Upload folder using huggingface_hub (part 415)

.gitattributes

@@ -14143,3 +14143,30 @@ actions/locomanipulation/LM46/session_002/raw/sensors/robowrist_imu_left.db filt
 actions/locomanipulation/LM46/session_002/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM46/session_002/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM46/session_002/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM46/session_003/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM46/session_003/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM46/session_003/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM46/session_003/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM46/session_003/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM46/session_003/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM46/session_003/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM46/session_003/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM46/session_004/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM46/session_004/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM46/session_004/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM46/session_004/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM46/session_004/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM46/session_004/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM46/session_004/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM46/session_004/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM46/session_005/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM46/session_005/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM46/session_005/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM46/session_005/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM46/session_005/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM46/session_005/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM46/session_005/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM46/session_005/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM46/session_005/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM46/session_006/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM46/session_006/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM46/session_003/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2abc95226b45bdb4f2b491e87e5487eed308609cfcf4a5292802e1a6640e78a
+size 103864776

actions/locomanipulation/LM46/session_003/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e67ef8440cdde7c339d71db95f9ba2bc976656db601b4599da4a396192844eec
+size 22650581

actions/locomanipulation/LM46/session_003/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03aa8e317e4fc9552e4efffcee115cd6b548e0df76e74adf36e88a08f8143a83
+size 1093632

actions/locomanipulation/LM46/session_003/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3ca330454f6da56e1ea9bfe6b6546c8063455eea42660a856a9c92671c18384
+size 1052672

actions/locomanipulation/LM46/session_003/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a87352f33a29ce4aadcc7f9312badabaef708029827f42e4f4e3da67282fb1b
+size 290816

actions/locomanipulation/LM46/session_003/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72ac12e9fea2f7fe86c1e50129c79aef4aee94700b3c9932da90ae96397a173a
+size 995328

actions/locomanipulation/LM46/session_003/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcadf2740bd4d7b9aaa843d8628fe2421fe9c40b2fa0513e96942c264cd016ed
+size 262144

actions/locomanipulation/LM46/session_003/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e222b93d2b96b91e430fa4a654c5986929ec319d80b7876a990684ff476556f6
+size 262144

actions/locomanipulation/LM46/session_003/scene/infer.json

@@ -0,0 +1,36 @@
+{
+  "model": "facebook/map-anything",
+  "views": 208,
+  "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": 0.03,
+    "trans_p95_m": 0.1483,
+    "rot_median_deg": 0.604,
+    "rot_p95_deg": 1.564
+  }
+}

actions/locomanipulation/LM46/session_003/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05da5724257751eda0abd7c7e9705fdb269ff8420c4e4e48e4cadfe38ae4a256
+size 188428557

actions/locomanipulation/LM46/session_003/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a95c741c953f3ccc249ec09c6678a3feea6b0b18287687be2ad11bbbf830f9bd
+size 1209037

actions/locomanipulation/LM46/session_003/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38ce2880629507cbe8356e578a99f733175cb572b11f2516893f97ae9725f640
+size 101087

actions/locomanipulation/LM46/session_003/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa4184ac115ace32a628418b4459979c7852073d72f44af3a51ec0ebdb48c0a6
+size 591965

actions/locomanipulation/LM46/session_003/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65565dbc15a02b5c749c4c4d6b3636b8a78864b5a9d4f544bbc15fca38d73664
+size 237889

actions/locomanipulation/LM46/session_003/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16dafc1a711b655faf390e13ca399758699505a119505ec6a88af08bf3dc9a9e
+size 217062

actions/locomanipulation/LM46/session_003/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf3d547314c2398f70efe4166b65cd61239acc6fda36a072864234bb4b7d9ab7
+size 52139707

actions/locomanipulation/LM46/session_003/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a93558b9020825dc563070e69e7f02307f8a875881a03c7b480063c21037d81
+size 52114721

actions/locomanipulation/LM46/session_003/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9febc7cc8cae39b863e668f2e4bb14a3f9b6cf0f70f0f3777f9b7b3f6db56416
+size 52087012

