Upload folder using huggingface_hub (part 129)

.gitattributes

@@ -4126,3 +4126,30 @@ actions/locomanipulation/LM05/session_002/raw/sensors/robocap_mag_middle.db filt
 actions/locomanipulation/LM05/session_002/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM05/session_002/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM05/session_002/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM05/session_003/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM05/session_003/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM05/session_003/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM05/session_003/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM05/session_003/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM05/session_003/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM05/session_003/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM05/session_003/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM05/session_003/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM05/session_004/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM05/session_004/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM05/session_004/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM05/session_004/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM05/session_004/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM05/session_004/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM05/session_004/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM05/session_004/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM05/session_004/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM05/session_005/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM05/session_005/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM05/session_005/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM05/session_005/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM05/session_005/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM05/session_005/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM05/session_005/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM05/session_005/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM05/session_005/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM05/session_003/meta.json

@@ -0,0 +1,516 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20260915/LM05/20260915_062034_session72",
+ "session_id": "20260915_062034_session72",
+ "primitive": "LM05",
+ "batch": "20260915",
+ "participant": "wangyang",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e17c9efadb69e7b1",
+  "left": "cc5681142208e29a",
+  "right": "60a6f081bbe60b0d"
+ },
+ "generated_at_utc": "2026-10-14T11:08:03.662331+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": 119.025,
+  "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": -1.165031,
+  "rate": 0.0,
+  "global_lag_s": -1.165,
+  "peak_corr": 0.9638,
+  "reference_imu_first_sample_s": 20351.644892442,
+  "windows": {
+   "n_windows": 9,
+   "window_corr_median": 0.9969254195278018,
+   "drift_ppm": 1.7759736977553156,
+   "drift_se_ppm": 3.368243790138569,
+   "drift_ms_over_take": 0.2113704695945118,
+   "lag_scatter_ms": 0.2300948552353271,
+   "lag_range_ms": 0.8008916277650879
+  }
+ },
+ "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": {
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+    "n_gyro": 24258,
+    "t_start": -1.181601282028792,
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+   },
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+    "n_gyro": 24215,
+    "t_start": -1.0703388670278269,
+    "t_end": 119.95733898097234
+   },
+   "imu_wrist_right": {
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+    "n_gyro": 23788,
+    "t_start": 0.34387436397293136,
+    "t_end": 117.90674345297003
+   },
+   "imu_wrist_left": {
+    "n_acc": 23221,
+    "n_gyro": 23235,
+    "t_start": 0.35393390697055516,
+    "t_end": 117.91805582697117
+   },
+   "mag_head": {
+    "n": 12112,
+    "t_start": -0.9897133230276136,
+    "t_end": 120.12038885997237
+   },
+   "mag_wrist_right": {
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+    "t_start": 0.35705595797327483,
+    "t_end": 117.90639933797348
+   },
+   "mag_wrist_left": {
+    "n": 11757,
+    "t_start": 0.3627696989736382,
+    "t_end": 117.92223859197321
+   }
+  },
+  "videos": {
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+    "fps": 30.0,
+    "start_device_s": 20352.847257,
+    "frames": 3570,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0023423887986386703,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.03967548677093369,
+    "t_end": 119.00638648677187,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 20352.847206,
+    "frames": 3570,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0019489646456461974,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.039231062617831824,
+    "t_end": 119.00594206261877,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
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+    "start_device_s": 20352.847242,
+    "frames": 3570,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0018171232386612972,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.03913522121212232,
+    "t_end": 119.00584622121306,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 20352.847274,
+    "frames": 3570,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017295646474508202,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.03907966261823681,
+    "t_end": 119.00579066261918,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 20352.847226,
+    "frames": 3570,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.001668932298833096,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.038971030271854445,
+    "t_end": 119.0056820302728,
+    "clock": "device",
+    "calibrated": true
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+   "right_eye": {
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+    "file": "robocap_segment1_video_right_eye.mp4",
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+    "clock": "device",
+    "calibrated": true
