Upload folder using huggingface_hub (part 793)

.gitattributes

@@ -32546,3 +32546,52 @@ actions/locomotion_primitives/P30/session_085/raw/sensors/robowrist_mag_left.db
 actions/locomotion_primitives/P30/session_085/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomotion_primitives/P30/session_086/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
 actions/locomotion_primitives/P30/session_086/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_086/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_086/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_086/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_086/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_086/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_086/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_086/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_087/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_087/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_087/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_087/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_087/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_087/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_087/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_087/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_088/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_088/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_088/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_088/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_088/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_088/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_088/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_088/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_089/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_089/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_089/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_089/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_089/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_089/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_089/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_089/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_090/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_090/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_090/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_090/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_090/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_090/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_090/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_090/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_090/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_091/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_091/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_091/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_091/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_091/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_091/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_091/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_091/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_091/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/locomotion_primitives/P30/session_086/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5af2150ea2cb36dfc630874ec87dc5830ca075d0d82b0e0e35243e422e5ebbbc
+size 1449984

actions/locomotion_primitives/P30/session_086/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f50f43cdc5050dbeedd67198318d73062bcaebc9a2d326000caa6f847012fdd4
+size 1400832

actions/locomotion_primitives/P30/session_086/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:723b7f1e89a48b111ad8f8279b2026edb2f84a93fc3101f140bcd1bf89036380
+size 376832

actions/locomotion_primitives/P30/session_086/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cff4eb1ac4abfb6ea51dd95694eca772e8336f0b80592770be2b93c86650abf
+size 1331200

actions/locomotion_primitives/P30/session_086/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfccfc4b0181aa37b0048dac426bca01a9c5d6dccfc3baa5ac1c662fcb47bf55
+size 1363968

actions/locomotion_primitives/P30/session_086/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7f1b9b98e7b9005ff272742e034b8893f55d5f725e9433bf96f015b9d701be8
+size 348160

actions/locomotion_primitives/P30/session_086/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b1457a8c487155f9cc65aa37e4a0b614721ca12ca01c14583598e2dc7c2ebdd
+size 348160

actions/locomotion_primitives/P30/session_086/scene/infer.json

@@ -0,0 +1,36 @@
+{
+  "model": "facebook/map-anything",
+  "views": 266,
+  "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": 0.2721,
+    "trans_p95_m": 0.3948,
+    "rot_median_deg": 0.337,
+    "rot_p95_deg": 0.668
+  }
+}

actions/locomotion_primitives/P30/session_086/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1f25848dbcda9dfab762476832299c0231ba8f5799fa69fffd35f673baed21e
+size 286795233

actions/locomotion_primitives/P30/session_086/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bf1567d5d3b5ee626449d5f318f83ec4273c536ad93cd61b1bbfeed251e3722
+size 1441656

actions/locomotion_primitives/P30/session_086/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc29e0400f2b5c1c0a1c6c600ffeb4808abdb7c9d0413bd2d3ae55aede10dcf3
+size 131720

actions/locomotion_primitives/P30/session_086/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae75384e53228b1b4a7028179e81dd3e3ca7abba63ceb32bc5a3cfed0c2b17d5
+size 1483315

actions/locomotion_primitives/P30/session_086/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cbf9ad9e631c42c0020f41b1f4c39acc0b59fe0ae89c593d16de49a423ce89e
+size 293961

actions/locomotion_primitives/P30/session_086/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02f47a4cad66fb282977332a124326b54b09128a38994692e3c64d8507f3d4b4
+size 271561

actions/locomotion_primitives/P30/session_086/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2471802288a923c508f9c107de4fa437c8c5aecea50c56e2feb04c0869ce1b87
+size 69673097

actions/locomotion_primitives/P30/session_086/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9848b809681b2ea717bded4e8a838006623c77b798ac50c5bf3e1298dad0582
+size 69610565

actions/locomotion_primitives/P30/session_086/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aaff9f485829d03637abcbda79350b6ba293e1ae3e1c157854df35a38a692248
+size 69693133

actions/locomotion_primitives/P30/session_086/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a549c4288a78ec6bdd054a2d155f701860c1476b641136ecf3fb5c62035e0329
+size 69636382

actions/locomotion_primitives/P30/session_086/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a20bbf915689e38cf2bb6d1a57e1700115783a6a4c66c38b197181678c1a5b6d
+size 69614170

