Upload folder using huggingface_hub (part 179)

.gitattributes

@@ -40485,3 +40485,5 @@ actions/human_human_locomanipulation/HH14/session_006/raw/sensors/robowrist_imu_
 actions/human_human_locomanipulation/HH14/session_006/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/human_human_locomanipulation/HH14/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/human_human_locomanipulation/HH14/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM01/session_020/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM01/session_020/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM01/session_020/meta.json

@@ -0,0 +1,529 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261026/LM01/20261026_043004_session49",
+ "session_id": "20261026_043004_session49",
+ "primitive": "LM01",
+ "batch": "20261026",
+ "participant": "liujiaxin",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "c9205ac6e17d2d5c",
+  "left": "cc5681142208e29a",
+  "right": "a85418f7d807dff9"
+ },
+ "generated_at_utc": "2026-10-27T04:55:34.538663+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": 142.95833333333334,
+  "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": -0.091439,
+  "rate": 0.0,
+  "global_lag_s": -0.09,
+  "peak_corr": 0.9796,
+  "reference_imu_first_sample_s": 14632.29574641,
+  "windows": {
+   "n_windows": 13,
+   "window_corr_median": 0.9757569837365943,
+   "drift_ppm": 2.02181724749743,
+   "drift_se_ppm": 8.902044154755467,
+   "drift_ms_over_take": 0.2890187755297576,
+   "lag_scatter_ms": 1.1047146274271586,
+   "lag_range_ms": 4.6667320201670135
+  }
+ },
+ "units": {
+  "mocap": "millimetres, Nokov world, Y-up (unchanged)",
+  "y_up_to_z_up": [
+   [
+    1.0,
+    0.0,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   [
+    0.0,
+    1.0,
+    0.0
+   ]
+  ],
+  "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"
+ },
+ "streams": {
+  "sensors": {
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+    "n_gyro": 29080,
+    "t_start": -0.09833629583327641,
+    "t_end": 143.16583023516696
+   },
+   "imu_head_left": {
+    "n_acc": 28904,
+    "n_gyro": 28899,
+    "t_start": 0.015404559167011,
+    "t_end": 143.33114880716758
+   },
+   "imu_wrist_right": {
+    "n_acc": 28377,
+    "n_gyro": 28376,
+    "t_start": -0.9279142148326246,
+    "t_end": 142.3748654341679
+   },
+   "imu_wrist_left": {
+    "n_acc": 28299,
+    "n_gyro": 28310,
+    "t_start": -0.8970353548330495,
+    "t_end": 142.36822583616677
+   },
+   "mag_head": {
+    "n": 14340,
+    "t_start": 0.0992891631675702,
+    "t_end": 143.48928331416656
+   },
+   "mag_wrist_right": {
+    "n": 14329,
+    "t_start": -0.9090337048320253,
+    "t_end": 142.37068611116675
+   },
+   "mag_wrist_left": {
+    "n": 14325,
+    "t_start": -0.8733559998318997,
+    "t_end": 142.3661631711665
+   }
+  },
+  "videos": {
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+    "fps": 30.0,
+    "start_device_s": 14632.424601,
+    "frames": 4288,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0026284356473863946,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.04004403981606808,
+    "t_end": 142.93994403981642,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
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+    "frames": 4288,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0024181146161434135,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.03977871878386574,
+    "t_end": 142.93967871878422,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 14632.424585,
+    "frames": 4288,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002458947067077895,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.03985855123473081,
+    "t_end": 142.9397585512351,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
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+    "frames": 4288,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0021420814739499558,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.039573685641600576,
+    "t_end": 142.93947368564196,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 14632.42457,
+    "frames": 4288,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002801984596191448,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.04018658876238257,
+    "t_end": 142.94008658876274,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
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+    "start_device_s": 14632.424517,
+    "frames": 4288,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002930366888236734,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.040261971055671864,
+    "t_end": 142.9401729710561,
+    "clock": "device",
+    "calibrated": true
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+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 14631.502141,
+    "frames": 4297,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -0.8850443958318538,
+    "t_end": 142.31443460416895,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 14631.460391,
+    "frames": 4298,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -0.9267943958321739,
+    "t_end": 142.30627860416726,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-LM01-S05-liujiaxin-01p1-1.mp4",
+    "frames": 4289,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 142.93333333333334
+   }
+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "c9205ac6e17d2d5c/20261026-morning/labels-235140/session-3f9222a63410c19d",
+  "R_tracker0_imu0": [
+   [
+    -0.61707123,
+    -0.01207369,
+    -0.78681467
+   ],
+   [
+    0.78214597,
+    0.10041615,
+    -0.61495063
+   ],
+   [
+    0.08643363,
+    -0.99487226,
+    -0.05252053
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.17949323162686504,
+   -0.001473686650428509,
+   0.009321469005149534
+  ],
+  "rig_check": {
