Upload folder using huggingface_hub (part 481)

.gitattributes

@@ -15684,3 +15684,47 @@ actions/locomanipulation/LM65/session_005/raw/sensors/robowrist_mag_left.db filt
 actions/locomanipulation/LM65/session_005/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM65/session_006/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM65/session_006/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM65/session_006/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM65/session_006/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM65/session_006/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM65/session_006/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM65/session_006/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM65/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM65/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_001/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_001/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_001/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_001/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_001/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_001/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_001/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_001/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_001/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_002/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_002/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_002/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_002/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_002/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_002/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_002/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_002/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_002/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_003/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_003/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_004/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_004/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_004/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_004/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_004/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_004/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_004/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_004/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_005/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_005/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_005/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_005/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_005/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_005/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_005/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_005/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM66/session_005/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM65/session_006/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa6f44e8d6b9f52c28b5f55355b2f9cbf2bd9bd8c7f53ed266c2c83f66289916
+size 1347584

actions/locomanipulation/LM65/session_006/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:009650b00a199688748c026781b564e7a989731fc98f741adf4307df86ec2279
+size 1302528

actions/locomanipulation/LM65/session_006/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fccbe6ee333963989f136a849a1d16103cdf764e48fb828b2b0e00b4e213f4f3
+size 348160

actions/locomanipulation/LM65/session_006/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e80ed50f63bbfaf2e740f452b090bc4e87d68592cc603ace414b52f537a575b
+size 1298432

actions/locomanipulation/LM65/session_006/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95c6353b6bff079ad2147cf89f399aa6dd1d907d2c85f5ef1002badc955c6d7b
+size 1298432

actions/locomanipulation/LM65/session_006/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4864972a6c06ac49f62c0a94dd510ecc6a98aa947de18174ff71b81e3b124bbc
+size 331776

actions/locomanipulation/LM65/session_006/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31c3298b836719f92c9af0b7cc5f081b64892263318660ca4203751df12ceb1d
+size 331776

actions/locomanipulation/LM65/session_006/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f58ed55b86b2093066d8860603f5af2fb9628b995d2243ce2ac4f043d5484c9
+size 1429037

actions/locomanipulation/LM65/session_006/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:412e3e67adb97feca94c3c7e27eebe4f1ca4135a7a03189591856e6f6477b847
+size 162405

actions/locomanipulation/LM65/session_006/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a87af1e66dfb06970b6ab2b0b7552051ec495a2bdc2effe7f861ada98001486a
+size 1473086

actions/locomanipulation/LM65/session_006/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cd155814d8f5d559a8b3fe6e8f64b51601efb6f674866c1c57ff50fb72643b2
+size 279051

actions/locomanipulation/LM65/session_006/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:337dce8c8024a331d2131391005f8bae7404b504234802b1204517046321990f
+size 256206

actions/locomanipulation/LM65/session_006/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f06a18c890af2e4182dbf23293914074881dc6e064087f367c5bd3e9cd37f9a5
+size 64648800

actions/locomanipulation/LM65/session_006/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61880b5d29462959468c550143f32f283c40df2e83b88dd728e3f3a0edbfb4c1
+size 64606573

actions/locomanipulation/LM65/session_006/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3042d9967a2e42d91343c2db1532495bed76256cfec67bd5ee46fab936faf480
+size 64643237

actions/locomanipulation/LM65/session_006/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a0023fe0a2e8fee228fd420793a54fdb5120ce37ec741ee192ac76bfb311f7e
+size 64550872

actions/locomanipulation/LM65/session_006/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3ba26db558580e40ddf610ddfebc479b30763abac4bcf3bcbccff2f43cdbf9c
+size 64586990

actions/locomanipulation/LM65/session_006/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94e822914b24c70c5f1b207530ac9d87eb4f98f5d61087ff49a025835f1d64d6
+size 64619633

actions/locomanipulation/LM65/session_006/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23f46650808beed26d2d1c1d60aa4de0aef278af29808f64c73a06f731dfa0a7
+size 43730232

