Upload folder using huggingface_hub (part 231)

.gitattributes

@@ -7351,3 +7351,39 @@ actions/locomanipulation/LM18/session_022/raw/sensors/robowrist_imu_left.db filt
 actions/locomanipulation/LM18/session_022/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM18/session_022/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM18/session_022/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_023/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_023/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_023/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_023/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_023/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_023/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_023/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_023/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_023/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_024/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_024/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_024/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_024/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_024/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_024/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_024/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_024/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_024/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_025/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_025/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_025/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_025/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_025/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_025/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_025/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_025/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_026/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_026/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_026/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_026/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_026/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_026/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_026/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_026/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_027/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM18/session_027/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM18/session_023/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b50a1c2fa72a7a64d7b5b7a30c7b0fedd6b00ff2eaf82b966511b0aac842b152
+size 99509955

actions/locomanipulation/LM18/session_023/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b67afea221aaf9cc98821dfa78afd94bf4302295eb8d11e876bab2f8efa4a39f
+size 21816906

actions/locomanipulation/LM18/session_023/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e04a503d29e7f01b9809315dd63f46d6476ad9c070c860da3d7931f2c8d8744d
+size 1044480

actions/locomanipulation/LM18/session_023/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af704035a6634ee5005d4833fa846a1416e8a889554bb273fe5a7ceafe240d26
+size 1007616

actions/locomanipulation/LM18/session_023/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05a9acd8bfe40084f51b6e463e203c0483d04657e10d6116e5ead80c73d18758
+size 274432

actions/locomanipulation/LM18/session_023/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10795125b14001eb6175e32adc8f616cfc70b6c0df9a685ceeec79c52da8b529
+size 962560

actions/locomanipulation/LM18/session_023/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0417b60bcdb1807a4b20b3d4f3a8e86522e7b5700e93916122f5b20782c234cc
+size 991232

actions/locomanipulation/LM18/session_023/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a6e8e62b9e157a71594ec353974f36de2dfa6cd64a4d61b089e18778a4f4388
+size 258048

actions/locomanipulation/LM18/session_023/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e09718e4e74f9ad8b0e9cb408ed7578faf3afa1540455abac57605172d2db3dc
+size 258048

actions/locomanipulation/LM18/session_023/scene/infer.json

@@ -0,0 +1,36 @@
+{
+  "model": "facebook/map-anything",
+  "views": 196,
+  "windows": 5,
+  "cams": "left_front,right_front",
+  "stride_s": 1.0,
+  "size": [
+    518,
+    392
+  ],
+  "K": [
+    [
+      308.6641804819004,
+      0.0,
+      259.0
+    ],
+    [
+      0.0,
+      308.6641804819004,
+      196.0
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "pitch_deg": -20.0,
+  "hfov_deg": 80.0,
+  "pose_agreement_window_aligned": {
+    "trans_median_m": 0.1209,
+    "trans_p95_m": 0.3798,
+    "rot_median_deg": 0.716,
+    "rot_p95_deg": 1.601
+  }
+}

actions/locomanipulation/LM18/session_023/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9757d8c32018e9f907f38681cf33af2aa927f1e165e2f9793cdc319a538c57b
+size 172637404

actions/locomanipulation/LM18/session_023/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3836acea3ddba8d5e5c15eb004a7322c04507cb1609dd1cf85915a9e716aa5ea
+size 1058760

actions/locomanipulation/LM18/session_023/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41f8c12c10f48ca2b4d2cf64d6c9ce78ca2d79a92775ec3771d3fafbc317e185
+size 93041

actions/locomanipulation/LM18/session_023/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc2d9c6f64253a5615e04edb7ce8b0a9c92b5d04cfb265933ca377733b27cc1d
+size 1085794

actions/locomanipulation/LM18/session_023/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e524c428f4e654ea3217221ad6b85fe33b6549026034fbd14c157f0566a43d8
+size 208216

actions/locomanipulation/LM18/session_023/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce5825a84c8319d4cbb25b5a66bccacb8bd7067bd2439284683934a0109b5714
+size 197308

actions/locomanipulation/LM18/session_023/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72c271b9da0e0f908fa653c70ca90e136fa7848b3ab6210344f046b528308d28
+size 49629871

actions/locomanipulation/LM18/session_023/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37e455ff96a30ac7a25be1c48431338b3aa8f7d578588a1c758ab82240ec5d21
+size 49586223

