Upload folder using huggingface_hub (part 870)

.gitattributes

@@ -34735,3 +34735,55 @@ actions/locomotion_primitives/P33/session_057/raw/sensors/robowrist_mag_left.db
 actions/locomotion_primitives/P33/session_057/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomotion_primitives/P33/session_058/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
 actions/locomotion_primitives/P33/session_058/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_058/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_058/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_058/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_058/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_058/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_058/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_058/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_059/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_059/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_059/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_059/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_059/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_059/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_059/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_059/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_059/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_060/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_060/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_060/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_060/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_060/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_060/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_060/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_060/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_060/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_061/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_061/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_061/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_061/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_061/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_061/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_061/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_061/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_061/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_062/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_062/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_062/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_062/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_062/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_062/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_062/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_062/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_062/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_063/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_063/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_063/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_063/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_063/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_063/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_063/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_063/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P33/session_063/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/locomotion_primitives/P33/session_058/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e2db83cd9728d37698ab20ae472ea8eea64f833dcf1f30a07aba8c857fa98d0
+size 1515520

actions/locomotion_primitives/P33/session_058/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f6cfb0137fa1609d68e0972a45e76bd9f2d006183686d6bddb35d04e7b8ba78
+size 1458176

actions/locomotion_primitives/P33/session_058/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad3e932f1667a550d64de5721e7dc5a5ef0c9c7d558d549ce6f152742b270669
+size 389120

actions/locomotion_primitives/P33/session_058/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79319309cfec3dfb1a480c1586d5ce8e7727661554c16f371cae86a31e21c314
+size 1380352

actions/locomotion_primitives/P33/session_058/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:537de094c369987993c310401123330ecfd44911fed2f59dba50e89469ec05ad
+size 1417216

actions/locomotion_primitives/P33/session_058/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da82b990ccad495af233744c406c23761f838a4bb313a1b00260b11e805e4c78
+size 360448

actions/locomotion_primitives/P33/session_058/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97ef4251b44e4e79ff8e8892be37d1c1a05139e313c679de792e7b52d2acce15
+size 360448

actions/locomotion_primitives/P33/session_058/scene/infer.json

@@ -0,0 +1,36 @@
+{
+  "model": "facebook/map-anything",
+  "views": 288,
+  "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": 0.186,
+    "trans_p95_m": 0.5348,
+    "rot_median_deg": 0.631,
+    "rot_p95_deg": 1.19
+  }
+}

actions/locomotion_primitives/P33/session_058/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c3cbd555ac310eff9a39cbb5068cbcf637a865bef0f23cff86b3903642973de
+size 304880713

actions/locomotion_primitives/P33/session_058/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:017ee21a6448661b6f681895fedd5276d13a7e7fbaede58a7158326e27f8e603
+size 1498233

actions/locomotion_primitives/P33/session_058/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ddf4788225d13795ae1a84107a129a28be0f7a5d44d3d61871ef49d96f4191a
+size 131739

actions/locomotion_primitives/P33/session_058/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:960b08ffb9750b7faf7a4209a8c6d07d9467895f0e2988efb29751436fc1c831
+size 1546198

actions/locomotion_primitives/P33/session_058/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f1e72df4e011738f3868636b6d00dbe9bd7482d0f335852f1047a67df0f87a6
+size 299483

actions/locomotion_primitives/P33/session_058/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6345a512f7610cd54e771c6d6b4b71a19177e743cccf4ec2544c14778fdddb04
+size 287037

actions/locomotion_primitives/P33/session_058/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54df0d47e313cbd50702760db6eaf062dcac70fde8d3110fcc0a6e218f9be130
+size 72129028

actions/locomotion_primitives/P33/session_058/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2570c29b7508a9776b09fde9c53abf8beae4b001189e7ebc2fb6a74344f4c0d2
+size 72091328

actions/locomotion_primitives/P33/session_058/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a5a1c685bb27395565290e7f9c170c9e0b940c9ea7fcd9166a57a3e097e4dc9
+size 72151961

actions/locomotion_primitives/P33/session_058/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e0401a4d758f06bd16522b6ed8327c13740eabb6d742a6115c4de90996d94da
+size 72064540

