Upload folder using huggingface_hub (part 2070)

.gitattributes

@@ -40855,3 +40855,26 @@ actions/locomotion_primitives/P43/session_022/raw/sensors/robowrist_imu_left.db
 actions/locomotion_primitives/P43/session_022/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomotion_primitives/P43/session_022/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomotion_primitives/P43/session_022/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH06/session_005/raw/mocap/Body1.bvh filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH06/session_005/raw/mocap/Body1.csv filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH06/session_005/raw/mocap/Body1.trc filter=lfs diff=lfs merge=lfs -text
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+actions/long_horizon_composite/LH06/session_005/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH06/session_005/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH06/session_005/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH06/session_005/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH06/session_005/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH06/session_005/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH06/session_005/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/long_horizon_composite/LH06/session_005/cameras/poses.npz

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actions/long_horizon_composite/LH06/session_005/meta.json

@@ -0,0 +1,598 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261021/LH06/20261021_102944_session136",
+ "session_id": "20261021_102944_session136",
+ "primitive": "LH06",
+ "batch": "20261021",
+ "participant": "daihaoxiang",
+ "participant_source": "manifest",
+ "device_ids": {
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+  "left": "39042f5fb5da3b12",
+  "right": "65a3481473d6e2a0"
+ },
+ "generated_at_utc": "2026-10-27T05:26:30.895728+00:00",
+ "generated_by": "scripts/sync_dataset.py",
+ "time_base": {
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+  "mocap_rate_fix": null,
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+  "mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
+ },
+ "alignment": {
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+  "model": "offset (median of windows)",
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+   "lag_range_ms": 1.075030702232388
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+ },
+ "units": {
+  "mocap": "millimetres, Nokov world, Y-up (unchanged)",
+  "y_up_to_z_up": [
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+  "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": {
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+  "status": "ok",
+  "date": "2026-10-21"
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+    "timing": "pts (gap undecided)",
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+      "corr": 0.135,
+      "err_ms": 140.0
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+    "timing": "pts",
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+    "file": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
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+    "clock": "device",
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+   "third_person": {
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+    "fps": 30.0,
+    "clock": "nokov (frame index)",
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+ },
+ "flags": [
+  "single person exported as Body1 (no Body0); used as the main body"
+ ],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "e3296774a321bb51/20261021-afternoon/labels-325140/session-9e43fdc08d368ac6",
+  "R_tracker0_imu0": [
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+    "reason": "",
+    "reprojection_px": 2.91,
+    "n_assoc": 669,
+    "gyro_deg": 1.362
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+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-27T06:42:53.722246+00:00",
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+  "frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
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+  "block_assignment": "trc",
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+   "gyro_deg": 1.362
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+  "camera_pose_source": "T_tracker0_imu0 @ inv(T_cam_imu)",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
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+  "generated_by": "scripts/fit_smplx_dataset.py",
+  "file": "smplx.npz",
+  "gender": "male",
+  "n_betas": 16,
+  "betas_source": "participant median (derived/smplx/participants.json)",
+  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
+  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
+  "hands": {
+   "observed": false,
+   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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+   "p95_frame": 18.25
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+  "worst_markers": [
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+   "WaistLFront 17mm",
+   "WaistLSide 17mm",
+   "WaistRFront 14mm"
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+      "LWristIn",
+      "LWristOut"
+     ]
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+    "frames_used": 1500
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+    "opposite_sign_bend_deg": 173.3,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 4.41,
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+     "after": 4.41
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+     "RHandIn",
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+    "frames_used": 1468
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+   "generated_at_utc": "2026-10-28T06:44:51.511297+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-27T14:48:21.001668+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
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+    "evidence": [
+     "imu"
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+    "frames_ok": 8293,
+    "frames_flipped": 59,
+    "stretches": [
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+   "status": "video_solve",
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+   "gyro_deg": 1.801,
+   "video_solve": {
+    "status": "ok",
+    "reason": "",
+    "reprojection_px": 3.19,
+    "n_assoc": 626,
+    "gyro_deg": 1.801
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+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-27T06:42:53.133204+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)",
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+    -3.5079e-08,
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+  "plane_status": "ok",
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+   "headtop_p95_mm": 1756.1
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+    9.769
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+   "tilt_from_z_deg_before_levelling": 1.613,
+   "magnitude_m_s2": 9.77
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+  "rig_tracker_definition": "e3296774a321bb51/20261021-afternoon/labels-325140/session-97e4d643f75066b0",
+  "rig_check": {
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 1.801
+  },
+  "camera_pose_source": "T_tracker0_imu0 @ inv(T_cam_imu)",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-27T07:16:05.417534+00:00",
+  "generated_by": "scripts/fit_smplx_dataset.py",
+  "file": "smplx.npz",
+  "gender": "male",
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+  "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": {
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+      0.014643594622612,
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+      0.03970926254987717,
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+      0.0036849104799330235,
+      0.022691983729600906
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+      0.01484716311097145
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+     "RWristOut": [
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+      0.026521407067775726,
+      0.008018299005925655
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+  },
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+   "p95_frame": 16.81
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+  "worst_markers": [
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+   "WaistLSide 18mm",
+   "WaistLFront 17mm",
+   "STRN 15mm",
+   "LShin 15mm"
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+  "valid_fraction": 1.0,
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+    "p5": -24.0
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+   "frames_checked": 1053,
+   "stature_mm": 1770.9
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+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 16.24
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 180.0,
+    "Q_rotvec": [
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+     0.26943,
+     0.80116
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+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 163.9,
+    "opposite_sign_bend_deg": 51.8,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.53,
+    "hand_vs_marker_frame_deg": {
+     "before": 178.91,
+     "after": 3.53
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
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+    "forearm_twist": {
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+     "wrist_twist_deg_after": {
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+      "iqr": [
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+       -2.0
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+     },
+     "wrist_total_deg_median_after": 41.9,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 0.0,
+    "Q_rotvec": [
+     -0.0,
+     -0.0,
+     0.0
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 28.2,
+    "opposite_sign_bend_deg": 169.2,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 7.87,
+    "hand_vs_marker_frame_deg": {
+     "before": 7.87,
+     "after": 7.87
+    },
+    "markers_on_wrist": [
+     "RWristOut",
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 0.0,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -6.2,
+       8.1
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+     },
+     "wrist_total_deg_median_after": 28.1,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-28T06:44:51.139652+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/long_horizon_composite/LH06/session_006",
+  "family": "long_horizon_composite",
+  "primitive": "LH06",
+  "source_session": "20261021/LH06/20261021_103522_session137"
+ }
+}

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