actions/locomotion_primitives/P30/session_086/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:472b2a9f4a3e8b96ab558ca87323dbcfbc946d70ddbcf8e5c353952280e81fe9
+size 69689293

actions/locomotion_primitives/P30/session_086/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:759d510c260afe14432bf459fbb1185996ee3a4d4afdef3cc4b0332cefecc242
+size 58218539

actions/locomotion_primitives/P30/session_086/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:662966899ae07022c6bdb0401c37d9775d6ecd92f7669b0c3525b6962ff31d0d
+size 63882024

actions/locomotion_primitives/P30/session_086/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ced51c3333fd96da9e3431f322b15115d599fb8fb00fc33eb51c6f6493339c6b
+size 64235516

actions/locomotion_primitives/P30/session_087/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d35554190a1b2be558a3e5bcd1b5e5dad3b321bec4824d1e7d20ed89245915c
+size 1167667

actions/locomotion_primitives/P30/session_087/meta.json

@@ -0,0 +1,519 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20260929/P30/20260929_071508_session124",
+ "session_id": "20260929_071508_session124",
+ "primitive": "P30",
+ "batch": "20260929",
+ "participant": "huruoxuan",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e17c9efadb69e7b1",
+  "left": "452031d7af00ef6f",
+  "right": "6ee5ee4472fe2ad7"
+ },
+ "generated_at_utc": "2026-10-14T11:31:01.214266+00:00",
+ "generated_by": "scripts/sync_dataset.py",
+ "time_base": {
+  "definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
+  "mocap_rate_hz": 120.0,
+  "first_solved_frame": 0,
+  "duration_s": 134.025,
+  "mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
+ },
+ "alignment": {
+  "reference_imu": "imu_head_right",
+  "model": "offset (median of windows)",
+  "mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
+  "offset_s": -1.16882,
+  "rate": 0.0,
+  "global_lag_s": -1.17,
+  "peak_corr": 0.974,
+  "reference_imu_first_sample_s": 25142.094329724,
+  "windows": {
+   "n_windows": 12,
+   "window_corr_median": 0.9899481422522948,
+   "drift_ppm": 3.165411290940794,
+   "drift_se_ppm": 4.813269618860667,
+   "drift_ms_over_take": 0.4242178698409155,
+   "lag_scatter_ms": 0.5254332904541844,
+   "lag_range_ms": 2.04014473153058
+  }
+ },
+ "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": 27275,
+    "n_gyro": 27268,
+    "t_start": -1.1853886011502142,
+    "t_end": 134.79343471885133
+   },
+   "imu_head_left": {
+    "n_acc": 27226,
+    "n_gyro": 27219,
+    "t_start": -1.0773900181500609,
+    "t_end": 134.9602521438521
+   },
+   "imu_wrist_left": {
+    "n_acc": 26639,
+    "n_gyro": 26651,
+    "t_start": 0.19658286684917803,
+    "t_end": 131.77049582085075
+   },
+   "mag_head": {
+    "n": 13612,
+    "t_start": -0.9912213511504775,
+    "t_end": 135.11881717185153
+   },
+   "mag_wrist_right": {
+    "n": 13153,
+    "t_start": 0.24366915885021845,
+    "t_end": 131.76274760985163
+   },
+   "mag_wrist_left": {
+    "n": 13157,
+    "t_start": 0.21475258284973497,
+    "t_end": 131.77494741285247
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 25143.300628,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0023423887986386703,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.0398202176495146,
+    "t_end": 134.00645321764952,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 25143.300571,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0019489646456461974,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.0393697934980195,
+    "t_end": 134.00602579349854,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 25143.300608,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0018171232386612972,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.03927495209264853,
+    "t_end": 134.00591895209274,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 25143.300643,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017295646474508202,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.03922239349614065,
+    "t_end": 134.00586639349623,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 25143.30059,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.001668932298833096,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.03910876114806561,
+    "t_end": 134.00576476114858,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 25143.300542,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017169377622902274,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.039108766612309775,
+    "t_end": 134.0057757666129,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 25143.511025,
+    "frames": 3945,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": 0.24787482885059253,
+    "t_end": 131.71473682885173,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 25143.63171,
+    "frames": 3942,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": 0.3685598288522782,
+    "t_end": 131.73431482885118,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-P30-S08-huruoxuan-01p1-1.mp4",
