/session_004/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c81d15370ba0261703c88512292958c5f3ae544b23eb2978e14bf6e1604a42c2
+size 119578

actions/locomanipulation/LM59/session_004/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efb7146f46100fdd788741ce84133bbf0eecf72d2a69990317e49cf54092fa5a
+size 1446509

actions/locomanipulation/LM59/session_004/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d27d48e20cf56a96c66f1c086894c122424ff04fd3019f0922c2eaed237edc6b
+size 276679

actions/locomanipulation/LM59/session_004/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:502e69e346728c850587021769028ba640e609e70ec04399781a52d953ad6cc7
+size 255102

actions/locomanipulation/LM59/session_004/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:497e8a53c5712763b51b876d10fa96910f0e1157edc7ab7e2ecf86159c735798
+size 64712891

actions/locomanipulation/LM59/session_004/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ede99854411addef0a62437beee7226c694ecc5287441c42d955835f8846145e
+size 64624898

actions/locomanipulation/LM59/session_004/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1814a025893b93080d6a9b7f3d37a3168feeb5260e407520c173e668fce8bf88
+size 64628493

actions/locomanipulation/LM59/session_004/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db4a19cf326f62decee637d64abc8f3ce732e9b70a7ec9799508d0d2b48afb0a
+size 64681842

actions/locomanipulation/LM59/session_004/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c20a9221d07a8f68f7272ed3da6bb0b668f04990291da477efcba2e8848a89c9
+size 64614163

actions/locomanipulation/LM59/session_004/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:974e3db5fc0f06706e4b4e26daf87a25751aa843d1c686dcb011814e8095ed6c
+size 64641325

actions/locomanipulation/LM59/session_004/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d91a2ef3a4131972a452a20ae27b62dd6c95ee3ca871a8cba6d5bef4377f5f12
+size 62462248

actions/locomanipulation/LM59/session_004/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:458d55e1e083348ad684354cb8fd12a1d005d5de14b0958f0b5199a98b15f969
+size 56006700

actions/locomanipulation/LM59/session_004/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23b3cc129fb8c9f628209fb4ef424d1a1d21cf8431ac225f2c2c6150d7c5d170
+size 54896949

actions/locomanipulation/LM59/session_005/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56ae2d240bda97bd69b2ec010de25c6247a33786c3cca4a80c91b1cb27f2040f
+size 1044821