actions/locomanipulation/LM46/session_003/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18a32bd8f1693489a5ebd27401153dcec3be5f09e545da8729138dd5dc96d6b5
+size 52110579

actions/locomanipulation/LM46/session_003/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54fb45cb1b41069232342e151152cc9bde753587bc276837195969b6ad7a67ae
+size 52102670

actions/locomanipulation/LM46/session_003/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d3214f9ad3905be9dc3d578e368c92d95ab309e72e22be38132af15be16d46c
+size 52061286

actions/locomanipulation/LM46/session_003/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:091e7fb1786f347ed113fc8de0d9de796a84ba9521a213cd9819a9673dc61847
+size 28892195

actions/locomanipulation/LM46/session_003/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1ecb378273c28e71b82e085f247848b99fc146fab5eebc562f9ec278876b964
+size 45068218

actions/locomanipulation/LM46/session_003/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4e41f0f4af71a6214301f9bfd72173ce2f09914f1111a13205b5dde5f6f8271
+size 45712569

actions/locomanipulation/LM46/session_004/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c128a1102a16afaa8f8dfd43fa34fefb764856182b12ee9d5a5d7f42ab72522
+size 1001308

actions/locomanipulation/LM46/session_004/meta.json

@@ -0,0 +1,526 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20260928/LM46/20260928_032352_session36",
+ "session_id": "20260928_032352_session36",
+ "primitive": "LM46",
+ "batch": "20260928",
+ "participant": "liujiaxin",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e17c9efadb69e7b1",
+  "left": "452031d7af00ef6f",
+  "right": "6ee5ee4472fe2ad7"
+ },
+ "generated_at_utc": "2026-10-14T11:28:53.224648+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": 114.025,
+  "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": -1.177377,
+  "rate": 0.0,
+  "global_lag_s": -1.175,
+  "peak_corr": 0.9818,
+  "reference_imu_first_sample_s": 10893.534099727,
+  "windows": {
+   "n_windows": 9,
+   "window_corr_median": 0.992759812794967,
+   "drift_ppm": -0.9498107801914522,
+   "drift_se_ppm": 7.041763985653576,
+   "drift_ms_over_take": -0.1082942591214954,
+   "lag_scatter_ms": 0.4810440591099975,
+   "lag_range_ms": 1.5530040780513676
+  }
+ },
+ "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": 23257,
+    "n_gyro": 23251,
+    "t_start": -1.1843592724468783,
+    "t_end": 114.7630669165522
+   },
+   "imu_head_left": {
+    "n_acc": 23217,
+    "n_gyro": 23210,
+    "t_start": -1.077583897447463,
+    "t_end": 114.92947860755187
+   },
+   "imu_wrist_left": {
+    "n_acc": 21990,
+    "n_gyro": 21990,
+    "t_start": 0.3488131125526104,
+    "t_end": 108.95127136755248
+   },
+   "mag_head": {
+    "n": 11609,
+    "t_start": -0.9907647724482251,
+    "t_end": 115.08922686555191
+   },
+   "mag_wrist_right": {
+    "n": 10875,
+    "t_start": 0.20044334255211083,
+    "t_end": 108.93920556955193
+   },
+   "mag_wrist_left": {
+    "n": 10860,
+    "t_start": 0.357467617552478,
+    "t_end": 108.94699674355282
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 10894.749336,
+    "frames": 3420,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0023423887986386703,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.04020142235125035,
+    "t_end": 114.0070014223514,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 10894.749284,
+    "frames": 3420,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0019489646456461974,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.03975599819780995,
+    "t_end": 114.00655599819795,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 10894.74932,
+    "frames": 3420,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0018171232386612972,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.03966015679210044,
+    "t_end": 114.00646015679224,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 10894.749352,
+    "frames": 3420,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017295646474508202,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.039604598200033925,
+    "t_end": 114.00640459820018,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 10894.749302,
+    "frames": 3419,
+    "pts_gaps": 1,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.001668932298833096,
+    "gap_test": {
+     "pts": {
+      "offset_ms": -0.4,
+      "corr": 0.887,
+      "err_ms": 2.1
+     },
+     "nominal": {
+      "offset_ms": 32.9,
+      "corr": 0.887,
+      "err_ms": 31.2
+     }
+    },
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.0394939658511555,
+    "t_end": 114.0062939658513,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 10894.74926,
+    "frames": 3420,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017169377622902274,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.03949997131561189,
+    "t_end": 114.00628897131567,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 10895.05692,
+    "frames": 3258,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": 0.34544303355354145,
