Upload folder using huggingface_hub (part 708)

.gitattributes

@@ -28040,3 +28040,51 @@ actions/locomotion_primitives/P07/session_010/raw/sensors/robowrist_mag_left.db
 actions/locomotion_primitives/P07/session_010/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomotion_primitives/P07/session_011/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
 actions/locomotion_primitives/P07/session_011/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_011/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_011/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_011/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_011/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_011/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_011/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_011/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_012/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_012/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_012/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_012/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_012/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_012/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_012/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_012/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_012/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_013/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_013/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_013/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_013/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_013/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_013/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_013/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_013/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_014/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_014/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_014/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_014/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_014/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_014/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_014/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_014/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_015/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_015/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_015/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_015/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_015/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_015/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_015/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_016/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_016/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_016/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_016/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_016/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_016/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_016/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_016/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P07/session_016/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/locomotion_primitives/P07/session_011/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1a1a9b048c4faba420e234eb038a8b4217bcc8664b66bb6d94b6b3b8b0c3a72
+size 1249280

actions/locomotion_primitives/P07/session_011/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67abb57fcca903f2e2740c9173fb48ce0d5709957c09d94366d49f562a56934c
+size 1200128

actions/locomotion_primitives/P07/session_011/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d8c72f21dc3b8cabcfa337db94560e55fe51cd8137456aec479fe567a3ef9e1
+size 327680

actions/locomotion_primitives/P07/session_011/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c89bddce7e8a5e39c289aa5138bfc161068e454fb8d2051a54e2e44d611dec5
+size 1155072

actions/locomotion_primitives/P07/session_011/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe4e1647d1966bb739b0c96872f1680e4f4f7b7e53099087edca994b928e6a67
+size 1179648

actions/locomotion_primitives/P07/session_011/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8fa50e903212ad8a605774851b86fba97402a01c88c76e2c015ecaf153fc707
+size 307200

actions/locomotion_primitives/P07/session_011/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab897b9b202ca89e106be508bb0f0490036faaf4410e5556b0803e59aa01254b
+size 307200

actions/locomotion_primitives/P07/session_011/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": 0.0275,
+    "trans_p95_m": 0.082,
+    "rot_median_deg": 0.453,
+    "rot_p95_deg": 1.0
+  }
+}

actions/locomotion_primitives/P07/session_011/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdb1d1bfa65ca858b8554821a5dba919e8bf67e28eeca781891fd76e599a68a5
+size 218308418

actions/locomotion_primitives/P07/session_011/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae0b3dee376819c2af722b3ffb75ac4e27161de73d2d3abe653f591c62074c05
+size 1252724

actions/locomotion_primitives/P07/session_011/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4b530ee1eb381d5fd87069ba661dc15465d70ac4bbc587b0d13d4bb37fa26f3
+size 146713

actions/locomotion_primitives/P07/session_011/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25a3f8cec7201314593533687e169d0418abfb125e146495ca0faf0e0936d8aa
+size 1270215

actions/locomotion_primitives/P07/session_011/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98e307148fdf19d4d93407e26359fa70434786e2726d3513d0871333dc2eb996
+size 246119

actions/locomotion_primitives/P07/session_011/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71c1982a8897bed4078f1d6f3394b8c7f78ff3fd65426105a1e211e5189072a3
+size 226097

actions/locomotion_primitives/P07/session_011/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72b0ae7aa7fa85cf343fd826185845a6630e5d28286d574115f5910a72245632
+size 59649368

actions/locomotion_primitives/P07/session_011/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff3b3a93e4fa64ea281727fe392a1b23dbf0da2efd21f81824e7db81c8588864
+size 59655171

actions/locomotion_primitives/P07/session_011/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1c5f2e3f14ac22d5794a9945ffd17b830c96da2f921162987a4d2afde3d1538
+size 59695627

actions/locomotion_primitives/P07/session_011/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38aecf746117575719186641d2c9e5b4a3d3552b8f36fab3d9365c0ecd087754
+size 59675080

actions/locomotion_primitives/P07/session_011/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:737c5c05410adebae15f487fa11ad6843619ccf34b6d63554ad93a82957ca2c9
+size 59668308

actions/locomotion_primitives/P07/session_011/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60cdce6a428bf47643d0e65c280c066f4ca748d8a40ecd0cc13165643808e41c
+size 59698232

actions/locomotion_primitives/P07/session_011/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efd3701b31fee435f40f0050bc7e5adcbb00e9afba3c13397ca8424b4bb17213
+size 31399166

