Upload folder using huggingface_hub (part 458)

.gitattributes

@@ -14981,3 +14981,46 @@ actions/locomanipulation/LM57/session_003/raw/sensors/robowrist_mag_left.db filt
 actions/locomanipulation/LM57/session_003/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM57/session_004/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM57/session_004/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM57/session_004/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM57/session_004/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM57/session_004/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM57/session_004/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM57/session_004/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM57/session_004/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM57/session_004/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_001/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_001/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_001/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_001/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_001/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_001/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_001/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_001/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_001/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_002/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_002/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_002/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_002/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_002/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_002/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_002/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_002/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_002/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_003/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_003/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_003/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_003/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_003/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_003/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_003/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_003/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_004/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_004/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_004/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_004/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_004/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_004/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_004/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_004/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_005/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_005/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM57/session_004/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a88343d2b3469b1ea5c7f6596e3a064c02b7ef82634393f5d4bba272d8332048
+size 1486848

actions/locomanipulation/LM57/session_004/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b15f9b78ee6dcc0084d9288990f87d98b168ff68567ef0447a5b3adc6bc545b4
+size 1433600

actions/locomanipulation/LM57/session_004/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be1daa11bb02bca5f7d376ae3b79b134e7ed5c78bf66c9535d5ebeab28af372c
+size 380928

actions/locomanipulation/LM57/session_004/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5365dd4046ab6d97992092bc1d91ab2c623a155f26826bbe8689295b7c959b2f
+size 1441792

actions/locomanipulation/LM57/session_004/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a5dcda06495f55921d93e743108e3bad30301d261225b9d3debf6007033c2cc
+size 1429504

actions/locomanipulation/LM57/session_004/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf79ef3db5a816e5cf1b558fc147f4b55d40fdcc6aa9b867de26c8243e3aa720
+size 368640

actions/locomanipulation/LM57/session_004/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fa3db12bbf28b6403de285a63b3d681c98e55a14d320e069addd02744bb878e
+size 368640

actions/locomanipulation/LM57/session_004/scene/infer.json

@@ -0,0 +1,36 @@
+{
+  "model": "facebook/map-anything",
+  "views": 272,
+  "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": 0.0437,
+    "trans_p95_m": 0.1322,
+    "rot_median_deg": 0.577,
+    "rot_p95_deg": 1.619
+  }
+}

actions/locomanipulation/LM57/session_004/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81a07c86ca471aa16d2cc50262e6a22d047aa4a232ab6db133f39d9552512120
+size 249330839

actions/locomanipulation/LM57/session_004/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b715c67aa57d14992b0f95d41eeb3e068c22383813d7014d5f808aa71ddc778c
+size 1591269

actions/locomanipulation/LM57/session_004/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff7e1d250f2e8ead27d618673d0b06125708c4589d3ebd1a60d300581a770396
+size 179532

actions/locomanipulation/LM57/session_004/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40e7681f66aa5e835db5aa3a041dff04fbc7e50fe2aeb2099b64cb998f492c91
+size 1580979

actions/locomanipulation/LM57/session_004/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8789e14ca7effddc275dcf2f0087dac6b9ebbb789e1043946d7ed136aaa42004
+size 321700

actions/locomanipulation/LM57/session_004/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4646eb80063363657389321bfac2a947c4695ba98c429b05b1aef31146bcb6e1
+size 281107

actions/locomanipulation/LM57/session_004/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d77ab6ebcc8d120a4264875b108314deef8f8b493cb991455ac3b5cbf6094bd9
+size 71638549

actions/locomanipulation/LM57/session_004/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8b64683ed72bda68da5a96fbf14e82a22eb00120ddd82ca481ddc46c7c53ba0
+size 71595412

actions/locomanipulation/LM57/session_004/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a87d6c6b88c6add00e127958e8b28e2a2f0f2611a2a2c092d309dc0610e7aef1
+size 71626518

actions/locomanipulation/LM57/session_004/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:566aadbd41de1782bb8619c792f597c000fa359ac0893173589ada6dc5e3314e
+size 71711124

actions/locomanipulation/LM57/session_004/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3f498724f24af170c1b7b3a82dd298a8b6ff5650be04aabed224433847b879e
+size 71697439

actions/locomanipulation/LM57/session_004/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3c553243cff4e870ad07efabee1f66034a7c72c22f769ad944368404e65a5a9
+size 71659090