+    "t_end": 108.91165403355292,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 10895.026627,
+    "frames": 3258,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": 0.31515003355192106,
+    "t_end": 108.88058003355248,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-LM46-S03-liujiaxin-01p1-1.mp4",
+    "frames": 3421,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 114.0
+   }
+  }
+ },
+ "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_SPIKES",
+   "WARN M_TRACKER_LABELS",
+   "WARN S_REPORT_TIMING",
+   "WARN T_EMPTY",
+   "WARN T_PTS"
+  ]
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-14T12:22:10.105543+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": [
+   [
+    0.9999923994,
+    -0.0038988195,
+    -1.78677e-05
+   ],
+   [
+    1.78677e-05,
+    0.0091654922,
+    -0.9999579958
+   ],
+   [
+    0.0038988195,
+    0.9999503952,
+    0.0091654922
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999992399,
+    -3.89882e-06,
+    -1.7868e-08,
+    0.0
+   ],
+   [
+    1.7868e-08,
+    9.165492e-06,
+    -0.000999957996,
+    0.0
+   ],
+   [
+    3.89882e-06,
+    0.000999950395,
+    9.165492e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20260928-morning",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.5706910507262971,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 64.7,
+   "headtop_p95_mm": 1658.6
+  },
+  "gravity_check": {
+   "static_samples": 676,
+   "g_world_mean_m_s2": [
+    0.2412,
+    0.1414,
+    9.7464
+   ],
+   "tilt_from_z_deg": 1.643,
+   "tilt_from_z_deg_before_levelling": 1.669,
+   "magnitude_m_s2": 9.7504
+  },
+  "rig_tracker_definition": "e17c9efadb69e7b1/20260928-morning/labels-352410/session-22c4b1b00b17cc13",
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-15T03:24:12.986033+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": [
+      0.06123971939086914,
+      0.00771416025236249,
+      0.0380898118019104
+     ],
+     "LHandOut": [
+      0.06255931407213211,
+      0.01461146492511034,
+      -0.021118484437465668
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.06860821694135666,
+      0.01798282563686371,
+      0.024020668119192123
+     ],
+     "RHandOut": [
+      -0.06822661310434341,
+      0.0029671285301446915,
+      -0.027964966371655464
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 8.32,
+   "p95_frame": 14.84
+  },
+  "worst_markers": [
+   "WaistRBack 26mm",
+   "CLAV 17mm",
+   "RKneeIn 17mm",
+   "RThigh 17mm",
+   "WaistRFront 17mm"
+  ],
+  "valid_fraction": 1.0,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 29.7,
+    "p5": 22.2
+   },
+   "frames_checked": 457,
+   "stature_mm": 1614.2
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 16.71
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 167.54,
+    "Q_rotvec": [
+     -2.89062,
+     0.20309,
+     0.3913
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 142.8,
+    "opposite_sign_bend_deg": 48.5,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.37,
+    "hand_vs_marker_frame_deg": {
+     "before": 167.67,
+     "after": 2.37
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -139.84,
+     "wrist_twist_deg_after": {
+      "median": -1.16,
+      "iqr": [
+       -11.6,
+       6.8
+      ]
+     },
+     "wrist_total_deg_median_after": 33.7,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1369
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 20.42,
+    "Q_rotvec": [
+     -0.17138,
+     0.25609,
+     -0.17896
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 22.4,
+    "opposite_sign_bend_deg": 171.0,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.78,
+    "hand_vs_marker_frame_deg": {
+     "before": 20.67,
+     "after": 2.78
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 5.67,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -11.8,
+       8.4
+      ]
+     },
+     "wrist_total_deg_median_after": 22.3,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1369
+   },
+   "generated_at_utc": "2026-10-15T03:24:15.650430+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "rig_tracker": {
+  "definition": "e17c9efadb69e7b1/20260928-morning/labels-352410/session-22c4b1b00b17cc13",
+  "R_tracker0_imu0": [
+   [
+    -0.62462524,
+    0.23394,
+    -0.74506066
+   ],
+   [
+    0.77827073,
+    0.26507184,
+    -0.56923773
+   ],
+   [
+    0.06432712,
+    -0.93541916,
+    -0.34763922
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.17704361442378228,
+   -0.0053726543601616,
+   -0.02336138050882225
+  ],
+  "rig_check": {
+   "gyro_samples": 6636,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 1.039
+  },
+  "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": "2026-10-18T19:05:24.804773+00:00",
+  "generated_by": "scripts/correct_processed_rig.py",
+  "remaining_gyro_frame_deg": 1.0873682000001546
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM46/session_004",
+  "family": "locomanipulation",
+  "primitive": "LM46",
+  "source_session": "20260928/LM46/20260928_032352_session36"
+ }
+}