actions/locomotion_primitives/P07/session_011/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a30f88f3a51fdb51b5c41036e0703b10b24688624ef17ff46a00181a59a0ee8
+size 39218699

actions/locomotion_primitives/P07/session_011/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2976334c50f819be14ed92aeea2cb971218ff5262acf107a8be96d9d59494412
+size 39313127

actions/locomotion_primitives/P07/session_012/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:003296c76b22305ab91ca1df20c69170121b0f1ce3a62b8863f73ec0c54b7ad2
+size 1102116

actions/locomotion_primitives/P07/session_012/meta.json

@@ -0,0 +1,533 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20260904/P07/20260904_022057_session10",
+ "session_id": "20260904_022057_session10",
+ "primitive": "P07",
+ "batch": "20260904",
+ "participant": "wangyang",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "850a0e6aafa85fdf",
+  "left": "cc5681142208e29a",
+  "right": "60a6f081bbe60b0d"
+ },
+ "generated_at_utc": "2026-10-14T13:01:07.915300+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": 0.1663,
+   "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": 129.025,
+  "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": -1.174086,
+  "rate": 0.0,
+  "global_lag_s": -1.175,
+  "peak_corr": 0.9846,
+  "reference_imu_first_sample_s": 4696.48871363,
+  "windows": {
+   "n_windows": 11,
+   "window_corr_median": 0.9876323569421463,
+   "drift_ppm": -24.977972426207135,
+   "drift_se_ppm": 49.43133064580609,
+   "drift_ms_over_take": -3.2225747425211577,
+   "lag_scatter_ms": 4.689467778408876,
+   "lag_range_ms": 14.95670130665605
+  }
+ },
+ "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": 26467,
+    "n_gyro": 26461,
+    "t_start": -1.1859584906554228,
+    "t_end": 129.77292954134435
+   },
+   "imu_head_left": {
+    "n_acc": 26459,
+    "n_gyro": 26454,
+    "t_start": -1.067943027655303,
+    "t_end": 129.93949446234427
+   },
+   "imu_wrist_right": {
+    "n_acc": 25413,
+    "n_gyro": 25426,
+    "t_start": 0.3386558093440617,
+    "t_end": 125.92605329934457
+   },
+   "imu_wrist_left": {
+    "n_acc": 24805,
+    "n_gyro": 24817,
+    "t_start": 0.3454483723441517,
+    "t_end": 125.92382754134422
+   },
+   "mag_head": {
+    "n": 13109,
+    "t_start": -0.9837843196558533,
+    "t_end": 130.09621786834458
+   },
+   "mag_wrist_right": {
+    "n": 12558,
+    "t_start": 0.35213506334429256,
+    "t_end": 125.92179398434445
+   },
+   "mag_wrist_left": {
+    "n": 12557,
+    "t_start": 0.3635038853441874,
+    "t_end": 125.92325368434439
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 4697.704543,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0021483410603724603,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.04389203340423409,
+    "t_end": 129.01053603340432,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 4697.704495,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002270132116606671,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.04396582446105457,
+    "t_end": 129.01062182446066,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 4697.704531,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0020725870268354075,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.04380427937184139,
+    "t_end": 129.01044827937193,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 4697.704559,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002043825050164052,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.04380351739445176,
+    "t_end": 129.01044751739454,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 4697.704513,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.001465839471423729,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.043179531815156214,
+    "t_end": 129.00982353181524,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 4697.704466,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.00141129548433604,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.043077987828553876,
+    "t_end": 129.00973398782816,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 4697.997015,
+    "frames": 3767,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": 0.33421569234423076,
+    "t_end": 125.86728869234383,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 4697.985765,
+    "frames": 3768,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": 0.3229656923446673,
+    "t_end": 125.8893066923444,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-P07-S01-wangyang-10p1-1.mp4",
+    "frames": 3871,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 129.0
+   }
+  }
+ },
+ "flags": [
+  "mocap rate corrected 90 -> 120 Hz (header wrong); alignment on smoothed Tracker0"
+ ],
+ "sanity": {
+  "status": {
+   "structure": "WARN",
+   "markers": "WARN",
+   "timing": "FAIL"