actions/locomanipulation/LM57/session_004/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dd20b88741c550582a05123bc617d2c45ab950ce337468e5abb937fc1c948c7
+size 71879416

actions/locomanipulation/LM57/session_004/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0f95f04d882fc9dfb6374f2e0e4b418f4bd98eb8339ae3e0d8e0b9ec027d902
+size 60384588

actions/locomanipulation/LM57/session_004/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1eedfdf612cbc0b390ca24a97463d6bd2c8d48765c191c020a13b75193c67e36
+size 58947433

actions/locomanipulation/LM58/session_001/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f1d8d110fee33305a8733f0f171a9dd42a9103a8eed9cf07f6f5351aac76b5d
+size 1208319

actions/locomanipulation/LM58/session_001/meta.json

@@ -0,0 +1,514 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20260914/LM58/20260914_023109_session29",
+ "session_id": "20260914_023109_session29",
+ "primitive": "LM58",
+ "batch": "20260914",
+ "participant": "daihaoxiang",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e17c9efadb69e7b1",
+  "left": "cc5681142208e29a",
+  "right": "60a6f081bbe60b0d"
+ },
+ "generated_at_utc": "2026-10-14T11:06:53.878788+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": 139.025,
+  "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": -1.16903,
+  "rate": 0.0,
+  "global_lag_s": -1.17,
+  "peak_corr": 0.9792,
+  "reference_imu_first_sample_s": 7239.443713838,
+  "windows": {
+   "n_windows": 12,
+   "window_corr_median": 0.9885458551709646,
+   "drift_ppm": 6.666333847417592,
+   "drift_se_ppm": 8.197649873969151,
+   "drift_ms_over_take": 0.926731510355169,
+   "lag_scatter_ms": 0.8948840369117974,
+   "lag_range_ms": 3.002016934690932
+  }
+ },
+ "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": 28273,
+    "n_gyro": 28266,
+    "t_start": -1.185662259090049,
+    "t_end": 139.7728744649106
+   },
+   "imu_head_left": {
+    "n_acc": 28220,
+    "n_gyro": 28215,
+    "t_start": -1.0685105920899052,
+    "t_end": 139.94108927491047
+   },
+   "imu_wrist_right": {
+    "n_acc": 27331,
+    "n_gyro": 27346,
+    "t_start": 0.29071390891052107,
+    "t_end": 135.35968863991033
+   },
+   "imu_wrist_left": {
+    "n_acc": 26675,
+    "n_gyro": 26675,
+    "t_start": 0.32798160591058223,
+    "t_end": 135.3630799709102
+   },
+   "mag_head": {
+    "n": 14110,
+    "t_start": -0.9885127170897878,
+    "t_end": 140.10157134991036
+   },
+   "mag_wrist_right": {
+    "n": 13506,
+    "t_start": 0.306851854910138,
+    "t_end": 135.35648441391035
+   },
+   "mag_wrist_left": {
+    "n": 13500,
+    "t_start": 0.34226696291019,
+    "t_end": 135.33211391091058
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 7240.651023,
+    "frames": 4170,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0023423887986386703,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.04062122070930019,
+    "t_end": 139.0073882207092,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 7240.650967,
+    "frames": 4170,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0019489646456461974,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.04017179655541514,
+    "t_end": 139.00693879655532,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 7240.651002,
+    "frames": 4170,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0018171232386612972,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.0400749551484576,
+    "t_end": 139.00684195514836,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 7240.65104,
+    "frames": 4170,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017295646474508202,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.040025396557512805,
+    "t_end": 139.00679239655742,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 7240.650984,
+    "frames": 4170,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.001668932298833096,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.03990876420933165,
+    "t_end": 139.00667576420923,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 7240.650942,
+    "frames": 4170,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017169377622902274,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.03991476967287855,
+    "t_end": 139.0066707696727,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 7240.936381,
+    "frames": 4050,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": 0.32363683191063575,
+    "t_end": 135.29017283191055,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 7240.905277,
+    "frames": 4052,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": 0.29253283191003976,
+    "t_end": 135.3254758319102,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-LM58-S01-daihaoxiang-01p1-1.mp4",
+    "frames": 4171,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 139.0
+   }
+  }
+ },
+ "flags": [],
+ "sanity": {
+  "status": {
+   "structure": "PASS",
+   "markers": "WARN",
+   "timing": "PASS"
+  },