+   "gyro_samples": 9418,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 2.439
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-27T06:43:09.040548+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)",
+  "R_canon_nokov": [
+   [
+    0.9999318201,
+    0.0116771196,
+    -7.9583e-06
+   ],
+   [
+    7.9583e-06,
+    -0.0013630091,
+    -0.9999990711
+   ],
+   [
+    -0.0116771196,
+    0.9999308912,
+    -0.0013630091
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.00099993182,
+    1.167712e-05,
+    -7.958e-09,
+    0.0
+   ],
+   [
+    7.958e-09,
+    -1.363009e-06,
+    -0.000999999071,
+    0.0
+   ],
+   [
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+    0.000999930891,
+    -1.363009e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20261026-morning",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.6736075582400546,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 28.2,
+   "headtop_p95_mm": 1650.9
+  },
+  "gravity_check": {
+   "static_samples": 500,
+   "g_world_mean_m_s2": [
+    -0.1009,
+    -0.1287,
+    9.8378
+   ],
+   "tilt_from_z_deg": 0.953,
+   "tilt_from_z_deg_before_levelling": 1.425,
+   "magnitude_m_s2": 9.8392
+  },
+  "rig_tracker_definition": "c9205ac6e17d2d5c/20261026-morning/labels-235140/session-3f9222a63410c19d",
+  "rig_check": {
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 2.439
+  },
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-27T07:57:39.529683+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": {
+    "left": {
+     "LHandIn": [
+      0.08792989701032639,
+      0.011231782846152782,
+      0.02536759339272976
+     ],
+     "LHandOut": [
+      0.07586110383272171,
+      0.008775871247053146,
+      -0.03126566484570503
+     ],
+     "LWristOut": [
+      -0.01166387926787138,
+      0.022017471492290497,
+      -0.026254769414663315
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.10516247153282166,
+      0.0052359867841005325,
+      0.023151518777012825
+     ],
+     "RHandOut": [
+      -0.09138008952140808,
+      0.014153067953884602,
+      -0.022893406450748444
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 7.06,
+   "p95_frame": 13.48
+  },
+  "worst_markers": [
+   "LElbow 30mm",
+   "LForearm 28mm",
+   "RElbowIn 15mm",
+   "LShin 14mm",
+   "STRN 11mm"
+  ],
+  "valid_fraction": 0.9995,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 15.3,
+    "p5": 11.3
+   },
+   "frames_checked": 572,
+   "stature_mm": 1614.2
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 11.43
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 180.0,
+    "Q_rotvec": [
+     -2.98662,
+     0.4392,
+     0.86995
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 174.6,
+    "opposite_sign_bend_deg": 39.5,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.25,
+    "hand_vs_marker_frame_deg": {
+     "before": 178.05,
+     "after": 3.25
+    },
+    "markers_on_wrist": [
+     "LWristOut",
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -170.22,
+     "wrist_twist_deg_after": {
+      "median": -8.83,
+      "iqr": [
+       -18.9,
+       -4.8
+      ]
+     },
+     "wrist_total_deg_median_after": 16.7,
+     "markers_on_forearm": [
+      "LElbowIn",
+      "LForearm",
+      "LWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 0.0,
+    "Q_rotvec": [
+     0.0,
+     0.0,
+     -0.0
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 23.5,
+    "opposite_sign_bend_deg": 169.9,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.23,
+    "hand_vs_marker_frame_deg": {
+     "before": 3.23,
+     "after": 3.23
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -0.0,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -11.7,
+       9.1
+      ]
+     },
+     "wrist_total_deg_median_after": 23.8,
+     "markers_on_forearm": [
+      "RElbow",
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-28T06:50:35.204011+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM01/session_020",
+  "family": "locomanipulation",
+  "primitive": "LM01",
+  "source_session": "20261026/LM01/20261026_043004_session49"
+ },
+ "objects": [
+  {
+   "name": "BigBox",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "BigBox2",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "Cushion",
+   "object_type": "Cushion",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
+}

actions/locomanipulation/LM01/session_020/motions/head_rig.npz

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actions/locomanipulation/LM01/session_020/motions/markers.npz

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actions/locomanipulation/LM01/session_020/motions/object_markers.npz

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actions/locomanipulation/LM01/session_020/motions/objects.json

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+{
+ "session": "20261026/LM01/20261026_043004_session49",
+ "generated_at_utc": "2026-10-28T03:37:35.282249+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": "BigBox",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/BigBox/bigbox.ply",
+   "calibration": {
+    "instance": "BigBox",
+    "rms_mm": 1.26
+   },
+   "valid_pct": 97.65,
+   "verified_pct": 97.63,
+   "moving_pct": 18.26,
+   "vision_source": null
+  },
+  {
+   "name": "BigBox2",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 69.86,
+   "verified_pct": 69.83,
+   "moving_pct": 8.24,
+   "vision_source": null
+  },
+  {
+   "name": "Cushion",
+   "object_type": "Cushion",
+   "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": [],
+  "declared": [
+   "BigBox0",
+   "BigBox2",
+   "Cushion0"
+  ],
+  "listed": [
+   {
+    "name": "BigBox",
+    "object": "BigBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "BigBox2",
+    "object": "BigBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
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