Upload folder using huggingface_hub (part 857)

.gitattributes

@@ -34155,3 +34155,47 @@ actions/locomotion_primitives/P32/session_088/raw/sensors/robocap_mag_middle.db
 actions/locomotion_primitives/P32/session_088/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomotion_primitives/P32/session_088/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomotion_primitives/P32/session_088/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_089/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_089/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_089/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_089/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_089/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_089/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_089/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_089/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_090/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_090/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_090/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_090/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_090/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_090/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_090/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_090/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_091/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_091/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_091/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_091/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_091/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_091/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_091/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_091/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_092/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_092/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_092/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_092/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_092/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_092/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_092/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_092/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_092/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_093/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_093/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_093/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_093/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_093/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_093/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_093/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_093/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_093/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_094/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P32/session_094/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/locomotion_primitives/P32/session_089/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61d718e2d0e6ab93b7b82d8ec4a0f6fd4af2c482aa51435536c829ff00a026a8
+size 140070732

actions/locomotion_primitives/P32/session_089/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9bfff6f35688c60adb583e0f8063aebcb18ef76dc89e248328326ceafd8ce59
+size 30591600

actions/locomotion_primitives/P32/session_089/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4134fbfb89503036fef183f390e45fc7d2aeb7e95b3cf91ff68064e2d0d85a03
+size 1462272

actions/locomotion_primitives/P32/session_089/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1492ad47bdb96e5f1ab509d50f25018386b64bee9a1e620209c298073bff0ef3
+size 1409024

actions/locomotion_primitives/P32/session_089/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5a111034fa9755061e329593584d4ef17fcd60da3bfc83827d6b57443c8282b
+size 376832

actions/locomotion_primitives/P32/session_089/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bcf9bb9c7c6c33b4490f01089e34ce6d8cb72a922afecc45bbd5eba4ba0d345
+size 1351680

actions/locomotion_primitives/P32/session_089/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0371d1a48fb4728229405d2c28079f4534001642de094a068ffa0f56170b69e
+size 344064

actions/locomotion_primitives/P32/session_089/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3178f767e6d1c2d4072388a80b0b8d8f76e3a6722e8c42ea8612c0c0a1fddab8
+size 344064

actions/locomotion_primitives/P32/session_089/scene/infer.json

@@ -0,0 +1,36 @@
+{
+  "model": "facebook/map-anything",
+  "views": 278,
+  "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": 0.1303,
+    "trans_p95_m": 0.2469,
+    "rot_median_deg": 0.638,
+    "rot_p95_deg": 1.501
+  }
+}

actions/locomotion_primitives/P32/session_089/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4449c919832e91da804b2a94ee17db1368a536c820f7878d44fc182c299f47ec
+size 292658488

actions/locomotion_primitives/P32/session_089/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14f9b554914d2b2554b4360a64743990ff64a52e9a3acef32fa1b695223d610f
+size 1477929

actions/locomotion_primitives/P32/session_089/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a1851c04ad6051c6385e0f0a5bea34d9dcc3d9c04a7e0780caf14f71c0c9b45
+size 127349

actions/locomotion_primitives/P32/session_089/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fad5d3eaed048b2afda1ee37633fcd46e3f502eeff84616c5c4b36ba83e8a729
+size 745633

actions/locomotion_primitives/P32/session_089/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b8a858615e2cbfefda48701181c0ba23d80ce2ac105f926dd642cd658da9da4
+size 312837

actions/locomotion_primitives/P32/session_089/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bedc644bae95c88dc222671fbd37df0d1aa980dd73868737d203bb8b27f3b591
+size 273278

actions/locomotion_primitives/P32/session_089/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df12da956dd3690640289c155b3261c9c87698fe1f619733142ec5748a319878
+size 69622367

actions/locomotion_primitives/P32/session_089/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e08189b1a0fc0079fcca2282e70a01ac9e108a06e6b3af670b20361f420992d
+size 69629883