actions/locomotion_primitives/P33/session_058/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4eb40a8cd45e5d0173bae54cabaaebf04de9e52a27fdcdbf00c7dde400adee6d
+size 72111026

actions/locomotion_primitives/P33/session_058/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1296546596ff9d3a8eeef7b5a6d00bf9fda5e0e1ee63495a1ce568c3eebb6895
+size 72190397

actions/locomotion_primitives/P33/session_058/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3434b51f7c93213f7ea9228e7cd6372a4674170dbc05571fdd142edaf9a02eef
+size 59319467

actions/locomotion_primitives/P33/session_058/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dce5da6be914195491b4c8ce85d9e628f9c7672121aab7c873512e165c13a3f
+size 60350642

actions/locomotion_primitives/P33/session_058/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e500a7e009b4ee84d9712793f1552cc03247a5a366356ad8ea1a4709ce4e408b
+size 68306883

actions/locomotion_primitives/P33/session_059/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9eb6355ed3cb0212811e291306c8534b77a655e72d96646ca7849750b88b5744
+size 1127395

actions/locomotion_primitives/P33/session_059/meta.json

@@ -0,0 +1,514 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20260929/P33/20260929_110930_session211",
+ "session_id": "20260929_110930_session211",
+ "primitive": "P33",
+ "batch": "20260929",
+ "participant": "huruoxuan",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e17c9efadb69e7b1",
+  "left": "cc5681142208e29a",
+  "right": "60a6f081bbe60b0d"
+ },
+ "generated_at_utc": "2026-10-14T11:31:18.184633+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": 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": -1.181272,
+  "rate": 0.0,
+  "global_lag_s": -1.18,
+  "peak_corr": 0.9881,
+  "reference_imu_first_sample_s": 39204.184264077,
+  "windows": {
+   "n_windows": 11,
+   "window_corr_median": 0.9966370292116368,
+   "drift_ppm": 1.5478660073178394,
+   "drift_se_ppm": 0.8578484623683506,
+   "drift_ms_over_take": 0.19970051271078995,
+   "lag_scatter_ms": 0.0813826508507169,
+   "lag_range_ms": 0.375606438983489
+  }
+ },
+ "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": 26271,
+    "n_gyro": 26264,
+    "t_start": -1.1982325462977903,
+    "t_end": 129.77436205270163
+   },
+   "imu_head_left": {
+    "n_acc": 26221,
+    "n_gyro": 26216,
+    "t_start": -1.0748153952973232,
+    "t_end": 129.94036364369634
+   },
+   "imu_wrist_right": {
+    "n_acc": 25076,
+    "n_gyro": 25088,
+    "t_start": 0.18325990970146022,
+    "t_end": 124.1112026336977
+   },
+   "imu_wrist_left": {
+    "n_acc": 24454,
+    "n_gyro": 24467,
+    "t_start": 0.30557792870052736,
+    "t_end": 124.11720852469983
+   },
+   "mag_head": {
+    "n": 13110,
+    "t_start": -0.9894798382975429,
+    "t_end": 130.10055926570016
+   },
+   "mag_wrist_right": {
+    "n": 12392,
+    "t_start": 0.2009015447019331,
+    "t_end": 124.11091530869993
+   },
+   "mag_wrist_left": {
+    "n": 12381,
+    "t_start": 0.3142304767006274,
+    "t_end": 124.11405210970219
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 39205.402948,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0023423887986386703,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.03975423449986493,
+    "t_end": 129.0063872345035,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 39205.402896,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0019489646456461974,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.03930881034278655,
+    "t_end": 129.00596481033966,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 39205.402929,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0018171232386612972,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.03920996893969941,
+    "t_end": 129.0058539689398,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 39205.402964,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017295646474508202,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.03915741034682951,
+    "t_end": 129.00577941034675,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 39205.402913,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.001668932298833096,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.03904577799943154,
+    "t_end": 129.0057017779963,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 39205.402876,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017169377622902274,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.039056783460123645,
+    "t_end": 129.00572378346072,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 39205.667474,
