Upload folder using huggingface_hub (part 49)

.gitattributes

@@ -40110,3 +40110,5 @@ actions/environment_coupled_wholebody/EC05/session_024/raw/sensors/robowrist_imu
 actions/environment_coupled_wholebody/EC05/session_024/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/environment_coupled_wholebody/EC05/session_024/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/environment_coupled_wholebody/EC05/session_024/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC06/session_019/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC06/session_019/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/environment_coupled_wholebody/EC06/session_018/meta.json

@@ -413,19 +413,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 60.07,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     -0.24296,
-     -1.01959,
-     -0.02345
+     2.98163,
+     -0.44128,
+     -0.88585
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 55.8,
-    "opposite_sign_bend_deg": 176.7,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 166.2,
+    "opposite_sign_bend_deg": 54.5,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.28,
     "hand_vs_marker_frame_deg": {
-     "before": 60.11,
+     "before": 179.25,
      "after": 2.28
     },
     "markers_on_wrist": [
@@ -433,15 +433,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -11.68,
+     "twist_moved_deg": -165.39,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": -0.18,
       "iqr": [
-       -3.3,
-       4.9
+       -2.7,
+       2.1
       ]
      },
-     "wrist_total_deg_median_after": 54.8,
+     "wrist_total_deg_median_after": 39.1,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -452,19 +452,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 165.6,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     -2.81122,
-     -0.40144,
-     -0.53761
+     -0.0,
+     -0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 176.1,
-    "opposite_sign_bend_deg": 26.4,
+    "wrist_bend_deg_median": 26.1,
+    "opposite_sign_bend_deg": 171.5,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.12,
     "hand_vs_marker_frame_deg": {
-     "before": 165.65,
+     "before": 2.12,
      "after": 2.12
     },
     "markers_on_wrist": [
@@ -472,15 +472,15 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 173.18,
+     "twist_moved_deg": 4.15,
      "wrist_twist_deg_after": {
-      "median": 4.15,
+      "median": 0.0,
       "iqr": [
-       0.8,
-       7.5
+       -3.3,
+       3.4
       ]
      },
-     "wrist_total_deg_median_after": 26.2,
+     "wrist_total_deg_median_after": 25.7,
      "markers_on_forearm": [
       "RForearm",
       "RWristIn",
@@ -489,7 +489,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-26T16:38:43.803933+00:00",
+   "generated_at_utc": "2026-10-28T06:48:22.770742+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -498,5 +498,61 @@
   "family": "environment_coupled_wholebody",
   "primitive": "EC06",
   "source_session": "20261024/EC06/20261024_054541_session53"
- }
+ },
+ "objects": [
+  {
+   "name": "CcBlue",
+   "object_type": "CcBlue",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "CcGreen",
+   "object_type": "CcGreen",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "CcOrange",
+   "object_type": "CcOrange",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "CcRed",
+   "object_type": "CcRed",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox1",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "Table",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/environment_coupled_wholebody/EC06/session_018/motions/object_markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:359f864d201a24abdde41500f278b11fbac9bbe7e080760bb5b3c4c453d49594
+size 1206685

actions/environment_coupled_wholebody/EC06/session_018/motions/objects.json

@@ -0,0 +1,198 @@
+{
+ "session": "20261024/EC06/20261024_054541_session53",
+ "generated_at_utc": "2026-10-28T03:14:42.634743+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": "CcBlue",
+   "object_type": "CcBlue",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 0.0,
+   "verified_pct": 0.0,
+   "moving_pct": 0.0,
+   "vision_source": null
+  },
+  {
+   "name": "CcGreen",
+   "object_type": "CcGreen",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/CcGreen/ccgreen.ply",
+   "calibration": {
+    "instance": "CcGreen",
+    "rms_mm": 2.12
+   },
+   "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": 0.44
+   },
+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 0.0,
+   "vision_source": null
+  },
+  {
+   "name": "CcRed",
+   "object_type": "CcRed",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 0.0,
+   "verified_pct": 0.0,
+   "moving_pct": 0.0,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox1",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 0.0,
+   "verified_pct": 0.0,
+   "moving_pct": 0.0,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 0.0,
+   "verified_pct": 0.0,
+   "moving_pct": 0.0,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 0.01,
+   "verified_pct": 0.0,
+   "moving_pct": 0.0,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 0.0,
+   "verified_pct": 0.0,
+   "moving_pct": 0.0,
+   "vision_source": null
+  },
+  {
+   "name": "Table",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 0.0,
+   "verified_pct": 0.0,
+   "moving_pct": 0.0,
+   "vision_source": null
+  }
+ ],
+ "object_list": {
+  "status": "corrected",
+  "notes": [
+   "table -> Table"
+  ],
+  "declared": [
+   "CcBlue0",
+   "CcGreen0",
+   "CcOrange0",
+   "CcRed0",
+   "LittleBox1",
+   "LittleBox2",
+   "LittleBox3",
+   "LittleBox4",
+   "Table0"
+  ],
+  "listed": [
+   {
+    "name": "CcBlue",
+    "object": "CcBlue",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "CcGreen",
+    "object": "CcGreen",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "CcOrange",
+    "object": "CcOrange",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "CcRed",
+    "object": "CcRed",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "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
+   },
+   {
+    "name": "Table",
+    "object": null,
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/environment_coupled_wholebody/EC06/session_018/motions/objects.npz

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+size 1347262

actions/environment_coupled_wholebody/EC06/session_018/motions/smplx.npz

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+size 5953144

actions/environment_coupled_wholebody/EC06/session_019/cameras/poses.npz

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+size 1222074

actions/environment_coupled_wholebody/EC06/session_019/meta.json

@@ -0,0 +1,541 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261026/EC06/20261026_012941_session7",
+ "session_id": "20261026_012941_session7",
+ "primitive": "EC06",
+ "batch": "20261026",
+ "participant": "liujiaxin",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "c9205ac6e17d2d5c",
+  "left": "cc5681142208e29a",
+  "right": "a85418f7d807dff9"
+ },
+ "generated_at_utc": "2026-10-27T04:53:52.165294+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": 140.95833333333334,
+  "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": -0.082879,
+  "rate": 0.0,
+  "global_lag_s": -0.085,
+  "peak_corr": 0.8827,
+  "reference_imu_first_sample_s": 3809.627527927,
+  "windows": {
+   "n_windows": 12,
+   "window_corr_median": 0.8748166987522068,
+   "drift_ppm": -2.451646366419177,
+   "drift_se_ppm": 6.658278565413362,
+   "drift_ms_over_take": -0.34555955534678295,
+   "lag_scatter_ms": 0.7268408986849618,
+   "lag_range_ms": 2.312710872147461
+  }
+ },
+ "units": {
+  "mocap": "millimetres, Nokov world, Y-up (unchanged)",
+  "y_up_to_z_up": [
+   [
+    1.0,
+    0.0,
+    0.0
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+   [
+    0.0,
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+    -1.0
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+   [
+    0.0,
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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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+   "third_person": {
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