Upload folder using huggingface_hub (part 2103)

actions/static_manipulation/SM01/session_002/meta.json

@@ -371,7 +371,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-23T04:48:31.127730+00:00",
+  "generated_at_utc": "2026-10-27T17:53:34.321744+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -386,46 +386,46 @@
    "hand_marker_offsets_m": {
     "left": {
      "LHandIn": [
-      0.06858368963003159,
-      -0.032053787261247635,
-      -0.029244104400277138
+      0.0697246864438057,
+      -0.029428454115986824,
+      -0.028222590684890747
      ],
      "LHandOut": [
-      0.07534173130989075,
-      0.005836920812726021,
-      -0.02253444865345955
+      0.07585122436285019,
+      0.006503527518361807,
+      -0.01341459434479475
      ]
     },
     "right": {
      "RHandIn": [
-      -0.057848766446113586,
-      0.016705982387065887,
-      0.01535196602344513
+      -0.055139366537332535,
+      0.02282976731657982,
+      0.012953434139490128
      ],
      "RHandOut": [
-      -0.05498526245355606,
-      0.007103858981281519,
-      -0.04234515130519867
+      -0.048017799854278564,
+      0.006559924688190222,
+      -0.042850807309150696
      ]
     }
    }
   },
   "marker_rmse_mm": {
-   "median_frame": 7.63,
-   "p95_frame": 22.18
+   "median_frame": 7.48,
+   "p95_frame": 22.38
   },
   "worst_markers": [
    "LThigh 37mm",
    "WaistLFront 29mm",
-   "LElbowIn 25mm",
    "RShin 22mm",
+   "LElbowIn 21mm",
    "LKneeIn 17mm"
   ],
   "valid_fraction": 0.9995,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 3.2,
-    "p5": -1.5
+    "median": 2.9,
+    "p5": -2.5
    },
    "frames_checked": 507,
    "stature_mm": 1598.8
@@ -434,80 +434,80 @@
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 13.6
+   "surface_rmse_mm_median": 13.99
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 72.82,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     -1.22114,
-     0.15473,
-     0.3163
+     0.0,
+     -0.0,
+     0.0
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 73.5,
-    "opposite_sign_bend_deg": 112.0,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 4.0,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 41.0,
+    "opposite_sign_bend_deg": 169.8,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 4.16,
     "hand_vs_marker_frame_deg": {
-     "before": 72.62,
-     "after": 4.0
+     "before": 4.16,
+     "after": 4.16
     },
     "markers_on_wrist": [
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -65.76,
+     "twist_moved_deg": 2.06,
      "wrist_twist_deg_after": {
-      "median": -0.38,
+      "median": 0.04,
       "iqr": [
-       -6.3,
-       6.1
+       -8.9,
+       10.8
       ]
      },
-     "wrist_total_deg_median_after": 34.6,
+     "wrist_total_deg_median_after": 41.3,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
       "LWristOut"
      ]
     },
-    "frames_used": 1500
+    "frames_used": 1428
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 21.21,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     -0.03737,
-     0.21495,
-     -0.2991
+     0.0,
+     0.0,
+     -0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 19.9,
-    "opposite_sign_bend_deg": 173.6,
+    "wrist_bend_deg_median": 20.3,
+    "opposite_sign_bend_deg": 172.8,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 2.17,
+    "marker_frame_spread_deg": 2.15,
     "hand_vs_marker_frame_deg": {
-     "before": 21.43,
-     "after": 2.17
+     "before": 2.15,
+     "after": 2.15
     },
     "markers_on_wrist": [
      "RHandIn",
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -4.05,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -0.0,
       "iqr": [
-       -5.0,
-       6.4
+       -5.4,
+       5.1
       ]
      },
-     "wrist_total_deg_median_after": 19.6,
+     "wrist_total_deg_median_after": 20.1,
      "markers_on_forearm": [
       "RElbowIn",
       "RForearm",
@@ -517,14 +517,105 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-23T04:48:34.315704+00:00",
+   "generated_at_utc": "2026-10-28T06:41:54.823183+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-27T14:52:11.200807+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
+   "left": {
+    "evidence": [
+     "imu"
+    ],
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+    "frames_flipped": 104,
+    "stretches": [
+     {
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+      "t1": 70.83,
+      "dur_s": 3.32,
+      "marker_turn_deg": 134.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 136.3,
+      "err_swapped_deg": 28.3,
+      "calib_err_deg": 12.8,
+      "applied": true
+     },
+     {
+      "t0": 97.32,
+      "t1": 99.48,
+      "dur_s": 2.17,
+      "marker_turn_deg": 72.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 134.1,
+      "err_swapped_deg": 8.9,
+      "calib_err_deg": 12.8,
+      "applied": true
+     }
+    ]
+   },
+   "right": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3476,
+    "frames_flipped": 0,
+    "stretches": []
+   }
+  },
+  "applied": 2
+ },
  "release": {
   "release_path": "actions/static_manipulation/SM01/session_002",
   "family": "static_manipulation",
   "primitive": "SM01",
   "source_session": "20261017/SM01/20261017_110328_session14"
- }
+ },
+ "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/static_manipulation/SM01/session_002/motions/markers.npz