+  "verdict": "READY",
+  "issues": [
+   "WARN M_BODY_ID",
+   "WARN M_SPIKES",
+   "WARN M_TRACKER_LABELS"
+  ]
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-14T12:19:27.612327+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": [
+   [
+    0.9998966542,
+    -0.0143763067,
+    -5.22487e-05
+   ],
+   [
+    5.22487e-05,
+    0.0072682458,
+    -0.9999735846
+   ],
+   [
+    0.0143763067,
+    0.9998702388,
+    0.0072682458
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999896654,
+    -1.4376307e-05,
+    -5.2249e-08,
+    0.0
+   ],
+   [
+    5.2249e-08,
+    7.268246e-06,
+    -0.000999973585,
+    0.0
+   ],
+   [
+    1.4376307e-05,
+    0.000999870239,
+    7.268246e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20260914-morning",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.9230277933448321,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 42.5,
+   "headtop_p95_mm": 1764.5
+  },
+  "gravity_check": {
+   "static_samples": 4541,
+   "g_world_mean_m_s2": [
+    0.1811,
+    -0.0867,
+    9.7848
+   ],
+   "tilt_from_z_deg": 1.176,
+   "tilt_from_z_deg_before_levelling": 2.099,
+   "magnitude_m_s2": 9.7868
+  },
+  "rig_tracker_definition": "e17c9efadb69e7b1/20260914-morning/labels-530412/session-e53df4a9333055ef",
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-15T11:00:01.333688+00:00",
+  "generated_by": "scripts/fit_smplx_dataset.py",
+  "file": "smplx.npz",
+  "gender": "male",
+  "n_betas": 16,
+  "betas_source": "participant median (derived/smplx/participants.json)",
+  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
+  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
+  "hands": {
+   "observed": false,
+   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
+   "hand_marker_offsets_m": {
+    "left": {
+     "LHandIn": [
+      0.057806164026260376,
+      -0.02405887097120285,
+      -0.01708688773214817
+     ],
+     "LHandOut": [
+      0.06337190419435501,
+      0.013864212669432163,
+      0.00987236388027668
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.05956309661269188,
+      0.015912635251879692,
+      0.025872597470879555
+     ],
+     "RHandOut": [
+      -0.05844755470752716,
+      0.0259442999958992,
+      -0.0251162052154541
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 6.84,
+   "p95_frame": 16.71
+  },
+  "worst_markers": [
+   "RShin 20mm",
+   "WaistRBack 17mm",
+   "CLAV 17mm",
+   "WaistRFront 16mm",
+   "WaistLBack 16mm"
+  ],
+  "valid_fraction": 0.9995,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": -1.0,
+    "p5": -10.0
+   },
+   "frames_checked": 556,
+   "stature_mm": 1770.9
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 13.69
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 49.88,
+    "Q_rotvec": [
+     -0.85017,
+     -0.08573,
+     0.16704
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 25.0,
+    "opposite_sign_bend_deg": 168.3,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 6.26,
+    "hand_vs_marker_frame_deg": {
+     "before": 50.13,
+     "after": 6.26
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -3.78,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -9.1,
+       13.0
+      ]
+     },
+     "wrist_total_deg_median_after": 25.5,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 29.1,
+    "Q_rotvec": [
+     0.32382,
+     0.26869,
+     -0.28458
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 34.5,
+    "opposite_sign_bend_deg": 159.0,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 4.8,
+    "hand_vs_marker_frame_deg": {
+     "before": 29.86,
+     "after": 4.8
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -29.49,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -8.7,
+       8.4
+      ]
+     },
+     "wrist_total_deg_median_after": 21.1,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-15T11:00:04.334508+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "rig_tracker": {
+  "definition": "e17c9efadb69e7b1/20260914-morning/labels-530412/session-e53df4a9333055ef",
+  "R_tracker0_imu0": [
+   [
+    -0.69662954,
+    0.2493737,
+    -0.6726961
+   ],
+   [
+    0.70094729,
+    0.03673971,
+    -0.71226617
+   ],
+   [
+    -0.15290579,
+    -0.96771016,
+    -0.20039179
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.1754389761543205,
+   -0.029103097461878714,
+   -0.024241260659065723
+  ],
+  "rig_check": {
+   "gyro_samples": 2083,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 0.822
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "rig_calibration_repair": {
+  "version": 2,
+  "applied_at_utc": "2026-10-18T18:52:46.817762+00:00",
+  "generated_by": "scripts/correct_processed_rig.py",
+  "remaining_gyro_frame_deg": 1.103574144145273
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM58/session_001",
+  "family": "locomanipulation",
+  "primitive": "LM58",
+  "source_session": "20260914/LM58/20260914_023109_session29"
+ }
+}