+    "frames": 4021,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 134.0
+   }
+  }
+ },
+ "flags": [
+  "wrist_right_imu empty"
+ ],
+ "sanity": {
+  "status": {
+   "structure": "FAIL",
+   "markers": "WARN",
+   "timing": "WARN"
+  },
+  "verdict": "READY_WITH_WARNINGS",
+  "issues": [
+   "FAIL S_DB_EMPTY",
+   "FAIL S_REPORT_EMPTY",
+   "WARN M_SPIKES",
+   "WARN M_TRACKER_LABELS",
+   "WARN T_EMPTY",
+   "WARN T_IMU_PAIR",
+   "WARN T_RIG_TRACKER"
+  ]
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-14T12:22:29.758043+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": [
+   [
+    0.999972522,
+    -0.0074131763,
+    3.0125e-06
+   ],
+   [
+    -3.0125e-06,
+    -0.0008127283,
+    -0.9999996697
+   ],
+   [
+    0.0074131763,
+    0.9999721918,
+    -0.0008127283
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999972522,
+    -7.413176e-06,
+    3.012e-09,
+    0.0
+   ],
+   [
+    -3.012e-09,
+    -8.12728e-07,
+    -0.00099999967,
+    0.0
+   ],
+   [
+    7.413176e-06,
+    0.000999972192,
+    -8.12728e-07,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20260929-afternoon",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.4272926311308613,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 27.7,
+   "headtop_p95_mm": 1596.1
+  },
+  "gravity_check": {
+   "static_samples": 679,
+   "g_world_mean_m_s2": [
+    0.2458,
+    -0.2824,
+    9.7512
+   ],
+   "tilt_from_z_deg": 2.199,
+   "tilt_from_z_deg_before_levelling": 2.467,
+   "magnitude_m_s2": 9.7584
+  },
+  "rig_tracker_definition": "e17c9efadb69e7b1/20260929-afternoon/labels-035142/session-b99142bdcb24d900",
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-15T05:27:31.605167+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": [
+      0.07381583005189896,
+      0.010372349061071873,
+      0.021785689517855644
+     ],
+     "LHandOut": [
+      0.07573191821575165,
+      0.008711514063179493,
+      -0.0201732087880373
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.0582079254090786,
+      -0.024150436744093895,
+      0.005170726217329502
+     ],
+     "RHandOut": [
+      -0.05113258585333824,
+      0.017611324787139893,
+      -0.01872599683701992
+     ],
+     "RWristOut": [
+      0.015537723898887634,
+      0.039993200451135635,
+      -0.004222851246595383
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 4.22,
+   "p95_frame": 5.66
+  },
+  "worst_markers": [
+   "LKneeIn 13mm",
+   "RKneeIn 12mm",
+   "RKnee 8mm",
+   "RThigh 7mm",
+   "LHeel 7mm"
+  ],
+  "valid_fraction": 1.0,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 15.4,
+    "p5": 10.3
+   },
+   "frames_checked": 537,
+   "stature_mm": 1572.8
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 11.89
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 175.97,
+    "Q_rotvec": [
+     -3.0428,
+     0.22164,
+     0.35288
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 168.1,
+    "opposite_sign_bend_deg": 19.3,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.12,
+    "hand_vs_marker_frame_deg": {
+     "before": 175.97,
+     "after": 1.12
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 167.86,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -1.7,
+       1.6
+      ]
+     },
+     "wrist_total_deg_median_after": 24.3,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 64.96,
+    "Q_rotvec": [
+     1.11994,
+     0.10569,
+     0.14145
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 63.5,
+    "opposite_sign_bend_deg": 122.1,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 0.91,
+    "hand_vs_marker_frame_deg": {
+     "before": 64.95,
+     "after": 0.91
+    },
+    "markers_on_wrist": [
+     "RWristOut",
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -63.16,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -1.0,
+       0.9
+      ]
+     },
+     "wrist_total_deg_median_after": 6.7,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-15T05:27:34.439784+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "rig_tracker": {
+  "definition": "e17c9efadb69e7b1/20260929-afternoon/labels-035142/session-b99142bdcb24d900",
+  "R_tracker0_imu0": [
+   [
+    -0.65400555,
+    0.09730988,
+    -0.75020499
+   ],
+   [
+    0.74061559,
+    0.2844519,
+    -0.60874926
+   ],
+   [
+    0.15415992,
+    -0.95373891,
+    -0.25810234
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   0.009748415120088083,
+   0.008056491098804632,
+   -0.03531060742756268
+  ],
+  "rig_check": {
+   "gyro_samples": 8580,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 1.577
+  },
+  "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": "2026-10-18T19:06:52.066026+00:00",
+  "generated_by": "scripts/correct_processed_rig.py",
+  "remaining_gyro_frame_deg": 1.6246592516386902
+ },
+ "release": {
+  "release_path": "actions/locomotion_primitives/P30/session_087",
+  "family": "locomotion_primitives",
+  "primitive": "P30",
+  "source_session": "20260929/P30/20260929_071508_session124"
+ }
+}

