Upload folder using huggingface_hub (part 2128)

.gitattributes

@@ -41034,3 +41034,13 @@ actions/static_manipulation/SM19/session_005/raw/sensors/robowrist_imu_left.db f
 actions/static_manipulation/SM19/session_005/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM19/session_005/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM19/session_005/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM20/session_006/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM20/session_006/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM20/session_006/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM20/session_006/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM20/session_006/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM20/session_006/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM20/session_006/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM20/session_006/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM20/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM20/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/static_manipulation/SM20/session_006/cameras/poses.npz

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+size 1288832

actions/static_manipulation/SM20/session_006/meta.json

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+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261026/SM20/20261026_092053_session68",
+ "session_id": "20261026_092053_session68",
+ "primitive": "SM20",
+ "batch": "20261026",
+ "participant": "zhangxinxin",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "c9205ac6e17d2d5c",
+  "left": "452031d7af00ef6f",
+  "right": "60a6f081bbe60b0d"
+ },
+ "generated_at_utc": "2026-10-27T04:56:57.075058+00:00",
+ "generated_by": "scripts/sync_dataset.py",
+ "time_base": {
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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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+  "model": "offset (median of windows)",
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+   "lag_scatter_ms": 20.223568910229616,
+   "lag_range_ms": 86.96323438963032
+  }
+ },
+ "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": {
+  "device": "c9205ac6e17d2d5c",
+  "status": "ok",
+  "date": "2026-10-21"
+ },
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+    "pts_gaps": 1,
+    "timing": "pts (gap undecided)",
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+    "gap_test": {},
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+   "third_person": {
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+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
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+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 1.93
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+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-27T06:43:19.101549+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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+  "plane_status": "ok",
+  "floor": {
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+   "dropped_marker": null,
+   "gyro_deg": 1.93
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+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
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+  "generated_by": "scripts/fit_smplx_dataset.py",
+  "file": "smplx.npz",
+  "gender": "female",
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+  "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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+  },
+  "marker_rmse_mm": {
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+   "p95_frame": 9.51
+  },
+  "worst_markers": [
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+   "LElbowIn 13mm",
+   "LWristOut 10mm",
+   "LForearm 9mm",
+   "LElbow 8mm"
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+  "valid_fraction": 1.0,
+  "qc": {
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+    "p5": -3.4
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+   "stature_mm": 1627.7
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+  "surface_term": {
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+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 11.88
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
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+    "status": "corrected",
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+    "opposite_sign_bend_deg": 13.9,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.74,
+    "hand_vs_marker_frame_deg": {
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+     "after": 2.74
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+    "markers_on_wrist": [
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+    "forearm_twist": {
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+      "iqr": [
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+       7.6
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+     "wrist_total_deg_median_after": 26.8,
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+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.35,
+    "hand_vs_marker_frame_deg": {
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+     "after": 2.35
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+    "markers_on_wrist": [
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+    "forearm_twist": {
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+     "wrist_twist_deg_after": {
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+     "wrist_total_deg_median_after": 17.6,
+     "markers_on_forearm": [
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+      "RWristIn",
+      "RWristOut"
+     ]
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+    "frames_used": 1500
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+   "generated_at_utc": "2026-10-28T06:51:01.102541+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/static_manipulation/SM20/session_006",
+  "family": "static_manipulation",
+  "primitive": "SM20",
+  "source_session": "20261026/SM20/20261026_092053_session68"
+ },
+ "objects": [
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+   "name": "LowStep",
+   "object_type": "LowStep",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "Table",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
+}

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actions/static_manipulation/SM20/session_006/motions/objects.json

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+ "generated_at_utc": "2026-10-29T13:41:21.523171+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",
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+   "source": "mocap",
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- }
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 }

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