Upload folder using huggingface_hub (part 723)

.gitattributes

@@ -28960,3 +28960,58 @@ actions/locomotion_primitives/P13/session_003/raw/sensors/robowrist_imu_left.db
 actions/locomotion_primitives/P13/session_003/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomotion_primitives/P13/session_003/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomotion_primitives/P13/session_003/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_004/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_004/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_004/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_004/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_004/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_004/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_004/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_004/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_005/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_005/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_005/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_005/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_005/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_005/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_005/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_005/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_005/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_005/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_006/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_006/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_006/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_006/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_006/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_006/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_006/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_007/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_007/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_007/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_007/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_007/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_007/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_007/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_007/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_008/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_008/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_008/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_008/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_008/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_008/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_008/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_008/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_008/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_009/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_009/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_009/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_009/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_009/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_009/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_009/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_009/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_009/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_010/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P13/session_010/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/locomotion_primitives/P13/session_004/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5f26f1624c65e55f490250b2b333d632222c8d59f3117fa99fa60ad96340662
+size 95081147

actions/locomotion_primitives/P13/session_004/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ead56be71964821b6eabca98f648c4755758c1d439e58fd3e4ad16236a8a90f4
+size 20826289

actions/locomotion_primitives/P13/session_004/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bec0d76310d69a70a0f3c60fa37cf15692c6bb81ad1bb5998fb879c6da56c349
+size 995328

actions/locomotion_primitives/P13/session_004/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f58d5f3e911fa62893e33e70827b23bda0a14bed892d9f6bcbb54986616f5f65
+size 958464

actions/locomotion_primitives/P13/session_004/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0632c12787541201f902cd44b8928a8f25480ece655d016864e44d20436129d1
+size 262144

actions/locomotion_primitives/P13/session_004/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3755a2217386bb91a9861514a8541890966fe9e7581c0e17adaf289c86351b7
+size 905216

actions/locomotion_primitives/P13/session_004/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51aa37c1e6088e0ec173d12a4f2191e0665762bc506a995657e45b73e47d5429
+size 237568

actions/locomotion_primitives/P13/session_004/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30a8950abbaa7b3ee480e721ec79c03d2d9007c9c648f8170df6addbb9d4c49c
+size 237568

actions/locomotion_primitives/P13/session_004/scene/infer.json

@@ -0,0 +1,36 @@
+{
+  "model": "facebook/map-anything",
+  "views": 188,
+  "windows": 4,
+  "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": 0.027,
+    "trans_p95_m": 0.0737,
+    "rot_median_deg": 0.665,
+    "rot_p95_deg": 1.202
+  }
+}

actions/locomotion_primitives/P13/session_004/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34711e87288f7bdd22b917e60a5aabfcebba8cb0acca88939f31d803119e9621
+size 181363583

actions/locomotion_primitives/P13/session_004/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d181d346984eac2245805d94d7400153523ab99380d7aa4f8056555aeef6dfb1
+size 1045714

actions/locomotion_primitives/P13/session_004/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6e136d164000c2ed17b38c0abbef449f445a6291e3aea161d028483b588fec0
+size 89910

actions/locomotion_primitives/P13/session_004/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcc812b0935fe6fae7c63c34126998b17fdefbdb910439cb2e008e7850f77581
+size 510739

actions/locomotion_primitives/P13/session_004/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4f0688e1a5ecddacb19091ec9a5ad7d18d9e903e2b49f9eb01d1d4db6ac3327
+size 212296

actions/locomotion_primitives/P13/session_004/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74eddaff1973059b43ae2237af91aafb47643597736cfd119be98956f4d8ff78
+size 186550

actions/locomotion_primitives/P13/session_004/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:249b5941a04b553fc0488b171782cbb8c24ded50ad153e02345da16d555f730f
+size 47144827

actions/locomotion_primitives/P13/session_004/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d7fedc28eee6eb6f63aef2053b30a8bd020f5f01bbd2850b75ef25d5daa02c3
+size 47074816

actions/locomotion_primitives/P13/session_004/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f549baf3bca34a8cd746e6b20a562f8c89e52165be043a40c183b43ab7199683
+size 47157311

actions/locomotion_primitives/P13/session_004/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:409a141fd1e3e0c0419ca0ae94604e602ab2479db36d2049ea0b6a2f6eb7d496
+size 47094879

