Upload folder using huggingface_hub (part 550)

.gitattributes

@@ -17808,3 +17808,54 @@ actions/locomanipulation/LM81/session_007/raw/sensors/robocap_mag_middle.db filt
 actions/locomanipulation/LM81/session_007/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM81/session_007/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM81/session_007/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_008/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_008/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_008/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_008/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_008/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_008/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_008/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_008/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_009/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_009/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_009/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_009/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_009/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_009/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_009/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_009/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_010/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_010/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_010/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_010/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_010/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_010/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_010/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_010/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_011/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_011/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_011/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_011/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_011/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_011/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_011/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_011/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_012/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_012/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_012/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_012/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_012/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_012/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_012/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_012/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_013/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_013/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_013/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_013/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_013/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_013/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_013/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_013/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_014/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_014/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM81/session_014/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM81/session_008/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2d4def41ee01345514d1521edd8481bee4e1902d5d930c8390b65bb758a5a23
+size 123946181

actions/locomanipulation/LM81/session_008/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:119cc3a725b20e83fec29afdd930603367ba3c87db90d942bb5245652c140b38
+size 27341158

actions/locomanipulation/LM81/session_008/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9ac7c78dbe2f4e75df82514da66716268a0c26951163eecbc96bef8ad1d3ff6
+size 1302528

actions/locomanipulation/LM81/session_008/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a469976cda43727028afc90601e6959f5570c414a82fa0a331519df7a177a8b
+size 1253376

actions/locomanipulation/LM81/session_008/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b97dcd717a3a3d229ffe83445ddcd61a068fed44e37f1f2c34362ecd98039fb
+size 339968

actions/locomanipulation/LM81/session_008/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a007c036eaff1fecb6f55125651225c036ecdb4b7edc60a4fe2b9aee07ea147
+size 1249280

actions/locomanipulation/LM81/session_008/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8b185d4c117dffefd08cf7379cb0e1f5c903073bf0ddcafbbef549672d5c840
+size 319488

actions/locomanipulation/LM81/session_008/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dfd3170e5460bd5a3b8f63664ca750a9382fdbcb1ac033642df86fdf95cd9d2
+size 319488

actions/locomanipulation/LM81/session_008/scene/infer.json

@@ -0,0 +1,36 @@
+{
+  "model": "facebook/map-anything",
+  "views": 248,
+  "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": 0.0966,
+    "trans_p95_m": 0.3313,
+    "rot_median_deg": 0.576,
+    "rot_p95_deg": 1.482
+  }
+}

actions/locomanipulation/LM81/session_008/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e27523ec723049b4d37db0cfb56b75c17e39d27e8fb728299afb339a490e45d6
+size 213130048

actions/locomanipulation/LM81/session_008/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11dc821cbaa9c4b7794b4d9e71720158f4ae0e8e96835299f314df33b0f1c6c7
+size 1313404

actions/locomanipulation/LM81/session_008/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87571b3e844a846b012aaa66b78d05337ec3fc8dd5981d63bc43627a8a387193
+size 114246

actions/locomanipulation/LM81/session_008/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c213fdf394ec5e885d0b00b903280c9b2407a345afc0db90b2240a3669b9a97
+size 675259

actions/locomanipulation/LM81/session_008/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:719befd4341ea88fa8f770def6b5c609c94dac2b49af1ac1c7d70e52a49cbe52
+size 284981

actions/locomanipulation/LM81/session_008/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a505d185b22fed6bda8edff14bc34c95f4fa5fc1f3640840f21f8ebfb2acc06f
+size 255245

actions/locomanipulation/LM81/session_008/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c27bb0cefc65d37260f9d54a4de808256cd2afbb31af28acb7111be33585394a
+size 62135503

actions/locomanipulation/LM81/session_008/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e7e36ceb8fd3b31637f0ba4f0bd3b6c8e5508557f4d38f6830a59417b3d68f3
+size 62124049

actions/locomanipulation/LM81/session_008/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a5cabf3e88fec7b7897108d6716d2a9b9c53cbda7a21150edbc8b6633b33e60
+size 62157418

actions/locomanipulation/LM81/session_008/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f888da883900a58b456e85866745276580e48fa7c87f899c66c951386f337d6d
+size 62141012

actions/locomanipulation/LM81/session_008/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bc3a903b2381e7d17ea734a50f7aeb4c42eb06c76e98cbe9afbdcd181b5a86e
+size 62101711