+  },
+  "verdict": "NOT_READY",
+  "issues": [
+   "FAIL T_CORR",
+   "WARN M_FLOOR_SHIFT",
+   "WARN M_RATE",
+   "WARN M_SPIKES",
+   "WARN M_TRACKER_LABELS",
+   "WARN S_INDEX",
+   "WARN S_MOCAP_TS",
+   "WARN S_PARTICIPANT",
+   "WARN S_REPORT_TIMING",
+   "WARN T_LAG_OUTLIER",
+   "WARN T_MOCAP_TS",
+   "WARN T_UNITS"
+  ]
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-24T05:10:38.026129+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": [
+   [
+    0.9999999331,
+    0.0003657736,
+    1.7428e-06
+   ],
+   [
+    -1.7428e-06,
+    0.0095289563,
+    -0.9999545985
+   ],
+   [
+    -0.0003657736,
+    0.9999545316,
+    0.0095289563
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999999933,
+    3.65774e-07,
+    1.743e-09,
+    0.0
+   ],
+   [
+    -1.743e-09,
+    9.528956e-06,
+    -0.000999954598,
+    0.0
+   ],
+   [
+    -3.65774e-07,
+    0.000999954532,
+    9.528956e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20260904-morning",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.5463793420840537,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 51.9,
+   "headtop_p95_mm": 1768.2
+  },
+  "gravity_check": {
+   "static_samples": 7915,
+   "g_world_mean_m_s2": [
+    0.0314,
+    -0.0095,
+    9.8044
+   ],
+   "tilt_from_z_deg": 0.192,
+   "tilt_from_z_deg_before_levelling": 0.623,
+   "magnitude_m_s2": 9.8045
+  },
+  "rig_tracker_definition": "850a0e6aafa85fdf/20260904-morning/labels-243051/session-b831cf9eb1bcc3a9",
+  "rig_check": {
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 0.496
+  },
+  "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": "2026-10-15T01:10:26.090938+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": [
+      0.0812867060303688,
+      0.015665153041481972,
+      0.031223097816109657
+     ],
+     "LHandOut": [
+      0.06988977640867233,
+      0.03228521719574928,
+      -0.010030755773186684
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.03474581986665726,
+      -0.03678131476044655,
+      0.025044651702046394
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 3.81,
+   "p95_frame": 9.96
+  },
+  "worst_markers": [
+   "LKneeIn 12mm",
+   "RKneeIn 10mm",
+   "LHeel 8mm",
+   "LThigh 8mm",
+   "RHeel 7mm"
+  ],
+  "valid_fraction": 0.9967,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 15.5,
+    "p5": 4.9
+   },
+   "frames_checked": 515,
+   "stature_mm": 1765.5
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 11.69
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 153.39,
+    "Q_rotvec": [
+     -2.55723,
+     -0.42688,
+     0.66753
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 166.9,
+    "opposite_sign_bend_deg": 27.6,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.28,
+    "hand_vs_marker_frame_deg": {
+     "before": 154.21,
+     "after": 1.28
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -166.27,
+     "wrist_twist_deg_after": {
+      "median": -0.37,
+      "iqr": [
+       -3.0,
+       1.5
+      ]
+     },
+     "wrist_total_deg_median_after": 22.2,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 110.02,
+    "Q_rotvec": [
+     1.84375,
+     0.52529,
+     0.10776
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 82.1,
+    "opposite_sign_bend_deg": 104.7,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.53,
+    "hand_vs_marker_frame_deg": {
+     "before": 109.44,
+     "after": 1.53
+    },
+    "markers_on_wrist": [
+     "RHandIn"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -79.51,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -0.7,
+       1.3
+      ]
+     },
+     "wrist_total_deg_median_after": 22.4,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut",
+      "RHandOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-15T01:10:29.090667+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "rig_tracker": {
+  "definition": "850a0e6aafa85fdf/20260904-morning/labels-243051/session-b831cf9eb1bcc3a9",
+  "R_tracker0_imu0": [
+   [
+    -0.62973981,
+    0.14456301,
+    -0.76323607
+   ],
+   [
+    0.75707328,
+    0.33426846,
+    -0.56134182
+   ],
+   [
+    0.17397648,
+    -0.93132493,
+    -0.31994695
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   0.027340774657907498,
+   0.012584667997961457,
+   -0.03879783008220038
+  ],
+  "rig_check": {
+   "gyro_samples": 2041,
+   "gyro_max_deg": 2.5,
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 0.496,
+   "video_solve": {
+    "status": "ok",
+    "reason": "",
+    "reprojection_px": 2.386,
+    "n_assoc": 673,
+    "gyro_deg": 0.496
+   }
+  },
+  "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/P07/session_012",
+  "family": "locomotion_primitives",
+  "primitive": "P07",
+  "source_session": "20260904/P07/20260904_022057_session10"
+ }
+}

