Upload folder using huggingface_hub (part 784)

.gitattributes

@@ -32109,3 +32109,58 @@ actions/locomotion_primitives/P30/session_035/raw/sensors/robowrist_mag_left.db
 actions/locomotion_primitives/P30/session_035/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomotion_primitives/P30/session_036/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
 actions/locomotion_primitives/P30/session_036/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_036/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_036/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_036/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_036/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_036/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_036/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_036/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_037/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_037/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_037/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_037/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_037/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_037/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_037/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_037/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_037/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_038/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_038/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_038/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_038/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_038/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_038/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_038/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_038/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_038/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_038/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_039/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_039/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_039/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_039/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_039/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_039/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_039/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_039/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_039/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_040/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_040/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_040/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_040/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_040/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_040/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_040/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_040/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_040/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_041/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_041/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_041/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_041/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_041/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_041/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_041/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_041/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_041/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_042/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P30/session_042/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/locomotion_primitives/P30/session_036/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2531cc9fce5564f56aaf7a39773860db519e4efb40504903060a696e6af56a96
+size 1359872

actions/locomotion_primitives/P30/session_036/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19bd086f93d93c6a206deb93e3b1ec0743ce72118d4894bb784e67d1bb3f464e
+size 1306624

actions/locomotion_primitives/P30/session_036/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c74d1eb7d188095026ec2e7745af44346c5e0f188f719d38e14faced98124d2
+size 352256

actions/locomotion_primitives/P30/session_036/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15a3ae0891e8ae4d579fb1f27d32cfae8c7d337fb41184f9780f50f7886d8b78
+size 1241088

actions/locomotion_primitives/P30/session_036/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efe014be336a0aa4e2ae73415492ac53b42df413c51a7389861c07630fdbf530
+size 1269760

actions/locomotion_primitives/P30/session_036/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a1aebd276c7d0f5eec0964d4967fe82d05d11b1d4854e0a032545d7464c6eb6
+size 323584

actions/locomotion_primitives/P30/session_036/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f5cce6f94a01ae4aa424ab5ea7ff9762b6a8f791acafb5bca7631aa236468e8
+size 323584

actions/locomotion_primitives/P30/session_036/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": 0.1207,
+    "trans_p95_m": 0.4152,
+    "rot_median_deg": 0.695,
+    "rot_p95_deg": 1.386
+  }
+}

actions/locomotion_primitives/P30/session_036/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a119375f88a1a13aff8a36a0292288485ce1b8fbef313b431a17ef01dbbabfe8
+size 223759641

actions/locomotion_primitives/P30/session_036/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02dea9bed72153810598a57945ccaac73487257440f032b008ff4b3539408647
+size 1425470

actions/locomotion_primitives/P30/session_036/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6cbc7016bd3f7b8c3de6fa1c72c9d35556d52fa599fd4ff1aea687f23c86f90
+size 131545

actions/locomotion_primitives/P30/session_036/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b583e70579bee5ce7140a2d9d41279ed441f94e21ce3ed5ae9acc052e9118a7
+size 1561530

actions/locomotion_primitives/P30/session_036/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:951a7e6e983b7f104a2982344879cb284b633321f8760b4f704ce99571dbfe47
+size 297920

actions/locomotion_primitives/P30/session_036/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bbaeef781d95559230b0005f9a88a7f985d609196bbc020d02c66f84122900e
+size 272116

actions/locomotion_primitives/P30/session_036/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c36274bcc3d13caf89bdc87d9083cf501b3f092e9200f7e4e9d3de7c08c83791
+size 64598143

actions/locomotion_primitives/P30/session_036/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2f5f9cab994f89f37b1bee4c47ed4f0016bc89e07a5f48ef5c766bf471a9808
+size 64619410

actions/locomotion_primitives/P30/session_036/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9982c20bb0502127f8a001bbcdfb9fea1575b2f6416ba7e4ce3cb82181fccbac
+size 64653141

actions/locomotion_primitives/P30/session_036/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7676d78f035d585a4039bff1c2c46a4970f431f99361dc3214b6716e5bde0e19
+size 64644658