actions/locomanipulation/LM59/session_005/meta.json

@@ -0,0 +1,535 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20260924/LM59/20260924_105952_session152",
+ "session_id": "20260924_105952_session152",
+ "primitive": "LM59",
+ "batch": "20260924",
+ "participant": "liujiaxin",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e17c9efadb69e7b1",
+  "left": "452031d7af00ef6f",
+  "right": "6ee5ee4472fe2ad7"
+ },
+ "generated_at_utc": "2026-10-14T13:02:18.478787+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": {
+   "declared_hz": 90.0,
+   "used_hz": 120.0,
+   "alignment_smoothing_sigma_frames": 3.0,
+   "peak_corr_at_declared_rate": 0.1933,
+   "note": "Nokov header rate wrong (captured at 120 Hz); marker noise elevated in this block, smooth before differentiating; prefer training split only"
+  },
+  "first_solved_frame": 0,
+  "duration_s": 119.025,
+  "mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
+ },
+ "alignment": {
+  "reference_imu": "imu_head_right",
+  "model": "offset (median of windows)",
+  "mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
+  "offset_s": -1.172657,
+  "rate": 0.0,
+  "global_lag_s": -1.17,
+  "peak_corr": 0.9888,
+  "reference_imu_first_sample_s": 38156.536017798,
+  "windows": {
+   "n_windows": 10,
+   "window_corr_median": 0.9951547723708358,
+   "drift_ppm": -10.060100128450623,
+   "drift_se_ppm": 9.005933677242115,
+   "drift_ms_over_take": -1.1973195836210981,
+   "lag_scatter_ms": 0.7316455106351929,
+   "lag_range_ms": 2.7159654169051084
+  }
+ },
+ "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": 24262,
+    "n_gyro": 24256,
+    "t_start": -1.17924089022807,
+    "t_end": 119.77571232577367
+   },
+   "imu_head_left": {
+    "n_acc": 24219,
+    "n_gyro": 24213,
+    "t_start": -1.067357447226354,
+    "t_end": 119.94380862576992
+   },
+   "imu_wrist_left": {
+    "n_acc": 23891,
+    "n_gyro": 23891,
+    "t_start": 0.27357070376939685,
+    "t_end": 118.26612670677179
+   },
+   "mag_head": {
+    "n": 12111,
+    "t_start": -0.9881209322290347,
+    "t_end": 120.1118762917734
+   },
+   "mag_wrist_right": {
+    "n": 11807,
+    "t_start": 0.19088081477576946,
+    "t_end": 118.25108161277359
+   },
+   "mag_wrist_left": {
+    "n": 11797,
+    "t_start": 0.2872417757728867,
+    "t_end": 118.24700232677179
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 38157.747292,
+    "frames": 3570,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0023423887986386703,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.040959221570406434,
+    "t_end": 119.00759222157404,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 38157.74724,
+    "frames": 3570,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0019489646456461974,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.040513797413328057,
+    "t_end": 119.0071697974102,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 38157.747274,
+    "frames": 3570,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0018171232386612972,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.04041595601057946,
+    "t_end": 119.00704895600694,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 38157.747308,
+    "frames": 3570,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017295646474508202,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.04036239741737102,
+    "t_end": 119.00698439741728,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 38157.747255,
+    "frames": 3570,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.001668932298833096,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.040248765076571935,
+    "t_end": 119.00689276507666,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 38157.747217,
+    "frames": 3570,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017169377622902274,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.040258770529649546,
+    "t_end": 119.00691477052652,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 38157.966659,
+    "frames": 3540,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": 0.2579838327704378,
+    "t_end": 118.22438983276999,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 38158.014437,
+    "frames": 3538,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": 0.30576183277054536,
+    "t_end": 118.20595683277253,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-LM59-S02-liujiaxin-01p1-1.mp4",
+    "frames": 3571,
+    "fps": 29.97002997002997,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 119.119
+   }
+  }
+ },
+ "flags": [
+  "mocap rate corrected 90 -> 120 Hz (header wrong); alignment on smoothed Tracker0",
+  "wrist_right_imu empty"
+ ],
+ "sanity": {
+  "status": {
+   "structure": "FAIL",
+   "markers": "WARN",
+   "timing": "FAIL"
+  },
+  "verdict": "NOT_READY",
+  "issues": [
+   "FAIL S_DB_EMPTY",
+   "FAIL S_REPORT_EMPTY",
+   "FAIL T_CORR",