actions/locomanipulation/LM81/session_008/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:561cf79673d4f42f5b14db8e004f348afed792468777c9e38b5d1a63ef2d3b11
+size 62131088

actions/locomanipulation/LM81/session_008/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b5da9a767c28078e1d973d311a5fe21ae5598c895dbe2ad2b593207b5001089
+size 53254620

actions/locomanipulation/LM81/session_008/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3eba6da51934df70712d234a04db23d90f7eefd7691a45992a8f5e1c00c31a27
+size 60625554

actions/locomanipulation/LM81/session_008/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acbc68be1c82c0fa37648f4a30d1cd112d1dfacfca8fcea751216350508c24a1
+size 59433230

actions/locomanipulation/LM81/session_009/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5b067d73c6eb43136db6e307efd900bd8090c7ae9704d059e7b73f12899b433
+size 962019

actions/locomanipulation/LM81/session_009/meta.json

@@ -0,0 +1,528 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20260919/LM81/20260919_061049_session94",
+ "session_id": "20260919_061049_session94",
+ "primitive": "LM81",
+ "batch": "20260919",
+ "participant": "liujiaxin",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e17c9efadb69e7b1",
+  "left": "452031d7af00ef6f",
+  "right": "6ee5ee4472fe2ad7"
+ },
+ "generated_at_utc": "2026-10-14T11:15:28.678197+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": 109.025,
+  "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": -1.174475,
+  "rate": 0.0,
+  "global_lag_s": -1.175,
+  "peak_corr": 0.9793,
+  "reference_imu_first_sample_s": 20249.951204162,
+  "windows": {
+   "n_windows": 8,
+   "window_corr_median": 0.9983934398504188,
+   "drift_ppm": 1.7212552155717806,
+   "drift_se_ppm": 2.955413193140738,
+   "drift_ms_over_take": 0.1876455060842503,
+   "lag_scatter_ms": 0.16587215407626307,
+   "lag_range_ms": 0.503964961835246
+  }
+ },
+ "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": 22256,
+    "n_gyro": 22249,
+    "t_start": -1.1814551218952518,
+    "t_end": 109.77340279510523
+   },
+   "imu_head_left": {
+    "n_acc": 22218,
+    "n_gyro": 22211,
+    "t_start": -1.070107288894488,
+    "t_end": 109.94340142810748
+   },
+   "imu_wrist_left": {
+    "n_acc": 21337,
+    "n_gyro": 21337,
+    "t_start": 0.20041854710567275,
+    "t_end": 105.58077686710445
+   },
+   "mag_head": {
+    "n": 11110,
+    "t_start": -0.9898078308936791,
+    "t_end": 110.10029643110525
+   },
+   "mag_wrist_right": {
+    "n": 10540,
+    "t_start": 0.19748512510764993,
+    "t_end": 105.58723649710797
+   },
+   "mag_wrist_left": {
+    "n": 10538,
+    "t_start": 0.21388272910613448,
+    "t_end": 105.58367594510551
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 20251.162879,
+    "frames": 3270,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0023423887986386703,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.03954257090359459,
+    "t_end": 109.00639857090269,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 20251.162832,
+    "frames": 3270,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0019489646456461974,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.039102146755484846,
+    "t_end": 109.00589114675373,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 20251.162863,
+    "frames": 3270,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0018171232386612972,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.03900130534808266,
+    "t_end": 109.00583430534667,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 20251.162897,
+    "frames": 3270,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017295646474508202,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.038947746751236245,
+    "t_end": 109.00583674675059,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 20251.162848,
+    "frames": 3270,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.001668932298833096,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.038838114404515345,
+    "t_end": 109.00564911440293,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 20251.162809,
+    "frames": 3270,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017169377622902274,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.038847119868168356,
+    "t_end": 109.00561411986988,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 20251.312314,
+    "frames": 3162,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": 0.18663518210510954,
+    "t_end": 105.55310618210629,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 20251.438051,
+    "frames": 3158,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": 0.31237218210722784,
+    "t_end": 105.54544518210665,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-LM81-S03-liujiaxin-01p1-1.mp4",
+    "frames": 3271,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 109.0
+   }
+  }
+ },
+ "flags": [
+  "wrist_right_imu empty"
+ ],
+ "sanity": {
+  "status": {
+   "structure": "FAIL",
+   "markers": "WARN",
+   "timing": "WARN"
+  },
+  "verdict": "READY_WITH_WARNINGS",
+  "issues": [
+   "FAIL S_DB_EMPTY",
+   "FAIL S_REPORT_EMPTY",