actions/locomotion_primitives/P13/session_004/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ca0d0ce4bbba64d60a310dcf486b1e6e4f239dac2e963f149e7f5fbe232fef0
+size 47105015

actions/locomotion_primitives/P13/session_004/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a67ef6943771611e786bdef18b1c29018ffe8d00bb89826ec36c58ccb71c7ae5
+size 47156019

actions/locomotion_primitives/P13/session_004/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84b084494a67d38147764e8f6df7f7e9c7365ca711b15e8da0c826c069be92c3
+size 25436976

actions/locomotion_primitives/P13/session_004/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e928b2a6f62a5440e4ebd53ac0039c7b98081ec1ad4ccd84105e435cc93ce449
+size 41136829

actions/locomotion_primitives/P13/session_004/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aec60ebd0ac43198b104c5e02bea49b384aeabbb529ca46c958db78199d0ddc8
+size 43897303

actions/locomotion_primitives/P13/session_005/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfff379856c48922cf0c86e91f935aeab93f198216f989700163d8557ff38620
+size 1645420

actions/locomotion_primitives/P13/session_005/meta.json

@@ -0,0 +1,520 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20260908/P13/20260908_014222_session14",
+ "session_id": "20260908_014222_session14",
+ "primitive": "P13",
+ "batch": "20260908",
+ "participant": "daihaoxiang",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e17c9efadb69e7b1",
+  "left": "cc5681142208e29a",
+  "right": "60a6f081bbe60b0d"
+ },
+ "generated_at_utc": "2026-10-14T10:58:06.147853+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": 189.025,
+  "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": -1.175225,
+  "rate": 0.0,
+  "global_lag_s": -1.175,
+  "peak_corr": 0.9865,
+  "reference_imu_first_sample_s": 4064.698638268,
+  "windows": {
+   "n_windows": 17,
+   "window_corr_median": 0.9940381226887126,
+   "drift_ppm": 4.003118944062263,
+   "drift_se_ppm": 1.2597830092199835,
+   "drift_ms_over_take": 0.7566561990768353,
+   "lag_scatter_ms": 0.239027020002963,
+   "lag_range_ms": 1.1350571398554
+  }
+ },
+ "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": 38310,
+    "n_gyro": 38304,
+    "t_start": -1.1963997561286042,
+    "t_end": 189.79747502687152
+   },
+   "imu_head_left": {
+    "n_acc": 38235,
+    "n_gyro": 38229,
+    "t_start": -1.0796040471284605,
+    "t_end": 189.96655938887145
+   },
+   "imu_wrist_right": {
+    "n_acc": 37892,
+    "n_gyro": 37902,
+    "t_start": 0.36714750987151,
+    "t_end": 187.62784768687126
+   },
+   "imu_wrist_left": {
+    "n_acc": 36998,
+    "n_gyro": 36996,
+    "t_start": 0.3186688308712555,
+    "t_end": 187.63078967787098
+   },
+   "mag_head": {
+    "n": 19113,
+    "t_start": -0.989339255128717,
+    "t_end": 190.13066533587173
+   },
+   "mag_wrist_right": {
+    "n": 18723,
+    "t_start": 0.38728953487155104,
+    "t_end": 187.60730305887157
+   },
+   "mag_wrist_left": {
+    "n": 18730,
+    "t_start": 0.33821455487143703,
+    "t_end": 187.62826575587152
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 4065.911135,
+    "frames": 5670,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0023423887986386703,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.0396138626699476,
+    "t_end": 189.0064358626698,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 4065.911113,
+    "frames": 5670,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0019489646456461974,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.039198438517113576,
+    "t_end": 189.00598743851717,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 4065.911128,
+    "frames": 5670,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0018171232386612972,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.039081597110206534,
+    "t_end": 189.00589259710998,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 4065.911143,
+    "frames": 5670,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017295646474508202,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.03900903851875137,
+    "t_end": 189.0058420385187,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 4065.911121,
+    "frames": 5670,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.001668932298833096,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.038926406170257,
+    "t_end": 189.00572640617085,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 4065.911102,
+    "frames": 5670,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017169377622902274,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.038955411633859516,
+    "t_end": 189.00573341163383,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 4066.229651,
+    "frames": 5617,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": 0.35578747387146814,
+    "t_end": 187.5558524738719,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 4066.267972,
+    "frames": 5616,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": 0.3941084738714644,
