Upload folder using huggingface_hub (part 104)

.gitattributes

@@ -3855,3 +3855,22 @@ actions/locomanipulation/LM02/session_014/raw/sensors/robowrist_imu_left.db filt
 actions/locomanipulation/LM02/session_014/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM02/session_014/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM02/session_014/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM02/session_015/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM02/session_015/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM02/session_015/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM02/session_015/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM02/session_015/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM02/session_015/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM02/session_015/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM02/session_015/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM02/session_015/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM02/session_015/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM03/session_001/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM03/session_001/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM03/session_001/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM03/session_001/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM03/session_001/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM03/session_001/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM03/session_001/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM03/session_001/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM03/session_001/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM02/session_015/raw/mocap/Body0.bvh

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18e5c36d08236a5f1242f4deafbb72de8853d6bb56d50eb1155c44131f918bb4
+size 10766805

actions/locomanipulation/LM02/session_015/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab434e880725f1568c35ad35c1285ccf88848c6fec0c672eb04ddf1fd480ec4b
+size 150164043

actions/locomanipulation/LM02/session_015/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca5130a0e79acd77cfee505758b69634beb6a79764c03606f1009faddcfc59c3
+size 32419391

actions/locomanipulation/LM02/session_015/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f4c2716de4b53a9232259d16f369aeefc4013943dcf5bd5bf3d3a71a69933d0
+size 1560576

actions/locomanipulation/LM02/session_015/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ffe255fe7eee82cfa4b9a773a9088f9f8789a9dcfc36759ef9da9c3f582b3b3
+size 1507328

actions/locomanipulation/LM02/session_015/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f461bae2543473040d3ac00b6448f846676b0470664beea824b674616c08e2e5
+size 401408

actions/locomanipulation/LM02/session_015/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9354fb2670d1df9d6e2e98499291105e0d82c6d3f7526421f30e72d16f9a8e2
+size 1511424

actions/locomanipulation/LM02/session_015/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e901dd1dde41d1c3101586a4e977b491a2f0660110bf3925d5f066b5435439d
+size 1503232

actions/locomanipulation/LM02/session_015/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3a8c767a4ccc8f9f7dcaa3190b82b1cb5114b40e1715cf357b61c63ba837a11
+size 385024

actions/locomanipulation/LM02/session_015/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe8dd7acef46c9cf31c2ff5dd9d15ff63384926993a6706165925d7a0aea71c0
+size 385024

actions/locomanipulation/LM02/session_015/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d47bf89a9b6a72d4e9b2bbc6fed1b44029f1774d5cb1427d7f8288bfd7f069a7
+size 1689917

actions/locomanipulation/LM02/session_015/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58621a320f290ba7f24b48de6c1d4a40a455ea6f7700f3455193ef6c78b271f3
+size 189927

actions/locomanipulation/LM02/session_015/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8e70d35d32fa3b57cd67d05f0bb172cea190dbf6401d938986afec1a2215cd8
+size 1733725

actions/locomanipulation/LM02/session_015/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cad8f5851827bfaf5274ec6887e9153c45425c053915f72d0a1e111f1e67874
+size 341519

actions/locomanipulation/LM02/session_015/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a1f0d20f63e8d751a147afe39aa7d9ec9645fec08d78b6d279fd62757f94516
+size 287340

actions/locomanipulation/LM02/session_015/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f13fa6d2a87ec751d11a9206b29fa89037f95b4ea2eeae587bd304a519da0271
+size 75201395

actions/locomanipulation/LM02/session_015/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74c158bf49ca716f5d5dbd0e7fb5fc1624fb6b67dccfd102cf4274afb4205f7f
+size 75065289

actions/locomanipulation/LM02/session_015/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60373a048c86076a229f89a36c4deb2d6565725c08a18d3acf659993e123da5c
+size 75144652

actions/locomanipulation/LM02/session_015/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:847dc9749b417e10179d1661876f1bdf50ce21fe7444565c3374710999f242f1
+size 75168965

actions/locomanipulation/LM02/session_015/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acb13864a7cc1b39ce6193265bad7683915f0b5d592d7a2c86e576d56a55c5ba
+size 75109728

actions/locomanipulation/LM02/session_015/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8b3e2f7c78bd6a00be64f771efe8c45280c0324cf954ddb9a6daa171201f05f
+size 75222157

actions/locomanipulation/LM02/session_015/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee77b3fbdd72548cbbda04f8114dc2af7ae275354702aeb69c8276c1f036d12f
+size 79422991

actions/locomanipulation/LM02/session_015/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:732e30ad85a51e1b431157f84a94d86b2ca7d09707b041bc5e813f08639325ca
+size 70234354