+   "WARN M_BODY_ID",
+   "WARN M_FLOOR_SHIFT",
+   "WARN M_RATE",
+   "WARN M_SPIKES",
+   "WARN M_TRACKER_LABELS",
+   "WARN S_PARTICIPANT",
+   "WARN S_REPORT_TIMING",
+   "WARN S_VIDEO_FPS",
+   "WARN T_EMPTY",
+   "WARN T_LAG_OUTLIER",
+   "WARN T_MOCAP_TS"
+  ]
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-14T13:43:12.743283+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": [
+   [
+    1.0,
+    0.0,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   [
+    0.0,
+    1.0,
+    0.0
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.001,
+    0.0,
+    0.0,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    -0.001,
+    0.0
+   ],
+   [
+    0.0,
+    0.001,
+    0.0,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20260924-afternoon",
+  "block_assignment": "trc",
+  "tilt_removed_deg": null,
+  "plane_status": "contacts span only 0.85 m",
+  "floor": {
+   "sole_marker_p1_mm": 0.5,
+   "headtop_p95_mm": 1620.4
+  },
+  "gravity_check": {
+   "static_samples": 886,
+   "g_world_mean_m_s2": [
+    -0.0375,
+    0.0484,
+    9.8042
+   ],
+   "tilt_from_z_deg": 0.358,
+   "tilt_from_z_deg_before_levelling": 0.358,
+   "magnitude_m_s2": 9.8044
+  },
+  "rig_tracker_definition": "e17c9efadb69e7b1/20260924-afternoon/labels-035142/session-4bef9292b3e8b30b",
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-15T01:28:13.145267+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": [
+      0.06794924288988113,
+      0.013949528336524963,
+      0.026966046541929245
+     ],
+     "LHandOut": [
+      0.05358141288161278,
+      0.01575855351984501,
+      -0.025835728272795677
+     ],
+     "LWristOut": [
+      -0.011248023249208927,
+      0.018654977902770042,
+      -0.02590787038207054
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.08473999798297882,
+      0.00480239512398839,
+      0.03742076829075813
+     ],
+     "RHandOut": [
+      -0.07656243443489075,
+      0.007677858229726553,
+      -0.02170148491859436
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 5.58,
+   "p95_frame": 10.49
+  },
+  "worst_markers": [
+   "LKnee 15mm",
+   "RThigh 12mm",
+   "RKneeIn 11mm",
+   "RKnee 11mm",
+   "RElbow 10mm"
+  ],
+  "valid_fraction": 0.9998,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 7.1,
+    "p5": -26.5
+   },
+   "frames_checked": 477,
+   "stature_mm": 1614.2
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 11.72
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 173.39,
+    "Q_rotvec": [
+     -2.90821,
+     0.08006,
+     0.83271
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 149.1,
+    "opposite_sign_bend_deg": 43.3,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.1,
+    "hand_vs_marker_frame_deg": {
+     "before": 173.78,
+     "after": 3.1
+    },
+    "markers_on_wrist": [
+     "LWristOut",
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -147.38,
+     "wrist_twist_deg_after": {
+      "median": -0.07,
+      "iqr": [
+       -6.4,
+       4.5
+      ]
+     },
+     "wrist_total_deg_median_after": 37.2,
+     "markers_on_forearm": [
+      "LElbowIn",
+      "LForearm",
+      "LWristIn"
+     ]
+    },
+    "frames_used": 1429
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 11.93,
+    "Q_rotvec": [
+     0.13851,
+     0.15536,
+     -0.00178
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 23.3,
+    "opposite_sign_bend_deg": 164.6,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.04,
+    "hand_vs_marker_frame_deg": {
+     "before": 12.34,
+     "after": 3.04
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -17.53,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -5.3,
+       5.4
+      ]
+     },
+     "wrist_total_deg_median_after": 14.2,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1429
+   },
+   "generated_at_utc": "2026-10-15T01:28:16.047204+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "rig_tracker": {
+  "definition": "e17c9efadb69e7b1/20260924-afternoon/labels-035142/session-4bef9292b3e8b30b",
+  "R_tracker0_imu0": [
+   [
+    0.62612095,
+    -0.05488484,
+    0.77779188
+   ],
+   [
+    0.77878938,
+    0.09289665,
+    -0.62036869
+   ],
+   [
+    -0.03820543,
+    0.99416189,
+    0.10090827
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.006897906565507703,
+   0.0006716365882525477,
+   0.037027450074601925
+  ],
+  "rig_check": {
+   "gyro_samples": 6504,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 0.577
+  },
+  "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": "2026-10-18T19:04:00.791913+00:00",
+  "generated_by": "scripts/correct_processed_rig.py",
+  "remaining_gyro_frame_deg": 0.8748372649852152
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM59/session_005",
+  "family": "locomanipulation",
+  "primitive": "LM59",
+  "source_session": "20260924/LM59/20260924_105952_session152"
+ }
+}