+    "t_end": 187.56077547387142,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-P13-S01-daihaoxiang-08p1-1.mp4",
+    "frames": 5671,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 189.0
+   }
+  }
+ },
+ "flags": [],
+ "sanity": {
+  "status": {
+   "structure": "WARN",
+   "markers": "WARN",
+   "timing": "WARN"
+  },
+  "verdict": "READY_WITH_WARNINGS",
+  "issues": [
+   "WARN M_SPIKES",
+   "WARN M_TRACKER_LABELS",
+   "WARN S_INDEX",
+   "WARN S_PARTICIPANT",
+   "WARN S_REPORT_TIMING",
+   "WARN T_IMU_PAIR",
+   "WARN T_UNITS"
+  ]
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-14T12:18:18.416640+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": [
+   [
+    0.9999992442,
+    -0.0012295027,
+    2.5019e-06
+   ],
+   [
+    -2.5019e-06,
+    -0.004069728,
+    -0.9999917186
+   ],
+   [
+    0.0012295027,
+    0.9999909628,
+    -0.004069728
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999999244,
+    -1.229503e-06,
+    2.502e-09,
+    0.0
+   ],
+   [
+    -2.502e-09,
+    -4.069728e-06,
+    -0.000999991719,
+    0.0
+   ],
+   [
+    1.229503e-06,
+    0.000999990963,
+    -4.069728e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20260908-morning",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.24358775042597203,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 38.8,
+   "headtop_p95_mm": 1792.8
+  },
+  "gravity_check": {
+   "static_samples": 770,
+   "g_world_mean_m_s2": [
+    0.0059,
+    0.2659,
+    9.7877
+   ],
+   "tilt_from_z_deg": 1.556,
+   "tilt_from_z_deg_before_levelling": 1.792,
+   "magnitude_m_s2": 9.7913
+  },
+  "rig_tracker_definition": "e17c9efadb69e7b1/20260908-morning/labels-530412/session-86456cb4626a8b4f",
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-15T03:50:15.010179+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": [
+      0.07634015381336212,
+      0.002672484377399087,
+      0.0367496982216835
+     ],
+     "LHandOut": [
+      0.05798541381955147,
+      0.043410930782556534,
+      0.0016575283370912075
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.048774734139442444,
+      -0.02803266979753971,
+      0.006384973879903555
+     ],
+     "RHandOut": [
+      -0.042777542024850845,
+      0.01816626265645027,
+      -0.028698241338133812
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 4.48,
+   "p95_frame": 6.25
+  },
+  "worst_markers": [
+   "LKneeIn 11mm",
+   "LShin 11mm",
+   "LKnee 11mm",
+   "LThigh 10mm",
+   "RThigh 9mm"
+  ],
+  "valid_fraction": 0.9996,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": -4.3,
+    "p5": -16.8
+   },
+   "frames_checked": 756,
+   "stature_mm": 1770.9
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 13.75
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 127.91,
+    "Q_rotvec": [
+     -2.08853,
+     -0.57735,
+     0.53732
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 119.8,
+    "opposite_sign_bend_deg": 72.2,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 0.69,
+    "hand_vs_marker_frame_deg": {
+     "before": 127.94,
+     "after": 0.69
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -116.99,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -1.6,
+       1.7
+      ]
+     },
+     "wrist_total_deg_median_after": 33.9,
+     "markers_on_forearm": [
+      "LElbow",
+      "LElbowIn",
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 57.98,
+    "Q_rotvec": [
+     0.96137,
+     0.05459,
+     0.31135
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 43.3,
+    "opposite_sign_bend_deg": 142.0,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.24,
+    "hand_vs_marker_frame_deg": {
+     "before": 57.99,
+     "after": 1.24
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -42.63,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -1.3,
+       1.3
+      ]
+     },
+     "wrist_total_deg_median_after": 10.4,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-15T03:50:18.401186+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "rig_tracker": {
+  "definition": "e17c9efadb69e7b1/20260908-morning/labels-530412/session-86456cb4626a8b4f",
+  "R_tracker0_imu0": [
+   [
+    -0.92979697,
+    -0.21690672,
+    0.29737025
+   ],
+   [
+    0.29077134,
+    -0.92821136,
+    0.2321114
+   ],
+   [
+    0.22567592,
+    0.30228323,
+    0.92611837
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.050754676269100914,
+   0.08367523121737647,
+   0.15027134133560138
+  ],
+  "rig_check": {
+   "gyro_samples": 16270,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 1.263
+  },
+  "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": "2026-10-18T18:47:52.004577+00:00",
+  "generated_by": "scripts/correct_processed_rig.py",
+  "remaining_gyro_frame_deg": 1.1785618276326921
+ },
+ "release": {
+  "release_path": "actions/locomotion_primitives/P13/session_005",
+  "family": "locomotion_primitives",
+  "primitive": "P13",
+  "source_session": "20260908/P13/20260908_014222_session14"
+ }
+}