actions/locomanipulation/LM65/session_006/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20667042326df98ecd13028b896d505325e07f273bd89826b2624dedd8c88948
+size 52858136

actions/locomanipulation/LM65/session_006/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a06a47671a8e0b93889da5ddd52490906429d418b1c9b3d0976e4bf9f8c72a3
+size 56104870

actions/locomanipulation/LM66/session_001/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ccf36ded5243395272ebd9f9aa638016d88235d9dd23cee9a8e9f699aa238cc
+size 1168992

actions/locomanipulation/LM66/session_001/meta.json

@@ -0,0 +1,517 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20260910/LM66/20260910_012336_session19",
+ "session_id": "20260910_012336_session19",
+ "primitive": "LM66",
+ "batch": "20260910",
+ "participant": "daihaoxiang",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e17c9efadb69e7b1",
+  "left": "cc5681142208e29a",
+  "right": "60a6f081bbe60b0d"
+ },
+ "generated_at_utc": "2026-10-14T11:02:28.282999+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": 134.025,
+  "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": -1.171698,
+  "rate": 0.0,
+  "global_lag_s": -1.17,
+  "peak_corr": 0.9468,
+  "reference_imu_first_sample_s": 3537.862009281,
+  "windows": {
+   "n_windows": 11,
+   "window_corr_median": 0.9908932371404022,
+   "drift_ppm": -0.30262823334137506,
+   "drift_se_ppm": 7.287826905779019,
+   "drift_ms_over_take": -0.04055722707163329,
+   "lag_scatter_ms": 0.6913839664595712,
+   "lag_range_ms": 1.9727231758410735
+  }
+ },
+ "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": 27272,
+    "n_gyro": 27267,
+    "t_start": -1.1832646190460432,
+    "t_end": 134.77473874595393
+   },
+   "imu_head_left": {
+    "n_acc": 27223,
+    "n_gyro": 27217,
+    "t_start": -1.0718380320459469,
+    "t_end": 134.94497595095385
+   },
+   "imu_wrist_right": {
+    "n_acc": 26734,
+    "n_gyro": 26733,
+    "t_start": 0.36918146995407053,
+    "t_end": 132.47589919695423
+   },
+   "imu_wrist_left": {
+    "n_acc": 26133,
+    "n_gyro": 26132,
+    "t_start": 0.18746394695420943,
+    "t_end": 132.47909721295395
+   },
+   "mag_head": {
+    "n": 13611,
+    "t_start": -0.9888641570460672,
+    "t_end": 135.11114099095397
+   },
+   "mag_wrist_right": {
+    "n": 13210,
+    "t_start": 0.3864952079538275,
+    "t_end": 132.4760424619539
+   },
+   "mag_wrist_left": {
+    "n": 13228,
+    "t_start": 0.20572089695400475,
+    "t_end": 132.47559872895403
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 3539.071601,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0023423887986386703,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.04023625475286874,
+    "t_end": 134.00689225475293,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 3539.071543,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0019489646456461974,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.03978483059967086,
+    "t_end": 134.00644083059973,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 3539.071584,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0018171232386612972,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.0396939891924708,
+    "t_end": 134.00634998919253,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 3539.07162,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017295646474508202,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.03964243060175843,
+    "t_end": 134.00629843060182,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 3539.071563,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.001668932298833096,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.03952479825278399,
+    "t_end": 134.00618079825284,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 3539.071511,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017169377622902274,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.03952080371658351,
+    "t_end": 134.00617680371664,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 3539.220999,
+    "frames": 3969,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": 0.18729186595413605,
+    "t_end": 132.45382786595422,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 3539.404642,
+    "frames": 3962,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": 0.3709348659539833,
+    "t_end": 132.40381286595397,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-LM66-S01-daihaoxiang-02p5-1.mp4",
+    "frames": 4021,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 134.0
+   }
+  }
+ },
+ "flags": [],
+ "sanity": {
+  "status": {
+   "structure": "WARN",
+   "markers": "WARN",
