Upload folder using huggingface_hub (part 313)

.gitattributes

@@ -10724,3 +10724,53 @@ actions/locomanipulation/LM30/session_008/raw/sensors/robowrist_mag_left.db filt
 actions/locomanipulation/LM30/session_008/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM30/session_009/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM30/session_009/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_009/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_009/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_009/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_009/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_009/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_009/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_010/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_010/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_010/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_010/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_010/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_010/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_010/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_010/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_011/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_011/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_011/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_011/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_011/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_011/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_011/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_011/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_012/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_012/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_012/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_012/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_012/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_012/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_012/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_012/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_013/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_013/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_013/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_013/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_013/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_013/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_013/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_013/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_013/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_014/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_014/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_014/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_014/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_014/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_014/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_014/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_014/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_014/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_015/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_015/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM30/session_009/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a7153877ba96c91717d27d5b1332cb69e1a63042cb57614c08dc13be86c41b8
+size 1404928

actions/locomanipulation/LM30/session_009/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23e794e1a2cdb659be014192c2ac92e977bb132370a1647f2fe8741881c55014
+size 1347584

actions/locomanipulation/LM30/session_009/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:318aa820725355560eea6b1898a893808da0f3412d47ecde55ccdb02d6b77355
+size 364544

actions/locomanipulation/LM30/session_009/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eba1d219a493a8f741c47a28330524a02cf8a3d86bbb358557f7f52a25f639c8
+size 1327104

actions/locomanipulation/LM30/session_009/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d428fff82ed8a7abd5882c58b058aea8625a51401dbe3c9f672cc7e867d5375b
+size 339968

actions/locomanipulation/LM30/session_009/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4f7d4db33b2432e8ded44703d72917f8318796a172ed99df2881b87c97ae430
+size 335872

actions/locomanipulation/LM30/session_009/scene/infer.json

@@ -0,0 +1,36 @@
+{
+  "model": "facebook/map-anything",
+  "views": 268,
+  "windows": 6,
+  "cams": "left_front,right_front",
+  "stride_s": 1.0,
+  "size": [
+    518,
+    392
+  ],
+  "K": [
+    [
+      308.6641804819004,
+      0.0,
+      259.0
+    ],
+    [
+      0.0,
+      308.6641804819004,
+      196.0
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "pitch_deg": -20.0,
+  "hfov_deg": 80.0,
+  "pose_agreement_window_aligned": {
+    "trans_median_m": 0.0612,
+    "trans_p95_m": 0.2548,
+    "rot_median_deg": 0.538,
+    "rot_p95_deg": 1.54
+  }
+}

actions/locomanipulation/LM30/session_009/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac58bd8a4c4275b8101116e4eec8022590bad986a7b23a4a4ff449824db2ea84
+size 231899507

actions/locomanipulation/LM30/session_009/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84d2edfa68867ba534d245828149700a068843ac56d4100a9cf9b81a93abe0a6
+size 1505081

actions/locomanipulation/LM30/session_009/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca1970e41b18d22d29a0307ccd04cab90e3190612ded51113b0780696f6528fb
+size 129759

actions/locomanipulation/LM30/session_009/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d2a1d755bce5612dd30e304e7c7c681e992fbb117996e1847605148c75664a8
+size 761802

actions/locomanipulation/LM30/session_009/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:433cf91314ce21ce6a9af2a12e07089b2bb6a5bdcbd597acebbbfe93a4dc2360
+size 311582

actions/locomanipulation/LM30/session_009/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:999bb7f5a052ee51a1b9bfa95ce3ffa6b81a37f50811449769682718b4a4bcb4
+size 275501

actions/locomanipulation/LM30/session_009/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:536df5254372fe2a68c3dff5251452ca401435ddd7f9ca50686fef0391c3971d
+size 67117024

actions/locomanipulation/LM30/session_009/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ae16015c672371cd3fe422edbc2d54217b8b0abba7f6984d596ec6dc5c64645
+size 67083376

actions/locomanipulation/LM30/session_009/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2bfac2e634dad85ceb03091c86f5354edcef795aa860d910347a159cda47670
+size 67129767

actions/locomanipulation/LM30/session_009/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f84b6069ce400d78ae59a1f9b6498fe227ffb2ee0dbc43b20ba29aa84561769b
+size 67116514