actions/locomotion_primitives/P13/session_005/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eeea1001df25947c7469f8ae8498b3449651121b5d6d492c28d862c0e5cbac0
+size 1700342

actions/locomotion_primitives/P13/session_005/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5d8b393fe5ba34fd29c2fb010337c3f46f8c1f57aaf30bb4e55f3a213c22eca
+size 13081719

actions/locomotion_primitives/P13/session_005/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:223ddcc5f45bddcc4ce5de1669d742106cf4f03521e61c688cf6a5ffd1bc7338
+size 13215373

actions/locomotion_primitives/P13/session_005/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f7f1a0b39d075926cd2223f94a133fd1e0b053777812540a0622c5327ca2caf
+size 8757174

actions/locomotion_primitives/P13/session_005/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d73e37079b0e571cc1bcde87b826e27d1a0f940c7d73088fd09dab3f7f888990
+size 36520398

actions/locomotion_primitives/P13/session_005/raw/manifest.json

@@ -0,0 +1,230 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-09-09T06:26:22.440332+00:00",
+  "primitive_id": "P13",
+  "session_id": "20260908_014222_session14",
+  "upload_batch_id": "20260908",
+  "dataset_path": "EgoMotionActions/20260908/P13/20260908_014222_session14",
+  "segment": "auto/all",
+  "duration_s": 188.966822,
+  "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-P13-S01-daihaoxiang-08p1/mocap-P13-S01-daihaoxiang-08p1-1.mp4",
+      "mocap-P13-S01-daihaoxiang-08p1/mocap-P13-S01-daihaoxiang-08p1-Body0.bvh",
+      "mocap-P13-S01-daihaoxiang-08p1/mocap-P13-S01-daihaoxiang-08p1-Body0.csv",
+      "mocap-P13-S01-daihaoxiang-08p1/mocap-P13-S01-daihaoxiang-08p1-Body0.trc",
+      "mocap-P13-S01-daihaoxiang-08p1/mocap-P13-S01-daihaoxiang-08p1-Tracker0.csv",
+      "mocap-P13-S01-daihaoxiang-08p1/mocap-P13-S01-daihaoxiang-08p1-Tracker0.trc"
+    ],
+    "include_rrd": false,
+    "rrd_files": [],
+    "aligned_intersection": false
+  },
+  "files": [
+    {
+      "source": "audio_segment1.wav",
+      "packaged_as": "audio_segment1.wav",
+      "kind": "data",
+      "original_bytes": 36520398,
+      "packaged_bytes": 36520398,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P13-S01-daihaoxiang-08p1/mocap-P13-S01-daihaoxiang-08p1-1.mp4",
+      "packaged_as": "mocap/mocap-P13-S01-daihaoxiang-08p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 50507278,
+      "packaged_bytes": 50507278,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P13-S01-daihaoxiang-08p1/mocap-P13-S01-daihaoxiang-08p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-P13-S01-daihaoxiang-08p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 13556373,
+      "packaged_bytes": 13556373,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P13-S01-daihaoxiang-08p1/mocap-P13-S01-daihaoxiang-08p1-Body0.csv",
+      "packaged_as": "mocap/mocap-P13-S01-daihaoxiang-08p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 191363173,
+      "packaged_bytes": 191363173,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P13-S01-daihaoxiang-08p1/mocap-P13-S01-daihaoxiang-08p1-Body0.trc",
+      "packaged_as": "mocap/mocap-P13-S01-daihaoxiang-08p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 42333688,
+      "packaged_bytes": 42333688,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P13-S01-daihaoxiang-08p1/mocap-P13-S01-daihaoxiang-08p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-P13-S01-daihaoxiang-08p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 7309029,
+      "packaged_bytes": 7309029,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P13-S01-daihaoxiang-08p1/mocap-P13-S01-daihaoxiang-08p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-P13-S01-daihaoxiang-08p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 7036007,
+      "packaged_bytes": 7036007,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1982464,
+      "packaged_bytes": 1982464,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1912832,
+      "packaged_bytes": 1912832,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 503808,
+      "packaged_bytes": 503808,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 94746989,
+      "packaged_bytes": 94746989,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 94567633,
+      "packaged_bytes": 94567633,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 94718849,
+      "packaged_bytes": 94718849,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 94739341,
+      "packaged_bytes": 94739341,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 94695694,
+      "packaged_bytes": 94695694,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 94774948,
+      "packaged_bytes": 94774948,
+      "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": 1892352,
+      "packaged_bytes": 1892352,
+      "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": 475136,
+      "packaged_bytes": 475136,
+      "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": 91155288,
+      "packaged_bytes": 91155288,
+      "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": 1847296,
+      "packaged_bytes": 1847296,
+      "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": 475136,
+      "packaged_bytes": 475136,
+      "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": 89700526,
+      "packaged_bytes": 89700526,
+      "compressed_video": false
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 940379,
+      "packaged_bytes": 940337,
+      "compressed_video": false
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-P13-S01-daihaoxiang-08p1",
+    "action_id": "P13",
+    "collection_session_index": 1,
+    "participant": "daihaoxiang",
+    "repetition_count": 8
+  },
+  "upload_batch_created_at": "2026-09-09T14:27:36.857360+08:00",
+  "collection_site": {
+    "id": "site_00"
+  }
+}