+    "frames": 3714,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": 0.30193784570104554,
+    "t_end": 124.06840884570369,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 39205.543048,
+    "frames": 3718,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": 0.1775118456989142,
+    "t_end": 124.07751184570037,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-P33-S03-huruoxuan-01p1-1.mp4",
+    "frames": 3871,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 129.0
+   }
+  }
+ },
+ "flags": [],
+ "sanity": {
+  "status": {
+   "structure": "PASS",
+   "markers": "WARN",
+   "timing": "WARN"
+  },
+  "verdict": "READY_WITH_WARNINGS",
+  "issues": [
+   "WARN M_SPIKES",
+   "WARN M_TRACKER_LABELS",
+   "WARN T_UNITS"
+  ]
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-14T12:22:32.665042+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": 30.3,
+   "headtop_p95_mm": 1591.8
+  },
+  "gravity_check": {
+   "static_samples": 1234,
+   "g_world_mean_m_s2": [
+    0.1614,
+    -0.2071,
+    9.7274
+   ],
+   "tilt_from_z_deg": 1.546,
+   "tilt_from_z_deg_before_levelling": 1.808,
+   "magnitude_m_s2": 9.7309
+  },
+  "rig_tracker_definition": "e17c9efadb69e7b1/20260929-afternoon/labels-352410/session-e843af677fef0a50",
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-15T05:44:48.887895+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": [
+      0.08486244082450867,
+      0.020931394770741463,
+      0.00627150246873498
+     ],
+     "LHandOut": [
+      0.07026609778404236,
+      -0.0009677255293354392,
+      -0.03439345583319664
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.05116020515561104,
+      0.016535622999072075,
+      0.022365381941199303
+     ],
+     "RHandOut": [
+      -0.04528497904539108,
+      0.01368761993944645,
+      -0.02444165013730526
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 4.13,
+   "p95_frame": 6.02
+  },
+  "worst_markers": [
+   "LKneeIn 14mm",
+   "RKneeIn 12mm",
+   "LThigh 9mm",
+   "LHeel 8mm",
+   "RThigh 8mm"
+  ],
+  "valid_fraction": 0.9995,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 13.0,
+    "p5": 3.0
+   },
+   "frames_checked": 516,
+   "stature_mm": 1572.8
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 10.82
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 158.01,
+    "Q_rotvec": [
+     2.63267,
+     -0.21679,
+     -0.79186
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 139.0,
+    "opposite_sign_bend_deg": 42.0,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 0.96,
+    "hand_vs_marker_frame_deg": {
+     "before": 158.02,
+     "after": 0.96
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 136.14,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -2.3,
+       2.6
+      ]
+     },
+     "wrist_total_deg_median_after": 41.5,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 24.21,
+    "Q_rotvec": [
+     0.09702,
+     0.14023,
+     -0.38663
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 36.1,
+    "opposite_sign_bend_deg": 150.6,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.13,
+    "hand_vs_marker_frame_deg": {
+     "before": 24.6,
+     "after": 1.13
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -34.06,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -0.9,
+       1.1
+      ]
+     },
+     "wrist_total_deg_median_after": 11.1,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-15T05:44:51.644370+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "rig_tracker": {
+  "definition": "e17c9efadb69e7b1/20260929-afternoon/labels-352410/session-e843af677fef0a50",
+  "R_tracker0_imu0": [
+   [
+    -0.6479745,
+    0.11238104,
+    -0.75332566
+   ],
+   [
+    0.72211731,
+    0.40519107,
+    -0.56068421
+   ],
+   [
+    0.24223056,
+    -0.90729857,
+    -0.34370577
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.17790863490637965,
+   -0.013004679357071287,
+   -0.004631673358464973
+  ],
+  "rig_check": {
+   "gyro_samples": 8059,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 1.455
+  },
+  "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": "2026-10-18T19:07:05.129782+00:00",
+  "generated_by": "scripts/correct_processed_rig.py",
+  "remaining_gyro_frame_deg": 1.5572251267978683
+ },
+ "release": {
+  "release_path": "actions/locomotion_primitives/P33/session_059",
+  "family": "locomotion_primitives",
+  "primitive": "P33",
+  "source_session": "20260929/P33/20260929_110930_session211"
+ }
+}

