Upload folder using huggingface_hub (part 2116)

actions/static_manipulation/SM11/session_002/meta.json

@@ -370,7 +370,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-23T04:49:58.069079+00:00",
+  "generated_at_utc": "2026-10-27T17:55:52.186639+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -385,46 +385,46 @@
    "hand_marker_offsets_m": {
     "left": {
      "LHandIn": [
-      0.06831639260053635,
-      0.0015887933550402522,
-      -0.03650743514299393
+      0.0685943216085434,
+      0.003069706028327346,
+      -0.03812035173177719
      ],
      "LHandOut": [
-      0.07529497146606445,
-      0.014627291820943356,
-      -0.0004470301209948957
+      0.07496221363544464,
+      0.013723491691052914,
+      -0.0012108549708500504
      ]
     },
     "right": {
      "RHandIn": [
-      -0.05963834747672081,
-      0.012510417029261589,
-      0.01841641776263714
+      -0.05301359295845032,
+      0.012352672405540943,
+      0.03151640668511391
      ],
      "RHandOut": [
-      -0.04938562586903572,
-      0.02499224990606308,
-      -0.037378642708063126
+      -0.05495133250951767,
+      0.029287464916706085,
+      -0.02395211160182953
      ]
     }
    }
   },
   "marker_rmse_mm": {
-   "median_frame": 6.88,
-   "p95_frame": 14.45
+   "median_frame": 6.92,
+   "p95_frame": 14.44
   },
   "worst_markers": [
    "LThigh 23mm",
-   "LElbowIn 20mm",
    "RShin 18mm",
+   "LElbowIn 18mm",
    "LKneeIn 16mm",
-   "WaistLFront 14mm"
+   "WaistLFront 15mm"
   ],
   "valid_fraction": 0.9995,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 3.7,
-    "p5": -3.5
+    "median": 1.0,
+    "p5": -6.9
    },
    "frames_checked": 561,
    "stature_mm": 1598.8
@@ -433,80 +433,80 @@
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 14.95
+   "surface_rmse_mm_median": 13.99
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 22.8,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     -0.143,
-     -0.04117,
-     0.3691
+     0.0,
+     -0.0,
+     0.0
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-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 48.1,
-    "opposite_sign_bend_deg": 167.7,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 4.66,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 48.4,
+    "opposite_sign_bend_deg": 169.2,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 4.69,
     "hand_vs_marker_frame_deg": {
-     "before": 23.33,
-     "after": 4.66
+     "before": 4.69,
+     "after": 4.69
     },
     "markers_on_wrist": [
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 3.92,
+     "twist_moved_deg": -7.97,
      "wrist_twist_deg_after": {
-      "median": 0.01,
+      "median": -0.0,
       "iqr": [
-       -41.8,
-       6.4
+       -25.4,
+       5.9
       ]
      },
-     "wrist_total_deg_median_after": 45.6,
+     "wrist_total_deg_median_after": 46.1,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
       "LWristOut"
      ]
     },
-    "frames_used": 1500
+    "frames_used": 1464
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 22.52,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     0.33563,
-     0.12754,
-     -0.16004
+     0.0,
+     0.0,
+     -0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 35.8,
-    "opposite_sign_bend_deg": 158.8,
+    "wrist_bend_deg_median": 21.2,
+    "opposite_sign_bend_deg": 171.6,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 1.95,
+    "marker_frame_spread_deg": 1.86,
     "hand_vs_marker_frame_deg": {
-     "before": 22.62,
-     "after": 1.95
+     "before": 1.86,
+     "after": 1.86
     },
     "markers_on_wrist": [
      "RHandIn",
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -27.69,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
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+      "median": 0.0,
       "iqr": [
-       -6.3,
-       6.9
+       -6.1,
+       7.0
       ]
      },
-     "wrist_total_deg_median_after": 20.5,
+     "wrist_total_deg_median_after": 20.3,
      "markers_on_forearm": [
       "RElbowIn",
       "RForearm",
@@ -516,14 +516,82 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-23T04:50:01.340590+00:00",
+   "generated_at_utc": "2026-10-28T06:41:55.610304+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-27T14:52:17.463815+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
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+    "evidence": [
+     "imu"
+    ],
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+    "frames_flipped": 138,
+    "stretches": [
+     {
+      "t0": 95.38,
+      "t1": 101.3,
+      "dur_s": 5.92,
+      "marker_turn_deg": 75.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 143.3,
+      "err_swapped_deg": 29.3,
+      "calib_err_deg": 16.8,
+      "applied": true
+     }
+    ]
+   },
+   "right": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 4036,
+    "frames_flipped": 0,
+    "stretches": []
+   }
+  },
+  "applied": 1
+ },
  "release": {
   "release_path": "actions/static_manipulation/SM11/session_002",
   "family": "static_manipulation",
   "primitive": "SM11",
   "source_session": "20261017/SM11/20261017_105644_session12"
- }
+ },
+ "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": "Desk",
+   "object_type": "Desk",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/static_manipulation/SM11/session_002/motions/markers.npz

