Upload folder using huggingface_hub (part 60)

.gitattributes

@@ -40156,3 +40156,21 @@ actions/environment_coupled_wholebody/EC08/session_020/raw/sensors/robowrist_imu
 actions/environment_coupled_wholebody/EC08/session_020/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/environment_coupled_wholebody/EC08/session_020/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/environment_coupled_wholebody/EC08/session_020/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_009/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_009/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_009/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_009/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_009/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_009/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_009/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_009/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_009/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_010/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_010/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_010/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_010/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_010/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_010/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_010/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_010/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_010/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/environment_coupled_wholebody/EC09/session_008/meta.json

@@ -425,19 +425,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 102.66,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     1.7228,
-     -0.4106,
-     -0.27142
+     3.02706,
+     -0.2415,
+     -0.80509
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 111.2,
-    "opposite_sign_bend_deg": 74.5,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 175.4,
+    "opposite_sign_bend_deg": 16.6,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.93,
     "hand_vs_marker_frame_deg": {
-     "before": 102.57,
+     "before": 179.01,
      "after": 2.93
     },
     "markers_on_wrist": [
@@ -445,15 +445,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 110.18,
+     "twist_moved_deg": -168.98,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -8.1,
       "iqr": [
-       -4.5,
-       3.6
+       -12.8,
+       -3.4
       ]
      },
-     "wrist_total_deg_median_after": 16.5,
+     "wrist_total_deg_median_after": 37.6,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -464,19 +464,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 86.1,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     1.44419,
-     0.38753,
-     0.149
+     0.0,
+     -0.0,
+     -0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 90.7,
-    "opposite_sign_bend_deg": 97.4,
+    "wrist_bend_deg_median": 34.3,
+    "opposite_sign_bend_deg": 176.7,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.09,
     "hand_vs_marker_frame_deg": {
-     "before": 86.23,
+     "before": 2.09,
      "after": 2.09
     },
     "markers_on_wrist": [
@@ -484,7 +484,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -85.49,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
       "median": -0.0,
       "iqr": [
@@ -501,7 +501,7 @@
     },
     "frames_used": 1317
    },
-   "generated_at_utc": "2026-10-26T12:01:18.124789+00:00",
+   "generated_at_utc": "2026-10-28T06:44:39.618091+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -510,5 +510,31 @@
   "family": "environment_coupled_wholebody",
   "primitive": "EC09",
   "source_session": "20261021/EC09/20261021_011521_session12"
- }
+ },
+ "objects": [
+  {
+   "name": "LittleBox1",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  }
+ ]
 }

actions/environment_coupled_wholebody/EC09/session_008/motions/object_markers.npz

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actions/environment_coupled_wholebody/EC09/session_008/motions/objects.json

@@ -0,0 +1,104 @@
+{
+ "session": "20261021/EC09/20261021_011521_session12",
+ "generated_at_utc": "2026-10-28T02:33:36.995242+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": "LittleBox1",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 69.66,
+   "verified_pct": 69.46,
+   "moving_pct": 60.03,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox2",
+    "rms_mm": 0.67
+   },
+   "valid_pct": 99.98,
+   "verified_pct": 99.98,
+   "moving_pct": 87.22,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox3",
+    "rms_mm": 0.21
+   },
+   "valid_pct": 99.98,
+   "verified_pct": 99.98,
+   "moving_pct": 90.01,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox4",
+    "rms_mm": 0.38
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+   "valid_pct": 99.98,
+   "verified_pct": 99.98,
+   "moving_pct": 90.4,
+   "vision_source": null
+  }
+ ],
+ "object_list": {
+  "status": "match",
+  "notes": [],
+  "declared": [
+   "LittleBox1",
+   "LittleBox2",
+   "LittleBox3",
+   "LittleBox4"
+  ],
+  "listed": [
+   {
+    "name": "LittleBox1",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox2",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox3",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox4",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

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actions/environment_coupled_wholebody/EC09/session_008/motions/smplx.npz

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actions/environment_coupled_wholebody/EC09/session_009/cameras/poses.npz

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actions/environment_coupled_wholebody/EC09/session_009/meta.json

@@ -0,0 +1,515 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261026/EC09/20261026_030531_session33",
+ "session_id": "20261026_030531_session33",
+ "primitive": "EC09",
+ "batch": "20261026",
+ "participant": "liujiaxin",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "c9205ac6e17d2d5c",
+  "left": "cc5681142208e29a",
+  "right": "a85418f7d807dff9"
+ },
+ "generated_at_utc": "2026-10-27T04:54:05.061911+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": 0,
+  "duration_s": 126.925,
+  "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": -0.08013,
+  "rate": 0.0,
+  "global_lag_s": -0.08,
+  "peak_corr": 0.9699,
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+  "windows": {
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+   "window_corr_median": 0.9736383833963949,
+   "drift_ppm": 12.605073079774716,
+   "drift_se_ppm": 5.280266211460625,
+   "drift_ms_over_take": 1.599793858374741,
+   "lag_scatter_ms": 0.5009300364073158,
+   "lag_range_ms": 1.7456637003687159
+  }
+ },
+ "units": {
+  "mocap": "millimetres, Nokov world, Y-up (unchanged)",
+  "y_up_to_z_up": [
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+    1.0,
+    0.0,
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+   [
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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": {
+  "device": "c9205ac6e17d2d5c",
+  "status": "ok",
+  "date": "2026-10-21"
+ },
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+    "gap_test": {
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+    "clock": "device",
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+   },
+   "third_person": {
+    "file": "mocap/mocap-EC09-S01-liujiaxin-01p2-1.mp4",
+    "frames": 3808,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 126.9
+   }
+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "c9205ac6e17d2d5c/20261026-morning/labels-235140/session-9de007af72c68c13",
+  "R_tracker0_imu0": [
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+  "p_tracker0_imu0_m": [
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+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 2.189
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-27T06:42:58.008280+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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