actions/locomanipulation/LM30/session_009/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0eb2b2b9c980cc64b989871fb7c07ed587e2671fc61c70a37e1bc7e3ac14b381
+size 67071728

actions/locomanipulation/LM30/session_009/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e69476dd379d94b32262f83e34b30278a2486b9faac1969aa4275a33a097f193
+size 67130363

actions/locomanipulation/LM30/session_009/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9683d8c7f4bd0aabd0f98a97b48124802e676189c6c899aa849a6a173d56892
+size 63940107

actions/locomanipulation/LM30/session_009/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:190e7f439f5cc172b7962494a49f2683b498860fd7296ff3b47107a4a2465369
+size 51734824

actions/locomanipulation/LM30/session_009/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da94934abbd6f43191e79664f8c1353018adb820083a88592b685eb8a481e43d
+size 47065879

actions/locomanipulation/LM30/session_010/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:346d867b74d55a4b5ade4272a40aece22312558bd92e77c4e27c9af571c9fd8f
+size 1134644

actions/locomanipulation/LM30/session_010/meta.json

@@ -0,0 +1,528 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20260924/LM30/20260924_011748_session10",
+ "session_id": "20260924_011748_session10",
+ "primitive": "LM30",
+ "batch": "20260924",
+ "participant": "gaoziyue",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e17c9efadb69e7b1",
+  "left": "452031d7af00ef6f",
+  "right": "6ee5ee4472fe2ad7"
+ },
+ "generated_at_utc": "2026-10-14T11:26:26.179028+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": -1.162956,
+  "rate": 0.0,
+  "global_lag_s": -1.165,
+  "peak_corr": 0.9944,
+  "reference_imu_first_sample_s": 3232.831544659,
+  "windows": {
+   "n_windows": 11,
+   "window_corr_median": 0.9978422146157079,
+   "drift_ppm": -34.60355159534916,
+   "drift_se_ppm": 21.334788110823563,
+   "drift_ms_over_take": -4.464434881659964,
+   "lag_scatter_ms": 2.0239957148184984,
+   "lag_range_ms": 8.279166887753986
+  }
+ },
+ "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": 26269,
+    "n_gyro": 26263,
+    "t_start": -1.1795606562950545,
+    "t_end": 129.78031655170525
+   },
+   "imu_head_left": {
+    "n_acc": 26223,
+    "n_gyro": 26217,
+    "t_start": -1.0726248652949855,
+    "t_end": 129.95044173370525
+   },
+   "imu_wrist_left": {
+    "n_acc": 25936,
+    "n_gyro": 25950,
+    "t_start": 0.22555019870514825,
+    "t_end": 128.308243197705
+   },
+   "mag_head": {
+    "n": 13111,
+    "t_start": -0.9892373652946864,
+    "t_end": 130.11076653070495
+   },
+   "mag_wrist_right": {
+    "n": 12809,
+    "t_start": 0.22957085770530994,
+    "t_end": 128.30860270370522
+   },
+   "mag_wrist_left": {
+    "n": 12808,
+    "t_start": 0.23412676570523927,
+    "t_end": 128.30356901070536
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 3234.032167,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0023423887986386703,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.040008649503759264,
+    "t_end": 129.00666464950382,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 3234.032112,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0019489646456461974,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.0395602253506675,
+    "t_end": 129.00621622535073,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 3234.03215,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0018171232386612972,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.039466383943816075,
+    "t_end": 129.00612238394388,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 3234.032183,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017295646474508202,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.03941182535254284,
+    "t_end": 129.00605582535263,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 3234.032128,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.001668932298833096,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.039296193003790725,
+    "t_end": 129.00595219300385,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 3234.032086,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017169377622902274,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.03930219846779237,
+    "t_end": 129.00596919846794,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 3234.21698,
+    "frames": 3842,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": 0.2224792607053112,
+    "t_end": 128.25529226070512,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 3234.327539,
+    "frames": 3839,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": 0.3330382607050504,
+    "t_end": 128.2653952607052,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-LM30-S01-gaoziyue-01p2-1.mp4",
