Upload folder using huggingface_hub (part 394)

.gitattributes

@@ -13776,3 +13776,55 @@ actions/locomanipulation/LM42/session_017/raw/sensors/robowrist_mag_left.db filt
 actions/locomanipulation/LM42/session_017/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM42/session_018/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM42/session_018/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_018/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_018/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_018/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_018/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_018/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_018/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM42/session_018/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_001/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_001/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_001/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_001/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_001/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_001/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_001/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_001/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_001/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_002/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_002/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_002/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_002/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_002/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_002/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_002/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_002/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_002/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_003/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_003/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_003/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_003/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_003/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_003/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_003/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_003/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_003/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_004/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_004/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_004/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_004/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_004/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_004/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_004/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_004/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_005/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_005/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_005/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_005/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_005/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_005/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_005/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_005/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_006/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM43/session_006/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM42/session_018/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edfe5814d8d024846c753a5ab6c02bc5d25c22add41c6dc5d574311170cf4026
+size 1413120

actions/locomanipulation/LM42/session_018/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0acf86a899a9a84299d974320d1d105ec48a16368129bf6ee6a5b537176fd53b
+size 1359872

actions/locomanipulation/LM42/session_018/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37cc815fdae40c77e651788850ab55f1deec4ab0d3f773615d337474a86118af
+size 364544

actions/locomanipulation/LM42/session_018/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34c999afa690b51ee9920ef3509c08ac150e720b01a67f5a1001acfd858f01bf
+size 1363968

actions/locomanipulation/LM42/session_018/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:368aadaa150165a5a699fcc6e940c26c7169d213e1e7e1008060268cf2abc21b
+size 1372160

actions/locomanipulation/LM42/session_018/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71cd3b1f7a927460dc1159c91761f2ec854fffee3d71ddb078d286f2462576a7
+size 348160

actions/locomanipulation/LM42/session_018/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2535f489b5d9f9ea83b0abf219d9b2bf22505efe64a92cfab5391efc51c58dd6
+size 348160

actions/locomanipulation/LM42/session_018/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37abc492237222c5f14a26d010807cc5a59d67cd4f1a7a9eb4a1b6d0ef92cb1b
+size 1485469

actions/locomanipulation/LM42/session_018/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1530426ca5a792a0dc850ef01543f7f3d46b2706d437f2d00bd9ac753ea30b1
+size 170676

actions/locomanipulation/LM42/session_018/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c7c64a6c2f5696e01287ab87b2945e2ca1b93c99b05148335aeb3337f28b439
+size 1546127

actions/locomanipulation/LM42/session_018/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b477b5054f3bd0819304d65678c7242f251bd7d065c17a26f40f18a4e9a33f6
+size 307994

actions/locomanipulation/LM42/session_018/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5fd32a993c387c21f99984e4814deae24c7d4dc75633a6c36c20387a362dec5
+size 274071

actions/locomanipulation/LM42/session_018/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c952dfe25417597ed1b19f1353506f5f0957b71a86dc7d2baa9dbdae45802208
+size 68130860

actions/locomanipulation/LM42/session_018/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b01d3d2414386d8acf266c666f90f027f0bea39b061538951fd6cd27aa7362f7
+size 66368836

actions/locomanipulation/LM42/session_018/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cd47d0dfd1b1f21e7ce7db6602c45dc7d5f27b4617a418540c718e6c674757b
+size 68037923

actions/locomanipulation/LM42/session_018/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e617a3ff1ae257974e5c3ecbb88d367cba4555bccdcd3d1a553d2c1a056d3c7
+size 68126020

actions/locomanipulation/LM42/session_018/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10dccf072e5cfd6fdabd3d031f6df20b0b2a3c589e18ccc623e8775ea547cbe3
+size 68100607

actions/locomanipulation/LM42/session_018/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc4ac8939eb79d19fa9579177149d47a2ed5c5f911d4db894afc2a96127fc8d7
+size 68123508

actions/locomanipulation/LM42/session_018/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4098d49bdbff795f6c556072b7aa657a73398ec783f6ffb75a31c5243007c37f
+size 71022208

actions/locomanipulation/LM42/session_018/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23a16bb06ffd816c163b073c8d78c92fa8329f1c851db048223cf89ca69d8bbb
+size 62805258