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+    "fps": 30.0,
+    "start_device_s": 20353.160017,
+    "frames": 3526,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": 0.3500930979701611,
+    "t_end": 117.8495720979684,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 20353.138737,
+    "frames": 3527,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": 0.3288130979729562,
+    "t_end": 117.86149509797389,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-LM05-S05-wangyang-01p2-1.mp4",
+    "frames": 3571,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 119.0
+   }
+  }
+ },
+ "flags": [],
+ "sanity": {
+  "status": {
+   "structure": "WARN",
+   "markers": "WARN",
+   "timing": "PASS"
+  },
+  "verdict": "READY",
+  "issues": [
+   "WARN M_BODY_ID",
+   "WARN M_SPIKES",
+   "WARN M_TRACKER_LABELS",
+   "WARN S_INDEX_STALE",
+   "WARN S_PARTICIPANT"
+  ]
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-14T12:19:35.877494+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": [
+   [
+    0.9999194082,
+    -0.0126954662,
+    -4.65246e-05
+   ],
+   [
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+    -0.9999731419
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+   [
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+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999919408,
+    -1.2695466e-05,
+    -4.6525e-08,
+    0.0
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+   [
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+   [
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+  "block": "20260915morning",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.8399325083958641,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 32.6,
+   "headtop_p95_mm": 1756.3
+  },
+  "gravity_check": {
+   "static_samples": 441,
+   "g_world_mean_m_s2": [
+    0.2607,
+    0.1845,
+    9.7562
+   ],
+   "tilt_from_z_deg": 1.875,
+   "tilt_from_z_deg_before_levelling": 2.354,
+   "magnitude_m_s2": 9.7614
+  },
+  "rig_tracker_definition": "e17c9efadb69e7b1/20260915morning/labels-530412/session-2cdfa9b2ced3cd31",
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-14T23:06:32.656899+00:00",
+  "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",
+   "hand_marker_offsets_m": {
+    "left": {
+     "LHandIn": [
+      0.057107437402009964,
+      0.016866352409124374,
+      -0.0164443738758564
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+     "LHandOut": [
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+      -0.02323489636182785,
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+     "RHandIn": [
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+      0.04097912460565567
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+     "RHandOut": [
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+      0.029588446021080017,
+      -0.0038515955675393343
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 5.18,
+   "p95_frame": 7.16
+  },
+  "worst_markers": [
+   "LKneeIn 11mm",
+   "RKneeIn 11mm",
+   "LElbow 10mm",
+   "RKnee 9mm",
+   "RElbow 9mm"
+  ],
+  "valid_fraction": 1.0,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 3.5,
+    "p5": -3.9
+   },
+   "frames_checked": 477,
+   "stature_mm": 1765.5
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 12.76
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 64.9,
+    "Q_rotvec": [
+     1.1103,
+     -0.11151,
+     -0.1945
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+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 45.6,
+    "opposite_sign_bend_deg": 153.1,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.87,
+    "hand_vs_marker_frame_deg": {
+     "before": 64.89,
+     "after": 3.87
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 31.19,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -6.9,
+       17.5
+      ]
+     },
+     "wrist_total_deg_median_after": 24.7,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1429
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 44.69,
+    "Q_rotvec": [
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+     0.43565,
+     -0.14047
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 38.3,
+    "opposite_sign_bend_deg": 155.3,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.35,
+    "hand_vs_marker_frame_deg": {
+     "before": 44.89,
+     "after": 2.35
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -27.68,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -7.7,
+       5.7
+      ]
+     },
+     "wrist_total_deg_median_after": 21.3,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1429
+   },
+   "generated_at_utc": "2026-10-14T23:06:35.424044+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "rig_tracker": {
+  "definition": "e17c9efadb69e7b1/20260915morning/labels-530412/session-2cdfa9b2ced3cd31",
+  "R_tracker0_imu0": [
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+    -0.76592011
+   ],
+   [
+    0.78434124,
+    0.29000041,
+    -0.54836902
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+   [
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+    -0.93540328,
+    -0.33564534
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+  ],
+  "p_tracker0_imu0_m": [
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+   -0.0023375604968818887,
+   -0.016579274345051704
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+  "rig_check": {
+   "gyro_samples": 9383,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 1.357
+  },
+  "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": "2026-10-18T18:53:23.124872+00:00",
+  "generated_by": "scripts/correct_processed_rig.py",
+  "remaining_gyro_frame_deg": 1.4451580585140962
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM05/session_003",
+  "family": "locomanipulation",
+  "primitive": "LM05",
+  "source_session": "20260915/LM05/20260915_062034_session72"
+ }
+}

actions/locomanipulation/LM05/session_003/motions/head_rig.npz

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actions/locomanipulation/LM05/session_003/motions/markers.npz

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