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actions/static_manipulation/SM01/session_002/motions/object_markers.npz

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actions/static_manipulation/SM01/session_002/motions/objects.json

@@ -0,0 +1,170 @@
+{
+ "session": "20261017/SM01/20261017_110328_session14",
+ "generated_at_utc": "2026-10-29T12:50:52.090812+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": 95.29,
+   "verified_pct": 95.27,
+   "moving_pct": 7.28,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox2",
+    "rms_mm": 0.69
+   },
+   "valid_pct": 99.1,
+   "verified_pct": 99.09,
+   "moving_pct": 9.74,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox3",
+    "rms_mm": 1.0
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+   "valid_pct": 85.66,
+   "verified_pct": 85.52,
+   "moving_pct": 4.42,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
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+    "rms_mm": 0.34
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+   "valid_pct": 89.44,
+   "verified_pct": 89.43,
+   "moving_pct": 8.74,
+   "vision_source": null
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+  {
+   "name": "LittleBox5",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
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+    "rms_mm": 0.35
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+   "verified_pct": 91.13,
+   "moving_pct": 3.02,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
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+    "rms_mm": 1.43
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+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 5.51,
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+  {
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+   "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,
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+ ],
+ "absent": [],
+ "object_list": {
+  "status": "corrected",
+  "notes": [
+   "desk -> Desk"
+  ],
+  "declared": [
+   "desk",
+   "LittleBox1",
+   "LittleBox2",
+   "LittleBox3",
+   "LittleBox4",
+   "LittleBox5",
+   "LittleBox6"
+  ],
+  "listed": [
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+    "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
+   },
+   {
+    "name": "LittleBox5",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox6",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "Desk",
+    "object": null,
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/static_manipulation/SM01/session_002/motions/objects.npz

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actions/static_manipulation/SM01/session_002/motions/smplx.npz

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actions/static_manipulation/SM01/session_003/meta.json

@@ -418,19 +418,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 89.09,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     -1.54788,
-     0.02262,
-     0.14552
+     -2.98662,
+     0.4392,
+     0.86995
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 101.9,
-    "opposite_sign_bend_deg": 79.8,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 172.3,
+    "opposite_sign_bend_deg": 20.5,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.79,
     "hand_vs_marker_frame_deg": {
-     "before": 89.0,
+     "before": 179.05,
      "after": 2.79
     },
     "markers_on_wrist": [
@@ -439,15 +439,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -100.47,
+     "twist_moved_deg": 157.09,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": 17.45,
       "iqr": [
-       -24.8,
-       4.4
+       -6.3,
+       22.1
       ]
      },
-     "wrist_total_deg_median_after": 20.4,
+     "wrist_total_deg_median_after": 39.1,
      "markers_on_forearm": [
       "LForearm",
       "LWristOut"
@@ -457,19 +457,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 80.69,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     1.37127,
-     0.30212,
-     0.10865
+     0.0,
+     0.0,
+     -0.0
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 65.3,
-    "opposite_sign_bend_deg": 120.4,
+    "wrist_bend_deg_median": 17.0,
+    "opposite_sign_bend_deg": 175.0,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 1.75,
     "hand_vs_marker_frame_deg": {
-     "before": 80.82,
+     "before": 1.75,
      "after": 1.75
     },
     "markers_on_wrist": [
@@ -477,7 +477,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -63.68,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
       "median": 0.0,
       "iqr": [
@@ -494,7 +494,7 @@
     },
     "frames_used": 1500
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-   "generated_at_utc": "2026-10-26T15:06:51.639679+00:00",
+   "generated_at_utc": "2026-10-28T06:47:14.286841+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -503,5 +503,49 @@
   "family": "static_manipulation",
   "primitive": "SM01",
   "source_session": "20261022/SM01/20261022_112257_session62"
- }
+ },
+ "objects": [
+  {
+   "name": "LittleBox1",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
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+  {
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+   "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": "Table2",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/static_manipulation/SM01/session_003/motions/object_markers.npz

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actions/static_manipulation/SM01/session_003/motions/objects.json

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+{
+ "session": "20261022/SM01/20261022_112257_session62",
+ "generated_at_utc": "2026-10-29T13:20:14.607435+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",
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+   "calibration": null,
+   "valid_pct": 99.71,
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+   "vision_source": null
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+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox2",
+    "rms_mm": 0.59
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+   "valid_pct": 91.81,
+   "verified_pct": 91.78,
+   "moving_pct": 6.82,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox3",
+    "rms_mm": 0.56
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+ },
+ "notes": []
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