actions/locomanipulation/LM42/session_018/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a6aa840d32a38c3468c7d46fda171530b705c92c112c094585cda6511e7c641
+size 62634349

actions/locomanipulation/LM43/session_001/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9004a516548186aa958d6e17d52bbd74c861d6d0f4bd63aca628465cb4ba495
+size 1117321

actions/locomanipulation/LM43/session_001/meta.json

@@ -0,0 +1,534 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20260914/LM43/20260914_031930_session44",
+ "session_id": "20260914_031930_session44",
+ "primitive": "LM43",
+ "batch": "20260914",
+ "participant": "daihaoxiang",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e17c9efadb69e7b1",
+  "left": "cc5681142208e29a",
+  "right": "60a6f081bbe60b0d"
+ },
+ "generated_at_utc": "2026-10-14T11:06:46.931087+00:00",
+ "generated_by": "scripts/sync_dataset.py",
+ "time_base": {
+  "definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
+  "mocap_rate_hz": 120.0,
+  "first_solved_frame": 0,
+  "duration_s": 129.025,
+  "mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
+ },
+ "alignment": {
+  "reference_imu": "imu_head_right",
+  "model": "offset (median of windows)",
+  "mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
+  "offset_s": -1.172497,
+  "rate": 0.0,
+  "global_lag_s": -1.175,
+  "peak_corr": 0.9898,
+  "reference_imu_first_sample_s": 10140.216580715,
+  "windows": {
+   "n_windows": 11,
+   "window_corr_median": 0.9934741717561563,
+   "drift_ppm": 7.103957547854577,
+   "drift_se_ppm": 4.350718022134641,
+   "drift_ms_over_take": 0.9165289229657048,
+   "lag_scatter_ms": 0.41274535221264985,
+   "lag_range_ms": 1.7380277934166966
+  }
+ },
+ "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": 26265,
+    "n_gyro": 26259,
+    "t_start": -1.1844354219772357,
+    "t_end": 129.76780671202346
+   },
+   "imu_head_left": {
+    "n_acc": 26217,
+    "n_gyro": 26210,
+    "t_start": -1.0704656619761808,
+    "t_end": 129.93605324602345
+   },
+   "imu_wrist_right": {
+    "n_acc": 25131,
+    "n_gyro": 25142,
+    "t_start": 0.2616598270235555,
+    "t_end": 124.46754278902358
+   },
+   "imu_wrist_left": {
+    "n_acc": 24521,
+    "n_gyro": 24533,
+    "t_start": 0.33174469402388795,
+    "t_end": 124.46933372602348
+   },
+   "mag_head": {
+    "n": 13110,
+    "t_start": -0.9891387029763281,
+    "t_end": 130.10090181702276
+   },
+   "mag_wrist_right": {
+    "n": 12420,
+    "t_start": 0.28153378202319446,
+    "t_end": 124.4713314300227
+   },
+   "mag_wrist_left": {
+    "n": 12413,
+    "t_start": 0.34693900302250413,
+    "t_end": 124.46684220802331
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 10141.426515,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0023423887986386703,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.039779559820322996,
+    "t_end": 129.0064235598204,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 10141.426458,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0019489646456461974,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.0393291356688279,
+    "t_end": 129.00598513566933,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 10141.426494,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0018171232386612972,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.0392332942612994,
+    "t_end": 129.0058892942618,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 10141.426535,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017295646474508202,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.039186735670460715,
+    "t_end": 129.00581973567046,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 10141.426477,
+    "frames": 3869,
+    "pts_gaps": 1,
+    "timing": "nominal",
+    "timeshift_cam_imu_s": 0.001668932298833096,
+    "gap_test": {
+     "pts": {
+      "offset_ms": -35.0,
+      "corr": 0.955,
+      "err_ms": 36.7
+     },
+     "nominal": {
+      "offset_ms": -1.7,
+      "corr": 0.955,
+      "err_ms": 3.4
+     }
+    },
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.03906810332251198,
+    "t_end": 128.972401436655,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 10141.426433,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017169377622902274,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.039072108786291304,
+    "t_end": 129.0057281087868,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 10141.706941,
+    "frames": 3724,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": 0.31786317102365147,
+    "t_end": 124.41779817102383,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 10141.69871,