actions/locomotion_primitives/P33/session_059/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f7448d8f4b0f565e1d95d63297411c5d2b8fd90a96b837082069f0604730148
+size 1155229

actions/locomotion_primitives/P33/session_059/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:252bcfb08562eaa959aa9a5e9a97ee5157653b64b7710b89669a07b583f89456
+size 8877630

actions/locomotion_primitives/P33/session_059/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6afb425101ce6d8e44ec6545b383c79ef0818cfaf3a32465e8cba4543a91bf66
+size 9032117

actions/locomotion_primitives/P33/session_059/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c5ff4466c3797661aaac3f0458193390b2ee8278f398db1bb3bd6d63d084814
+size 5972299

actions/locomotion_primitives/P33/session_059/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e31d9063cb7ca73368ff6cff940189aceb5aa7944a47cf69cc1029d39999632f
+size 25000398

actions/locomotion_primitives/P33/session_059/raw/manifest.json

@@ -0,0 +1,233 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-09-29T13:56:13.436127+00:00",
+  "primitive_id": "P33",
+  "session_id": "20260929_110930_session211",
+  "upload_batch_id": "20260929",
+  "dataset_path": "EgoMotionActions/20260929/P33/20260929_110930_session211",
+  "segment": "auto/all",
+  "duration_s": 128.966633,
+  "device_ids": {
+    "main": "e17c9efadb69e7b1",
+    "left": "cc5681142208e29a",
+    "right": "60a6f081bbe60b0d"
+  },
+  "options": {
+    "raw_video": true,
+    "proxy_height": 540,
+    "proxy_crf": 28,
+    "proxy_bitrate": "1400k",
+    "mocap_selection": "explicit",
+    "mocap_files": [
+      "mocap-P33-S03-huruoxuan-01p1/mocap-P33-S03-huruoxuan-01p1-1.mp4",
+      "mocap-P33-S03-huruoxuan-01p1/mocap-P33-S03-huruoxuan-01p1-Body0.bvh",
+      "mocap-P33-S03-huruoxuan-01p1/mocap-P33-S03-huruoxuan-01p1-Body0.csv",
+      "mocap-P33-S03-huruoxuan-01p1/mocap-P33-S03-huruoxuan-01p1-Body0.trc",
+      "mocap-P33-S03-huruoxuan-01p1/mocap-P33-S03-huruoxuan-01p1-Tracker0.csv",
+      "mocap-P33-S03-huruoxuan-01p1/mocap-P33-S03-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": 25000398,
+      "packaged_bytes": 25000398,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P33-S03-huruoxuan-01p1/mocap-P33-S03-huruoxuan-01p1-1.mp4",
+      "packaged_as": "mocap/mocap-P33-S03-huruoxuan-01p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 53671380,
+      "packaged_bytes": 53671380,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P33-S03-huruoxuan-01p1/mocap-P33-S03-huruoxuan-01p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-P33-S03-huruoxuan-01p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 9352854,
+      "packaged_bytes": 9352854,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P33-S03-huruoxuan-01p1/mocap-P33-S03-huruoxuan-01p1-Body0.csv",
+      "packaged_as": "mocap/mocap-P33-S03-huruoxuan-01p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 129927703,
+      "packaged_bytes": 129927703,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P33-S03-huruoxuan-01p1/mocap-P33-S03-huruoxuan-01p1-Body0.trc",
+      "packaged_as": "mocap/mocap-P33-S03-huruoxuan-01p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 28670646,
+      "packaged_bytes": 28670646,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P33-S03-huruoxuan-01p1/mocap-P33-S03-huruoxuan-01p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-P33-S03-huruoxuan-01p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 4953700,
+      "packaged_bytes": 4953700,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P33-S03-huruoxuan-01p1/mocap-P33-S03-huruoxuan-01p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-P33-S03-huruoxuan-01p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 4804185,
+      "packaged_bytes": 4804185,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1359872,
+      "packaged_bytes": 1359872,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1310720,
+      "packaged_bytes": 1310720,
+      "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": 64616811,
+      "packaged_bytes": 64616811,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64614181,
+      "packaged_bytes": 64614181,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64674361,
+      "packaged_bytes": 64674361,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64628861,
+      "packaged_bytes": 64628861,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64567940,
+      "packaged_bytes": 64567940,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64681038,
+      "packaged_bytes": 64681038,
+      "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": 1249280,
+      "packaged_bytes": 1249280,
+      "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": 319488,
+      "packaged_bytes": 319488,
+      "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": 60399119,
+      "packaged_bytes": 60399119,
+      "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": 1216512,
+      "packaged_bytes": 1216512,
+      "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": 319488,
+      "packaged_bytes": 319488,
+      "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": 53185507,
+      "packaged_bytes": 53185507,
+      "compressed_video": false
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 644538,
+      "packaged_bytes": 644482,
+      "compressed_video": false
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-P33-S03-huruoxuan-01p1",
+    "action_id": "P33",
+    "collection_session_index": 3,
+    "participant": "huruoxuan",
+    "repetition_count": 1
+  },
+  "upload_batch_created_at": "2026-09-29T22:11:35.918185+08:00",
+  "participant_gender": "female",
+  "participant_height_cm": 160,
+  "participant_weight_kg": 40,
+  "collection_site": {
+    "id": "site_00"
+  }
+}