actions/locomotion_primitives/P30/session_036/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4e9cc6eaaf3f8b512dfbab74e3c46f045678c4a6b0a5c83b00e11ecc5332abd
+size 64619567

actions/locomotion_primitives/P30/session_036/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f52a724707bcc2bcceceb6ea34cdaf13240f66c10fe782fc8822876b9dab2ff
+size 64650761

actions/locomotion_primitives/P30/session_036/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf770ed4e293b796394012cfbe8c05216fd70ab258dd0c3e20594b2175e6339b
+size 35012790

actions/locomotion_primitives/P30/session_036/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4425ee3009013cfa0be8b4269a54cdc64d57c2ba86da0c8fbe8498a8665b7e3b
+size 61815134

actions/locomotion_primitives/P30/session_036/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46c5b3ae97cb0fce5e5a753314815561acf128e652b940357970b7362042b683
+size 63072697

actions/locomotion_primitives/P30/session_037/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e422425a3c7329e8ff8d5ac16fd3c3ac10fc6d4eb4b646e4dfd139a8dcb2f91
+size 1131920

actions/locomotion_primitives/P30/session_037/meta.json

@@ -0,0 +1,517 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20260912/P30/20260912_080952_session42",
+ "session_id": "20260912_080952_session42",
+ "primitive": "P30",
+ "batch": "20260912",
+ "participant": "zhangxinxin",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e17c9efadb69e7b1",
+  "left": "cc5681142208e29a",
+  "right": "60a6f081bbe60b0d"
+ },
+ "generated_at_utc": "2026-10-14T11:04:53.973753+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": -1.17283,
+  "rate": 0.0,
+  "global_lag_s": -1.175,
+  "peak_corr": 0.9667,
+  "reference_imu_first_sample_s": 629.657379754,
+  "windows": {
+   "n_windows": 11,
+   "window_corr_median": 0.9814126309864416,
+   "drift_ppm": 4.340281825410037,
+   "drift_se_ppm": 1.8845612037198767,
+   "drift_ms_over_take": 0.5599686935083183,
+   "lag_scatter_ms": 0.17878517381230186,
+   "lag_range_ms": 0.8535977089256797
+  }
+ },
+ "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": 26269,
+    "n_gyro": 26262,
+    "t_start": -1.1939655625238532,
+    "t_end": 129.7728784234761
+   },
+   "imu_head_left": {
+    "n_acc": 26220,
+    "n_gyro": 26214,
+    "t_start": -1.0752213545239004,
+    "t_end": 129.9402991134762
+   },
+   "imu_wrist_right": {
+    "n_acc": 25585,
+    "n_gyro": 25585,
+    "t_start": 0.20288908047613008,
+    "t_end": 126.64775803747617
+   },
+   "imu_wrist_left": {
+    "n_acc": 24954,
+    "n_gyro": 24954,
+    "t_start": 0.28573245447617923,
+    "t_end": 126.62550466347616
+   },
+   "mag_head": {
+    "n": 13111,
+    "t_start": -0.9897043545238051,
+    "t_end": 130.11030012447614
+   },
+   "mag_wrist_right": {
+    "n": 12642,
+    "t_start": 0.21118906147618022,
+    "t_end": 126.62060333847617
+   },
+   "mag_wrist_left": {
+    "n": 12634,
+    "t_start": 0.29458796847612634,
+    "t_end": 126.62468945647609
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 630.867411,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0023423887986386703,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.039543651274730696,
+    "t_end": 129.00619965127478,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 630.867359,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0019489646456461974,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.039098227121745044,
+    "t_end": 129.00576522712177,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 630.867392,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0018171232386612972,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.038999385714792556,
+    "t_end": 129.00566638571482,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 630.86743,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017295646474508202,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.038949827123620384,
+    "t_end": 129.00560582712367,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 630.867375,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.001668932298833096,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.038834194774981956,
+    "t_end": 129.005501194775,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 630.867333,
+    "frames": 3870,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017169377622902274,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.03884020023841517,
+    "t_end": 129.00550720023844,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 631.112135,
+    "frames": 3790,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": 0.2819252624761117,
+    "t_end": 126.58205526247608,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 631.029563,