actions/locomanipulation/LM58/session_001/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89f6934c5c9bc89ffdc268a1142d2f23c3e260f5dacd71f78ecba80facf799a7
+size 1233778

actions/locomanipulation/LM58/session_001/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85c30f60ffbc9a304aca68681f9afa669b9455ca9a6d9960e99278aa24190ad1
+size 9540344

actions/locomanipulation/LM58/session_001/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd383cdcb99ca8bc353eefb91b3d6f35d1e027a6e679d2f37b16b8ae6c7159e6
+size 9442555

actions/locomanipulation/LM58/session_001/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50f479c8fdf464b21862979625f94915de9411327c53455e055103719e25e55b
+size 6336525

actions/locomanipulation/LM58/session_001/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a1633c3e690f6fb8067f1c649248a8b3902e1168dfc6a16906d8146e624cea1
+size 26918478

actions/locomanipulation/LM58/session_001/raw/manifest.json

@@ -0,0 +1,246 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-10-09T00:48:40.843456+00:00",
+  "primitive_id": "LM58",
+  "session_id": "20260914_023109_session29",
+  "upload_batch_id": "20260914",
+  "dataset_path": "EgoMotionActions/20260914/LM58/20260914_023109_session29",
+  "segment": "auto/all",
+  "duration_s": 138.966767,
+  "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-LM58-S01-daihaoxiang-01p1/mocap-LM58-S01-daihaoxiang-01p1-1.mp4",
+      "mocap-LM58-S01-daihaoxiang-01p1/mocap-LM58-S01-daihaoxiang-01p1-Body0.bvh",
+      "mocap-LM58-S01-daihaoxiang-01p1/mocap-LM58-S01-daihaoxiang-01p1-Body0.csv",
+      "mocap-LM58-S01-daihaoxiang-01p1/mocap-LM58-S01-daihaoxiang-01p1-Body0.trc",
+      "mocap-LM58-S01-daihaoxiang-01p1/mocap-LM58-S01-daihaoxiang-01p1-Tracker0.csv",
+      "mocap-LM58-S01-daihaoxiang-01p1/mocap-LM58-S01-daihaoxiang-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": 26918478,
+      "packaged_bytes": 26918478,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM58-S01-daihaoxiang-01p1/mocap-LM58-S01-daihaoxiang-01p1-1.mp4",
+      "packaged_as": "mocap/mocap-LM58-S01-daihaoxiang-01p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 37731811,
+      "packaged_bytes": 37731811,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM58-S01-daihaoxiang-01p1/mocap-LM58-S01-daihaoxiang-01p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-LM58-S01-daihaoxiang-01p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 9995844,
+      "packaged_bytes": 9995844,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM58-S01-daihaoxiang-01p1/mocap-LM58-S01-daihaoxiang-01p1-Body0.csv",
+      "packaged_as": "mocap/mocap-LM58-S01-daihaoxiang-01p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 136662534,
+      "packaged_bytes": 136662534,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM58-S01-daihaoxiang-01p1/mocap-LM58-S01-daihaoxiang-01p1-Body0.trc",
+      "packaged_as": "mocap/mocap-LM58-S01-daihaoxiang-01p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 30055018,
+      "packaged_bytes": 30055018,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM58-S01-daihaoxiang-01p1/mocap-LM58-S01-daihaoxiang-01p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-LM58-S01-daihaoxiang-01p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 5162850,
+      "packaged_bytes": 5162850,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM58-S01-daihaoxiang-01p1/mocap-LM58-S01-daihaoxiang-01p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-LM58-S01-daihaoxiang-01p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 5010376,
+      "packaged_bytes": 5010376,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1449984,
+      "packaged_bytes": 1449984,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1396736,
+      "packaged_bytes": 1396736,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 376832,
+      "packaged_bytes": 376832,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 69669271,
+      "packaged_bytes": 69669271,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 69633331,
+      "packaged_bytes": 69633331,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 69656871,
+      "packaged_bytes": 69656871,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 69699769,
+      "packaged_bytes": 69699769,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 69649015,
+      "packaged_bytes": 69649015,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 69635914,
+      "packaged_bytes": 69635914,
+      "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": 1347584,
+      "packaged_bytes": 1347584,
+      "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": 348160,
+      "packaged_bytes": 348160,
+      "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": 41147563,
+      "packaged_bytes": 41147563,
+      "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": 1318912,
+      "packaged_bytes": 1318912,
+      "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": 348160,
+      "packaged_bytes": 348160,
+      "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": 43700140,
+      "packaged_bytes": 43700140,
+      "compressed_video": false
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 826774,
+      "packaged_bytes": 826723,
+      "compressed_video": false
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-LM58-S01-daihaoxiang-01p1",
+    "action_id": "LM58",
+    "collection_session_index": 1,
+    "participant": "daihaoxiang",
+    "repetition_count": 1
+  },
+  "upload_batch_created_at": "2026-10-09T08:51:07.958917+08:00",
+  "participant_gender": "male",
+  "participant_height_cm": 174,
+  "participant_weight_kg": 55,
+  "objects": [
+    {
+      "name": "LittleBox",
+      "num": 4,
+      "scan_file": "3dobjs/LittleBox.objcap/models/box[0, 1, 2].usdz",
+      "rigid_names": [
+        "LittleBox0",
+        "LittleBox1",
+        "LittleBox2",
+        "LittleBox3"
+      ]
+    }
+  ],
+  "collection_site": {
+    "id": "site_00"
+  }
+}