+    "frames": 3871,
+    "fps": 60.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 64.5
+   }
+  }
+ },
+ "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_FLOOR_SHIFT",
+   "WARN M_SPIKES",
+   "WARN M_TRACKER_LABELS",
+   "WARN S_PARTICIPANT",
+   "WARN S_REPORT_TIMING",
+   "WARN S_VIDEO_FPS",
+   "WARN T_EMPTY"
+  ]
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-14T13:43:09.573858+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-morning",
+  "block_assignment": "trc",
+  "tilt_removed_deg": null,
+  "plane_status": "contacts span only 0.91 m",
+  "floor": {
+   "sole_marker_p1_mm": 56.5,
+   "headtop_p95_mm": 1666.1
+  },
+  "gravity_check": {
+   "static_samples": 2038,
+   "g_world_mean_m_s2": [
+    0.2047,
+    -0.3292,
+    9.7448
+   ],
+   "tilt_from_z_deg": 2.278,
+   "tilt_from_z_deg_before_levelling": 2.278,
+   "magnitude_m_s2": 9.7525
+  },
+  "rig_tracker_definition": "e17c9efadb69e7b1/20260924-morning/labels-253140/session-07d6de39d25c509b",
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-15T01:07:29.772996+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": [
+      0.055438872426748276,
+      0.015712134540081024,
+      0.016273783519864082
+     ],
+     "LHandOut": [
+      0.053014617413282394,
+      0.015133090317249298,
+      -0.02831568755209446
+     ],
+     "LWristOut": [
+      -0.0032580902334302664,
+      0.016168029978871346,
+      -0.022259805351495743
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.04490562155842781,
+      0.014507285319268703,
+      0.016233015805482864
+     ],
+     "RHandOut": [
+      -0.044357892125844955,
+      0.020895911380648613,
+      -0.03198816999793053
+     ],
+     "RWristOut": [
+      0.014246844686567783,
+      0.029307419434189796,
+      -0.016798879951238632
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 5.44,
+   "p95_frame": 11.94
+  },
+  "worst_markers": [
+   "LKneeIn 18mm",
+   "RThigh 13mm",
+   "WaistRSide 12mm",
+   "WaistLSide 12mm",
+   "WaistRFront 11mm"
+  ],
+  "valid_fraction": 1.0,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 40.1,
+    "p5": 27.1
+   },
+   "frames_checked": 517,
+   "stature_mm": 1598.8
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 12.73
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 175.13,
+    "Q_rotvec": [
+     -3.01031,
+     -0.02364,
+     0.52983
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 158.8,
+    "opposite_sign_bend_deg": 28.0,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.8,
+    "hand_vs_marker_frame_deg": {
+     "before": 175.15,
+     "after": 1.8
+    },
+    "markers_on_wrist": [
+     "LWristOut",
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 158.46,
+     "wrist_twist_deg_after": {
+      "median": 0.04,
+      "iqr": [
+       -2.9,
+       5.8
+      ]
+     },
+     "wrist_total_deg_median_after": 25.3,
+     "markers_on_forearm": [
+      "LElbow",
+      "LElbowIn",
+      "LForearm",
+      "LWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 25.93,
+    "Q_rotvec": [
+     0.254,
+     0.29268,
+     -0.23388
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 34.1,
+    "opposite_sign_bend_deg": 163.5,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.35,
+    "hand_vs_marker_frame_deg": {
+     "before": 26.01,
+     "after": 2.35
+    },
+    "markers_on_wrist": [
+     "RWristOut",
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -24.07,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -2.1,
+       2.1
+      ]
+     },
+     "wrist_total_deg_median_after": 23.1,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-15T01:07:32.743434+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "rig_tracker": {
+  "definition": "e17c9efadb69e7b1/20260924-morning/labels-253140/session-07d6de39d25c509b",
+  "R_tracker0_imu0": [
+   [
+    -0.57247323,
+    0.08729676,
+    -0.81526295
+   ],
+   [
+    0.81556726,
+    0.16298616,
+    -0.55523468
+   ],
+   [
+    0.08440639,
+    -0.98275876,
+    -0.1645016
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   0.008267953871435342,
+   0.003078870553886977,
+   -0.03660453238776329
+  ],
+  "rig_check": {
+   "gyro_samples": 4937,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 0.514
+  },
+  "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": "2026-10-18T19:03:45.691224+00:00",
+  "generated_by": "scripts/correct_processed_rig.py",
+  "remaining_gyro_frame_deg": 0.6457584656191451
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM30/session_010",
+  "family": "locomanipulation",
+  "primitive": "LM30",
+  "source_session": "20260924/LM30/20260924_011748_session10"
+ }
+}