actions/locomotion_primitives/P32/session_089/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65bc3444a49f143efcf93e746caec33a9cd9beb97386d8b37da042563d7e3221
+size 69736235

actions/locomotion_primitives/P32/session_089/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5343af4844b24629b8d6df5607978c8b30cdac071892519bf1f09f343d743684
+size 69681401

actions/locomotion_primitives/P32/session_089/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74f7af6ca765ae77f344407cc6bade88a0469fc1c1bbc0344eeec84c53504c97
+size 69625338

actions/locomotion_primitives/P32/session_089/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9817584efaf1e4187a9e5056881e29b9cca6c409570bb904dd2f1a456bbc6e05
+size 69707078

actions/locomotion_primitives/P32/session_089/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3e634da45a4dfc47861617090f22cd8c53a02eae9cf81194dab1a00557090a2
+size 58655914

actions/locomotion_primitives/P32/session_089/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea0339dfb27ae5e0c08aa5e9fb4014de0e74ca71171d565ff6e0bde346c75054
+size 56958020

actions/locomotion_primitives/P32/session_089/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d53ded8be5fdeb1ecd3c5edd929ddde6615d94bbdad89f83cd3afbf6d810235
+size 66074338

actions/locomotion_primitives/P32/session_090/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83a35b6863d21261af1869f56c172ed405aebc236fa49c1b73e8df4723ad5405
+size 1126382

