Upload folder using huggingface_hub (part 223)

.gitattributes

@@ -6909,3 +6909,59 @@ actions/locomanipulation/LM17/session_016/raw/sensors/robocap_mag_middle.db filt
 actions/locomanipulation/LM17/session_016/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM17/session_016/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM17/session_016/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_017/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_017/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_017/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_017/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_017/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_017/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_017/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_017/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_018/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_018/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_018/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_018/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_018/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_018/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_018/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_018/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_019/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_019/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_019/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_019/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_019/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_019/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_019/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_019/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_020/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_020/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_020/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_020/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_020/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_020/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_020/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_020/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_021/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_021/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_021/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_021/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_021/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_021/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_021/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_021/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_022/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_022/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_022/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_022/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_022/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_022/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_022/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_022/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_023/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_023/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_023/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_023/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_023/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_023/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_023/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM17/session_023/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM17/session_017/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ab33c91fa0e13c862d964b06ad21a1ec92baea63b06355c1b7616b0086df82f
+size 108790854

actions/locomanipulation/LM17/session_017/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0de072f3f9b825c10d958db352e5987b7eb3f0c71663fbf6d229a28021ea8733
+size 24249104

actions/locomanipulation/LM17/session_017/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02dd0ba9614d137818d262e04f3be54c53707ba55894eda749ca6f78a6727f6e
+size 1138688

actions/locomanipulation/LM17/session_017/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44d9b4963ca126ec1a86c12b77c56ab3f56d78eeb8c21ae92f1a396eab40cb5b
+size 1097728

actions/locomanipulation/LM17/session_017/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ade388c3cc03d9636bb2251603206a9ab54c201a85fb3ec13e2fd754e86d9622
+size 303104

actions/locomanipulation/LM17/session_017/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:500b55c10a4f33f88bed28460ab829e652624658b6de2cbb4601f2b06fa297e5
+size 1036288

actions/locomanipulation/LM17/session_017/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf7e35481642d20de7bc9e4af78b8c4bc5a9bcda089405fc0ea423b84141096e
+size 270336

actions/locomanipulation/LM17/session_017/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:891c30aec42fb1a66e50819352d78e753b2954c8f859d1a49823460b6da05caf
+size 274432

actions/locomanipulation/LM17/session_017/scene/infer.json

@@ -0,0 +1,36 @@
+{
+  "model": "facebook/map-anything",
+  "views": 218,
+  "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": 0.0568,
+    "trans_p95_m": 0.2659,
+    "rot_median_deg": 0.616,
+    "rot_p95_deg": 1.288
+  }
+}

actions/locomanipulation/LM17/session_017/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b74d2f0bbd299d2e9c706866a94450e58ded20813f7806b1325f91f5f4b10426
+size 211589608

actions/locomanipulation/LM17/session_017/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3460b9efdcc51f3872ae625a7b4e6c9ab793cdd9787ac715e5e7d908fed8329
+size 1132293

actions/locomanipulation/LM17/session_017/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb6c99437dc93d8d71e5dc7806fc7c2f5f9a9ecaa14c539e24205a64b29d85c0
+size 101272

actions/locomanipulation/LM17/session_017/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8947974e48b2fe522143574f0fbdccb3b6f6b4a7f653b391b1d165ed23e72d7
+size 532981

actions/locomanipulation/LM17/session_017/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:651cbefa5874eeec9351776a07e2752fc7671f28a523ecdda723b420a5d2504b
+size 231770

actions/locomanipulation/LM17/session_017/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0d76c957f190f72161ebd951c9e5707a286f97249b27a4793af121a28d2139b
+size 221739

actions/locomanipulation/LM17/session_017/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19d178902b2eff09f147c8c983bfee37026202999891593a778692339bcfc224
+size 54635085

actions/locomanipulation/LM17/session_017/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e687d7e375616bcc1fce1ef911d9ff3ce51529eb5d3f2d8a7ff023f081b64c8d
+size 54577302