+    "frames": 3724,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": 0.30963217102385543,
+    "t_end": 124.40943717102368,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-LM43-S01-daihaoxiang-01p1-1.mp4",
+    "frames": 3871,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 129.0
+   }
+  }
+ },
+ "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_REPORT_TIMING",
+   "WARN T_PTS",
+   "WARN T_UNITS"
+  ]
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-14T12:19:25.626814+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": 41.5,
+   "headtop_p95_mm": 1768.4
+  },
+  "gravity_check": {
+   "static_samples": 3800,
+   "g_world_mean_m_s2": [
+    0.0512,
+    0.0112,
+    9.7862
+   ],
+   "tilt_from_z_deg": 0.307,
+   "tilt_from_z_deg_before_levelling": 1.177,
+   "magnitude_m_s2": 9.7863
+  },
+  "rig_tracker_definition": "e17c9efadb69e7b1/20260914-morning/labels-530412/session-f6791abaa0af309e",
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-15T10:47:35.752528+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": [
+      0.04449006915092468,
+      0.006104720290750265,
+      -0.022466551512479782
+     ],
+     "LHandOut": [
+      0.03929965943098068,
+      0.04257231578230858,
+      0.004581221845000982
+     ],
+     "LWristOut": [
+      -0.035147812217473984,
+      0.007496966514736414,
+      0.03219180926680565
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.060535699129104614,
+      0.020703691989183426,
+      0.019053582102060318
+     ],
+     "RHandOut": [
+      -0.05349287390708923,
+      0.023772990331053734,
+      -0.03179476782679558
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 6.55,
+   "p95_frame": 14.29
+  },
+  "worst_markers": [
+   "CLAV 16mm",
+   "WaistRFront 15mm",
+   "WaistRBack 15mm",
+   "STRN 14mm",
+   "WaistLBack 14mm"
+  ],
+  "valid_fraction": 1.0,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 7.9,
+    "p5": 0.4
+   },
+   "frames_checked": 517,
+   "stature_mm": 1770.9
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 14.54
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 56.51,
+    "Q_rotvec": [
+     -0.76597,
+     -0.08355,
+     0.61557
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 33.6,
+    "opposite_sign_bend_deg": 152.3,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 6.62,
+    "hand_vs_marker_frame_deg": {
+     "before": 60.45,
+     "after": 6.62
+    },
+    "markers_on_wrist": [
+     "LWristOut",
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -23.98,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -10.0,
+       14.8
+      ]
+     },
+     "wrist_total_deg_median_after": 24.0,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 19.37,
+    "Q_rotvec": [
+     0.19664,
+     0.12504,
+     -0.24502
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 26.3,
+    "opposite_sign_bend_deg": 172.4,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 4.28,
+    "hand_vs_marker_frame_deg": {
+     "before": 20.96,
+     "after": 4.28
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -12.92,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -8.0,
+       6.8
+      ]
+     },
+     "wrist_total_deg_median_after": 22.1,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-15T10:47:38.812815+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "rig_tracker": {
+  "definition": "e17c9efadb69e7b1/20260914-morning/labels-530412/session-f6791abaa0af309e",
+  "R_tracker0_imu0": [
+   [
+    -0.69657697,
+    0.24937088,
+    -0.67275158
+   ],
+   [
+    0.70099945,
+    0.03671461,
+    -0.71221612
+   ],
+   [
+    -0.15290615,
+    -0.96771184,
+    -0.2003834
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.1754500820886343,
+   -0.02910004884129001,
+   -0.02423520382732612
+  ],
+  "rig_check": {
+   "gyro_samples": 5219,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 0.738
+  },
+  "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": "2026-10-18T18:52:37.341346+00:00",
+  "generated_by": "scripts/correct_processed_rig.py",
+  "remaining_gyro_frame_deg": 1.028522808723028
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM43/session_001",
+  "family": "locomanipulation",
+  "primitive": "LM43",
+  "source_session": "20260914/LM43/20260914_031930_session44"
+ }
+}

actions/locomanipulation/LM43/session_001/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4070edc08ec7c9c15b472493debb4c8799e43b94c9e7498b9c2df4586dd8c66d
+size 1150670

actions/locomanipulation/LM43/session_001/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce7b048102f504c478c555e5404c66fcae1ce725fd39647c89cf2124f41e6893
+size 8877107