actions/locomanipulation/LM58/session_001/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cccfbd94633e27f055534ddb4dd3bf08b0ad225ec9d28ab2c9ac0d941f2be40b
+size 136662534

actions/locomanipulation/LM58/session_001/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3e76dd180547ef87f172861ce7959f30a7ae433b51b0c8cec9ee66a406ec067
+size 30055018

actions/locomanipulation/LM58/session_001/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f45772c9b60abe82e58a2262949c8dcf522338b1d9dcfde7c83862cd845c8147
+size 1449984

actions/locomanipulation/LM58/session_001/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ccf737481b438f09ea2c66f5ea66822d0f588b0fde49e54947fdbb582be3aae
+size 1396736

actions/locomanipulation/LM58/session_001/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20c827429964b284fc955330be4c7d3fc974dcba9d0083a905d2dfead232cefa
+size 376832

actions/locomanipulation/LM58/session_001/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a836954075f1a25a21d215da2232f594da21b10df3abb16a7490422057326828
+size 1318912

actions/locomanipulation/LM58/session_001/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20107b5c4949ed867ec0e055f6dc6eab4e6d44bcc60e6bfa2cfafe8e7ac89645
+size 1347584

actions/locomanipulation/LM58/session_001/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6b62db6e4ffd498f97de08ed0b4993b6db3b02d040d98d807eef14fe89d2d06
+size 348160

actions/locomanipulation/LM58/session_001/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7b86b0f5dec93827bf3f597be3da16bc4fd4d8c8a25ed40be6073399c901bf8
+size 348160

actions/locomanipulation/LM58/session_001/scene/infer.json

@@ -0,0 +1,36 @@
+{
+  "model": "facebook/map-anything",
+  "views": 278,
+  "windows": 6,
+  "cams": "left_front,right_front",
+  "stride_s": 1.0,
+  "size": [
+    518,
+    392
+  ],
+  "K": [
+    [
+      308.6641804819004,
+      0.0,
+      259.0
+    ],
+    [
+      0.0,
+      308.6641804819004,
+      196.0
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "pitch_deg": -20.0,
+  "hfov_deg": 80.0,
+  "pose_agreement_window_aligned": {
+    "trans_median_m": 0.1005,
+    "trans_p95_m": 0.1778,
+    "rot_median_deg": 0.42,
+    "rot_p95_deg": 1.511
+  }
+}

actions/locomanipulation/LM58/session_001/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a42491a9eba280d64feb646831d58e146a04a8508c194621759294bc0305c9e9
+size 291168919

actions/locomanipulation/LM58/session_001/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b61c22c05a784a8968d3c8ccc80133e58158cbf2f64858f8ff02d8c372c31230
+size 1497760