actions/locomotion_primitives/P30/session_087/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2de3d68a0d5896d2124e787b197c98def303a4593a5ac0ce2e9b5e50221c99e0
+size 1199307

actions/locomotion_primitives/P30/session_087/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0943a7ad57745c788caacc3c9257aca3149c89422f205359306415c45920024b
+size 9177018

actions/locomotion_primitives/P30/session_087/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:737df60779d6a9fed4534ab2e27225ea7bbbf99f6f187dfdbdd2052a72ac3834
+size 9337376

actions/locomotion_primitives/P30/session_087/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73c493962edc48eb603ca6e930b18e62ed5f06f7d4c42b3ab81ca7997350e7f5
+size 6200008

actions/locomotion_primitives/P30/session_087/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c005d2664666fcc47d0a51887794de89c705bb4557b9b32439f34f4ba66efc0d
+size 25386318

actions/locomotion_primitives/P30/session_087/raw/manifest.json

@@ -0,0 +1,233 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-09-29T12:33:22.772847+00:00",
+  "primitive_id": "P30",
+  "session_id": "20260929_071508_session124",
+  "upload_batch_id": "20260929",
+  "dataset_path": "EgoMotionActions/20260929/P30/20260929_071508_session124",
+  "segment": "auto/all",
+  "duration_s": 133.966633,
+  "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-P30-S08-huruoxuan-01p1/mocap-P30-S08-huruoxuan-01p1-1.mp4",
+      "mocap-P30-S08-huruoxuan-01p1/mocap-P30-S08-huruoxuan-01p1-Body0.bvh",
+      "mocap-P30-S08-huruoxuan-01p1/mocap-P30-S08-huruoxuan-01p1-Body0.csv",
+      "mocap-P30-S08-huruoxuan-01p1/mocap-P30-S08-huruoxuan-01p1-Body0.trc",
+      "mocap-P30-S08-huruoxuan-01p1/mocap-P30-S08-huruoxuan-01p1-Tracker0.csv",
+      "mocap-P30-S08-huruoxuan-01p1/mocap-P30-S08-huruoxuan-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": 25386318,
+      "packaged_bytes": 25386318,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P30-S08-huruoxuan-01p1/mocap-P30-S08-huruoxuan-01p1-1.mp4",
+      "packaged_as": "mocap/mocap-P30-S08-huruoxuan-01p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 56932876,
+      "packaged_bytes": 56932876,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P30-S08-huruoxuan-01p1/mocap-P30-S08-huruoxuan-01p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-P30-S08-huruoxuan-01p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 9711303,
+      "packaged_bytes": 9711303,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P30-S08-huruoxuan-01p1/mocap-P30-S08-huruoxuan-01p1-Body0.csv",
+      "packaged_as": "mocap/mocap-P30-S08-huruoxuan-01p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 135235448,
+      "packaged_bytes": 135235448,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P30-S08-huruoxuan-01p1/mocap-P30-S08-huruoxuan-01p1-Body0.trc",
+      "packaged_as": "mocap/mocap-P30-S08-huruoxuan-01p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 30152389,
+      "packaged_bytes": 30152389,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P30-S08-huruoxuan-01p1/mocap-P30-S08-huruoxuan-01p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-P30-S08-huruoxuan-01p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 5138804,
+      "packaged_bytes": 5138804,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P30-S08-huruoxuan-01p1/mocap-P30-S08-huruoxuan-01p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-P30-S08-huruoxuan-01p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 5043101,
+      "packaged_bytes": 5043101,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1409024,
+      "packaged_bytes": 1409024,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1359872,
+      "packaged_bytes": 1359872,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 364544,
+      "packaged_bytes": 364544,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67155360,
+      "packaged_bytes": 67155360,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67122232,
+      "packaged_bytes": 67122232,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67209465,
+      "packaged_bytes": 67209465,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67141312,
+      "packaged_bytes": 67141312,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67117631,
+      "packaged_bytes": 67117631,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67189222,
+      "packaged_bytes": 67189222,
+      "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": 1327104,
+      "packaged_bytes": 1327104,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_452031d7af00ef6f_left/robowrist_segment1_mag_left.db",
+      "packaged_as": "robowrist_452031d7af00ef6f_left/robowrist_segment1_mag_left.db",
+      "kind": "data",
+      "original_bytes": 339968,
+      "packaged_bytes": 339968,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+      "packaged_as": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 56681937,
+      "packaged_bytes": 56681937,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_imu_right.db",
+      "packaged_as": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 24576,
+      "packaged_bytes": 24576,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_mag_right.db",
+      "packaged_as": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_mag_right.db",
+      "kind": "data",
+      "original_bytes": 339968,
+      "packaged_bytes": 339968,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
+      "packaged_as": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64872538,
+      "packaged_bytes": 64872538,
+      "compressed_video": false
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 653340,
+      "packaged_bytes": 653284,
+      "compressed_video": false
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-P30-S08-huruoxuan-01p1",
+    "action_id": "P30",
+    "collection_session_index": 8,
+    "participant": "huruoxuan",
+    "repetition_count": 1
+  },
+  "upload_batch_created_at": "2026-09-29T20:33:25.557452+08:00",
+  "participant_gender": "female",
+  "participant_height_cm": 160,
+  "participant_weight_kg": 40,
+  "collection_site": {
+    "id": "site_00"
+  }
+}