actions/locomotion_primitives/P32/session_090/meta.json

@@ -0,0 +1,514 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20260929/P32/20260929_074356_session134",
+ "session_id": "20260929_074356_session134",
+ "primitive": "P32",
+ "batch": "20260929",
+ "participant": "huruoxuan",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e17c9efadb69e7b1",
+  "left": "452031d7af00ef6f",
+  "right": "6ee5ee4472fe2ad7"
+ },
+ "generated_at_utc": "2026-10-14T11:31:10.224852+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": -1.168109,
+  "rate": 0.0,
+  "global_lag_s": -1.17,
+  "peak_corr": 0.9714,
+  "reference_imu_first_sample_s": 26870.711416305,
+  "windows": {
+   "n_windows": 11,
+   "window_corr_median": 0.9948546351209928,
+   "drift_ppm": 2.8601927825213442,
+   "drift_se_ppm": 2.695587235044634,
+   "drift_ms_over_take": 0.36901253882496216,
+   "lag_scatter_ms": 0.2557258588325009,
+   "lag_range_ms": 0.9809190555640779
+  }
+ },
+ "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": 26266,
+    "n_gyro": 26260,
+    "t_start": -1.1801219430888854,
+    "t_end": 129.76629321190936
+   },
+   "imu_head_left": {
+    "n_acc": 26219,
+    "n_gyro": 26213,
+    "t_start": -1.0717796250899814,
+    "t_end": 129.93313804491132
+   },
+   "imu_wrist_left": {
+    "n_acc": 25623,
+    "n_gyro": 25623,
+    "t_start": 0.20974119190956442,
+    "t_end": 126.75332226391052
+   },
+   "mag_head": {
+    "n": 13109,
+    "t_start": -0.9904278730899354,
+    "t_end": 130.08957068890973
+   },
+   "mag_wrist_right": {
+    "n": 12662,
+    "t_start": 0.12805391590897086,
+    "t_end": 126.73759030591114
+   },
+   "mag_wrist_left": {
+    "n": 12652,
+    "t_start": 0.21834893690917268,
+    "t_end": 126.72807375891003
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 26871.917063,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0023423887986386703,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.039880079708531024,
+    "t_end": 129.00653607970904,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 26871.917016,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0019489646456461974,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.039439655556783304,
+    "t_end": 129.0060956555573,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 26871.917046,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0018171232386612972,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.03933781414904258,
+    "t_end": 129.00599381414955,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 26871.91708,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017295646474508202,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.03928425555583415,
+    "t_end": 129.00592825555592,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 26871.91703,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.001668932298833096,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.03917362320877471,
+    "t_end": 129.00582962320928,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 26871.916989,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017169377622902274,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.03918062867175065,
+    "t_end": 129.00584762867234,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 26872.086088,
+    "frames": 3796,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": 0.20656269090992607,
+    "t_end": 126.70630269090921,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 26872.120141,
+    "frames": 3794,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": 0.24061569090932933,
+    "t_end": 126.67349369090894,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-P32-S13-huruoxuan-01p2-1.mp4",
+    "frames": 3871,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 129.0
+   }
+  }
+ },
+ "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_RIG_TRACKER"
+  ]
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-14T12:22:31.015716+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": 28.5,
+   "headtop_p95_mm": 1591.7
+  },
+  "gravity_check": {
+   "static_samples": 914,
+   "g_world_mean_m_s2": [
+    0.21,
+    -0.2551,
+    9.7411
+   ],
+   "tilt_from_z_deg": 1.943,
+   "tilt_from_z_deg_before_levelling": 2.206,
+   "magnitude_m_s2": 9.7467
+  },
+  "rig_tracker_definition": "e17c9efadb69e7b1/20260929-afternoon/labels-035142/session-598b0ef1c9c06152",
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-15T05:35:41.398107+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": [
+      0.07683016359806061,
+      0.010082523338496685,
+      0.02287929505109787
+     ],
+     "LHandOut": [
+      0.07849722355604172,
+      0.009363100863993168,
+      -0.02067306451499462
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.056575287133455276,
+      0.012194168753921986,
+      0.023896710947155952
+     ],
+     "RHandOut": [
+      -0.05069869011640549,
+      0.01881100982427597,
+      -0.0234694704413414
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 4.21,
+   "p95_frame": 5.69
+  },
+  "worst_markers": [
+   "LKneeIn 14mm",
+   "RKneeIn 12mm",
+   "RKnee 8mm",
+   "RThigh 7mm",
+   "LHeel 7mm"
+  ],
+  "valid_fraction": 1.0,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 14.4,
+    "p5": 7.5
+   },
+   "frames_checked": 517,
+   "stature_mm": 1572.8
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 12.18
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 174.71,
+    "Q_rotvec": [
+     -3.02081,
+     0.18698,
+     0.37096
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 171.2,
+    "opposite_sign_bend_deg": 15.5,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 0.55,
+    "hand_vs_marker_frame_deg": {
+     "before": 174.7,
+     "after": 0.55
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 171.09,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -1.3,
+       1.1
+      ]
+     },
+     "wrist_total_deg_median_after": 26.1,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 28.56,
+    "Q_rotvec": [
+     0.29133,
+     0.18497,
+     -0.35979
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 51.6,
+    "opposite_sign_bend_deg": 134.7,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 0.99,
+    "hand_vs_marker_frame_deg": {
+     "before": 28.66,
+     "after": 0.99
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -50.65,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -0.9,
+       0.9
+      ]
+     },
+     "wrist_total_deg_median_after": 9.5,
+     "markers_on_forearm": [
+      "RElbowIn",
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-15T05:35:44.158616+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "rig_tracker": {
+  "definition": "e17c9efadb69e7b1/20260929-afternoon/labels-035142/session-598b0ef1c9c06152",
+  "R_tracker0_imu0": [
+   [
+    -0.65399785,
+    0.09728288,
+    -0.7502152
+   ],
+   [
+    0.74061236,
+    0.28448864,
+    -0.60873602
+   ],
+   [
+    0.15420811,
+    -0.9537307,
+    -0.25810387
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   0.009745546678394149,
+   0.008059246018459998,
+   -0.035308509335805545
+  ],
+  "rig_check": {
+   "gyro_samples": 12118,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 1.554
+  },
+  "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": "2026-10-18T19:06:58.373207+00:00",
+  "generated_by": "scripts/correct_processed_rig.py",
+  "remaining_gyro_frame_deg": 1.6385087465649237
+ },
+ "release": {
+  "release_path": "actions/locomotion_primitives/P32/session_090",
+  "family": "locomotion_primitives",
+  "primitive": "P32",
+  "source_session": "20260929/P32/20260929_074356_session134"
+ }
+}