actions/locomanipulation/LM18/session_023/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec3802ad3fdc1b99f999bbc1f9fdd89cc3e9759b51c868e1f628a0d99b29b08c
+size 49640602

actions/locomanipulation/LM18/session_023/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5e95bbcd9d78bf5500482cfc5b51dd805107bdf0a643677f1e50515100b776e
+size 49622428

actions/locomanipulation/LM18/session_023/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2bd2d369f81d3f0d9caa6337830e872cb0235fa8bb450b26836e7a9e96add9d
+size 49549526

actions/locomanipulation/LM18/session_023/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4544a4bb54e749efe5e75354949ec34f888790a167bd064af510b241e8769120
+size 49613893

actions/locomanipulation/LM18/session_023/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcc0307a5191199d6d2b3dac4abeea1275639a6f5fe50ed11f26754ab0b4f984
+size 44023290

actions/locomanipulation/LM18/session_023/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2feb8da252ab2b53d4882fe118cc43f0bd6b995b4e7e7cae64f4075aed25c3f
+size 31780524

actions/locomanipulation/LM18/session_023/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae2a480a87b93833abcc9b7be8f5232756fdc7a4b157d297343a524ad0d60523
+size 47501532

actions/locomanipulation/LM18/session_024/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f70670c4711f540475eb4d98a0216d8231c3759783700930c03ca4622646b691
+size 996356