actions/locomanipulation/LM46/session_004/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a4cadaad92dde2f65f0cd4aff78be9b899aba4327bdc399a24d6ec35b554592
+size 1025902

actions/locomanipulation/LM46/session_004/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:728df2bfb850cbf96989fe6a259a90345e60eddfb2240df98ae13e5fb0cbac35
+size 7987193

actions/locomanipulation/LM46/session_004/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a6f25bb2e21716d5e3499de6d53ea7b45923cfd57a959759b1dd6a9df4e599d
+size 7996616

actions/locomanipulation/LM46/session_004/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d43f196713262d53b8121e59bc42510cbcaab300a730d099f36d9ba652314c6
+size 5285485

actions/locomanipulation/LM46/session_004/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbf870f7e76a57af6789623e41db63a27003404da2dd7e659649948594eabb31
+size 22120398

actions/locomanipulation/LM46/session_004/raw/manifest.json

@@ -0,0 +1,248 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-09-28T14:34:15.132560+00:00",
+  "primitive_id": "LM46",
+  "session_id": "20260928_032352_session36",
+  "upload_batch_id": "20260928",
+  "dataset_path": "EgoMotionActions/20260928/LM46/20260928_032352_session36",
+  "segment": "auto/all",
+  "duration_s": 113.9668,
+  "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-LM46-S03-liujiaxin-01p1/mocap-LM46-S03-liujiaxin-01p1-1.mp4",
+      "mocap-LM46-S03-liujiaxin-01p1/mocap-LM46-S03-liujiaxin-01p1-Body0.bvh",
+      "mocap-LM46-S03-liujiaxin-01p1/mocap-LM46-S03-liujiaxin-01p1-Body0.csv",
+      "mocap-LM46-S03-liujiaxin-01p1/mocap-LM46-S03-liujiaxin-01p1-Body0.trc",
+      "mocap-LM46-S03-liujiaxin-01p1/mocap-LM46-S03-liujiaxin-01p1-Tracker0.csv",
+      "mocap-LM46-S03-liujiaxin-01p1/mocap-LM46-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": 22120398,
+      "packaged_bytes": 22120398,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM46-S03-liujiaxin-01p1/mocap-LM46-S03-liujiaxin-01p1-1.mp4",
+      "packaged_as": "mocap/mocap-LM46-S03-liujiaxin-01p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 52333560,
+      "packaged_bytes": 52333560,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM46-S03-liujiaxin-01p1/mocap-LM46-S03-liujiaxin-01p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-LM46-S03-liujiaxin-01p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 8182258,
+      "packaged_bytes": 8182258,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM46-S03-liujiaxin-01p1/mocap-LM46-S03-liujiaxin-01p1-Body0.csv",
+      "packaged_as": "mocap/mocap-LM46-S03-liujiaxin-01p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 113689778,
+      "packaged_bytes": 113689778,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM46-S03-liujiaxin-01p1/mocap-LM46-S03-liujiaxin-01p1-Body0.trc",
+      "packaged_as": "mocap/mocap-LM46-S03-liujiaxin-01p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 24500603,
+      "packaged_bytes": 24500603,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM46-S03-liujiaxin-01p1/mocap-LM46-S03-liujiaxin-01p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-LM46-S03-liujiaxin-01p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 4342398,
+      "packaged_bytes": 4342398,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-LM46-S03-liujiaxin-01p1/mocap-LM46-S03-liujiaxin-01p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-LM46-S03-liujiaxin-01p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 4105507,
+      "packaged_bytes": 4105507,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1200128,
+      "packaged_bytes": 1200128,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1155072,