actions/locomotion_primitives/P13/session_005/raw/mocap/Body0.bvh

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d427f31a85531b5f95c125cf5a8cdb0e1d29c96dfc55d14a83ba82c5cc0426c
+size 13556373

actions/locomotion_primitives/P13/session_005/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0747872be5ece944657195b965e230a06d08f60ce14c2475491cd8ca972abf46
+size 191363173

actions/locomotion_primitives/P13/session_005/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98cc1e0ad7f2d87c874a0c1aed9aa8337f553b6025a90fcaf5504994130daef1
+size 42333688

actions/locomotion_primitives/P13/session_005/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d37f3615a3820bb78d2e5e76570c80df8ac8e556bc5148b7614d239e9e1cfae2
+size 1982464

actions/locomotion_primitives/P13/session_005/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96c8e17a87849bb38744d773d35a9d2942f0a862ca2e9e6d111539923df99445
+size 1912832

actions/locomotion_primitives/P13/session_005/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4f478d2f64e65e5421960631b4b5a7d268829c731dcedc3071b7c17b3531c4c
+size 503808

actions/locomotion_primitives/P13/session_005/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59cdcffe38e0b001eb19e807e033662ed199c11b1b7c95a69404f586a6eff82e
+size 1847296

actions/locomotion_primitives/P13/session_005/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2f859e0eae2b779ce232f93e33e2a42eb4e883e262f53c1b6433d8936d8e2b7
+size 1892352

actions/locomotion_primitives/P13/session_005/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72ec89bdaa82b75642991e694b34efa896770b6805576d11dc9fab4fb9cb9337
+size 475136

actions/locomotion_primitives/P13/session_005/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfe35a795467c5aaea5d7a00c52b489816b095bf9c99aba447374b7fbc94b7f6
+size 475136

actions/locomotion_primitives/P13/session_005/scene/infer.json

@@ -0,0 +1,36 @@
+{
+  "model": "facebook/map-anything",
+  "views": 378,
+  "windows": 8,
+  "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": 0.0863,
+    "trans_p95_m": 0.2943,
+    "rot_median_deg": 0.512,
+    "rot_p95_deg": 1.241
+  }
+}

actions/locomotion_primitives/P13/session_005/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:670fe0ab94488f4ffe6a320d738c9f42047fc2b2b4153d6d4602a1dd8b40ea16
+size 398072752