actions/locomanipulation/LM18/session_024/meta.json

@@ -0,0 +1,534 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20260924/LM18/20260924_075520_session103",
+ "session_id": "20260924_075520_session103",
+ "primitive": "LM18",
+ "batch": "20260924",
+ "participant": "liujiaxin",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e17c9efadb69e7b1",
+  "left": "cc5681142208e29a",
+  "right": "60a6f081bbe60b0d"
+ },
+ "generated_at_utc": "2026-10-14T13:01:52.404753+00:00",
+ "generated_by": "scripts/sync_dataset.py",
+ "time_base": {
+  "definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
+  "mocap_rate_hz": 120.0,
+  "mocap_rate_fix": {
+   "declared_hz": 90.0,
+   "used_hz": 120.0,
+   "alignment_smoothing_sigma_frames": 3.0,
+   "peak_corr_at_declared_rate": 0.1393,
+   "note": "Nokov header rate wrong (captured at 120 Hz); marker noise elevated in this block, smooth before differentiating; prefer training split only"
+  },
+  "first_solved_frame": 0,
+  "duration_s": 114.025,
+  "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": -1.163754,
+  "rate": 0.0,
+  "global_lag_s": -1.16,
+  "peak_corr": 0.9722,
+  "reference_imu_first_sample_s": 27084.829198269,
+  "windows": {
+   "n_windows": 10,
+   "window_corr_median": 0.9987189654204276,
+   "drift_ppm": -87.7610109449043,
+   "drift_se_ppm": 50.74345601080009,
+   "drift_ms_over_take": -10.006217931234838,
+   "lag_scatter_ms": 4.122417854156954,
+   "lag_range_ms": 16.709086506751625
+  }
+ },
+ "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": 23260,
+    "n_gyro": 23254,
+    "t_start": -1.1757017212369627,
+    "t_end": 114.78441392076611
+   },
+   "imu_head_left": {
+    "n_acc": 23221,
+    "n_gyro": 23217,
+    "t_start": -1.0678175162359347,
+    "t_end": 114.95711574476418
+   },
+   "imu_wrist_right": {
+    "n_acc": 22524,
+    "n_gyro": 22525,
+    "t_start": 0.28290261476259015,
+    "t_end": 111.5964224047636
+   },
+   "imu_wrist_left": {
+    "n_acc": 21996,
+    "n_gyro": 21996,
+    "t_start": 0.2423792337646793,
+    "t_end": 111.60452963176404
+   },
+   "mag_head": {
+    "n": 11613,
+    "t_start": -0.9889372022374099,
+    "t_end": 115.13105393576525
+   },
+   "mag_wrist_right": {
+    "n": 11132,
+    "t_start": 0.2907893277658351,
+    "t_end": 111.60039962276615
+   },
+   "mag_wrist_left": {
+    "n": 11136,
+    "t_start": 0.25661426576307544,
+    "t_end": 111.60632571676588
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 27086.031461,
+    "frames": 3420,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0023423887986386703,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.04085110556088889,
+    "t_end": 114.00751810556149,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 27086.031416,
+    "frames": 3420,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0019489646456461974,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.04041268141345622,
+    "t_end": 114.00706868141397,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 27086.031446,
+    "frames": 3420,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0018171232386612972,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.0403108400057155,
+    "t_end": 114.00697784000631,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 27086.031483,
+    "frames": 3420,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017295646474508202,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.04026028140988469,
+    "t_end": 114.0069162814104,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 27086.031432,
+    "frames": 3420,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.001668932298833096,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.04014864906248672,
+    "t_end": 114.006804649063,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 27086.031394,
+    "frames": 3420,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017169377622902274,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.040158654526478266,
+    "t_end": 114.00682565452708,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 27086.221352,
+    "frames": 3341,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": 0.22839971676485415,
+    "t_end": 111.56140771676628,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 27086.272558,
+    "frames": 3339,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": 0.27960571676494705,
+    "t_end": 111.54588171676342,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-LM18-S06-liujiaxin-01p1-1.mp4",
+    "frames": 3421,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 114.0
+   }
+  }
+ },
+ "flags": [
+  "mocap rate corrected 90 -> 120 Hz (header wrong); alignment on smoothed Tracker0"
+ ],
+ "sanity": {
+  "status": {
+   "structure": "WARN",
+   "markers": "WARN",
+   "timing": "FAIL"
+  },
+  "verdict": "NOT_READY",
+  "issues": [
+   "FAIL T_CORR",
+   "WARN M_BODY_ID",
+   "WARN M_RATE",
+   "WARN M_SPIKES",
+   "WARN M_TRACKER_LABELS",
+   "WARN S_PARTICIPANT",
+   "WARN S_REPORT_TIMING",
+   "WARN T_LAG_OUTLIER",
+   "WARN T_UNITS"
+  ]
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-14T13:43:07.304402+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": [
+   [
+    1.0,
+    0.0,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   [
+    0.0,
+    1.0,
+    0.0
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.001,
+    0.0,
+    0.0,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    -0.001,
+    0.0
+   ],
+   [
+    0.0,
+    0.001,
+    0.0,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20260924-afternoon",
+  "block_assignment": "trc",
+  "tilt_removed_deg": null,
+  "plane_status": "contacts span only 0.85 m",
+  "floor": {
+   "sole_marker_p1_mm": -8.1,
+   "headtop_p95_mm": 1638.5
+  },
+  "gravity_check": {
+   "static_samples": 1021,
+   "g_world_mean_m_s2": [
+    -0.0763,
+    0.1467,
+    9.751
+   ],
+   "tilt_from_z_deg": 0.971,
+   "tilt_from_z_deg_before_levelling": 0.971,
+   "magnitude_m_s2": 9.7524
+  },
+  "rig_tracker_definition": "e17c9efadb69e7b1/20260924-afternoon/labels-035142/session-2f3394b370b1a54a",
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-15T00:56:02.994585+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": [
+      0.06238655000925064,
+      0.02535085938870907,
+      0.013049067929387093
+     ],
+     "LHandOut": [
+      0.050573527812957764,
+      -6.486010533990338e-05,
+      -0.035394031554460526
+     ],
+     "LWristIn": [
+      -0.0197772104293108,
+      0.010204384103417397,
+      0.031496088951826096
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.08250892907381058,
+      0.012106630951166153,
+      0.024281008169054985
+     ],
+     "RHandOut": [
+      -0.06801780313253403,
+      0.004012453835457563,
+      -0.034618671983480453
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 4.56,
+   "p95_frame": 7.22
+  },
+  "worst_markers": [
+   "WaistRSide 15mm",
+   "RKneeIn 8mm",
+   "WaistRFront 8mm",
+   "LKnee 8mm",
+   "RThigh 8mm"
+  ],
+  "valid_fraction": 0.9989,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": -12.9,
+    "p5": -34.8
+   },
+   "frames_checked": 456,
+   "stature_mm": 1614.2
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 11.67
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 158.0,
+    "Q_rotvec": [
+     2.66568,
+     -0.16413,
+     -0.68684
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 154.7,
+    "opposite_sign_bend_deg": 26.7,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 0.86,
+    "hand_vs_marker_frame_deg": {
+     "before": 158.02,
+     "after": 0.86
+    },
+    "markers_on_wrist": [
+     "LWristIn",
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 153.3,
+     "wrist_twist_deg_after": {
+      "median": 0.01,
+      "iqr": [
+       -2.0,
+       2.2
+      ]
+     },
+     "wrist_total_deg_median_after": 37.2,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1367
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 7.22,
+    "Q_rotvec": [
+     -0.01727,
+     0.04352,
+     -0.11698
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 8.0,
+    "opposite_sign_bend_deg": 174.3,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.02,
+    "hand_vs_marker_frame_deg": {
+     "before": 6.92,
+     "after": 1.02
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 4.99,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -2.1,
+       2.0
+      ]
+     },
+     "wrist_total_deg_median_after": 6.4,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1367
+   },
+   "generated_at_utc": "2026-10-15T00:56:05.894898+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "rig_tracker": {
+  "definition": "e17c9efadb69e7b1/20260924-afternoon/labels-035142/session-2f3394b370b1a54a",
+  "R_tracker0_imu0": [
+   [
+    0.62616149,
+    -0.05487116,
+    0.77776021
+   ],
+   [
+    0.77875964,
+    0.09281806,
+    -0.62041778
+   ],
+   [
+    -0.03814716,
+    0.99416999,
+    0.10085054
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.006897020592503641,
+   0.0006628826116105549,
+   0.03702718480131823
+  ],
+  "rig_check": {
+   "gyro_samples": 4008,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 1.133
+  },
+  "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": "2026-10-18T19:03:37.243450+00:00",
+  "generated_by": "scripts/correct_processed_rig.py",
+  "remaining_gyro_frame_deg": 0.9990950987052337
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM18/session_024",
+  "family": "locomanipulation",
+  "primitive": "LM18",
+  "source_session": "20260924/LM18/20260924_075520_session103"
+ }
+}