+    "frames": 3792,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": 0.199353262476198,
+    "t_end": 126.5654342624762,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-P30-S02-zhangxinxin-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_INDEX",
+   "WARN S_PARTICIPANT",
+   "WARN T_IMU_PAIR"
+  ]
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-14T12:19:14.588901+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": [
+   [
+    0.9998941915,
+    -0.0145465621,
+    -5.74517e-05
+   ],
+   [
+    5.74517e-05,
+    0.0078984625,
+    -0.999968805
+   ],
+   [
+    0.0145465621,
+    0.9998629965,
+    0.0078984625
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999894192,
+    -1.4546562e-05,
+    -5.7452e-08,
+    0.0
+   ],
+   [
+    5.7452e-08,
+    7.898463e-06,
+    -0.000999968805,
+    0.0
+   ],
+   [
+    1.4546562e-05,
+    0.000999862997,
+    7.898463e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20260912-afternoon",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.9484367639734627,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 31.7,
+   "headtop_p95_mm": 1616.0
+  },
+  "gravity_check": {
+   "static_samples": 378,
+   "g_world_mean_m_s2": [
+    0.1968,
+    -0.1648,
+    9.954
+   ],
+   "tilt_from_z_deg": 1.478,
+   "tilt_from_z_deg_before_levelling": 2.414,
+   "magnitude_m_s2": 9.9573
+  },
+  "rig_tracker_definition": "e17c9efadb69e7b1/20260912-afternoon/labels-530412/session-74d5d9b03df2543e",
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-15T09:37:25.288458+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": [
+      0.043978285044431686,
+      0.003345773322507739,
+      0.03816762939095497
+     ],
+     "LHandOut": [
+      0.0325399711728096,
+      0.021562401205301285,
+      -0.0300911758095026
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.10185984522104263,
+      0.0021126591600477695,
+      0.025815701112151146
+     ],
+     "RHandOut": [
+      -0.08013534545898438,
+      0.02604755014181137,
+      -0.017602765932679176
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 5.13,
+   "p95_frame": 7.55
+  },
+  "worst_markers": [
+   "RKneeIn 15mm",
+   "RElbow 12mm",
+   "LKneeIn 12mm",
+   "RElbowIn 11mm",
+   "LKnee 8mm"
+  ],
+  "valid_fraction": 0.9995,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 15.7,
+    "p5": 7.9
+   },
+   "frames_checked": 516,
+   "stature_mm": 1627.7
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 13.61
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 160.72,
+    "Q_rotvec": [
+     -2.73184,
+     -0.05029,
+     0.63499
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 162.7,
+    "opposite_sign_bend_deg": 29.4,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.75,
+    "hand_vs_marker_frame_deg": {
+     "before": 160.7,
+     "after": 1.75
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -161.74,
+     "wrist_twist_deg_after": {
+      "median": -0.65,
+      "iqr": [
+       -5.1,
+       3.0
+      ]
+     },
+     "wrist_total_deg_median_after": 33.3,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 37.22,
+    "Q_rotvec": [
+     0.63047,
+     -0.09741,
+     -0.12288
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 31.1,
+    "opposite_sign_bend_deg": 159.9,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.27,
+    "hand_vs_marker_frame_deg": {
+     "before": 37.19,
+     "after": 1.27
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -25.98,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -2.3,
+       3.6
+      ]
+     },
+     "wrist_total_deg_median_after": 17.0,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-15T09:37:28.152979+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "rig_tracker": {
+  "definition": "e17c9efadb69e7b1/20260912-afternoon/labels-530412/session-74d5d9b03df2543e",
+  "R_tracker0_imu0": [
+   [
+    -0.65467705,
+    0.10001452,
+    -0.74926301
+   ],
+   [
+    0.74611388,
+    0.24454748,
+    -0.61928233
+   ],
+   [
+    0.12129316,
+    -0.96446546,
+    -0.23472184
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.17850061622332178,
+   -0.015464122068827088,
+   -0.0005264883737344517
+  ],
+  "rig_check": {
+   "gyro_samples": 7480,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 0.346
+  },
+  "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": "2026-10-18T18:51:49.124187+00:00",
+  "generated_by": "scripts/correct_processed_rig.py",
+  "remaining_gyro_frame_deg": 0.4767950055014685
+ },
+ "release": {
+  "release_path": "actions/locomotion_primitives/P30/session_037",
+  "family": "locomotion_primitives",
+  "primitive": "P30",
+  "source_session": "20260912/P30/20260912_080952_session42"
+ }
+}