actions/locomanipulation/LM59/session_005/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fbf5f1f6b4db30e7976f262d633d490cccea94e0a6c5bcf276a8062d03d10a0
+size 1070051

actions/locomanipulation/LM59/session_005/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe3940edc1883f94ffbff9c878ad74fb2468d2b73c83ca45966f4c78b23d9a5f
+size 8290176

actions/locomanipulation/LM59/session_005/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd806107295c88a12e4d5fa58f749402546eebe5d75de098f9164b06102db422
+size 8361387

actions/locomanipulation/LM59/session_005/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d2467e3267a072ab43b3ecd9d6ccafedefa74a538decc3ccc1ce278b7ac2e13
+size 5511782

actions/locomanipulation/LM59/session_005/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd29c3cd76e2dabe14857adc9f6e15fc4cb23fc9535992fda4cd13327ea754db
+size 23080398

actions/locomanipulation/LM59/session_005/raw/manifest.json

@@ -0,0 +1,243 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-09-24T21:09:18.543447+00:00",
+  "primitive_id": "LM59",
+  "session_id": "20260924_105952_session152",
+  "upload_batch_id": "20260924",
+  "dataset_path": "EgoMotionActions/20260924/LM59/20260924_105952_session152",
+  "segment": "auto/all",
+  "duration_s": 118.966633,
+  "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-LM59-S02-liujiaxin-01p1/mocap-LM59-S02-liujiaxin-01p1-1.mp4",
+      "mocap-LM59-S02-liujiaxin-01p1/mocap-LM59-S02-liujiaxin-01p1-Body0.bvh",
+      "mocap-LM59-S02-liujiaxin-01p1/mocap-LM59-S02-liujiaxin-01p1-Body0.csv",
+      "mocap-LM59-S02-liujiaxin-01p1/mocap-LM59-S02-liujiaxin-01p1-Body0.trc",
+      "mocap-LM59-S02-liujiaxin-01p1/mocap-LM59-S02-liujiaxin-01p1-Tracker0.csv",
+      "mocap-LM59-S02-liujiaxin-01p1/mocap-LM59-S02-liujiaxin-01p1-Tracker0.trc"
+    ],
+    "include_rrd": false,
+    "rrd_files": [],
+    "aligned_intersection": false
+  },
+  "files": [
+    {
+      "source": "audio_segment1.wav",
+      "packaged_as": "audio_segment1.wav",
+      "kind": "data",
+      "original_bytes": 23080398,
+      "packaged_bytes": 23080398,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM59-S02-liujiaxin-01p1/mocap-LM59-S02-liujiaxin-01p1-1.mp4",
+      "packaged_as": "mocap/mocap-LM59-S02-liujiaxin-01p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 52842779,
+      "packaged_bytes": 52842779,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM59-S02-liujiaxin-01p1/mocap-LM59-S02-liujiaxin-01p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-LM59-S02-liujiaxin-01p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 8513689,
+      "packaged_bytes": 8513689,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM59-S02-liujiaxin-01p1/mocap-LM59-S02-liujiaxin-01p1-Body0.csv",
+      "packaged_as": "mocap/mocap-LM59-S02-liujiaxin-01p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 119839755,
+      "packaged_bytes": 119839755,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM59-S02-liujiaxin-01p1/mocap-LM59-S02-liujiaxin-01p1-Body0.trc",
+      "packaged_as": "mocap/mocap-LM59-S02-liujiaxin-01p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 25944855,
+      "packaged_bytes": 25944855,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM59-S02-liujiaxin-01p1/mocap-LM59-S02-liujiaxin-01p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-LM59-S02-liujiaxin-01p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 4566908,
+      "packaged_bytes": 4566908,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM59-S02-liujiaxin-01p1/mocap-LM59-S02-liujiaxin-01p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-LM59-S02-liujiaxin-01p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 4312717,
+      "packaged_bytes": 4312717,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1253376,
+      "packaged_bytes": 1253376,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1204224,
+      "packaged_bytes": 1204224,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 327680,
+      "packaged_bytes": 327680,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 59673963,
+      "packaged_bytes": 59673963,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 59620914,
+      "packaged_bytes": 59620914,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 59659366,
+      "packaged_bytes": 59659366,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 59663945,
+      "packaged_bytes": 59663945,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 59594718,
+      "packaged_bytes": 59594718,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 59671986,
+      "packaged_bytes": 59671986,
+      "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": 1191936,
+      "packaged_bytes": 1191936,
+      "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": 307200,
+      "packaged_bytes": 307200,
+      "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": 54056036,
+      "packaged_bytes": 54056036,
+      "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": 307200,
+      "packaged_bytes": 307200,
+      "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": 53384985,
+      "packaged_bytes": 53384985,
+      "compressed_video": false
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 29737203,
+      "packaged_bytes": 29737147,
+      "compressed_video": false
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-LM59-S02-liujiaxin-01p1",
+    "action_id": "LM59",
+    "collection_session_index": 2,
+    "participant": "liujiaxin",
+    "repetition_count": 1
+  },
+  "upload_batch_created_at": "2026-09-25T05:09:41.938235+08:00",
+  "objects": [
+    {
+      "name": "LittleBox",
+      "num": 4,
+      "scan_file": "3dobjs/LittleBox.objcap/models/box[0, 1, 2].usdz",
+      "rigid_names": [
+        "LittleBox0",
+        "LittleBox1",
+        "LittleBox2",
+        "LittleBox3"
+      ]
+    }
+  ],
+  "collection_site": {
+    "id": "site_00"
+  }
+}

