Upload folder using huggingface_hub (part 2127)

.gitattributes

@@ -41025,3 +41025,12 @@ actions/static_manipulation/SM16/session_005/raw/sensors/robowrist_imu_left.db f
 actions/static_manipulation/SM16/session_005/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM16/session_005/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM16/session_005/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_005/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_005/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_005/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_005/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_005/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_005/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_005/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_005/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_005/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/static_manipulation/SM19/session_005/cameras/poses.npz

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+size 1171396

actions/static_manipulation/SM19/session_005/meta.json

@@ -0,0 +1,585 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261026/SM19/20261026_091443_session66",
+ "session_id": "20261026_091443_session66",
+ "primitive": "SM19",
+ "batch": "20261026",
+ "participant": "zhangxinxin",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "c9205ac6e17d2d5c",
+  "left": "452031d7af00ef6f",
+  "right": "60a6f081bbe60b0d"
+ },
+ "generated_at_utc": "2026-10-27T04:57:12.496764+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",
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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)",
+  "mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
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+   "lag_scatter_ms": 0.5696943917958481,
+   "lag_range_ms": 2.7982544321439873
+  }
+ },
+ "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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+    "pts_gaps": 4040,
+    "timing": "pts (gap undecided)",
+    "timeshift_cam_imu_s": 0.002801984596191448,
+    "gap_test": {
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+      "corr": 0.795,
+      "err_ms": 39.6
+     },
+     "nominal": {
+      "offset_ms": 106.5,
+      "corr": 0.028,
+      "err_ms": 103.7
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+    "file": "robocap_segment1_video_left_eye.mp4",
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+    "timing": "pts",
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+    "clock": "device",
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+   "third_person": {
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+    "clock": "nokov (frame index)",
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+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "c9205ac6e17d2d5c/20261026-afternoon/labels-503412/session-73967f941e7a0ec4",
+  "R_tracker0_imu0": [
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+   "status": "ok",
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+   "gyro_deg": 2.478
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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": "2026-10-27T06:43:18.926629+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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+  "plane_status": "ok",
+  "floor": {
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+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-27T20:59:24.931732+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": {
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+  "marker_rmse_mm": {
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+   "p95_frame": 6.18
+  },
+  "worst_markers": [
+   "LElbowIn 11mm",
+   "RElbowIn 9mm",
+   "LWristIn 8mm",
+   "LElbow 7mm",
+   "RWristIn 6mm"
+  ],
+  "valid_fraction": 1.0,
+  "qc": {
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+    "p5": -0.6
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+   "frames_checked": 541,
+   "stature_mm": 1627.7
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 12.54
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 0.0,
+    "Q_rotvec": [
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+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 19.0,
+    "opposite_sign_bend_deg": 178.1,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.15,
+    "hand_vs_marker_frame_deg": {
+     "before": 2.15,
+     "after": 2.15
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+    "markers_on_wrist": [
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+     "LWristOut",
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
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+     "wrist_twist_deg_after": {
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+      "iqr": [
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+     "wrist_total_deg_median_after": 19.3,
+     "markers_on_forearm": [
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+    "frames_used": 1410
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+   "right": {
+    "status": "corrected",
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+    "Q_rotvec": [
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+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 40.3,
+    "opposite_sign_bend_deg": 165.9,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 5.86,
+    "hand_vs_marker_frame_deg": {
+     "before": 5.86,
+     "after": 5.86
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+    "markers_on_wrist": [
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+     "RHandOut"
+    ],
+    "forearm_twist": {
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+     "wrist_twist_deg_after": {
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+      "iqr": [
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+     "wrist_total_deg_median_after": 39.4,
+     "markers_on_forearm": [
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+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-28T06:51:00.917663+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-27T14:50:00.417084+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
+   "left": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3499,
+    "frames_flipped": 341,
+    "stretches": [
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+      "t1": 4.3,
+      "dur_s": 1.62,
+      "marker_turn_deg": 51.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 140.3,
+      "err_swapped_deg": 3.6,
+      "calib_err_deg": 3.3,
+      "applied": true
+     },
+     {
+      "t0": 111.83,
+      "t1": 115.45,
+      "dur_s": 3.62,
+      "marker_turn_deg": 152.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 119.0,
+      "err_swapped_deg": 19.6,
+      "calib_err_deg": 3.3,
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+      "dur_s": 9.57,
+      "marker_turn_deg": 136.0,
+      "confirm": "imu",
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+      "err_swapped_deg": 26.3,
+      "calib_err_deg": 3.3,
+      "applied": true
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+    ]
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+   "right": {
+    "evidence": [
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+    "frames_ok": 2908,
+    "frames_flipped": 0,
+    "stretches": []
+   }
+  },
+  "applied": 3
+ },
+ "release": {
+  "release_path": "actions/static_manipulation/SM19/session_005",
+  "family": "static_manipulation",
+  "primitive": "SM19",
+  "source_session": "20261026/SM19/20261026_091443_session66"
+ },
+ "objects": [
+  {
+   "name": "Table",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
+}

actions/static_manipulation/SM19/session_005/motions/head_rig.npz

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