+   "timing": "WARN"
+  },
+  "verdict": "READY_WITH_WARNINGS",
+  "issues": [
+   "WARN M_BODY_ID",
+   "WARN M_SPIKES",
+   "WARN M_TRACKER_LABELS",
+   "WARN S_INDEX",
+   "WARN S_PARTICIPANT",
+   "WARN T_UNITS"
+  ]
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-14T12:18:53.802739+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": [
+   [
+    0.9999084989,
+    -0.0135274072,
+    -5.56575e-05
+   ],
+   [
+    5.56575e-05,
+    0.0082283268,
+    -0.9999661452
+   ],
+   [
+    0.0135274072,
+    0.9998746441,
+    0.0082283268
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999908499,
+    -1.3527407e-05,
+    -5.5657e-08,
+    0.0
+   ],
+   [
+    5.5657e-08,
+    8.228327e-06,
+    -0.000999966145,
+    0.0
+   ],
+   [
+    1.3527407e-05,
+    0.000999874644,
+    8.228327e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20260910-morning",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.9072240952587154,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 48.0,
+   "headtop_p95_mm": 1781.0
+  },
+  "gravity_check": {
+   "static_samples": 2373,
+   "g_world_mean_m_s2": [
+    0.1018,
+    0.0666,
+    9.7871
+   ],
+   "tilt_from_z_deg": 0.712,
+   "tilt_from_z_deg_before_levelling": 1.373,
+   "magnitude_m_s2": 9.7878
+  },
+  "rig_tracker_definition": "e17c9efadb69e7b1/20260910-morning/labels-530412/session-fab5b3936cafef90",
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-15T07:34:43.815289+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": [
+      0.07081691920757294,
+      0.01996317319571972,
+      0.02355208434164524
+     ],
+     "LHandOut": [
+      0.06964114308357239,
+      0.015303317457437515,
+      -0.022680513560771942
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.05254291370511055,
+      0.01366329938173294,
+      0.019086593762040138
+     ],
+     "RHandOut": [
+      -0.04432985559105873,
+      0.016111323609948158,
+      -0.027172528207302094
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 4.84,
+   "p95_frame": 11.28
+  },
+  "worst_markers": [
+   "CLAV 14mm",
+   "STRN 10mm",
+   "T10 10mm",
+   "LWristOut 9mm",
+   "WaistRFront 9mm"
+  ],
+  "valid_fraction": 1.0,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 4.8,
+    "p5": -0.6
+   },
+   "frames_checked": 537,
+   "stature_mm": 1770.9
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 11.74
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 177.43,
+    "Q_rotvec": [
+     3.04022,
+     0.36397,
+     -0.46328
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 172.0,
+    "opposite_sign_bend_deg": 24.0,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 4.1,
+    "hand_vs_marker_frame_deg": {
+     "before": 176.82,
+     "after": 4.1
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -163.2,
+     "wrist_twist_deg_after": {
+      "median": -10.33,
+      "iqr": [
+       -17.1,
+       -0.2
+      ]
+     },
+     "wrist_total_deg_median_after": 37.6,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 16.89,
+    "Q_rotvec": [
+     0.18315,
+     0.09311,
+     -0.21135
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 26.3,
+    "opposite_sign_bend_deg": 168.5,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 7.16,
+    "hand_vs_marker_frame_deg": {
+     "before": 16.97,
+     "after": 7.16
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -14.91,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -14.8,
+       6.7
+      ]
+     },
+     "wrist_total_deg_median_after": 22.9,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-15T07:34:46.674297+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "rig_tracker": {
+  "definition": "e17c9efadb69e7b1/20260910-morning/labels-530412/session-fab5b3936cafef90",
+  "R_tracker0_imu0": [
+   [
+    -0.67586641,
+    0.14799048,
+    -0.72201344
+   ],
+   [
+    0.73185374,
+    0.01892408,
+    -0.68119893
+   ],
+   [
+    -0.08714752,
+    -0.98880771,
+    -0.12109754
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.17762569908733714,
+   -0.021103794989087512,
+   -0.0056096605293976315
+  ],
+  "rig_check": {
+   "gyro_samples": 4747,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 0.859
+  },
+  "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": "2026-10-18T18:50:24.662612+00:00",
+  "generated_by": "scripts/correct_processed_rig.py",
+  "remaining_gyro_frame_deg": 0.8157729820351175
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM66/session_001",
+  "family": "locomanipulation",
+  "primitive": "LM66",
+  "source_session": "20260910/LM66/20260910_012336_session19"
+ }
+}