actions/locomanipulation/LM02/session_015/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2c0e6994b37d319dda7264534af4ada32eef851b05bb045d40d5f0d41b7b5fe
+size 71500661

actions/locomanipulation/LM03/session_001/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36b2da3981ac899ec930a90d78cfdaae25de07e44c1162350481a65054fc963e
+size 1138180

actions/locomanipulation/LM03/session_001/meta.json

@@ -0,0 +1,526 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20260916/LM03/20260916_015312_session19",
+ "session_id": "20260916_015312_session19",
+ "primitive": "LM03",
+ "batch": "20260916",
+ "participant": "wangzhixin",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e17c9efadb69e7b1",
+  "left": "cc5681142208e29a",
+  "right": "60a6f081bbe60b0d"
+ },
+ "generated_at_utc": "2026-10-14T11:09:40.480922+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": -1.179475,
+  "rate": 0.0,
+  "global_lag_s": -1.18,
+  "peak_corr": 0.9811,
+  "reference_imu_first_sample_s": 5737.258523287,
+  "windows": {
+   "n_windows": 11,
+   "window_corr_median": 0.9975963860005349,
+   "drift_ppm": 2.9444953918778256,
+   "drift_se_ppm": 2.853837422507539,
+   "drift_ms_over_take": 0.3798889804754375,
+   "lag_scatter_ms": 0.27073878980844296,
+   "lag_range_ms": 1.0500144268006384
+  }
+ },
+ "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": 26267,
+    "n_gyro": 26261,
+    "t_start": -1.1860490255671021,
+    "t_end": 129.776673027433
+   },
+   "imu_head_left": {
+    "n_acc": 26220,
+    "n_gyro": 26214,
+    "t_start": -1.0746572755664812,
+    "t_end": 129.94647778543327
+   },
+   "imu_wrist_right": {
+    "n_acc": 25746,
+    "n_gyro": 25745,
+    "t_start": 0.24449451043308446,
+    "t_end": 127.47585192943332
+   },
+   "imu_wrist_left": {
+    "n_acc": 25131,
+    "n_gyro": 25142,
+    "t_start": 0.2483308714332242,
+    "t_end": 127.4752648974332
+   },
+   "mag_head": {
+    "n": 13111,
+    "t_start": -0.9897609835665417,
+    "t_end": 130.11024445343315
+   },
+   "mag_wrist_right": {
+    "n": 12721,
+    "t_start": 0.2626638104334933,
+    "t_end": 127.46233209343298
+   },
+   "mag_wrist_left": {
+    "n": 12719,
+    "t_start": 0.27276273843342724,
+    "t_end": 127.45254292743319
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 5738.475435,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0023423887986386703,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.039779545232319746,
+    "t_end": 129.0063235452322,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 5738.475378,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0019489646456461974,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.03932912107900566,
+    "t_end": 129.0058961210794,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 5738.475412,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0018171232386612972,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.039231279671709585,
+    "t_end": 129.005787279672,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 5738.47545,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017295646474508202,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.039181721080764786,
+    "t_end": 129.00571472108055,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 5738.475395,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.001668932298833096,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.039066088732922166,
+    "t_end": 129.00562208873322,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 5738.475349,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017169377622902274,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.03906809419602442,
+    "t_end": 129.00564609419558,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 5738.698385,
+    "frames": 3816,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": 0.2603871564329683,
+    "t_end": 127.42685815643343,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 5738.702124,
+    "frames": 3816,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": 0.26412615643364634,
+    "t_end": 127.43046715643375,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-LM03-S01-wangzhixin-01p1-1.mp4",
+    "frames": 3871,
+    "fps": 60.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 64.5
+   }
+  }
+ },
+ "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_STALE",
+   "WARN S_MOCAP_TS",
+   "WARN S_PARTICIPANT",
+   "WARN S_VIDEO_FPS",
+   "WARN T_UNITS"
+  ]
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-14T12:19:51.247032+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": [
+   [
+    0.9999290743,
+    -0.011909827,
+    -4.93881e-05
+   ],
+   [
+    4.93881e-05,
+    0.0082932301,
+    -0.9999656094
+   ],
+   [
+    0.011909827,
+    0.9998946836,
+    0.0082932301