actions/locomanipulation/LM30/session_010/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6e47d8ae26c0e3c24db76369eecc03a939a5fccde0ec2dfaafc7fa338b2eead
+size 1162432

actions/locomanipulation/LM30/session_010/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ec80252b43ba5556ec3a55039bb7209748a2d24d293d0cce607b06938b956f0
+size 8947489

actions/locomanipulation/LM30/session_010/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4309a1a99e195b04941d4f395eb5be18dcd8e79a1055789d9b73c086158ca1b5
+size 9098229

actions/locomanipulation/LM30/session_010/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d2f9b920767a0ce4c89d1fe62dc0e170c88b56c02972fae0388b20414a17acc
+size 5983109

actions/locomanipulation/LM30/session_010/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fac397dc22eeb1f5a93563445b169ceba2058a4632804ffc0435b365062143d6
+size 25000398

actions/locomanipulation/LM30/session_010/raw/manifest.json

@@ -0,0 +1,253 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-09-24T21:29:55.146617+00:00",
+  "primitive_id": "LM30",
+  "session_id": "20260924_011748_session10",
+  "upload_batch_id": "20260924",
+  "dataset_path": "EgoMotionActions/20260924/LM30/20260924_011748_session10",
+  "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-LM30-S01-gaoziyue-01p2/mocap-LM30-S01-gaoziyue-01p2-1.mp4",
+      "mocap-LM30-S01-gaoziyue-01p2/mocap-LM30-S01-gaoziyue-01p2-Body0.bvh",
+      "mocap-LM30-S01-gaoziyue-01p2/mocap-LM30-S01-gaoziyue-01p2-Body0.csv",
+      "mocap-LM30-S01-gaoziyue-01p2/mocap-LM30-S01-gaoziyue-01p2-Body0.trc",
+      "mocap-LM30-S01-gaoziyue-01p2/mocap-LM30-S01-gaoziyue-01p2-Tracker0.csv",
+      "mocap-LM30-S01-gaoziyue-01p2/mocap-LM30-S01-gaoziyue-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": 25000398,
+      "packaged_bytes": 25000398,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM30-S01-gaoziyue-01p2/mocap-LM30-S01-gaoziyue-01p2-1.mp4",
+      "packaged_as": "mocap/mocap-LM30-S01-gaoziyue-01p2-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 57244645,
+      "packaged_bytes": 57244645,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM30-S01-gaoziyue-01p2/mocap-LM30-S01-gaoziyue-01p2-Body0.bvh",
+      "packaged_as": "mocap/mocap-LM30-S01-gaoziyue-01p2-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 9285825,
+      "packaged_bytes": 9285825,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM30-S01-gaoziyue-01p2/mocap-LM30-S01-gaoziyue-01p2-Body0.csv",
+      "packaged_as": "mocap/mocap-LM30-S01-gaoziyue-01p2-Body0.csv",
+      "kind": "data",
+      "original_bytes": 128953878,
+      "packaged_bytes": 128953878,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM30-S01-gaoziyue-01p2/mocap-LM30-S01-gaoziyue-01p2-Body0.trc",
+      "packaged_as": "mocap/mocap-LM30-S01-gaoziyue-01p2-Body0.trc",
+      "kind": "data",
+      "original_bytes": 28466689,
+      "packaged_bytes": 28466689,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM30-S01-gaoziyue-01p2/mocap-LM30-S01-gaoziyue-01p2-Tracker0.csv",
+      "packaged_as": "mocap/mocap-LM30-S01-gaoziyue-01p2-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 4895842,
+      "packaged_bytes": 4895842,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM30-S01-gaoziyue-01p2/mocap-LM30-S01-gaoziyue-01p2-Tracker0.trc",
+      "packaged_as": "mocap/mocap-LM30-S01-gaoziyue-01p2-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 4734865,
+      "packaged_bytes": 4734865,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1355776,
+      "packaged_bytes": 1355776,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1298432,
+      "packaged_bytes": 1298432,
+      "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": 64656260,
+      "packaged_bytes": 64656260,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64606482,
+      "packaged_bytes": 64606482,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64719041,
+      "packaged_bytes": 64719041,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64649306,
+      "packaged_bytes": 64649306,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64579517,
+      "packaged_bytes": 64579517,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64660046,
+      "packaged_bytes": 64660046,
+      "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": 1290240,
+      "packaged_bytes": 1290240,
+      "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": 331776,
+      "packaged_bytes": 331776,
+      "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": 51212564,
+      "packaged_bytes": 51212564,
+      "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": 331776,
+      "packaged_bytes": 331776,
+      "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": 50364398,
+      "packaged_bytes": 50364398,
+      "compressed_video": false
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 746206,
+      "packaged_bytes": 746152,
+      "compressed_video": false
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-LM30-S01-gaoziyue-01p2",
+    "action_id": "LM30",
+    "collection_session_index": 1,
+    "participant": "gaoziyue",
+    "repetition_count": 1
+  },
+  "upload_batch_created_at": "2026-09-25T05:47:34.158363+08:00",
+  "objects": [
+    {
+      "name": "Cushion",
+      "num": 1,
+      "scan_file": "3dobjs/Cushion.objcap/models/软垫.usdz",
+      "rigid_names": [
+        "Cushion0"
+      ]
+    },
+    {
+      "name": "LittleBox",
+      "num": 6,
+      "scan_file": "3dobjs/LittleBox.objcap/models/box[0, 1, 2].usdz",
+      "rigid_names": [
+        "LittleBox1",
+        "LittleBox2",
+        "LittleBox3",
+        "LittleBox4",
+        "LittleBox5",
+        "LittleBox6"
+      ]
+    }
+  ],
+  "collection_site": {
+    "id": "site_00"
+  }
+}