actions/locomotion_primitives/P07/session_012/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2684d81ba8abda6d43981a7acc34db3f8028fe7fb56ba0206d1278508c82982
+size 1105359

actions/locomotion_primitives/P07/session_012/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b4eefb1ceb3170d66dfde7cf1586db3cc3909c1c02bbb16d92406e27ae41fec
+size 8794741

actions/locomotion_primitives/P07/session_012/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5f3411028b29213ede2297a21cf6cb41e1593ac9c14cd777f12c3d159e247f3
+size 8370988

actions/locomotion_primitives/P07/session_012/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:793ebd12fa7d1d7c6971b883904cd2bce7447abed15c2d0a33a02be098ac9ea5
+size 5923464

actions/locomotion_primitives/P07/session_012/raw/manifest.json

@@ -0,0 +1,258 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-09-07T13:00:30.761147+00:00",
+  "primitive_id": "P07",
+  "session_id": "20260904_022057_session10",
+  "upload_batch_id": "20260904",
+  "dataset_path": "EgoMotionActions/20260904/P07/20260904_022057_session10",
+  "segment": "auto/all",
+  "duration_s": 128.966644,
+  "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-P07-S01-wangyang-10p1/mocap-P07-S01-wangyang-10p1-1.mp4",
+      "mocap-P07-S01-wangyang-10p1/mocap-P07-S01-wangyang-10p1-Body0.bvh",
+      "mocap-P07-S01-wangyang-10p1/mocap-P07-S01-wangyang-10p1-Body0.csv",
+      "mocap-P07-S01-wangyang-10p1/mocap-P07-S01-wangyang-10p1-Body0.trc",
+      "mocap-P07-S01-wangyang-10p1/mocap-P07-S01-wangyang-10p1-Tracker-end.csv",
+      "mocap-P07-S01-wangyang-10p1/mocap-P07-S01-wangyang-10p1-Tracker-end.trc",
+      "mocap-P07-S01-wangyang-10p1/mocap-P07-S01-wangyang-10p1-Tracker-start.csv",
+      "mocap-P07-S01-wangyang-10p1/mocap-P07-S01-wangyang-10p1-Tracker-start.trc",
+      "mocap-P07-S01-wangyang-10p1/mocap-P07-S01-wangyang-10p1-Tracker0.csv",
+      "mocap-P07-S01-wangyang-10p1/mocap-P07-S01-wangyang-10p1-Tracker0.trc"
+    ],
+    "include_rrd": false,
+    "rrd_files": [],
+    "aligned_intersection": false
+  },
+  "files": [
+    {
+      "source": "mocap-P07-S01-wangyang-10p1/mocap-P07-S01-wangyang-10p1-1.mp4",
+      "packaged_as": "mocap/mocap-P07-S01-wangyang-10p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 35434397,
+      "packaged_bytes": 35434397,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P07-S01-wangyang-10p1/mocap-P07-S01-wangyang-10p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-P07-S01-wangyang-10p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 9348394,
+      "packaged_bytes": 9348394,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P07-S01-wangyang-10p1/mocap-P07-S01-wangyang-10p1-Body0.csv",
+      "packaged_as": "mocap/mocap-P07-S01-wangyang-10p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 129571656,
+      "packaged_bytes": 129571656,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P07-S01-wangyang-10p1/mocap-P07-S01-wangyang-10p1-Body0.trc",
+      "packaged_as": "mocap/mocap-P07-S01-wangyang-10p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 28734326,
+      "packaged_bytes": 28734326,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P07-S01-wangyang-10p1/mocap-P07-S01-wangyang-10p1-Tracker-end.csv",
+      "packaged_as": "mocap/mocap-P07-S01-wangyang-10p1-Tracker-end.csv",
+      "kind": "data",
+      "original_bytes": 4644160,
+      "packaged_bytes": 4644160,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P07-S01-wangyang-10p1/mocap-P07-S01-wangyang-10p1-Tracker-end.trc",
+      "packaged_as": "mocap/mocap-P07-S01-wangyang-10p1-Tracker-end.trc",
+      "kind": "data",
+      "original_bytes": 3509793,
+      "packaged_bytes": 3509793,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P07-S01-wangyang-10p1/mocap-P07-S01-wangyang-10p1-Tracker-start.csv",
+      "packaged_as": "mocap/mocap-P07-S01-wangyang-10p1-Tracker-start.csv",
+      "kind": "data",
+      "original_bytes": 4672377,
+      "packaged_bytes": 4672377,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P07-S01-wangyang-10p1/mocap-P07-S01-wangyang-10p1-Tracker-start.trc",
+      "packaged_as": "mocap/mocap-P07-S01-wangyang-10p1-Tracker-start.trc",
+      "kind": "data",
+      "original_bytes": 6792538,
+      "packaged_bytes": 6792538,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P07-S01-wangyang-10p1/mocap-P07-S01-wangyang-10p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-P07-S01-wangyang-10p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 4790380,
+      "packaged_bytes": 4790380,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P07-S01-wangyang-10p1/mocap-P07-S01-wangyang-10p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-P07-S01-wangyang-10p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 4606589,
+      "packaged_bytes": 4606589,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1351680,
+      "packaged_bytes": 1351680,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1302528,
+      "packaged_bytes": 1302528,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 352256,
+      "packaged_bytes": 352256,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64679922,
+      "packaged_bytes": 64679922,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64545746,
+      "packaged_bytes": 64545746,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64666348,
+      "packaged_bytes": 64666348,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64631267,
+      "packaged_bytes": 64631267,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64531594,
+      "packaged_bytes": 64531594,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64704289,
+      "packaged_bytes": 64704289,
+      "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": 1257472,
+      "packaged_bytes": 1257472,
+      "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": 323584,
+      "packaged_bytes": 323584,
+      "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": 50470274,
+      "packaged_bytes": 50470274,
+      "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": 1224704,
+      "packaged_bytes": 1224704,
+      "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": 323584,
+      "packaged_bytes": 323584,
+      "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": 50125462,
+      "packaged_bytes": 50125462,
+      "compressed_video": false
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 55875228,
+      "packaged_bytes": 55875186,
+      "compressed_video": false
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-P07-S01-wangyang-10p1",
+    "action_id": "P07",
+    "collection_session_index": 1,
+    "participant": "wangyang",
+    "repetition_count": 10
+  },
+  "upload_batch_created_at": "2026-09-07T21:00:40.725716+08:00",
+  "collection_site": {
+    "id": "site_00"
+  }
+}