actions/locomanipulation/LM43/session_001/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e3e8c269bbeeb31458a83e777418c5f722a6487d1fcdd73830194ad4eef5b7e
+size 8809114

actions/locomanipulation/LM43/session_001/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1503ecfaa5cae773e7594e58e9fa81e32a91faf2268b6b4510bbc4a175a2fdd
+size 5918323

actions/locomanipulation/LM43/session_001/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:163a296f43ea76d6551630c9c70430753b1edaa947b8183576850eb613813f7a
+size 24998478

actions/locomanipulation/LM43/session_001/raw/manifest.json

@@ -0,0 +1,248 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-10-09T00:51:14.880968+00:00",
+  "primitive_id": "LM43",
+  "session_id": "20260914_031930_session44",
+  "upload_batch_id": "20260914",
+  "dataset_path": "EgoMotionActions/20260914/LM43/20260914_031930_session44",
+  "segment": "auto/all",
+  "duration_s": 128.966644,
+  "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-LM43-S01-daihaoxiang-01p1/mocap-LM43-S01-daihaoxiang-01p1-1.mp4",
+      "mocap-LM43-S01-daihaoxiang-01p1/mocap-LM43-S01-daihaoxiang-01p1-Body0.bvh",
+      "mocap-LM43-S01-daihaoxiang-01p1/mocap-LM43-S01-daihaoxiang-01p1-Body0.csv",
+      "mocap-LM43-S01-daihaoxiang-01p1/mocap-LM43-S01-daihaoxiang-01p1-Body0.trc",
+      "mocap-LM43-S01-daihaoxiang-01p1/mocap-LM43-S01-daihaoxiang-01p1-Tracker0.csv",
+      "mocap-LM43-S01-daihaoxiang-01p1/mocap-LM43-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": 24998478,
+      "packaged_bytes": 24998478,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM43-S01-daihaoxiang-01p1/mocap-LM43-S01-daihaoxiang-01p1-1.mp4",
+      "packaged_as": "mocap/mocap-LM43-S01-daihaoxiang-01p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 37077385,
+      "packaged_bytes": 37077385,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM43-S01-daihaoxiang-01p1/mocap-LM43-S01-daihaoxiang-01p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-LM43-S01-daihaoxiang-01p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 9239901,
+      "packaged_bytes": 9239901,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM43-S01-daihaoxiang-01p1/mocap-LM43-S01-daihaoxiang-01p1-Body0.csv",
+      "packaged_as": "mocap/mocap-LM43-S01-daihaoxiang-01p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 127829576,
+      "packaged_bytes": 127829576,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM43-S01-daihaoxiang-01p1/mocap-LM43-S01-daihaoxiang-01p1-Body0.trc",
+      "packaged_as": "mocap/mocap-LM43-S01-daihaoxiang-01p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 28119531,
+      "packaged_bytes": 28119531,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM43-S01-daihaoxiang-01p1/mocap-LM43-S01-daihaoxiang-01p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-LM43-S01-daihaoxiang-01p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 4900814,
+      "packaged_bytes": 4900814,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM43-S01-daihaoxiang-01p1/mocap-LM43-S01-daihaoxiang-01p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-LM43-S01-daihaoxiang-01p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 4687757,
+      "packaged_bytes": 4687757,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1347584,
+      "packaged_bytes": 1347584,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1298432,
+      "packaged_bytes": 1298432,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 352256,
+      "packaged_bytes": 352256,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64686853,
+      "packaged_bytes": 64686853,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64621233,
+      "packaged_bytes": 64621233,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64611270,
+      "packaged_bytes": 64611270,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64648094,
+      "packaged_bytes": 64648094,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64575865,
+      "packaged_bytes": 64575865,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64639257,
+      "packaged_bytes": 64639257,
+      "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": 1245184,
+      "packaged_bytes": 1245184,
+      "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": 323584,
+      "packaged_bytes": 323584,
+      "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": 46599111,
+      "packaged_bytes": 46599111,
+      "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": 1216512,
+      "packaged_bytes": 1216512,
+      "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": 319488,
+      "packaged_bytes": 319488,
+      "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": 47587388,
+      "packaged_bytes": 47587388,
+      "compressed_video": false
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 642326,
+      "packaged_bytes": 642275,
+      "compressed_video": false
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-LM43-S01-daihaoxiang-01p1",
+    "action_id": "LM43",
+    "collection_session_index": 1,
+    "participant": "daihaoxiang",
+    "repetition_count": 1
+  },
+  "upload_batch_created_at": "2026-10-09T08:54:36.699407+08:00",
+  "participant_gender": "male",
+  "participant_height_cm": 174,
+  "participant_weight_kg": 55,
+  "objects": [
+    {
+      "name": "LittleBox",
+      "num": 6,
+      "scan_file": "3dobjs/LittleBox.objcap/models/box[0, 1, 2].usdz",
+      "rigid_names": [
+        "LittleBox0",
+        "LittleBox1",
+        "LittleBox2",
+        "LittleBox3",
+        "LittleBox4",
+        "LittleBox5"
+      ]
+    }
+  ],
+  "collection_site": {
+    "id": "site_00"
+  }
+}