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999929074,
+    -1.1909827e-05,
+    -4.9388e-08,
+    0.0
+   ],
+   [
+    4.9388e-08,
+    8.29323e-06,
+    -0.000999965609,
+    0.0
+   ],
+   [
+    1.1909827e-05,
+    0.000999894684,
+    8.29323e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20260916-morning",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.8315519343591652,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 27.4,
+   "headtop_p95_mm": 1571.9
+  },
+  "gravity_check": {
+   "static_samples": 962,
+   "g_world_mean_m_s2": [
+    0.2133,
+    -0.0537,
+    9.8027
+   ],
+   "tilt_from_z_deg": 1.285,
+   "tilt_from_z_deg_before_levelling": 2.084,
+   "magnitude_m_s2": 9.8051
+  },
+  "rig_tracker_definition": "e17c9efadb69e7b1/20260916-morning/labels-530412/session-2027babecf24b0b1",
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-15T00:36:54.694923+00:00",
+  "generated_by": "scripts/fit_smplx_dataset.py",
+  "file": "smplx.npz",
+  "gender": "female",
+  "n_betas": 16,
+  "betas_source": "participant median (derived/smplx/participants.json)",
+  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
+  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
+  "hands": {
+   "observed": false,
+   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
+   "hand_marker_offsets_m": {
+    "left": {
+     "LHandIn": [
+      0.08713249117136002,
+      -0.0024602836929261684,
+      0.03840718790888786
+     ],
+     "LHandOut": [
+      0.09025555104017258,
+      0.01976664364337921,
+      -0.006429649889469147
+     ],
+     "LWristOut": [
+      0.01432478241622448,
+      0.017599092796444893,
+      -0.017637239769101143
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.048699215054512024,
+      -0.0291734728962183,
+      -0.010308784432709217
+     ],
+     "RHandOut": [
+      -0.055616360157728195,
+      0.018550971522927284,
+      0.013718136586248875
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 6.59,
+   "p95_frame": 11.29
+  },
+  "worst_markers": [
+   "RForearm 17mm",
+   "LKnee 17mm",
+   "WaistLFront 13mm",
+   "CLAV 12mm",
+   "RKneeIn 11mm"
+  ],
+  "valid_fraction": 0.9848,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 13.3,
+    "p5": 9.0
+   },
+   "frames_checked": 509,
+   "stature_mm": 1582.0
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 14.38
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 149.5,
+    "Q_rotvec": [
+     -2.59092,
+     -0.04906,
+     0.30489
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 171.2,
+    "opposite_sign_bend_deg": 41.6,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 4.37,
+    "hand_vs_marker_frame_deg": {
+     "before": 148.42,
+     "after": 4.37
+    },
+    "markers_on_wrist": [
+     "LWristOut",
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 162.44,
+     "wrist_twist_deg_after": {
+      "median": 13.3,
+      "iqr": [
+       5.6,
+       22.9
+      ]
+     },
+     "wrist_total_deg_median_after": 34.3,
+     "markers_on_forearm": [
+      "LElbow",
+      "LElbowIn",
+      "LForearm",
+      "LWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 124.18,
+    "Q_rotvec": [
+     2.0788,
+     0.56835,
+     0.23077
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 128.1,
+    "opposite_sign_bend_deg": 65.2,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 9.21,
+    "hand_vs_marker_frame_deg": {
+     "before": 124.71,
+     "after": 9.21
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -124.92,
+     "wrist_twist_deg_after": {
+      "median": -0.02,
+      "iqr": [
+       -12.3,
+       6.8
+      ]
+     },
+     "wrist_total_deg_median_after": 40.3,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-15T00:36:57.936325+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "rig_tracker": {
+  "definition": "e17c9efadb69e7b1/20260916-morning/labels-530412/session-2027babecf24b0b1",
+  "R_tracker0_imu0": [
+   [
+    -0.56835763,
+    0.16139226,
+    -0.80679746
+   ],
+   [
+    0.81743377,
+    -0.00085714,
+    -0.57602196
+   ],
+   [
+    -0.09365703,
+    -0.98688997,
+    -0.13144032
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.1788864185343945,
+   0.0032829574590005095,
+   -0.007842492056664324
+  ],
+  "rig_check": {
+   "gyro_samples": 7369,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 0.833
+  },
+  "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": "2026-10-18T18:54:25.964078+00:00",
+  "generated_by": "scripts/correct_processed_rig.py",
+  "remaining_gyro_frame_deg": 0.992773259556815
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM03/session_001",
+  "family": "locomanipulation",
+  "primitive": "LM03",
+  "source_session": "20260916/LM03/20260916_015312_session19"
+ }
+}