actions/locomanipulation/LM66/session_001/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55e8e58cc3b283fe33b0cded0d84eea6aa6740bd64bb1e0af070024cf1b2ae7b
+size 1193816

actions/locomanipulation/LM66/session_001/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:145fe76309541d697687089032bc5b417e14b530ff656c15fd691d2b6893985b
+size 9177096

actions/locomanipulation/LM66/session_001/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b18be0ecaf47c8fe564790f561675fe6fb3c95c7cd0d917974c9e7cc7be9eca3
+size 9283256

actions/locomanipulation/LM66/session_001/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a9becb08b1bb9a3e7864ca61207d754ae97a30255a6e393fd3a8252152e84f7
+size 6158136

actions/locomanipulation/LM66/session_001/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ed05dd7737043325b92a8857369d8cdab588221bbd82645c199f199fc428c00
+size 25296078

actions/locomanipulation/LM66/session_001/raw/manifest.json

@@ -0,0 +1,230 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-09-10T15:26:47.801526+00:00",
+  "primitive_id": "LM66",
+  "session_id": "20260910_012336_session19",
+  "upload_batch_id": "20260910",
+  "dataset_path": "EgoMotionActions/20260910/LM66/20260910_012336_session19",
+  "segment": "auto/all",
+  "duration_s": 133.966656,
+  "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-LM66-S01-daihaoxiang-02p5/mocap-LM66-S01-daihaoxiang-02p5-1.mp4",
+      "mocap-LM66-S01-daihaoxiang-02p5/mocap-LM66-S01-daihaoxiang-02p5-Body0.bvh",
+      "mocap-LM66-S01-daihaoxiang-02p5/mocap-LM66-S01-daihaoxiang-02p5-Body0.csv",
+      "mocap-LM66-S01-daihaoxiang-02p5/mocap-LM66-S01-daihaoxiang-02p5-Body0.trc",
+      "mocap-LM66-S01-daihaoxiang-02p5/mocap-LM66-S01-daihaoxiang-02p5-Tracker0.csv",
+      "mocap-LM66-S01-daihaoxiang-02p5/mocap-LM66-S01-daihaoxiang-02p5-Tracker0.trc"
+    ],
+    "include_rrd": false,
+    "rrd_files": [],
+    "aligned_intersection": false
+  },
+  "files": [
+    {
+      "source": "audio_segment1.wav",
+      "packaged_as": "audio_segment1.wav",
+      "kind": "data",
+      "original_bytes": 25296078,
+      "packaged_bytes": 25296078,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM66-S01-daihaoxiang-02p5/mocap-LM66-S01-daihaoxiang-02p5-1.mp4",
+      "packaged_as": "mocap/mocap-LM66-S01-daihaoxiang-02p5-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 37976657,
+      "packaged_bytes": 37976657,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM66-S01-daihaoxiang-02p5/mocap-LM66-S01-daihaoxiang-02p5-Body0.bvh",
+      "packaged_as": "mocap/mocap-LM66-S01-daihaoxiang-02p5-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 9634943,
+      "packaged_bytes": 9634943,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM66-S01-daihaoxiang-02p5/mocap-LM66-S01-daihaoxiang-02p5-Body0.csv",
+      "packaged_as": "mocap/mocap-LM66-S01-daihaoxiang-02p5-Body0.csv",
+      "kind": "data",
+      "original_bytes": 132960575,
+      "packaged_bytes": 132960575,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM66-S01-daihaoxiang-02p5/mocap-LM66-S01-daihaoxiang-02p5-Body0.trc",
+      "packaged_as": "mocap/mocap-LM66-S01-daihaoxiang-02p5-Body0.trc",
+      "kind": "data",
+      "original_bytes": 29434582,
+      "packaged_bytes": 29434582,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM66-S01-daihaoxiang-02p5/mocap-LM66-S01-daihaoxiang-02p5-Tracker0.csv",
+      "packaged_as": "mocap/mocap-LM66-S01-daihaoxiang-02p5-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 5070307,
+      "packaged_bytes": 5070307,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM66-S01-daihaoxiang-02p5/mocap-LM66-S01-daihaoxiang-02p5-Tracker0.trc",
+      "packaged_as": "mocap/mocap-LM66-S01-daihaoxiang-02p5-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 4912963,
+      "packaged_bytes": 4912963,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1404928,
+      "packaged_bytes": 1404928,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1351680,
+      "packaged_bytes": 1351680,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 364544,
+      "packaged_bytes": 364544,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67140775,
+      "packaged_bytes": 67140775,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67044121,
+      "packaged_bytes": 67044121,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67083542,
+      "packaged_bytes": 67083542,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67179097,
+      "packaged_bytes": 67179097,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67125268,
+      "packaged_bytes": 67125268,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67114438,
+      "packaged_bytes": 67114438,
+      "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": 1327104,
+      "packaged_bytes": 1327104,
+      "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": 339968,
+      "packaged_bytes": 339968,
+      "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": 49271790,
+      "packaged_bytes": 49271790,
+      "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": 1302528,
+      "packaged_bytes": 1302528,
+      "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": 339968,
+      "packaged_bytes": 339968,
+      "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": 44410131,
+      "packaged_bytes": 44410131,
+      "compressed_video": false
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 697120,
+      "packaged_bytes": 697069,
+      "compressed_video": false
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-LM66-S01-daihaoxiang-02p5",
+    "action_id": "LM66",
+    "collection_session_index": 1,
+    "participant": "daihaoxiang",
+    "repetition_count": 2
+  },
+  "upload_batch_created_at": "2026-09-10T23:52:51.659992+08:00",
+  "collection_site": {
+    "id": "site_00"
+  }
+}