actions/locomotion_primitives/P07/session_012/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ebdeff0fe7aa8b60199892245c203fe06648f746ca81a434f1c27351c0316ed
+size 129571656

actions/locomotion_primitives/P07/session_012/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0daa10079c8da45eff798985690d38199e4b0368bdb74a04ac2e4ff4d9b59d17
+size 28734326

actions/locomotion_primitives/P07/session_012/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:554cf2d9d6f6b06e0d61bca995dc232cef586e05e8645df400da919933aea963
+size 1351680

actions/locomotion_primitives/P07/session_012/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4edc0a0e535ce868bf3494d1fc60da1d4c7004753248b69ed52bd1d9da64d01e
+size 1302528

actions/locomotion_primitives/P07/session_012/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6876a344a7218e992a8fab9c5ce54e4e6f8f6d168e71c3bd7b212e20610b3c45
+size 352256

actions/locomotion_primitives/P07/session_012/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e343e00b3afd9abca8bc0667fcb170a7ec4c421d046128f7c4f2385fcaf5083
+size 1224704

actions/locomotion_primitives/P07/session_012/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c73c517591e8d9bdee309399e5de14eb023d7aafc84022a0d6a0d5c1b907602
+size 1257472

actions/locomotion_primitives/P07/session_012/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9854397b5d3ad03945dd3e727f610c8906833601ebb2753f2d4c07f0576245f
+size 323584

actions/locomotion_primitives/P07/session_012/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80d5577ec44eae4645ab691083af185620245a4bdf26adbcf50ab2c1eca66b34
+size 323584

actions/locomotion_primitives/P07/session_012/scene/infer.json

@@ -0,0 +1,36 @@
+{
+  "model": "facebook/map-anything",
+  "views": 252,
+  "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": 0.0942,
+    "trans_p95_m": 0.4003,
+    "rot_median_deg": 0.521,
+    "rot_p95_deg": 1.43
+  }
+}

actions/locomotion_primitives/P07/session_012/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d10ee2d1a8a1d2b6b4f166bf88937ce288cac49c5fc9258ad3eb96f314ef74bd
+size 233905719