actions/locomotion_primitives/P33/session_059/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9898c7c60b0426b06cecf92cfb8cd9ba12f35ca734ed8eba60024294cc3335f
+size 129927703

actions/locomotion_primitives/P33/session_059/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9b35c2d6759b7e9da5b8dd69ef82a1380abce2090f9bf71ece3bf615d10751d
+size 28670646

actions/locomotion_primitives/P33/session_059/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da2e57cc6671c6da72a0569d54ebe5c27be1300f325fe4ebdbabb885229b708f
+size 1359872

actions/locomotion_primitives/P33/session_059/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:398e192d9db564baccf55e7ca005ed6153b5b3f7a59855f19719d8bb4a73ef90
+size 1310720

actions/locomotion_primitives/P33/session_059/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ecc2293c1c69cd8632ebd1dc0d30e6631e01b45b9b6f6a5f2b157c17783b8c8
+size 352256

actions/locomotion_primitives/P33/session_059/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5a59f2d9f37bb3f1d61ea97f0f37819620093d7a8f9ae9bb8076772ce718f2a
+size 1216512

actions/locomotion_primitives/P33/session_059/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e09aa2474cf9be4b99f25ef47e80c1bccaad3d4213f343eb37ff6cc7515a3c9
+size 1249280

actions/locomotion_primitives/P33/session_059/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe94fe5b86fa0fe7d23e53c66d17e016ea627b3cde262e76fe87dd9b5e861ef5
+size 319488

actions/locomotion_primitives/P33/session_059/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1142f9b93e15c60a7f7d2f470c4b29305839eedee6b5fca240aed069fe6616b
+size 319488

actions/locomotion_primitives/P33/session_059/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": 0.2174,
+    "trans_p95_m": 0.5868,
+    "rot_median_deg": 0.69,
+    "rot_p95_deg": 1.352
+  }
+}

actions/locomotion_primitives/P33/session_059/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26a6fb12d7fcfe54c7656441e81e067afe96bb8619b5050f3a4d1819a4db9795
+size 270782191

actions/locomotion_primitives/P33/session_059/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:713fc1e3c94e195176571b0410a1b34057463c212532a1cc1ce957ffc605c3f1
+size 1345707

actions/locomotion_primitives/P33/session_059/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2b1b8ccf5f114bb4d2c0d7cdfbc8794a833d926a6d88397c4193235e9872422
+size 117628

actions/locomotion_primitives/P33/session_059/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5acce93d16f651285ad5b24a555ae71d304be3616ffb07aa8e709c115ec9fb73
+size 1369752

actions/locomotion_primitives/P33/session_059/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e745cf288e8f50e1babe68b6f6dde177c4266a2d170660b2553441eabf529f87
+size 265303