actions/locomanipulation/LM66/session_001/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3cb8ee815d2f30b1ed35f2770788414613786c7383cbd6db60a81d340bacaea
+size 132960575

actions/locomanipulation/LM66/session_001/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fa65b25c1939cd0d25674399bbce9ae4c115bbef89e0e99ee567d09c853bed5
+size 29434582

actions/locomanipulation/LM66/session_001/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c70b00fd31580cabdcc4b1015d9d7e0a0d51167469df773a405405756738cd48
+size 1404928

actions/locomanipulation/LM66/session_001/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0dcd2f0f9983aa3c2bf086d994d539bee4a804eef17b23b3d22c63fbf714317
+size 1351680

actions/locomanipulation/LM66/session_001/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1f53fd04acbf7ee46f9dbbb307a9bb3b885d2951079d133d81e84f1a90071a7
+size 364544

actions/locomanipulation/LM66/session_001/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d150f7eade492bd52868ee5dc5b933af5be2248f94e9f9abaacfe61c0115507d
+size 1302528

actions/locomanipulation/LM66/session_001/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b109e679292c43466832fb53821214fd9bce6cf1b4b756092e69514b241217d3
+size 1327104

actions/locomanipulation/LM66/session_001/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f216745278b0e0f83f57e164617358865bb634a045b526edebbbd0d37f7ab512
+size 339968

actions/locomanipulation/LM66/session_001/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13fd7aa982750f3b45ac1687a9d2b58bbaa9eee33988e684db2106051909af2d
+size 339968

actions/locomanipulation/LM66/session_001/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": 0.037,
+    "trans_p95_m": 0.1213,
+    "rot_median_deg": 0.546,
+    "rot_p95_deg": 1.203
+  }
+}