@@ -1,3 +1,3 @@
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+size 9742329

actions/static_manipulation/SM11/session_002/motions/object_markers.npz

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+size 1606444

actions/static_manipulation/SM11/session_002/motions/objects.json

@@ -0,0 +1,126 @@
+{
+ "session": "20261017/SM11/20261017_105644_session12",
+ "generated_at_utc": "2026-10-29T12:50:58.623150+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": "LittleBox1",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 56.2,
+   "verified_pct": 56.17,
+   "moving_pct": 8.6,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox2",
+    "rms_mm": 1.01
+   },
+   "valid_pct": 37.21,
+   "verified_pct": 37.18,
+   "moving_pct": 8.68,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox3",
+    "rms_mm": 0.77
+   },
+   "valid_pct": 31.43,
+   "verified_pct": 31.41,
+   "moving_pct": 14.2,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox4",
+    "rms_mm": 0.31
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+   "valid_pct": 80.45,
+   "verified_pct": 80.4,
+   "moving_pct": 5.67,
+   "vision_source": null
+  },
+  {
+   "name": "Desk",
+   "object_type": "Desk",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 0.0,
+   "vision_source": null
+  }
+ ],
+ "absent": [],
+ "object_list": {
+  "status": "corrected",
+  "notes": [
+   "desk -> Desk"
+  ],
+  "declared": [
+   "desk",
+   "LittleBox1",
+   "LittleBox2",
+   "LittleBox3",
+   "LittleBox4"
+  ],
+  "listed": [
+   {
+    "name": "LittleBox1",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox2",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox3",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox4",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
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+   {
+    "name": "Desk",
+    "object": null,
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/static_manipulation/SM11/session_002/motions/objects.npz

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actions/static_manipulation/SM11/session_002/motions/smplx.npz

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actions/static_manipulation/SM11/session_003/meta.json