+   "WARN M_BODY_ID",
+   "WARN M_SPIKES",
+   "WARN M_TRACKER_LABELS",
+   "WARN S_INDEX_STALE",
+   "WARN S_PARTICIPANT",
+   "WARN S_REPORT_TIMING",
+   "WARN T_EMPTY"
+  ]
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-14T12:20:33.691822+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": [
+   [
+    0.9998658868,
+    -0.0163768618,
+    -8.30319e-05
+   ],
+   [
+    8.30319e-05,
+    0.0101392104,
+    -0.9999485934
+   ],
+   [
+    0.0163768618,
+    0.9998144802,
+    0.0101392104
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999865887,
+    -1.6376862e-05,
+    -8.3032e-08,
+    0.0
+   ],
+   [
+    8.3032e-08,
+    1.013921e-05,
+    -0.000999948593,
+    0.0
+   ],
+   [
+    1.6376862e-05,
+    0.00099981448,
+    1.013921e-05,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20260919-morning",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 1.1036706221066361,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 31.5,
+   "headtop_p95_mm": 1644.0
+  },
+  "gravity_check": {
+   "static_samples": 889,
+   "g_world_mean_m_s2": [
+    0.1035,
+    -0.0102,
+    9.7899
+   ],
+   "tilt_from_z_deg": 0.609,
+   "tilt_from_z_deg_before_levelling": 1.672,
+   "magnitude_m_s2": 9.7905
+  },
+  "rig_tracker_definition": "e17c9efadb69e7b1/20260919-morning/labels-530412/session-1a4df4607930ae53",
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-15T04:57:56.016519+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": [
+      0.06682632118463516,
+      0.019193880259990692,
+      0.017932282760739326
+     ],
+     "LHandOut": [
+      0.06412871181964874,
+      0.0023223510943353176,
+      -0.04176313430070877
+     ],
+     "LWristOut": [
+      0.001799286692403257,
+      0.012935689650475979,
+      -0.027669964358210564
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.06669390946626663,
+      0.02030380815267563,
+      0.0274786539375782
+     ],
+     "RHandOut": [
+      -0.0646759569644928,
+      -0.0031606117263436317,
+      -0.0389234833419323
+     ],
+     "RWristIn": [
+      -0.0026532949414104223,
+      0.009153636172413826,
+      0.028675507754087448
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 4.38,
+   "p95_frame": 6.7
+  },
+  "worst_markers": [
+   "RKneeIn 13mm",
+   "LKneeIn 10mm",
+   "RShoulderBack 10mm",
+   "RThigh 9mm",
+   "LShin 8mm"
+  ],
+  "valid_fraction": 1.0,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 11.7,
+    "p5": 4.6
+   },
+   "frames_checked": 437,
+   "stature_mm": 1614.2
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 11.75
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 169.9,
+    "Q_rotvec": [
+     2.92136,
+     -0.14957,
+     -0.48586
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 166.7,
+    "opposite_sign_bend_deg": 27.7,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.03,
+    "hand_vs_marker_frame_deg": {
+     "before": 169.88,
+     "after": 1.03
+    },
+    "markers_on_wrist": [
+     "LElbowIn",
+     "LForearm",
+     "LWristOut",
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 166.57,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -0.7,
+       0.6
+      ]
+     },
+     "wrist_total_deg_median_after": 14.7,
+     "markers_on_forearm": [
+      "LWristIn"
+     ]
+    },
+    "frames_used": 1309
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 23.14,
+    "Q_rotvec": [
+     -0.22126,
+     0.21538,
+     -0.26045
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 27.3,
+    "opposite_sign_bend_deg": 157.8,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 0.95,
+    "hand_vs_marker_frame_deg": {
+     "before": 23.27,
+     "after": 0.95
+    },
+    "markers_on_wrist": [
+     "RWristIn",
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -22.71,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -2.4,
+       3.0
+      ]
+     },
+     "wrist_total_deg_median_after": 13.6,
+     "markers_on_forearm": [
+      "RElbowIn",
+      "RForearm",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1309
+   },
+   "generated_at_utc": "2026-10-15T04:57:58.767321+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "rig_tracker": {
+  "definition": "e17c9efadb69e7b1/20260919-morning/labels-530412/session-1a4df4607930ae53",
+  "R_tracker0_imu0": [
+   [
+    -0.60258811,
+    0.25341282,
+    -0.7567493
+   ],
+   [
+    0.79689746,
+    0.14007262,
+    -0.58765134
+   ],
+   [
+    -0.04291852,
+    -0.95716331,
+    -0.28635013
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.17697363843232683,
+   -0.0035172975411265303,
+   -0.025335990919361524
+  ],
+  "rig_check": {
+   "gyro_samples": 4591,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 0.847
+  },
+  "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": "2026-10-18T18:57:29.490612+00:00",
+  "generated_by": "scripts/correct_processed_rig.py",
+  "remaining_gyro_frame_deg": 0.821381005550121
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM81/session_009",
+  "family": "locomanipulation",
+  "primitive": "LM81",
+  "source_session": "20260919/LM81/20260919_061049_session94"
+ }
+}