actions/locomanipulation/LM17/session_017/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b49c5b2d1dfcb19605b5be20d2450715cf4b95d00b435f43964cf4dfe9012ec3
+size 54592752

actions/locomanipulation/LM17/session_017/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bbb433bb10ec486614ba0e1108723f7608b505794ccd9e41d62989ac8195070
+size 54646662

actions/locomanipulation/LM17/session_017/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f911e0a047940b92f2a42c972061a6090bcd114fef5b018ca5948ac87264132
+size 54589276

actions/locomanipulation/LM17/session_017/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82cb5b7c90cd399cea46c82597812104d1c76ebbc564f74eae52509bad5818e3
+size 54594480

actions/locomanipulation/LM17/session_017/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cf898684b52064484a7edb851595203575264e2b93e10256fb3ac8b1c0b8792
+size 49541930

actions/locomanipulation/LM17/session_017/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aeb6409acbe7fba141b92da9ee6afaec6116fa2ccde332aa4bfe046ee0af810a
+size 34143669

actions/locomanipulation/LM17/session_017/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83bdeaaf755d7d43486207d3142a57ee1edea4852dfaf5357867ebf1182f8d20
+size 32354275

actions/locomanipulation/LM17/session_018/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c01251f2d87b3a29c405bdb0ba72170ba5d7992e5426b312100fc6e8719eefe
+size 863655