actions/locomotion_primitives/P32/session_090/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d7ec62b375d9992a70d058d2bf82e51cc5987a0dd2f7ad3cefb0378b94aab31
+size 1155309

actions/locomotion_primitives/P32/session_090/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f8acd89dc759abf949ab45dbcdafbb608350927efd7646b24761e2c363054b0
+size 8916922

actions/locomotion_primitives/P32/session_090/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40a7197109fbc665aa2560a0fb1653605a3f2a6c1b107e45be0db079f9cc95b7
+size 9001177

actions/locomotion_primitives/P32/session_090/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03d14274e5e14febf7b3d75597ea9db70ffa30e3bb5db130e2c82110af1e996c
+size 5989516

actions/locomotion_primitives/P32/session_090/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c939ad54ca611358f52546ce9e68be47a124b304071513ea68b4b4410d93a5e
+size 25002318

actions/locomotion_primitives/P32/session_090/raw/manifest.json

@@ -0,0 +1,233 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-09-29T12:33:26.568806+00:00",
+  "primitive_id": "P32",
+  "session_id": "20260929_074356_session134",
+  "upload_batch_id": "20260929",
+  "dataset_path": "EgoMotionActions/20260929/P32/20260929_074356_session134",
+  "segment": "auto/all",
+  "duration_s": 128.966656,
+  "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-P32-S13-huruoxuan-01p2/mocap-P32-S13-huruoxuan-01p2-1.mp4",
+      "mocap-P32-S13-huruoxuan-01p2/mocap-P32-S13-huruoxuan-01p2-Body0.bvh",
+      "mocap-P32-S13-huruoxuan-01p2/mocap-P32-S13-huruoxuan-01p2-Body0.csv",
+      "mocap-P32-S13-huruoxuan-01p2/mocap-P32-S13-huruoxuan-01p2-Body0.trc",
+      "mocap-P32-S13-huruoxuan-01p2/mocap-P32-S13-huruoxuan-01p2-Tracker0.csv",
+      "mocap-P32-S13-huruoxuan-01p2/mocap-P32-S13-huruoxuan-01p2-Tracker0.trc"
+    ],
+    "include_rrd": false,
+    "rrd_files": [],
+    "aligned_intersection": false
+  },
+  "files": [
+    {
+      "source": "audio_segment1.wav",
+      "packaged_as": "audio_segment1.wav",
+      "kind": "data",
+      "original_bytes": 25002318,
+      "packaged_bytes": 25002318,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P32-S13-huruoxuan-01p2/mocap-P32-S13-huruoxuan-01p2-1.mp4",
+      "packaged_as": "mocap/mocap-P32-S13-huruoxuan-01p2-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 52940507,
+      "packaged_bytes": 52940507,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P32-S13-huruoxuan-01p2/mocap-P32-S13-huruoxuan-01p2-Body0.bvh",
+      "packaged_as": "mocap/mocap-P32-S13-huruoxuan-01p2-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 9350269,
+      "packaged_bytes": 9350269,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P32-S13-huruoxuan-01p2/mocap-P32-S13-huruoxuan-01p2-Body0.csv",
+      "packaged_as": "mocap/mocap-P32-S13-huruoxuan-01p2-Body0.csv",
+      "kind": "data",
+      "original_bytes": 129975313,
+      "packaged_bytes": 129975313,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P32-S13-huruoxuan-01p2/mocap-P32-S13-huruoxuan-01p2-Body0.trc",
+      "packaged_as": "mocap/mocap-P32-S13-huruoxuan-01p2-Body0.trc",
+      "kind": "data",
+      "original_bytes": 28366882,
+      "packaged_bytes": 28366882,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P32-S13-huruoxuan-01p2/mocap-P32-S13-huruoxuan-01p2-Tracker0.csv",
+      "packaged_as": "mocap/mocap-P32-S13-huruoxuan-01p2-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 4966771,
+      "packaged_bytes": 4966771,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P32-S13-huruoxuan-01p2/mocap-P32-S13-huruoxuan-01p2-Tracker0.trc",
+      "packaged_as": "mocap/mocap-P32-S13-huruoxuan-01p2-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 4752772,
+      "packaged_bytes": 4752772,
+      "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": 1306624,
+      "packaged_bytes": 1306624,
+      "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": 64563143,
+      "packaged_bytes": 64563143,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64573943,
+      "packaged_bytes": 64573943,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64631613,
+      "packaged_bytes": 64631613,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64662993,
+      "packaged_bytes": 64662993,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64541358,
+      "packaged_bytes": 64541358,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64606779,
+      "packaged_bytes": 64606779,
+      "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": 1277952,
+      "packaged_bytes": 1277952,
+      "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": 327680,
+      "packaged_bytes": 327680,
+      "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": 53377709,
+      "packaged_bytes": 53377709,
+      "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": 327680,
+      "packaged_bytes": 327680,
+      "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": 62343687,
+      "packaged_bytes": 62343687,
+      "compressed_video": false
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 637675,
+      "packaged_bytes": 637619,
+      "compressed_video": false
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-P32-S13-huruoxuan-01p2",
+    "action_id": "P32",
+    "collection_session_index": 13,
+    "participant": "huruoxuan",
+    "repetition_count": 1
+  },
+  "upload_batch_created_at": "2026-09-29T20:57:33.934299+08:00",
+  "participant_gender": "female",
+  "participant_height_cm": 160,
+  "participant_weight_kg": 40,
+  "collection_site": {
+    "id": "site_00"
+  }
+}

