Upload folder using huggingface_hub (part 100)

.gitattributes

@@ -3798,3 +3798,12 @@ actions/locomanipulation/LM02/session_008/raw/sensors/robowrist_imu_left.db filt
 actions/locomanipulation/LM02/session_008/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM02/session_008/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM02/session_008/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM02/session_009/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM02/session_009/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM02/session_009/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM02/session_009/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM02/session_009/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM02/session_009/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM02/session_009/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM02/session_009/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM02/session_009/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM02/session_009/meta.json

@@ -0,0 +1,532 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261019/LM02/20261019_102142_session17",
+ "session_id": "20261019_102142_session17",
+ "primitive": "LM02",
+ "batch": "20261019",
+ "participant": "daihaoxiang",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e3296774a321bb51",
+  "left": "75b5984e04d1d236",
+  "right": "c84bc808cb6b47af"
+ },
+ "generated_at_utc": "2026-10-22T16:05:37.597773+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": 134.25833333333333,
+  "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",
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+  "reference_imu_first_sample_s": 4068.447733084,
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+   "drift_se_ppm": 8.40486574907672,
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+   "lag_scatter_ms": 0.917504444184533,
+   "lag_range_ms": 3.4447235670239387
+  }
+ },
+ "units": {
+  "mocap": "millimetres, Nokov world, Y-up (unchanged)",
+  "y_up_to_z_up": [
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+    0.0,
+    0.0
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+   [
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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": {
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+  "status": "ok",
+  "date": "2026-10-21"
+ },
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+    "clock": "device",
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+    "frames": 4019,
+    "pts_gaps": 8,
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+    "gap_test": {
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+      "corr": 0.831,
+      "err_ms": 31.2
+     },
+     "nominal": {
+      "offset_ms": 115.3,
+      "corr": 0.819,
+      "err_ms": 112.9
+     }
+    },
+    "file": "robocap_segment1_video_left_eye.mp4",
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+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
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+    "frames": 4028,
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+  }
+ },
+ "flags": [],
+ "sanity": {
+  "status": {
+   "structure": "WARN",
+   "markers": "WARN",
+   "timing": "WARN"
+  },
+  "verdict": "READY_WITH_WARNINGS",
+  "issues": [
+   "WARN M_SPIKES",
+   "WARN M_TRACKER_GEOM",
+   "WARN S_CALIB",
+   "WARN S_REPORT_TIMING",
+   "WARN S_VIDEO_FPS",
+   "WARN T_FRAMES",
+   "WARN T_LAG_OUTLIER",
+   "WARN T_PTS"
+  ]
+ },
+ "rig_tracker": {
+  "definition": "e3296774a321bb51/20261019-afternoon/labels-054231/session-0282b5749b54634a",
+  "R_tracker0_imu0": [
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+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 1.745
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-22T17:38:30.005910+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": [
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+    1.5793e-06
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+  "T_canon_nokov_mm": [
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+    2.87182e-06,
+    1.579e-09,
+    0.0
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+  "block": "20261019-afternoon",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.17619850949641716,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 23.5,
+   "headtop_p95_mm": 1751.1
+  },
+  "gravity_check": {
+   "static_samples": 933,
+   "g_world_mean_m_s2": [
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+    -0.2593,
+    9.8191
+   ],
+   "tilt_from_z_deg": 1.739,
+   "tilt_from_z_deg_before_levelling": 1.721,
+   "magnitude_m_s2": 9.8237
+  },
+  "rig_tracker_definition": "e3296774a321bb51/20261019-afternoon/labels-054231/session-0282b5749b54634a",
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-23T05:30:06.184712+00:00",
+  "generated_by": "scripts/fit_smplx_dataset.py",
+  "file": "smplx.npz",
+  "gender": "male",
+  "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": {
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+  },
+  "marker_rmse_mm": {
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+   "p95_frame": 12.93
+  },
+  "worst_markers": [
+   "CLAV 15mm",
+   "WaistRFront 15mm",
+   "LShin 12mm",
+   "WaistRSide 12mm",
+   "LKneeIn 11mm"
+  ],
+  "valid_fraction": 0.9996,
+  "qc": {
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+    "p5": -13.7
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+   "frames_checked": 537,
+   "stature_mm": 1770.9
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 15.28
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 174.38,
+    "Q_rotvec": [
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+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 167.4,
+    "opposite_sign_bend_deg": 31.6,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.19,
+    "hand_vs_marker_frame_deg": {
+     "before": 174.2,
+     "after": 2.19
+    },
+    "markers_on_wrist": [
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+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
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+     "wrist_twist_deg_after": {
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+      "iqr": [
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+       0.6
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+     },
+     "wrist_total_deg_median_after": 35.7,
+     "markers_on_forearm": [
+      "LElbow",
+      "LForearm",
+      "LWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 23.88,
+    "Q_rotvec": [
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+     0.1177,
+     -0.17604
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+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 10.6,
+    "opposite_sign_bend_deg": 176.9,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 4.39,
+    "hand_vs_marker_frame_deg": {
+     "before": 24.22,
+     "after": 4.39
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 1.06,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -3.9,
+       2.3
+      ]
+     },
+     "wrist_total_deg_median_after": 11.0,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-23T05:30:09.503008+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM02/session_009",
+  "family": "locomanipulation",
+  "primitive": "LM02",
+  "source_session": "20261019/LM02/20261019_102142_session17"
+ }
+}

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+  "created_at_utc": "2026-10-19T13:07:33.960565+00:00",
+  "primitive_id": "LM02",
+  "session_id": "20261019_102142_session17",
+  "upload_batch_id": "20261019",
+  "dataset_path": "EgoMotionActions/20261019/LM02/20261019_102142_session17",
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+    "wrist_bend_deg_median": 151.6,
+    "opposite_sign_bend_deg": 44.9,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.79,
+    "hand_vs_marker_frame_deg": {
+     "before": 176.59,
+     "after": 2.79
+    },
+    "markers_on_wrist": [
+     "LWristOut",
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -146.84,
+     "wrist_twist_deg_after": {
+      "median": -3.12,
+      "iqr": [
+       -14.6,
+       8.1
+      ]
+     },
+     "wrist_total_deg_median_after": 30.8,
+     "markers_on_forearm": [
+      "LElbow",
+      "LForearm",
+      "LWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 26.88,
+    "Q_rotvec": [
+     0.3996,
+     -0.08039,
+     -0.23242
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 17.6,
+    "opposite_sign_bend_deg": 167.5,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 4.35,
+    "hand_vs_marker_frame_deg": {
+     "before": 27.31,
+     "after": 4.35
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -14.27,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -2.3,
+       1.7
+      ]
+     },
+     "wrist_total_deg_median_after": 11.3,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-23T05:30:25.729012+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM02/session_010",
+  "family": "locomanipulation",
+  "primitive": "LM02",
+  "source_session": "20261019/LM02/20261019_102448_session18"
+ }
+}

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