actions/locomanipulation/LM17/session_018/meta.json

@@ -0,0 +1,520 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20260921/LM17/20260921_100410_session179",
+ "session_id": "20260921_100410_session179",
+ "primitive": "LM17",
+ "batch": "20260921",
+ "participant": "zhangxinxin",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e17c9efadb69e7b1",
+  "left": "452031d7af00ef6f",
+  "right": "6ee5ee4472fe2ad7"
+ },
+ "generated_at_utc": "2026-10-14T11:19:56.217082+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": 99.025,
+  "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": -1.171752,
+  "rate": 0.0,
+  "global_lag_s": -1.17,
+  "peak_corr": 0.9773,
+  "reference_imu_first_sample_s": 35159.619184989,
+  "windows": {
+   "n_windows": 7,
+   "window_corr_median": 0.9979650898205721,
+   "drift_ppm": 6.937612413631057,
+   "drift_se_ppm": 5.2260149526369295,
+   "drift_ms_over_take": 0.686939255823035,
+   "lag_scatter_ms": 0.23371449371053032,
+   "lag_range_ms": 0.7212973550438928
+  }
+ },
+ "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": 20250,
+    "n_gyro": 20244,
+    "t_start": -1.1883101265978588,
+    "t_end": 99.76526011539835
+   },
+   "imu_head_left": {
+    "n_acc": 20215,
+    "n_gyro": 20209,
+    "t_start": -1.0716281906046028,
+    "t_end": 99.93211276739902
+   },
+   "imu_wrist_left": {
+    "n_acc": 19900,
+    "n_gyro": 19900,
+    "t_start": 0.2733558663982727,
+    "t_end": 98.55381583640127
+   },
+   "mag_head": {
+    "n": 10109,
+    "t_start": -0.9909994596003493,
+    "t_end": 100.08903508840166
+   },
+   "mag_wrist_right": {
+    "n": 9845,
+    "t_start": 0.11358970739973628,
+    "t_end": 98.55339663439526
+   },
+   "mag_wrist_left": {
+    "n": 9828,
+    "t_start": 0.2861549944006434,
+    "t_end": 98.55579267440197
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 35160.827562,
+    "frames": 2970,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0023423887986386703,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.03896766419500963,
+    "t_end": 99.00566766419223,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 35160.82751,
+    "frames": 2970,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0019489646456461974,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.03852224004520721,
+    "t_end": 99.0052442400426,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 35160.827546,
+    "frames": 2970,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0018171232386612972,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.038426398635859726,
+    "t_end": 99.0051373986368,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 35160.827578,
+    "frames": 2970,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017295646474508202,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.03837084004197422,
+    "t_end": 99.0050708400392,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 35160.827525,
+    "frames": 2970,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.001668932298833096,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.03825720770117513,
+    "t_end": 99.00497920769857,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 35160.827489,
+    "frames": 2970,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017169377622902274,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.03826921316220577,
+    "t_end": 99.00500221316332,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 35161.050403,
+    "frames": 2948,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": 0.25946627539968503,
+    "t_end": 98.4924092754024,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 35161.027354,
+    "frames": 2949,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": 0.23641727539660096,
+    "t_end": 98.50288827539924,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-LM17-S02-zhangxinxin-01p1-1.mp4",
+    "frames": 2971,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 99.0
+   }
+  }
+ },
+ "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 S_INDEX_STALE",
+   "WARN S_PARTICIPANT",
+   "WARN T_EMPTY"
+  ]
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-14T12:21:09.208713+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": [
+   [
+    0.9999883331,
+    -0.0048304539,
+    -2.10161e-05
+   ],
+   [
+    2.10161e-05,
+    0.0087013021,
+    -0.9999621427
+   ],
+   [
+    0.0048304539,
+    0.9999504758,