actions/locomanipulation/LM81/session_009/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebe30e17ba9f4bfc7f7e9286132f2bcc243596b9809adceb3c20d138a840c555
+size 977878

actions/locomanipulation/LM81/session_009/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d880ebc48f42c3af71cf6583c4cc4be6190b226ced5852d4a890ed63723034f
+size 7571153

actions/locomanipulation/LM81/session_009/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d69534307fee5dde28a703c2f5456eb97bc52c2528aa6492236243b8283819bc
+size 7688182

actions/locomanipulation/LM81/session_009/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cc3cf328f0522a06246e39f9a4b10b4c3407414327edc69bc9afdc1cd66fb15
+size 5054617

actions/locomanipulation/LM81/session_009/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f42f7522440e28ebea03572a188df2907aeb06872487758c25bbd40a995025e
+size 21160398

actions/locomanipulation/LM81/session_009/raw/manifest.json

@@ -0,0 +1,230 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-09-19T17:00:28.962049+00:00",
+  "primitive_id": "LM81",
+  "session_id": "20260919_061049_session94",
+  "upload_batch_id": "20260919",
+  "dataset_path": "EgoMotionActions/20260919/LM81/20260919_061049_session94",
+  "segment": "auto/all",
+  "duration_s": 108.966856,
+  "device_ids": {
+    "main": "e17c9efadb69e7b1",
+    "left": "452031d7af00ef6f",
+    "right": "6ee5ee4472fe2ad7"
+  },
+  "options": {
+    "raw_video": true,
+    "proxy_height": 540,
+    "proxy_crf": 28,
+    "proxy_bitrate": "1400k",
+    "mocap_selection": "explicit",
+    "mocap_files": [
+      "mocap-LM81-S03-liujiaxin-01p1/mocap-LM81-S03-liujiaxin-01p1-1.mp4",
+      "mocap-LM81-S03-liujiaxin-01p1/mocap-LM81-S03-liujiaxin-01p1-Body0.bvh",
+      "mocap-LM81-S03-liujiaxin-01p1/mocap-LM81-S03-liujiaxin-01p1-Body0.csv",
+      "mocap-LM81-S03-liujiaxin-01p1/mocap-LM81-S03-liujiaxin-01p1-Body0.trc",
+      "mocap-LM81-S03-liujiaxin-01p1/mocap-LM81-S03-liujiaxin-01p1-Tracker0.csv",
+      "mocap-LM81-S03-liujiaxin-01p1/mocap-LM81-S03-liujiaxin-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": 21160398,
+      "packaged_bytes": 21160398,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM81-S03-liujiaxin-01p1/mocap-LM81-S03-liujiaxin-01p1-1.mp4",
+      "packaged_as": "mocap/mocap-LM81-S03-liujiaxin-01p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 45728268,
+      "packaged_bytes": 45728268,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM81-S03-liujiaxin-01p1/mocap-LM81-S03-liujiaxin-01p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-LM81-S03-liujiaxin-01p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 7808258,
+      "packaged_bytes": 7808258,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM81-S03-liujiaxin-01p1/mocap-LM81-S03-liujiaxin-01p1-Body0.csv",
+      "packaged_as": "mocap/mocap-LM81-S03-liujiaxin-01p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 109033144,
+      "packaged_bytes": 109033144,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM81-S03-liujiaxin-01p1/mocap-LM81-S03-liujiaxin-01p1-Body0.trc",
+      "packaged_as": "mocap/mocap-LM81-S03-liujiaxin-01p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 24052484,
+      "packaged_bytes": 24052484,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM81-S03-liujiaxin-01p1/mocap-LM81-S03-liujiaxin-01p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-LM81-S03-liujiaxin-01p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 4125007,
+      "packaged_bytes": 4125007,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM81-S03-liujiaxin-01p1/mocap-LM81-S03-liujiaxin-01p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-LM81-S03-liujiaxin-01p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 4022060,
+      "packaged_bytes": 4022060,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1146880,
+      "packaged_bytes": 1146880,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1105920,
+      "packaged_bytes": 1105920,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 303104,
+      "packaged_bytes": 303104,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 54642068,
+      "packaged_bytes": 54642068,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 54582710,
+      "packaged_bytes": 54582710,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 54674757,
+      "packaged_bytes": 54674757,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 54634512,
+      "packaged_bytes": 54634512,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 54562191,
+      "packaged_bytes": 54562191,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 54627010,
+      "packaged_bytes": 54627010,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_452031d7af00ef6f_left/robowrist_segment1_imu_left.db",
+      "packaged_as": "robowrist_452031d7af00ef6f_left/robowrist_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1064960,
+      "packaged_bytes": 1064960,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_452031d7af00ef6f_left/robowrist_segment1_mag_left.db",
+      "packaged_as": "robowrist_452031d7af00ef6f_left/robowrist_segment1_mag_left.db",
+      "kind": "data",
+      "original_bytes": 274432,
+      "packaged_bytes": 274432,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+      "packaged_as": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 51497577,
+      "packaged_bytes": 51497577,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_imu_right.db",
+      "packaged_as": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 24576,
+      "packaged_bytes": 24576,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_mag_right.db",
+      "packaged_as": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_mag_right.db",
+      "kind": "data",
+      "original_bytes": 274432,
+      "packaged_bytes": 274432,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
+      "packaged_as": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 51457077,
+      "packaged_bytes": 51457077,
+      "compressed_video": false
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 551017,
+      "packaged_bytes": 550963,
+      "compressed_video": false
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-LM81-S03-liujiaxin-01p1",
+    "action_id": "LM81",
+    "collection_session_index": 3,
+    "participant": "liujiaxin",
+    "repetition_count": 1
+  },
+  "upload_batch_created_at": "2026-09-20T01:18:43.139882+08:00",
+  "collection_site": {
+    "id": "site_00"
+  }
+}

