Upload folder using huggingface_hub (part 2124)

.gitattributes

@@ -41006,3 +41006,12 @@ actions/static_manipulation/SM14/session_008/raw/sensors/robowrist_imu_left.db f
 actions/static_manipulation/SM14/session_008/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM14/session_008/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM14/session_008/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM15/session_006/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM15/session_006/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM15/session_006/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM15/session_006/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM15/session_006/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM15/session_006/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM15/session_006/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM15/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM15/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/static_manipulation/SM15/session_005/meta.json

@@ -432,19 +432,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 75.52,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     -1.04101,
-     -0.80739,
-     -0.04272
+     3.02575,
+     -0.26943,
+     -0.80116
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 81.6,
-    "opposite_sign_bend_deg": 121.6,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 170.4,
+    "opposite_sign_bend_deg": 45.0,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.07,
     "hand_vs_marker_frame_deg": {
-     "before": 75.46,
+     "before": 179.04,
      "after": 3.07
     },
     "markers_on_wrist": [
@@ -452,15 +452,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -72.21,
+     "twist_moved_deg": -167.73,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -2.27,
       "iqr": [
-       -5.3,
-       11.4
+       -6.2,
+       8.1
       ]
      },
-     "wrist_total_deg_median_after": 45.0,
+     "wrist_total_deg_median_after": 35.0,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -471,19 +471,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 34.3,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     0.5026,
-     0.24996,
-     -0.20789
+     -0.0,
+     -0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 46.3,
-    "opposite_sign_bend_deg": 162.4,
+    "wrist_bend_deg_median": 40.2,
+    "opposite_sign_bend_deg": 167.7,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.39,
     "hand_vs_marker_frame_deg": {
-     "before": 34.79,
+     "before": 3.39,
      "after": 3.39
     },
     "markers_on_wrist": [
@@ -491,7 +491,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -23.88,
+     "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
       "median": -0.0,
       "iqr": [
@@ -508,7 +508,7 @@
     },
     "frames_used": 1063
    },
-   "generated_at_utc": "2026-10-26T13:40:17.688391+00:00",
+   "generated_at_utc": "2026-10-28T06:46:07.975593+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -517,5 +517,13 @@
   "family": "static_manipulation",
   "primitive": "SM15",
   "source_session": "20261021/SM15/20261021_081454_session100"
- }
+ },
+ "objects": [
+  {
+   "name": "Table",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/static_manipulation/SM15/session_005/motions/object_markers.npz

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actions/static_manipulation/SM15/session_005/motions/objects.json

@@ -0,0 +1,39 @@
+{
+ "session": "20261021/SM15/20261021_081454_session100",
+ "generated_at_utc": "2026-10-29T13:11:17.213510+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": [
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+   "object_type": "Table",
+   "source": "mocap",
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+   "calibration": null,
+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 0.0,
+   "vision_source": null
+  }
+ ],
+ "absent": [],
+ "object_list": {
+  "status": "corrected",
+  "notes": [],
+  "declared": [
+   "Table0"
+  ],
+  "listed": [
+   {
+    "name": "Table",
+    "object": null,
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/static_manipulation/SM15/session_005/motions/objects.npz

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actions/static_manipulation/SM15/session_005/motions/smplx.npz

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actions/static_manipulation/SM15/session_006/cameras/poses.npz

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actions/static_manipulation/SM15/session_006/meta.json

@@ -0,0 +1,574 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261026/SM15/20261026_091100_session65",
+ "session_id": "20261026_091100_session65",
+ "primitive": "SM15",
+ "batch": "20261026",
+ "participant": "zhangxinxin",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "c9205ac6e17d2d5c",
+  "left": "452031d7af00ef6f",
+  "right": "60a6f081bbe60b0d"
+ },
+ "generated_at_utc": "2026-10-27T04:57:01.582904+00:00",
+ "generated_by": "scripts/sync_dataset.py",
+ "time_base": {
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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)"
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+ "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",
+  "offset_s": -0.093603,
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+  "global_lag_s": -0.095,
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+   "lag_scatter_ms": 1.5613207137984464,
+   "lag_range_ms": 5.733613183782821
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+ },
+ "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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+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
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+  "generated_by": "scripts/fit_smplx_dataset.py",
+  "file": "smplx.npz",
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+  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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+   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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