+    0.0087013021
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999988333,
+    -4.830454e-06,
+    -2.1016e-08,
+    0.0
+   ],
+   [
+    2.1016e-08,
+    8.701302e-06,
+    -0.000999962143,
+    0.0
+   ],
+   [
+    4.830454e-06,
+    0.000999950476,
+    8.701302e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20260921-afternoon",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.57022748706666,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 41.9,
+   "headtop_p95_mm": 1630.3
+  },
+  "gravity_check": {
+   "static_samples": 3571,
+   "g_world_mean_m_s2": [
+    0.0225,
+    0.0105,
+    9.7514
+   ],
+   "tilt_from_z_deg": 0.146,
+   "tilt_from_z_deg_before_levelling": 0.598,
+   "magnitude_m_s2": 9.7514
+  },
+  "rig_tracker_definition": "e17c9efadb69e7b1/20260921-afternoon/labels-530412/session-8bdf01e71468024d",
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-15T08:43:11.486594+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": [
+      0.0636138841509819,
+      0.00908187311142683,
+      0.04097425565123558
+     ],
+     "LHandOut": [
+      0.06152277812361717,
+      0.03213650733232498,
+      -0.011234660632908344
+     ],
+     "LWristIn": [
+      -0.0011287088273093104,
+      -0.036497317254543304,
+      0.02684827148914337
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.052818622440099716,
+      -0.03690711408853531,
+      0.020749244838953018
+     ],
+     "RHandOut": [
+      -0.05125758424401283,
+      0.010637417435646057,
+      0.025730671361088753
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 3.17,
+   "p95_frame": 8.44
+  },
+  "worst_markers": [
+   "LKneeIn 12mm",
+   "RKneeIn 11mm",
+   "WaistRFront 10mm",
+   "RWristOut 10mm",
+   "RForearm 10mm"
+  ],
+  "valid_fraction": 1.0,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 9.9,
+    "p5": 3.8
+   },
+   "frames_checked": 397,
+   "stature_mm": 1627.7
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 12.78
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 155.78,
+    "Q_rotvec": [
+     -2.63556,
+     -0.56229,
+     0.36074
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 128.1,
+    "opposite_sign_bend_deg": 75.0,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.47,
+    "hand_vs_marker_frame_deg": {
+     "before": 155.06,
+     "after": 1.47
+    },
+    "markers_on_wrist": [
+     "LWristIn",
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -126.78,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -0.7,
+       1.3
+      ]
+     },
+     "wrist_total_deg_median_after": 24.8,
+     "markers_on_forearm": [
+      "LElbow",
+      "LForearm",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1189
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 103.51,
+    "Q_rotvec": [
+     1.76228,
+     0.39641,
+     0.03047
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 131.2,
+    "opposite_sign_bend_deg": 74.8,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.29,
+    "hand_vs_marker_frame_deg": {
+     "before": 102.78,
+     "after": 3.29
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -125.67,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -0.8,
+       0.8
+      ]
+     },
+     "wrist_total_deg_median_after": 49.6,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1189
+   },
+   "generated_at_utc": "2026-10-15T08:43:14.114177+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "rig_tracker": {
+  "definition": "e17c9efadb69e7b1/20260921-afternoon/labels-530412/session-8bdf01e71468024d",
+  "R_tracker0_imu0": [
+   [
+    -0.64682433,
+    0.25341149,
+    -0.71930585
+   ],
+   [
+    0.75794881,
+    0.10916389,
+    -0.64311495
+   ],
+   [
+    -0.08445049,
+    -0.96117941,
+    -0.2626828
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.17571101385142143,
+   -0.014867388607787321,
+   -0.026269214477228065
+  ],
+  "rig_check": {
+   "gyro_samples": 2622,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 0.586
+  },
+  "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": "2026-10-18T19:00:08.231110+00:00",
+  "generated_by": "scripts/correct_processed_rig.py",
+  "remaining_gyro_frame_deg": 0.6728082814116129
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM17/session_018",
+  "family": "locomanipulation",
+  "primitive": "LM17",
+  "source_session": "20260921/LM17/20260921_100410_session179"
+ }
+}