@@ -356,7 +356,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-26T15:08:26.392802+00:00",
+  "generated_at_utc": "2026-10-27T19:14:57.463503+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -371,51 +371,56 @@
    "hand_marker_offsets_m": {
     "left": {
      "LHandIn": [
-      0.0555124469101429,
-      -0.007531698793172836,
-      -0.03328019380569458
+      0.06660405546426773,
+      -0.0018524609040468931,
+      -0.03169533982872963
      ],
      "LHandOut": [
-      0.07245275378227234,
-      0.011322067119181156,
-      0.014594901353120804
+      0.06722832471132278,
+      0.013582448475062847,
+      0.019787220284342766
+     ],
+     "LWristIn": [
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+      -0.0038736488204449415,
+      -0.037673238664865494
      ]
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     "right": {
      "RHandIn": [
-      -0.0777164027094841,
-      0.0049336072988808155,
-      0.02557293511927128
+      -0.07752041518688202,
+      -0.00078257464338094,
+      0.03490835800766945
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      "RHandOut": [
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-      0.020211126655340195,
-      -0.022451251745224
+      -0.07660546153783798,
+      0.01958947442471981,
+      -0.01166419219225645
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      "RWristOut": [
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-      0.026066524907946587,
-      -0.012096142396330833
+      -0.0065183271653950214,
+      0.029246948659420013,
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     }
    }
   },
   "marker_rmse_mm": {
-   "median_frame": 6.17,
-   "p95_frame": 16.9
+   "median_frame": 6.36,
+   "p95_frame": 17.43
   },
   "worst_markers": [
    "LKneeIn 33mm",
    "LKnee 30mm",
    "STRN 20mm",
-   "CLAV 14mm",
-   "LElbowIn 12mm"
+   "CLAV 15mm",
+   "LElbowIn 14mm"
   ],
   "valid_fraction": 1.0,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 10.9,
-    "p5": 5.6
+    "median": 11.4,
+    "p5": 5.9
    },
    "frames_checked": 520,
    "stature_mm": 1614.2
@@ -424,65 +429,65 @@
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 10.89
+   "surface_rmse_mm_median": 10.73
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 16.16,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     -0.23386,
-     0.05045,
-     0.14925
+     0.0,
+     -0.0,
+     0.0
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-    "opposite_sign_bend_deg": 171.5,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 3.12,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 37.7,
+    "opposite_sign_bend_deg": 166.5,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 4.24,
     "hand_vs_marker_frame_deg": {
-     "before": 17.1,
-     "after": 3.12
+     "before": 4.24,
+     "after": 4.24
     },
     "markers_on_wrist": [
+     "LWristIn",
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 13.89,
+     "twist_moved_deg": 8.47,
      "wrist_twist_deg_after": {
       "median": 0.0,
       "iqr": [
-       -6.2,
-       4.5
+       -7.1,
+       13.7
       ]
      },
-     "wrist_total_deg_median_after": 25.5,
+     "wrist_total_deg_median_after": 37.0,
      "markers_on_forearm": [
       "LForearm",
-      "LWristIn",
       "LWristOut"
      ]
     },
-    "frames_used": 1500
+    "frames_used": 1464
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    "right": {
     "status": "corrected",
-    "Q_deg": 30.11,
+    "Q_deg": 0.0,
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-     0.18903,
-     -0.20839
+     0.0,
+     0.0,
+     -0.0
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 45.4,
-    "opposite_sign_bend_deg": 140.9,
+    "wrist_bend_deg_median": 16.8,
+    "opposite_sign_bend_deg": 173.1,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 2.53,
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-     "after": 2.53
+     "before": 2.66,
+     "after": 2.66
     },
     "markers_on_wrist": [
      "RWristOut",
@@ -490,15 +495,15 @@
      "RHandOut"
     ],
     "forearm_twist": {
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+     "twist_moved_deg": -0.0,
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+      "median": -0.0,
       "iqr": [
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-       12.1
+       -5.6,
+       11.3
       ]
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-     "wrist_total_deg_median_after": 15.6,
+     "wrist_total_deg_median_after": 16.8,
      "markers_on_forearm": [
       "RElbowIn",
       "RForearm",
@@ -507,14 +512,100 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-26T15:08:29.563340+00:00",
+   "generated_at_utc": "2026-10-28T06:47:14.831181+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-27T14:48:57.462523+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
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+      "t1": 87.38,
+      "dur_s": 3.07,
+      "marker_turn_deg": 153.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 148.7,
+      "err_swapped_deg": 16.4,
+      "calib_err_deg": 12.4,
+      "applied": true
+     }
+    ]
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+   "right": {
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+    "frames_flipped": 0,
+    "stretches": []
+   }
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+ },
  "release": {
   "release_path": "actions/static_manipulation/SM11/session_003",
   "family": "static_manipulation",
   "primitive": "SM11",
   "source_session": "20261022/SM11/20261022_111308_session60"
- }
+ },
+ "objects": [
+  {
+   "name": "LittleBox1",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox3",
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