actions/locomanipulation/LM18/session_024/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32aafb592178611a5b7d760ffd50d3cc859013f90b1f09b6e6d1615ec9aaf721
+size 1021768

actions/locomanipulation/LM18/session_024/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f994c8ec1268083c1cb19e737665b45e5210ed138c571dc0fa391bf4f27e660
+size 7981409

actions/locomanipulation/LM18/session_024/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01b9cce9db7a2b472f55f7620f29795926e08f9ef882cebf821b682b2c87443b
+size 8078873

actions/locomanipulation/LM18/session_024/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b44f24ffd8391556df9bac9fda1f1d67bf20538a653a16d4627e5409b100a348
+size 5301704

actions/locomanipulation/LM18/session_024/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e82021d603394497233c4090fee7faf48c63e820b1230e70d77af5a041264a67
+size 22120398

actions/locomanipulation/LM18/session_024/raw/manifest.json

@@ -0,0 +1,230 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-09-24T12:50:01.663213+00:00",
+  "primitive_id": "LM18",
+  "session_id": "20260924_075520_session103",
+  "upload_batch_id": "20260924",
+  "dataset_path": "EgoMotionActions/20260924/LM18/20260924_075520_session103",
+  "segment": "auto/all",
+  "duration_s": 113.966667,
+  "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-LM18-S06-liujiaxin-01p1/mocap-LM18-S06-liujiaxin-01p1-1.mp4",
+      "mocap-LM18-S06-liujiaxin-01p1/mocap-LM18-S06-liujiaxin-01p1-Body0.bvh",
+      "mocap-LM18-S06-liujiaxin-01p1/mocap-LM18-S06-liujiaxin-01p1-Body0.csv",
+      "mocap-LM18-S06-liujiaxin-01p1/mocap-LM18-S06-liujiaxin-01p1-Body0.trc",
+      "mocap-LM18-S06-liujiaxin-01p1/mocap-LM18-S06-liujiaxin-01p1-Tracker0.csv",
+      "mocap-LM18-S06-liujiaxin-01p1/mocap-LM18-S06-liujiaxin-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": 22120398,
+      "packaged_bytes": 22120398,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM18-S06-liujiaxin-01p1/mocap-LM18-S06-liujiaxin-01p1-1.mp4",
+      "packaged_as": "mocap/mocap-LM18-S06-liujiaxin-01p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 51196472,
+      "packaged_bytes": 51196472,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM18-S06-liujiaxin-01p1/mocap-LM18-S06-liujiaxin-01p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-LM18-S06-liujiaxin-01p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 8163870,
+      "packaged_bytes": 8163870,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM18-S06-liujiaxin-01p1/mocap-LM18-S06-liujiaxin-01p1-Body0.csv",
+      "packaged_as": "mocap/mocap-LM18-S06-liujiaxin-01p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 114611850,
+      "packaged_bytes": 114611850,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM18-S06-liujiaxin-01p1/mocap-LM18-S06-liujiaxin-01p1-Body0.trc",
+      "packaged_as": "mocap/mocap-LM18-S06-liujiaxin-01p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 25084831,
+      "packaged_bytes": 25084831,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM18-S06-liujiaxin-01p1/mocap-LM18-S06-liujiaxin-01p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-LM18-S06-liujiaxin-01p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 4350939,
+      "packaged_bytes": 4350939,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM18-S06-liujiaxin-01p1/mocap-LM18-S06-liujiaxin-01p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-LM18-S06-liujiaxin-01p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 4185552,
+      "packaged_bytes": 4185552,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1200128,
+      "packaged_bytes": 1200128,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1155072,
+      "packaged_bytes": 1155072,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 315392,
+      "packaged_bytes": 315392,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 57107800,
+      "packaged_bytes": 57107800,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 57066702,
+      "packaged_bytes": 57066702,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 57113755,
+      "packaged_bytes": 57113755,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 57049862,
+      "packaged_bytes": 57049862,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 57102529,
+      "packaged_bytes": 57102529,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 57159871,
+      "packaged_bytes": 57159871,
+      "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": 1118208,
+      "packaged_bytes": 1118208,
+      "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": 290816,
+      "packaged_bytes": 290816,
+      "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": 50826166,
+      "packaged_bytes": 50826166,
+      "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": 1097728,
+      "packaged_bytes": 1097728,
+      "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": 290816,
+      "packaged_bytes": 290816,
+      "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": 54667849,
+      "packaged_bytes": 54667849,
+      "compressed_video": false
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 28333425,
+      "packaged_bytes": 28333369,
+      "compressed_video": false
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-LM18-S06-liujiaxin-01p1",
+    "action_id": "LM18",
+    "collection_session_index": 6,
+    "participant": "liujiaxin",
+    "repetition_count": 1
+  },
+  "upload_batch_created_at": "2026-09-24T21:09:35.127651+08:00",
+  "collection_site": {
+    "id": "site_00"
+  }
+}