actions/locomanipulation/LM43/session_001/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46ec8aba3c8c5e5c69b568a5a2ece70e6abec6d077355db2e85938eac8494ce9
+size 127829576

actions/locomanipulation/LM43/session_001/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4eb482c0059bc0096f6ca4c2b0b9f4f2f1a5f2897863d71464ac78dad370e86e
+size 28119531

actions/locomanipulation/LM43/session_001/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ca0489902abd2df30d90d06220ebdc25ad87841c68734565438c6b9844b30f2
+size 1347584

actions/locomanipulation/LM43/session_001/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ff65f7a44a847478a4d66ccfd0db85d1c9c3e794d457d76d3cbf436957b4f28
+size 1298432

actions/locomanipulation/LM43/session_001/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1c2f7bbeb0d917986fb9f837ab551dec4343590bcb3b1cfb0b4c1e805ebc0f8
+size 352256

actions/locomanipulation/LM43/session_001/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b869c879d77278c7c0ef06ab9dca95f2cad769eb87aa97ec01f092091221fdb1
+size 1216512

actions/locomanipulation/LM43/session_001/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9f1d506501a75f440315b358fca2eb7921b03a2b56b9e1488008854cb3db086
+size 1245184

actions/locomanipulation/LM43/session_001/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13aa8e2b37e1785a7beda97dbe7156f5812a263b0f28870c1b11aac4132229bd
+size 319488

actions/locomanipulation/LM43/session_001/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08a06cc6f0187517fd11fa662733747da9127543e6e55f7db5bffa6381f1e5ba
+size 323584

actions/locomanipulation/LM43/session_001/scene/infer.json

@@ -0,0 +1,36 @@
+{
+  "model": "facebook/map-anything",
+  "views": 258,
+  "windows": 6,
+  "cams": "left_front,right_front",
+  "stride_s": 1.0,
+  "size": [
+    518,
+    392
+  ],
+  "K": [
+    [
+      308.6641804819004,
+      0.0,
+      259.0
+    ],
+    [
+      0.0,
+      308.6641804819004,
+      196.0
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "pitch_deg": -20.0,
+  "hfov_deg": 80.0,
+  "pose_agreement_window_aligned": {
+    "trans_median_m": 0.0207,
+    "trans_p95_m": 0.0622,
+    "rot_median_deg": 0.483,
+    "rot_p95_deg": 1.233
+  }
+}

actions/locomanipulation/LM43/session_001/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a393f1f75a5f3df8e6dda8e9ce1fbb64f97636b4b0f56f9ee449ea88be3c087e
+size 247387005

actions/locomanipulation/LM43/session_001/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ef070d64bf30d15b38e92d447a1ceb3e18246dca7bc83944851d3234e7cc07c
+size 1414470

actions/locomanipulation/LM43/session_001/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf0a33dd40fb8617f588f705b6964c9a13c73b3e0abeabca1b418e568ef56001
+size 122341

actions/locomanipulation/LM43/session_001/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e53bd154f9bd0181ce54cf2895f3090f091a004c0b042322db83fc7f1ec8496d
+size 1384698

actions/locomanipulation/LM43/session_001/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f12c373e0b05a6bbd0a9c3c812dfac85bb6c58349038cf05e6c9647ad250066
+size 265811

actions/locomanipulation/LM43/session_001/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7444ad378dfed8811559a5075e6f1c57fce8ebcb5de17235b49c316e26136b43
+size 246636