actions/locomotion_primitives/P30/session_037/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c4cd5a8c7bf969f190f592d13ee210233ded569928bc7ceb454c6018bedf1c7
+size 1154440

actions/locomotion_primitives/P30/session_037/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d68d80889dc38a838086931d98ca2f8c3c926977a841887b07ee31c3c2b75ff
+size 8842236

actions/locomotion_primitives/P30/session_037/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:999582690ff18b3df900ce608474c106636bf5b53b53e41168af873862511f1d
+size 8992434

actions/locomotion_primitives/P30/session_037/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e84c0cdc35f72ce34a53d40f2cd9cd3ba3b92651904e6ba446ace092a457d62c
+size 5979394

actions/locomotion_primitives/P30/session_037/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:483b9400a37f63c0be66d42f5fb6505d4a957299de1c59ac25a99ca8d9a18b4a
+size 25000398

actions/locomotion_primitives/P30/session_037/raw/manifest.json

@@ -0,0 +1,230 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-09-12T14:25:30.710517+00:00",
+  "primitive_id": "P30",
+  "session_id": "20260912_080952_session42",
+  "upload_batch_id": "20260912",
+  "dataset_path": "EgoMotionActions/20260912/P30/20260912_080952_session42",
+  "segment": "auto/all",
+  "duration_s": 128.966656,
+  "device_ids": {
+    "main": "e17c9efadb69e7b1",
+    "left": "cc5681142208e29a",
+    "right": "60a6f081bbe60b0d"
+  },
+  "options": {
+    "raw_video": true,
+    "proxy_height": 540,
+    "proxy_crf": 28,
+    "proxy_bitrate": "1400k",
+    "mocap_selection": "explicit",
+    "mocap_files": [
+      "mocap-P30-S02-zhangxinxin-01p1/mocap-P30-S02-zhangxinxin-01p1-1.mp4",
+      "mocap-P30-S02-zhangxinxin-01p1/mocap-P30-S02-zhangxinxin-01p1-Body0.bvh",
+      "mocap-P30-S02-zhangxinxin-01p1/mocap-P30-S02-zhangxinxin-01p1-Body0.csv",
+      "mocap-P30-S02-zhangxinxin-01p1/mocap-P30-S02-zhangxinxin-01p1-Body0.trc",
+      "mocap-P30-S02-zhangxinxin-01p1/mocap-P30-S02-zhangxinxin-01p1-Tracker0.csv",
+      "mocap-P30-S02-zhangxinxin-01p1/mocap-P30-S02-zhangxinxin-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-P30-S02-zhangxinxin-01p1/mocap-P30-S02-zhangxinxin-01p1-1.mp4",
+      "packaged_as": "mocap/mocap-P30-S02-zhangxinxin-01p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 34851111,
+      "packaged_bytes": 34851111,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P30-S02-zhangxinxin-01p1/mocap-P30-S02-zhangxinxin-01p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-P30-S02-zhangxinxin-01p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 9274615,
+      "packaged_bytes": 9274615,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P30-S02-zhangxinxin-01p1/mocap-P30-S02-zhangxinxin-01p1-Body0.csv",
+      "packaged_as": "mocap/mocap-P30-S02-zhangxinxin-01p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 130821286,
+      "packaged_bytes": 130821286,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P30-S02-zhangxinxin-01p1/mocap-P30-S02-zhangxinxin-01p1-Body0.trc",
+      "packaged_as": "mocap/mocap-P30-S02-zhangxinxin-01p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 29293197,
+      "packaged_bytes": 29293197,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P30-S02-zhangxinxin-01p1/mocap-P30-S02-zhangxinxin-01p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-P30-S02-zhangxinxin-01p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 4961702,
+      "packaged_bytes": 4961702,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-P30-S02-zhangxinxin-01p1/mocap-P30-S02-zhangxinxin-01p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-P30-S02-zhangxinxin-01p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 4893311,
+      "packaged_bytes": 4893311,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1359872,
+      "packaged_bytes": 1359872,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1306624,
+      "packaged_bytes": 1306624,
+      "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": 64646027,
+      "packaged_bytes": 64646027,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64619294,
+      "packaged_bytes": 64619294,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64563685,
+      "packaged_bytes": 64563685,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64634126,
+      "packaged_bytes": 64634126,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64599328,
+      "packaged_bytes": 64599328,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64618698,
+      "packaged_bytes": 64618698,
+      "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": 1277952,
+      "packaged_bytes": 1277952,
+      "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": 63788928,
+      "packaged_bytes": 63788928,
+      "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": 1245184,
+      "packaged_bytes": 1245184,
+      "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": 63071609,
+      "packaged_bytes": 63071609,
+      "compressed_video": false
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 650313,
+      "packaged_bytes": 650260,
+      "compressed_video": false
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-P30-S02-zhangxinxin-01p1",
+    "action_id": "P30",
+    "collection_session_index": 2,
+    "participant": "zhangxinxin",
+    "repetition_count": 1
+  },
+  "upload_batch_created_at": "2026-09-12T22:49:20.509769+08:00",
+  "collection_site": {
+    "id": "site_00"
+  }
+}