actions/locomanipulation/LM03/session_001/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91fc50a7975b18b5cf4fbc3b7dace7b11944a96de8dca7351126c86d06af4c53
+size 1160962

actions/locomanipulation/LM03/session_001/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24a6b3663e50fc1251b5bd97b35826420fecf67a400947028d745c1d78a56c88
+size 8932712

actions/locomanipulation/LM03/session_001/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3af7379c8da86173727d827c77315212d903fd4a9a53378850858d12649a48a0
+size 8926052

actions/locomanipulation/LM03/session_001/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7aa413d752fa48b3361aefffb88ba82dea27d7520eabc7d0af2263238aaa6fd
+size 5900033

actions/locomanipulation/LM03/session_001/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7add73381f673ea3272bf5045dfc15baedade2350d6b8b59b92a414105d1bcee
+size 25000398

actions/locomanipulation/LM03/session_001/raw/manifest.json

@@ -0,0 +1,245 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-09-16T15:42:07.130453+00:00",
+  "primitive_id": "LM03",
+  "session_id": "20260916_015312_session19",
+  "upload_batch_id": "20260916",
+  "dataset_path": "EgoMotionActions/20260916/LM03/20260916_015312_session19",
+  "segment": "auto/all",
+  "duration_s": 128.966544,
+  "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-LM03-S01-wangzhixin-01p1/mocap-LM03-S01-wangzhixin-01p1-1.mp4",
+      "mocap-LM03-S01-wangzhixin-01p1/mocap-LM03-S01-wangzhixin-01p1-Body0.bvh",
+      "mocap-LM03-S01-wangzhixin-01p1/mocap-LM03-S01-wangzhixin-01p1-Body0.csv",
+      "mocap-LM03-S01-wangzhixin-01p1/mocap-LM03-S01-wangzhixin-01p1-Body0.trc",
+      "mocap-LM03-S01-wangzhixin-01p1/mocap-LM03-S01-wangzhixin-01p1-Tracker0.csv",
+      "mocap-LM03-S01-wangzhixin-01p1/mocap-LM03-S01-wangzhixin-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": 25000398,
+      "packaged_bytes": 25000398,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM03-S01-wangzhixin-01p1/mocap-LM03-S01-wangzhixin-01p1-1.mp4",
+      "packaged_as": "mocap/mocap-LM03-S01-wangzhixin-01p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 34793093,
+      "packaged_bytes": 34793093,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM03-S01-wangzhixin-01p1/mocap-LM03-S01-wangzhixin-01p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-LM03-S01-wangzhixin-01p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 9113336,
+      "packaged_bytes": 9113336,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM03-S01-wangzhixin-01p1/mocap-LM03-S01-wangzhixin-01p1-Body0.csv",
+      "packaged_as": "mocap/mocap-LM03-S01-wangzhixin-01p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 128517330,
+      "packaged_bytes": 128517330,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM03-S01-wangzhixin-01p1/mocap-LM03-S01-wangzhixin-01p1-Body0.trc",
+      "packaged_as": "mocap/mocap-LM03-S01-wangzhixin-01p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 27520743,
+      "packaged_bytes": 27520743,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM03-S01-wangzhixin-01p1/mocap-LM03-S01-wangzhixin-01p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-LM03-S01-wangzhixin-01p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 4882451,
+      "packaged_bytes": 4882451,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM03-S01-wangzhixin-01p1/mocap-LM03-S01-wangzhixin-01p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-LM03-S01-wangzhixin-01p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 4669560,
+      "packaged_bytes": 4669560,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1355776,
+      "packaged_bytes": 1355776,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1302528,
+      "packaged_bytes": 1302528,
+      "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": 64651529,
+      "packaged_bytes": 64651529,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64598216,
+      "packaged_bytes": 64598216,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64669535,
+      "packaged_bytes": 64669535,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64607859,
+      "packaged_bytes": 64607859,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64666685,
+      "packaged_bytes": 64666685,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64678979,
+      "packaged_bytes": 64678979,
+      "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": 1282048,
+      "packaged_bytes": 1282048,
+      "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": 327680,
+      "packaged_bytes": 327680,
+      "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": 63066703,
+      "packaged_bytes": 63066703,
+      "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": 1253376,
+      "packaged_bytes": 1253376,
+      "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": 327680,
+      "packaged_bytes": 327680,
+      "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": 54913907,
+      "packaged_bytes": 54913907,
+      "compressed_video": false
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 813303,
+      "packaged_bytes": 813252,
+      "compressed_video": false
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-LM03-S01-wangzhixin-01p1",
+    "action_id": "LM03",
+    "collection_session_index": 1,
+    "participant": "wangzhixin",
+    "repetition_count": 1
+  },
+  "upload_batch_created_at": "2026-09-17T00:13:13.903265+08:00",
+  "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/LM03/session_001/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d58b7b81166c30c35c9c94ffdba5f3cc634dc30498d67fa2f9b011bb6fef1727
+size 128517330

actions/locomanipulation/LM03/session_001/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:249e67445a76138f4e7644f97d0abb97ee12d2084f0ce735b2d8cc2d0b424638
+size 27520743