actions/locomanipulation/LM59/session_005/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26ab6bda78993813718a06facc3a490a40643518dacd3f38847ff443ce55493c
+size 119839755

actions/locomanipulation/LM59/session_005/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e160a2ebc93a4588d96d4c4123253a4991efcad66b9a58217c34daba541c997d
+size 25944855

actions/locomanipulation/LM59/session_005/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:facc5452acca5385b5f4948de65a589d1c76c02094676922e57be9d664635a72
+size 1253376

actions/locomanipulation/LM59/session_005/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2dc4c635868cac9f6ebc0d635dae66bb8c950af92ecbae24360033c02910eed
+size 1204224

actions/locomanipulation/LM59/session_005/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d24e833fd0b92dff763fdd1e687fba6ad62c03913c156ae47a1f630efcdb19b9
+size 327680

actions/locomanipulation/LM59/session_005/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7260e685b874bb7bd0f27e9a07f715327b384adcb21a01e8cec249f73077afc8
+size 1191936

actions/locomanipulation/LM59/session_005/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85e74546e451305efeb612c34046d0293e24f03f4f4b742d2d25ae829e48bc36
+size 307200

actions/locomanipulation/LM59/session_005/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c50f938a4bf4b6fe908093bf960c968397da1e53fd0f4f35ed71c425b8803019
+size 307200

actions/locomanipulation/LM59/session_005/scene/infer.json

@@ -0,0 +1,36 @@
+{
+  "model": "facebook/map-anything",
+  "views": 238,
+  "windows": 5,
+  "cams": "left_front,right_front",
+  "stride_s": 1.0,
+  "size": [
+    518,
+    392
+  ],
+  "K": [
+    [
+      308.6641804819004,
+      0.0,
+      259.0
+    ],
+    [
+      0.0,
+      308.6641804819004,
+      196.0
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "pitch_deg": -20.0,
+  "hfov_deg": 80.0,
+  "pose_agreement_window_aligned": {
+    "trans_median_m": 0.0239,
+    "trans_p95_m": 0.0714,
+    "rot_median_deg": 0.757,
+    "rot_p95_deg": 1.431
+  }
+}

actions/locomanipulation/LM59/session_005/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0fd444b6258f28f3c51adf83a33d06ccbcf5f6fd82053daeb79afaba17504ff
+size 220230555

actions/locomanipulation/LM59/session_005/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2f8ab03a86d7a2336e56560cff6f1f50b1a8da96aab22584928b56823d73087
+size 1299500

actions/locomanipulation/LM59/session_005/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ece7bfa16362ebe4decbcbe789fe1872d7738f9635a0b0d2cee6842ff13d8b7
+size 109518

actions/locomanipulation/LM59/session_005/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ea900b9519a300e158e3fe39fe9a5020274d8541899da031e2a46dfa5829dbd
+size 677204

actions/locomanipulation/LM59/session_005/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4165c2e987e10be66a1b5eead2f07371ad64f6baba4cc13b277cc5378534cd3
+size 272759