+      "packaged_bytes": 1155072,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 315392,
+      "packaged_bytes": 315392,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 57171409,
+      "packaged_bytes": 57171409,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 57116076,
+      "packaged_bytes": 57116076,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 57144069,
+      "packaged_bytes": 57144069,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 57141654,
+      "packaged_bytes": 57141654,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 57130668,
+      "packaged_bytes": 57130668,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 57077464,
+      "packaged_bytes": 57077464,
+      "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": 1093632,
+      "packaged_bytes": 1093632,
+      "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": 282624,
+      "packaged_bytes": 282624,
+      "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": 52417329,
+      "packaged_bytes": 52417329,
+      "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": 282624,
+      "packaged_bytes": 282624,
+      "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": 52688984,
+      "packaged_bytes": 52688984,
+      "compressed_video": false
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 580595,
+      "packaged_bytes": 580541,
+      "compressed_video": false
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-LM46-S03-liujiaxin-01p1",
+    "action_id": "LM46",
+    "collection_session_index": 3,
+    "participant": "liujiaxin",
+    "repetition_count": 1
+  },
+  "upload_batch_created_at": "2026-09-28T22:57:50.622307+08:00",
+  "participant_gender": "female",
+  "participant_height_cm": 161,
+  "participant_weight_kg": 44,
+  "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/LM46/session_004/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b563bc7a434a9d003028744d90f33147acdfda90cb22a110d32b4cae5d61fb4
+size 113689778

actions/locomanipulation/LM46/session_004/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:928cdc8cd065afad719f5cd4eed61952b16148a35ab7faa16b3a61e702386f2d
+size 24500603

actions/locomanipulation/LM46/session_004/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d381f1533b12a126b60fcf7bd17204751e2ea6144c02d6e2fdcc6bd81b029a5
+size 1200128

actions/locomanipulation/LM46/session_004/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3859a31dbff50383eb85960dbaa87a8b2386dd51227658f43c95234fe5ad018
+size 1155072

actions/locomanipulation/LM46/session_004/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98331c9c637c4fcefa753df749a56e217c5237f42773d895c7962ece1905b537
+size 315392

actions/locomanipulation/LM46/session_004/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eef655d26c2652a4e4bcb7a7f99893c049f95cfb4ae5571fe26bcf306241cee9
+size 1093632

actions/locomanipulation/LM46/session_004/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe578c216a66a25cc34279b0e39661a2ca4afb9a00f084f2a6d2b1b94ed4c598
+size 282624

actions/locomanipulation/LM46/session_004/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d2794c4c95d1792c11a59168013ea83599bc72c677c42dc7571d7738278b1ba
+size 282624

actions/locomanipulation/LM46/session_004/scene/infer.json

@@ -0,0 +1,36 @@
+{
+  "model": "facebook/map-anything",
+  "views": 228,
+  "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": 0.0214,
+    "trans_p95_m": 0.0427,
+    "rot_median_deg": 0.665,
+    "rot_p95_deg": 1.638
+  }
+}

actions/locomanipulation/LM46/session_004/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2f72449b1ff324a3d3464b4ad041479b0b423814abd73d20a1a23e7648dea10
+size 215756357