actions/locomanipulation/LM30/session_010/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:799a09211081990ad3ca6d8ce493aa47ffaeda23e55081fd0c814730468c0f9a
+size 128953878

actions/locomanipulation/LM30/session_010/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d6d2be4b33e62e0876175b67adad97f5963715df221b5b3ade43bb9c3321a61
+size 28466689

actions/locomanipulation/LM30/session_010/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0213388d8d8ad74cbddd318c8dffd09b4558de9dcb7c0b87c3d7cf56a745bfd0
+size 1355776

actions/locomanipulation/LM30/session_010/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:084270e39557e0a69e9729625b1d93f00fd67c27dfa77c0fe217063f5faa9e83
+size 1298432

actions/locomanipulation/LM30/session_010/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1db20d07bae7eb145e0d279eb3ed2f56f2311c417bfbd463262a694b31b4662b
+size 352256

actions/locomanipulation/LM30/session_010/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:743fd540153819d451e7243c51130f64166f7081f0668a21230b16170f8812f5
+size 1290240

actions/locomanipulation/LM30/session_010/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71bff3682a9029e3a1e67f911fca3d054e1c05d6f307f368329a02306d422156
+size 331776

actions/locomanipulation/LM30/session_010/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d9ab0b4f8652f0054d7630ff36868ab224bf385dcb8e751535cdefaa24eda8e
+size 331776

actions/locomanipulation/LM30/session_010/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": 0.0351,
+    "trans_p95_m": 0.1623,
+    "rot_median_deg": 0.438,
+    "rot_p95_deg": 1.356
+  }
+}

actions/locomanipulation/LM30/session_010/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29771f939476eeb87abe47da36cfadc7a3fc5a6fd50a0718bf94284141299c2d
+size 233357278

actions/locomanipulation/LM30/session_010/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b64889292c1d60d317e33eef8ed1d74fd0684c8b0205227a3f191e269b8ce77
+size 1450156

actions/locomanipulation/LM30/session_010/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7238690c484243ef6dc96f7d0898a0623c2363a156e5df4ace42be23d9171bb9
+size 126409

actions/locomanipulation/LM30/session_010/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd8da783bdd664205e2cc5690715f666574982b482c9d621dd891c3204645344
+size 752331

actions/locomanipulation/LM30/session_010/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:217fb926905f0c512255244832b85c14010fa4c911e72663a176ff432984aa1e
+size 304781