Upload folder using huggingface_hub (part 43)

.gitattributes

@@ -40082,3 +40082,24 @@ actions/environment_coupled_wholebody/EC03/session_010/raw/sensors/robowrist_imu
 actions/environment_coupled_wholebody/EC03/session_010/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/environment_coupled_wholebody/EC03/session_010/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/environment_coupled_wholebody/EC03/session_010/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_022/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_022/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_022/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_022/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_022/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_022/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_022/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_022/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_022/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_023/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_023/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_023/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_023/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_023/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_023/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_023/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_023/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_023/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_024/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_024/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC05/session_024/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/environment_coupled_wholebody/EC05/session_021/meta.json

@@ -432,19 +432,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 177.24,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     -3.03444,
-     0.14637,
-     0.58358
+     -2.98839,
+     0.43124,
+     0.86786
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 169.5,
-    "opposite_sign_bend_deg": 48.4,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 167.4,
+    "opposite_sign_bend_deg": 49.4,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 5.95,
     "hand_vs_marker_frame_deg": {
-     "before": 176.62,
+     "before": 177.69,
      "after": 5.95
     },
     "markers_on_wrist": [
@@ -452,15 +452,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -146.96,
+     "twist_moved_deg": 154.19,
      "wrist_twist_deg_after": {
-      "median": -28.41,
+      "median": 12.37,
       "iqr": [
-       -43.9,
-       -21.1
+       -11.7,
+       19.6
       ]
      },
-     "wrist_total_deg_median_after": 50.2,
+     "wrist_total_deg_median_after": 45.0,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -471,19 +471,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 74.14,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     1.13205,
-     0.54614,
-     -0.30756
+     -0.0,
+     -0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 67.5,
-    "opposite_sign_bend_deg": 127.9,
+    "wrist_bend_deg_median": 31.1,
+    "opposite_sign_bend_deg": 174.6,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 4.74,
     "hand_vs_marker_frame_deg": {
-     "before": 74.26,
+     "before": 4.74,
      "after": 4.74
     },
     "markers_on_wrist": [
@@ -491,9 +491,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -59.95,
+     "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": 0.0,
       "iqr": [
        -8.1,
        12.8
@@ -508,7 +508,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-26T15:11:34.341381+00:00",
+   "generated_at_utc": "2026-10-28T06:47:18.515477+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -517,5 +517,19 @@
   "family": "environment_coupled_wholebody",
   "primitive": "EC05",
   "source_session": "20261023/EC05/20261023_095236_session53"
- }
+ },
+ "objects": [
+  {
+   "name": "CcGreen",
+   "object_type": "CcGreen",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "CcOrange",
+   "object_type": "CcOrange",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  }
+ ]
 }

actions/environment_coupled_wholebody/EC05/session_021/motions/object_markers.npz

@@ -0,0 +1,3 @@
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actions/environment_coupled_wholebody/EC05/session_021/motions/objects.json

@@ -0,0 +1,63 @@
+{
+ "session": "20261023/EC05/20261023_095236_session53",
+ "generated_at_utc": "2026-10-28T03:03:47.276449+00:00",
+ "generated_by": "scripts/export_objects.py",
+ "frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)",
+ "grid": "body grid (smplx.npz t / frame_index)",
+ "held_by": "from mocap hands",
+ "instances": [
+  {
+   "name": "CcGreen",
+   "object_type": "CcGreen",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/CcGreen/ccgreen.ply",
+   "calibration": {
+    "instance": "CcGreen",
+    "rms_mm": 1.96
+   },
+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 0.0,
+   "vision_source": null
+  },
+  {
+   "name": "CcOrange",
+   "object_type": "CcOrange",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/CcOrange/ccorange.ply",
+   "calibration": {
+    "instance": "CcOrange",
+    "rms_mm": 0.23
+   },
+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 0.0,
+   "vision_source": null
+  }
+ ],
+ "object_list": {
+  "status": "corrected",
+  "notes": [],
+  "declared": [
+   "CcGreen0",
+   "CcOrange0"
+  ],
+  "listed": [
+   {
+    "name": "CcGreen",
+    "object": "CcGreen",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "CcOrange",
+    "object": "CcOrange",
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/environment_coupled_wholebody/EC05/session_021/motions/objects.npz