actions/locomanipulation/LM18/session_024/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09e3ca40b77bb648712a29e893e4e5837355bbaa691fae4efac64e7ec4b91246
+size 114611850

actions/locomanipulation/LM18/session_024/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b5f3a8b93bab8d72509c958f493a85d862f59f7f516d4de1bfbed3233a7818c
+size 25084831

actions/locomanipulation/LM18/session_024/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2589ae42367a494bb68e07f26835235be861b905a11f2c9bde296f31fb07d04
+size 1200128

actions/locomanipulation/LM18/session_024/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:925ea1c7ad4b1a7e949b9099d0eebf01fd25e0c390105cb48c2e389d27ba38e3
+size 1155072

actions/locomanipulation/LM18/session_024/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f8789833c7da81a196a58bc99fe4c6163cc7f310986bd272a183163fdfe1e57
+size 315392

actions/locomanipulation/LM18/session_024/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ef3588febfc36812e915b410d7454eadf3a412c55d4870d1da8c7554561ca88
+size 1097728

actions/locomanipulation/LM18/session_024/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c02d40ba083cad0e0140fda35e97536204b23bc6e783a6b6d76f6ca5898a75f
+size 1118208

actions/locomanipulation/LM18/session_024/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:560de706ecf94a5878696f9edd558274b9fa3fd2d11aa8eb06fa99467862456f
+size 290816

actions/locomanipulation/LM18/session_024/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5afa261610147283c0c3a5866a887beb7ad8495616e9fc83e8dc094db5bc6cb
+size 290816

actions/locomanipulation/LM18/session_024/scene/infer.json

@@ -0,0 +1,36 @@
+{
+  "model": "facebook/map-anything",
+  "views": 228,
+  "windows": 5,
+  "cams": "left_front,right_front",
+  "stride_s": 1.0,
+  "size": [
+    518,
+    392
+  ],
+  "K": [
+    [
+      308.6641804819004,
+      0.0,
+      259.0
+    ],
+    [
+      0.0,
+      308.6641804819004,
+      196.0
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "pitch_deg": -20.0,
+  "hfov_deg": 80.0,
+  "pose_agreement_window_aligned": {
+    "trans_median_m": 0.1016,
+    "trans_p95_m": 0.3668,
+    "rot_median_deg": 0.633,
+    "rot_p95_deg": 1.603
+  }
+}

actions/locomanipulation/LM18/session_024/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d58ec54760dadcb824d52346d8f538a6f058869346fdd68e5e09a41e738f1c4
+size 210748108