actions/locomotion_primitives/P32/session_090/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02a01277a24ef68e35a75cb2333cf2a553d7bb0129fceb9777e84603839fab2f
+size 129975313

actions/locomotion_primitives/P32/session_090/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:321a9d5d9a5510728aec1ffe453f301c81ab414d3e334cc5a883d767ed442c7b
+size 28366882

actions/locomotion_primitives/P32/session_090/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4246b6460ec003c8926db06e91e255353e078c69da71e042edd3d886095335fc
+size 1359872

actions/locomotion_primitives/P32/session_090/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9c53d802361d291afbe1407ddd42c34c51541ab0eebe1f80d97b4a2cc324543
+size 1306624

actions/locomotion_primitives/P32/session_090/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ea2b0be58115a0251fe0258fc869aff63213a5d452c47ed2a71128d2ad54933
+size 352256

actions/locomotion_primitives/P32/session_090/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6ee971b9743021c61ee72b95b772c09b30782fcd00ca71b9c72268dea3b2055
+size 1277952

actions/locomotion_primitives/P32/session_090/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc9202e936b4246a3baff59f5fd383268d9e1b8b1d31e6ff0fb8e554b1171baa
+size 327680

actions/locomotion_primitives/P32/session_090/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e05a87ece71973ebed73cdeeb3e2c7051993acbbb60814609375412b7a83d5d0
+size 327680

actions/locomotion_primitives/P32/session_090/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": 0.1355,
+    "trans_p95_m": 0.2305,
+    "rot_median_deg": 0.699,
+    "rot_p95_deg": 1.307
+  }
+}

actions/locomotion_primitives/P32/session_090/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3454a043ad9cc9ff8f0072ed3dc8761a406dd4145fdc6d4f41f3d9b8b210cb2a
+size 273752971