Upload folder using huggingface_hub (part 945)

actions/locomanipulation/LM50/session_002/meta.json

@@ -391,19 +391,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 159.73,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     -2.76001,
-     -0.1007,
-     0.37941
+     -2.98662,
+     0.4392,
+     0.86995
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 151.2,
-    "opposite_sign_bend_deg": 44.8,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 168.2,
+    "opposite_sign_bend_deg": 28.0,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.42,
     "hand_vs_marker_frame_deg": {
-     "before": 159.5,
+     "before": 178.77,
      "after": 2.42
     },
     "markers_on_wrist": [
@@ -411,15 +411,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -147.23,
+     "twist_moved_deg": -157.53,
      "wrist_twist_deg_after": {
-      "median": -2.7,
+      "median": -19.81,
       "iqr": [
-       -15.5,
-       4.7
+       -34.5,
+       -11.2
       ]
      },
-     "wrist_total_deg_median_after": 28.0,
+     "wrist_total_deg_median_after": 37.4,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -430,19 +430,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 57.83,
+    "Q_deg": 0.0,
     "Q_rotvec": [
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-     0.56626,
-     -0.30653
+     0.0,
+     0.0,
+     -0.0
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 54.8,
-    "opposite_sign_bend_deg": 138.8,
+    "wrist_bend_deg_median": 26.8,
+    "opposite_sign_bend_deg": 172.2,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 4.06,
     "hand_vs_marker_frame_deg": {
-     "before": 58.16,
+     "before": 4.06,
      "after": 4.06
     },
     "markers_on_wrist": [
@@ -451,7 +451,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -47.14,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
       "median": 0.0,
       "iqr": [
@@ -467,7 +467,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-14T23:25:38.332710+00:00",
+   "generated_at_utc": "2026-10-28T06:16:02.955009+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },

actions/locomanipulation/LM50/session_002/motions/smplx.npz

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+size 7130876

actions/locomanipulation/LM50/session_003/meta.json

@@ -371,7 +371,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-23T03:43:55.110205+00:00",
+  "generated_at_utc": "2026-10-27T17:32:49.277051+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -386,46 +386,51 @@
    "hand_marker_offsets_m": {
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-      0.007644740864634514,
-      0.013906995765864849
+      0.07407744228839874,
+      0.006469987332820892,
+      0.01858837716281414
      ],
      "LHandOut": [
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-      0.01669272594153881,
-      -0.0247377697378397
+      0.07455604523420334,
+      0.01977074146270752,
+      -0.019311893731355667
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+     "LWristOut": [
+      0.011624045670032501,
+      0.025416836142539978,
+      -0.013993434607982635
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     "right": {
      "RHandIn": [
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-      0.009194360114634037,
-      0.028791135177016258
+      -0.05763603374361992,
+      0.008905710652470589,
+      0.02889966033399105
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-      0.020000094547867775,
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+      0.020309796556830406,
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    }
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   "marker_rmse_mm": {
-   "median_frame": 8.4,
-   "p95_frame": 23.29
+   "median_frame": 8.23,
+   "p95_frame": 22.95
   },
   "worst_markers": [
    "LThigh 42mm",
    "WaistLFront 33mm",
-   "LKneeIn 24mm",
+   "LKneeIn 23mm",
    "RKneeIn 23mm",
-   "LElbowIn 19mm"
+   "LElbowIn 18mm"
   ],
   "valid_fraction": 1.0,
   "qc": {
    "lowest_vertex_mm": {
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-    "p5": -4.2
+    "median": 8.9,
+    "p5": -2.8
    },
    "frames_checked": 625,
    "stature_mm": 1598.8
@@ -434,80 +439,80 @@
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 13.19
+   "surface_rmse_mm_median": 13.11
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 160.62,
+    "Q_deg": 0.0,
     "Q_rotvec": [
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-     0.15707,
-     0.65509
+     0.0,
+     -0.0,
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-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 2.53,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 26.2,
+    "opposite_sign_bend_deg": 172.5,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.36,
     "hand_vs_marker_frame_deg": {
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-     "after": 2.53
+     "before": 3.36,
+     "after": 3.36
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     "markers_on_wrist": [
+     "LWristOut",
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -147.47,
+     "twist_moved_deg": 0.01,
      "wrist_twist_deg_after": {
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+      "median": 0.0,
       "iqr": [
-       -5.2,
-       4.6
+       -7.6,
+       5.7
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      },
-     "wrist_total_deg_median_after": 35.7,
+     "wrist_total_deg_median_after": 26.2,
      "markers_on_forearm": [
       "LForearm",
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+      "LWristIn"
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 58.8,
-    "opposite_sign_bend_deg": 133.9,
+    "wrist_bend_deg_median": 22.3,
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     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 1.93,
+    "marker_frame_spread_deg": 1.9,
     "hand_vs_marker_frame_deg": {
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-     "after": 1.93
+     "before": 1.9,
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     "markers_on_wrist": [
      "RHandIn",
      "RHandOut"
     ],
     "forearm_twist": {
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       "iqr": [
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+     "wrist_total_deg_median_after": 23.5,
      "markers_on_forearm": [
       "RElbowIn",
       "RForearm",
@@ -517,14 +522,100 @@
     },
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+   "generated_at_utc": "2026-10-28T06:41:04.665816+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-27T14:51:58.750545+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
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+     "imu"
+    ],
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+      "t1": 130.5,
+      "dur_s": 4.92,
+      "marker_turn_deg": 57.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 120.8,
+      "err_swapped_deg": 21.0,
+      "calib_err_deg": 12.4,
+      "applied": true
+     }
+    ]
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+     "imu"
+    ],
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+    "frames_flipped": 0,
+    "stretches": []
+   }
+  },
+  "applied": 1
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM50/session_003",
   "family": "locomanipulation",
   "primitive": "LM50",
   "source_session": "20261017/LM50/20261017_092228_session120"
- }
+ },
+ "objects": [
+  {
+   "name": "LittleBox1",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox5",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
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+  {
+   "name": "OpenBox",
+   "object_type": "OpenBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "Desk",
+   "object_type": "Desk",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/locomanipulation/LM50/session_003/motions/markers.npz