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actions/environment_coupled_wholebody/EC05/session_021/motions/smplx.npz

@@ -1,3 +1,3 @@
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+size 6124761

actions/environment_coupled_wholebody/EC05/session_021/raw/manifest.json

@@ -1,6 +1,6 @@
 {
   "schema_version": 1,
-  "created_at_utc": "2026-10-26T13:24:02.279620+00:00",
+  "created_at_utc": "2026-10-27T11:02:16.531111+00:00",
   "primitive_id": "EC05",
   "session_id": "20261023_095236_session53",
   "upload_batch_id": "20261023",
@@ -296,7 +296,7 @@
     "participant": "wangmengli",
     "repetition_count": 1
   },
-  "upload_batch_created_at": "2026-10-26T21:34:29.339360+08:00",
+  "upload_batch_created_at": "2026-10-27T19:04:22.104298+08:00",
   "participant_gender": "female",
   "participant_height_cm": 162,
   "participant_weight_kg": 53,

actions/environment_coupled_wholebody/EC05/session_022/cameras/poses.npz

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actions/environment_coupled_wholebody/EC05/session_022/meta.json

@@ -0,0 +1,504 @@
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+ "schema_version": 1,
+ "session": "EgoMotionActions/20261026/EC05/20261026_012054_session4",
+ "session_id": "20261026_012054_session4",
+ "primitive": "EC05",
+ "batch": "20261026",
+ "participant": "liujiaxin",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "c9205ac6e17d2d5c",
+  "left": "cc5681142208e29a",
+  "right": "a85418f7d807dff9"
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+ "generated_at_utc": "2026-10-27T04:53:17.723768+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,
+  "mocap_rate_fix": null,
+  "first_solved_frame": 7,
+  "duration_s": 144.1,
+  "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",
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+   "lag_scatter_ms": 4.512558770833358,
+   "lag_range_ms": 19.518908016556757
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+ "units": {
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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"
+ },
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+  "status": "ok",
+  "date": "2026-10-21"
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+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
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+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
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+  "generated_at_utc": "2026-10-27T07:27:49.755868+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",
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+      -0.029153063893318176,
+      -0.015688735991716385
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+      -0.013994209468364716,
+      0.03879678621888161
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+      -0.030287930741906166,
+      -0.0022660179529339075
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+      -0.0118624372407794,
+      0.04034305363893509
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+   "p95_frame": 7.76
+  },
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+   "LHeel 11mm",
+   "RHeel 10mm",
+   "RShin 9mm",
+   "RKneeIn 9mm",
+   "LKneeIn 8mm"
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+    "p5": -12.3
+   },
+   "frames_checked": 581,
+   "stature_mm": 1614.2
+  },
+  "surface_term": {
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+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 13.46
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 180.0,
+    "Q_rotvec": [
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+     0.4392,
+     0.86995
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+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 174.4,
+    "opposite_sign_bend_deg": 25.6,
+    "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": 179.49,
+     "after": 3.53
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
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+     "wrist_twist_deg_after": {
+      "median": -3.19,
+      "iqr": [
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+       0.1
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+     "wrist_total_deg_median_after": 29.3,
+     "markers_on_forearm": [
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 0.0,
+    "Q_rotvec": [
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+     0.0,
+     -0.0
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+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 23.5,
+    "opposite_sign_bend_deg": 173.9,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.75,
+    "hand_vs_marker_frame_deg": {
+     "before": 3.75,
+     "after": 3.75
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -0.0,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -1.5,
+       2.0
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+     },
+     "wrist_total_deg_median_after": 23.4,
+     "markers_on_forearm": [
+      "RElbowIn",
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-28T06:50:13.044740+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/environment_coupled_wholebody/EC05/session_023",
+  "family": "environment_coupled_wholebody",
+  "primitive": "EC05",
+  "source_session": "20261026/EC05/20261026_012332_session5"
+ },
+ "objects": [
+  {
+   "name": "CcBlue",
+   "object_type": "CcBlue",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "CcGreen",
+   "object_type": "CcGreen",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
+}

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