actions/locomotion_primitives/P30/session_037/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e47f47e6a88b9ea80d783990993e91c570bde15c88a3698d86eab4337993b4c
+size 130821286

actions/locomotion_primitives/P30/session_037/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31f5775aeb9a29e13b8225ca09688eff9d84401f65fcbcebda8cd0a081cf2a3f
+size 29293197

actions/locomotion_primitives/P30/session_037/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0be6d10e232eba1d8fc1adb50930ac85cde323c8f9f549df0db4f644f33d5063
+size 1359872

actions/locomotion_primitives/P30/session_037/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8b05014d330338075333ecfa149f95197480b4be1400b40e501f3990dd0f72d
+size 1306624

actions/locomotion_primitives/P30/session_037/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8a0416febaf1835988b538c6c9ec842d3670f0424df97dc2f8b89ea78df749a
+size 352256

actions/locomotion_primitives/P30/session_037/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0aaca6eeb58611ccebfd078147dca83b2f374bcb58405449d3fae0787ce4268e
+size 1245184

actions/locomotion_primitives/P30/session_037/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:462ec4fb66eb197ccabe27f6637ca9435972bf53f70485d854f79a6304b5d48b
+size 1277952

actions/locomotion_primitives/P30/session_037/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a28bbd1ea04e351fb0f0f564202dc70f277e578ca6dbe9735cb76c4a5a39dd1b
+size 327680

actions/locomotion_primitives/P30/session_037/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f18e799c87930793f9566be58cd5b0b6304733b0c5c2076eb60d8f4840b7db3e
+size 327680

actions/locomotion_primitives/P30/session_037/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": 0.0481,
+    "trans_p95_m": 0.1151,
+    "rot_median_deg": 0.54,
+    "rot_p95_deg": 1.592
+  }
+}

actions/locomotion_primitives/P30/session_037/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4aaf063dfa06e0c3b9d3fcf0ffd9260fce9bf69c06f2e1baff9dfe8bcee9ce93
+size 211638862

actions/locomotion_primitives/P30/session_037/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f02322bb1aefa137c78a89b3ff8ff4a7688e31c218915fa86833946956f0878e
+size 1425926

actions/locomotion_primitives/P30/session_037/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2463c93f2181f088a255c942a4ea8ed40e633ff62ce966a81236e3111e1a50dd
+size 130012

actions/locomotion_primitives/P30/session_037/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b2149b3c944ea0a9236a91faf6f24e1a3cbaea2db67f7d7d3a6833fed8121a1
+size 1587640

actions/locomotion_primitives/P30/session_037/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68ed2543e6d24c1acb038316ae236856dd7e25c385e9311d7177fd68215f29cd
+size 298949