actions/locomotion_primitives/P30/session_087/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71f2b4bacd9e8a3a294014f9d37de47a064b6f48a464cef7db44c913a43a6cb5
+size 135235448

actions/locomotion_primitives/P30/session_087/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:918b9546009be432a6b59cfd68bb91da60b615b6e78c7f13982df0ce2e6ccccb
+size 30152389

actions/locomotion_primitives/P30/session_087/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21b3051d6cc7402e3b69b053447b12a29023ba5f9bd783f1ad063ff006005f4b
+size 1409024

actions/locomotion_primitives/P30/session_087/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6826b08fe30d460ec39cc8d69adc28f9abf28c4bd69cad2397bbf5067f85b727
+size 1359872

actions/locomotion_primitives/P30/session_087/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d83d56e11fe663a87086be58fb02d969d4fb1437d7cd5e56de6268f5debdbb0a
+size 364544

actions/locomotion_primitives/P30/session_087/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bdebb1c7993da3a9df662cb3f0ead74dce4bfae6189ab99e89e45fca0105608
+size 1327104

actions/locomotion_primitives/P30/session_087/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d56a9b52a6048bb645b29889e4adedcf059a16144f5a25aabadd56c6d87d9df0
+size 339968

actions/locomotion_primitives/P30/session_087/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57b41742eebbfe31b3b96b466f24a905c7cc1886f0e96b052d58184f8965c2b2
+size 339968

actions/locomotion_primitives/P30/session_087/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": 0.1714,
+    "trans_p95_m": 0.3458,
+    "rot_median_deg": 0.48,
+    "rot_p95_deg": 0.956
+  }
+}

actions/locomotion_primitives/P30/session_087/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44d51b80ffc232e3736f96b23e4959c2146e527f69b0aa86ed939dd20b38f9ca
+size 281380247

actions/locomotion_primitives/P30/session_087/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1202b2d6e328a0e81cdaef8814881ba0e48c15ceeacbe54bfe47c52d533831b
+size 1389312

actions/locomotion_primitives/P30/session_087/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a725e3e26b8dc57b5ea3e7bbfb0330ca165357128d54f636d5a8e5ac23f3e550
+size 121880

actions/locomotion_primitives/P30/session_087/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd89a1aad16157fd75fdcdf1a613967d8b566715f287f50b895e3b35ab578b48
+size 724643

actions/locomotion_primitives/P30/session_087/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc52c8b34278b0ba723084169ed14e2ba7ab71d2446c15c9cdb42c6f71fb5450
+size 305714