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actions/locomanipulation/LM50/session_003/motions/object_markers.npz

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actions/locomanipulation/LM50/session_003/motions/objects.json

@@ -0,0 +1,183 @@
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+ "generated_at_utc": "2026-10-29T12:46:53.841812+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": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
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+   "valid_pct": 38.84,
+   "verified_pct": 38.75,
+   "moving_pct": 9.73,
+   "vision_source": null
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+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
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+    "rms_mm": 0.68
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+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
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+   "LittleBox2",
+   "LittleBox3",
+   "LittleBox4",
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+   "OpenBox"
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+    "object": "LittleBox",
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+    "object": "LittleBox",
+    "source": "mocap",
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+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
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+   {
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+    "object": "LittleBox",
+    "source": "mocap",
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+   {
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+    "source": "mocap",
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+  ]
+ },
+ "notes": []
+}

actions/locomanipulation/LM50/session_003/motions/objects.npz

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actions/locomanipulation/LM50/session_004/meta.json

@@ -445,19 +445,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
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+    "Q_deg": 180.0,
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-    "opposite_sign_bend_deg": 33.0,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 170.1,
+    "opposite_sign_bend_deg": 37.5,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.91,
     "hand_vs_marker_frame_deg": {
-     "before": 165.37,
+     "before": 178.5,
      "after": 2.91
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     "markers_on_wrist": [
@@ -466,15 +466,15 @@
      "LHandOut"
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       "LElbowIn",
       "LForearm",
@@ -485,19 +485,19 @@
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     "markers_on_wrist": [
@@ -505,9 +505,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -57.62,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -0.0,
       "iqr": [
        -6.7,
        7.9
@@ -523,7 +523,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-23T03:45:30.693813+00:00",
+   "generated_at_utc": "2026-10-28T06:41:04.826098+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -532,5 +532,49 @@
   "family": "locomanipulation",
   "primitive": "LM50",
   "source_session": "20261017/LM50/20261017_092535_session121"
- }
+ },
+ "objects": [
+  {
+   "name": "LittleBox1",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox5",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "Desk",
+   "object_type": "Desk",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/locomanipulation/LM50/session_004/motions/object_markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c71d7b91f668f4d919576c7dbfd31f1bca0c32979298d3f7af7f890131b0e3fc
+size 4069631