actions/locomanipulation/LM81/session_009/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca5ec120326fa6ac34ba615de9e0008e20acdd3b7ac6640db2e7d687e53dc2aa
+size 109033144

actions/locomanipulation/LM81/session_009/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61b4d959037aea92cd49d30250d14536c4be94537c3d5be6da4a1be3aa09d7a0
+size 24052484

actions/locomanipulation/LM81/session_009/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c40b0db8a74b6ded85aea6d2de70ee77a1b8e219b5416dc3807f437072e295da
+size 1146880

actions/locomanipulation/LM81/session_009/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d11f4ec6490a899caa2d3048f30d1d8c4f830dcddf3331944249e66ef6c82cd0
+size 1105920

actions/locomanipulation/LM81/session_009/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e137ac49cb76aeed4a3ceb0935a73abe8f70528a835fb93b564dd1baf0f88dd
+size 303104

actions/locomanipulation/LM81/session_009/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c354bad39cc88703ce76c88ea61ffcb60b8ca661cc79a5cf91a5171684eb01ca
+size 1064960

actions/locomanipulation/LM81/session_009/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62d2a397fe700e0d788b09d11b85c27e2dfa8e74de977a3cade387c3a82b28da
+size 274432

actions/locomanipulation/LM81/session_009/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd13bd08607ba78e23753fec8bb55970d1f2a821ac1c2bdb34f261a4e460f0d0
+size 274432

actions/locomanipulation/LM81/session_009/scene/infer.json

@@ -0,0 +1,36 @@
+{
+  "model": "facebook/map-anything",
+  "views": 218,
+  "windows": 5,
+  "cams": "left_front,right_front",
+  "stride_s": 1.0,
+  "size": [
+    518,
+    392
+  ],
+  "K": [
+    [
+      308.6641804819004,
+      0.0,
+      259.0
+    ],
+    [
+      0.0,
+      308.6641804819004,
+      196.0
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "pitch_deg": -20.0,
+  "hfov_deg": 80.0,
+  "pose_agreement_window_aligned": {
+    "trans_median_m": 0.0591,
+    "trans_p95_m": 0.2607,
+    "rot_median_deg": 0.727,
+    "rot_p95_deg": 1.478
+  }
+}

actions/locomanipulation/LM81/session_009/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4a799f3be7aef6d9d9391b1883773a061a857abd9f679a6d9450d8993d2a9c9
+size 202985034