actions/locomanipulation/LM17/session_018/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:794e6f799b7588825def6e35092ac5efcf60284661a35ba0fc0e106dc50d65fb
+size 880657

actions/locomanipulation/LM17/session_018/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb2dcf36d16ad1d820e4e8873856e4abcb152aa24b7e558778125bd7977ab93b
+size 6845126

actions/locomanipulation/LM17/session_018/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f35dcf63116fc642469eeaa2be7e3c2f40dca02093a8f6a125076660c2dacc6a
+size 6851243

actions/locomanipulation/LM17/session_018/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a2a3c0fc67dad876fcaa4a13cca5dc812912a258f2690264df3b38a96ddf4ff
+size 4562070

actions/locomanipulation/LM17/session_018/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d104a950a93b95e7495eabe3243614da2ecb482db6b088835f3feb1a65f5d488
+size 19240398

actions/locomanipulation/LM17/session_018/raw/manifest.json

@@ -0,0 +1,245 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-09-21T22:55:26.869904+00:00",
+  "primitive_id": "LM17",
+  "session_id": "20260921_100410_session179",
+  "upload_batch_id": "20260921",
+  "dataset_path": "EgoMotionActions/20260921/LM17/20260921_100410_session179",
+  "segment": "auto/all",
+  "duration_s": 98.9667,
+  "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-LM17-S02-zhangxinxin-01p1/mocap-LM17-S02-zhangxinxin-01p1-1.mp4",
+      "mocap-LM17-S02-zhangxinxin-01p1/mocap-LM17-S02-zhangxinxin-01p1-Body0.bvh",
+      "mocap-LM17-S02-zhangxinxin-01p1/mocap-LM17-S02-zhangxinxin-01p1-Body0.csv",
+      "mocap-LM17-S02-zhangxinxin-01p1/mocap-LM17-S02-zhangxinxin-01p1-Body0.trc",
+      "mocap-LM17-S02-zhangxinxin-01p1/mocap-LM17-S02-zhangxinxin-01p1-Tracker0.csv",
+      "mocap-LM17-S02-zhangxinxin-01p1/mocap-LM17-S02-zhangxinxin-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": 19240398,
+      "packaged_bytes": 19240398,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM17-S02-zhangxinxin-01p1/mocap-LM17-S02-zhangxinxin-01p1-1.mp4",
+      "packaged_as": "mocap/mocap-LM17-S02-zhangxinxin-01p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 46258504,
+      "packaged_bytes": 46258504,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM17-S02-zhangxinxin-01p1/mocap-LM17-S02-zhangxinxin-01p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-LM17-S02-zhangxinxin-01p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 7098492,
+      "packaged_bytes": 7098492,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM17-S02-zhangxinxin-01p1/mocap-LM17-S02-zhangxinxin-01p1-Body0.csv",
+      "packaged_as": "mocap/mocap-LM17-S02-zhangxinxin-01p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 98870371,
+      "packaged_bytes": 98870371,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM17-S02-zhangxinxin-01p1/mocap-LM17-S02-zhangxinxin-01p1-Body0.trc",
+      "packaged_as": "mocap/mocap-LM17-S02-zhangxinxin-01p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 21983118,
+      "packaged_bytes": 21983118,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM17-S02-zhangxinxin-01p1/mocap-LM17-S02-zhangxinxin-01p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-LM17-S02-zhangxinxin-01p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 3750704,
+      "packaged_bytes": 3750704,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM17-S02-zhangxinxin-01p1/mocap-LM17-S02-zhangxinxin-01p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-LM17-S02-zhangxinxin-01p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 3647954,
+      "packaged_bytes": 3647954,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1036288,
+      "packaged_bytes": 1036288,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 999424,
+      "packaged_bytes": 999424,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 274432,
+      "packaged_bytes": 274432,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 49594488,
+      "packaged_bytes": 49594488,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 49604188,
+      "packaged_bytes": 49604188,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 49681036,
+      "packaged_bytes": 49681036,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 49628356,
+      "packaged_bytes": 49628356,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 49589622,
+      "packaged_bytes": 49589622,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 49693426,
+      "packaged_bytes": 49693426,
+      "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": 983040,
+      "packaged_bytes": 983040,
+      "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": 258048,
+      "packaged_bytes": 258048,
+      "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": 30937030,
+      "packaged_bytes": 30937030,
+      "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": 258048,
+      "packaged_bytes": 258048,
+      "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": 30774440,
+      "packaged_bytes": 30774440,
+      "compressed_video": false
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 496750,
+      "packaged_bytes": 496694,
+      "compressed_video": false
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-LM17-S02-zhangxinxin-01p1",
+    "action_id": "LM17",
+    "collection_session_index": 2,
+    "participant": "zhangxinxin",
+    "repetition_count": 1
+  },
+  "upload_batch_created_at": "2026-09-22T07:37:31.336634+08:00",
+  "objects": [
+    {
+      "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/LM17/session_018/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ac407ed4c9973562b130e7e286187f848472e178ce890c786d355fc900d0a8b
+size 98870371

actions/locomanipulation/LM17/session_018/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3269d15ba6bda86ae5d810dc588160319f274ad298690e21609e376848a6481
+size 21983118

actions/locomanipulation/LM17/session_018/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3568a6566c4db263874eaca71e6c4f9b8a775ba7e8e74f82f0223ccb54f14bbc
+size 1036288

actions/locomanipulation/LM17/session_018/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b36829442eef89dc6d0cd6385616c59418470d52cd0b9298b6f90ea4b2de759
+size 999424

actions/locomanipulation/LM17/session_018/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78e52794f355e5a625e9db0a74d922e4e7998c6edb5a4b2fd624afeacfa50577
+size 274432

actions/locomanipulation/LM17/session_018/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77c3214fddb98af243b2582c5a1395e620480791ab78cda202832538b712227b
+size 983040

actions/locomanipulation/LM17/session_018/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:746f629bc6571a0ae5faf355c12cae34db7b6f793e71632cdb139d96aa0b657e
+size 258048

actions/locomanipulation/LM17/session_018/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:929b43e3878c28a8911fbd1bb074dee2ada110fdb6b168bd628aae61d9a31f23
+size 258048

actions/locomanipulation/LM17/session_018/scene/infer.json

@@ -0,0 +1,36 @@
+{
+  "model": "facebook/map-anything",
+  "views": 198,
+  "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": 0.0363,
+    "trans_p95_m": 0.2211,
+    "rot_median_deg": 0.701,
+    "rot_p95_deg": 1.394
+  }
+}

actions/locomanipulation/LM17/session_018/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6a288543e5e552b5da4507ec6a91842ce8ce27e5dd290f062727ee7b73e3304
+size 188875715