Upload folder using huggingface_hub (part 2122)

.gitattributes

@@ -40997,3 +40997,5 @@ actions/static_manipulation/SM12/session_006/raw/sensors/robowrist_imu_left.db f
 actions/static_manipulation/SM12/session_006/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM12/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM12/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM14/session_008/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM14/session_008/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/static_manipulation/SM14/session_007/meta.json

@@ -368,7 +368,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-26T16:23:39.958704+00:00",
+  "generated_at_utc": "2026-10-27T19:54:29.978515+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -383,46 +383,46 @@
    "hand_marker_offsets_m": {
     "left": {
      "LHandIn": [
-      0.06457477807998657,
-      0.01616215519607067,
-      0.012480317614972591
+      0.06457487493753433,
+      0.015958290547132492,
+      0.012604540213942528
      ],
      "LHandOut": [
-      0.048496317118406296,
-      -0.022629888728260994,
-      -0.04593036696314812
+      0.04845377802848816,
+      -0.02265487238764763,
+      -0.04591481015086174
      ]
     },
     "right": {
      "RHandIn": [
-      -0.04935358092188835,
-      0.013299113139510155,
-      -0.0406474769115448
+      -0.05338549241423607,
+      0.010987791232764721,
+      -0.042344748973846436
      ],
      "RHandOut": [
-      -0.06218552589416504,
-      -0.02989417500793934,
-      0.0012679570354521275
+      -0.06544037908315659,
+      -0.032418232411146164,
+      0.0001593368942849338
      ]
     }
    }
   },
   "marker_rmse_mm": {
-   "median_frame": 6.06,
-   "p95_frame": 13.48
+   "median_frame": 5.85,
+   "p95_frame": 13.46
   },
   "worst_markers": [
    "LForearm 26mm",
    "LHeadBack 22mm",
    "HeadTop 20mm",
    "LElbowIn 19mm",
-   "RElbowIn 18mm"
+   "RElbowIn 16mm"
   ],
   "valid_fraction": 1.0,
   "qc": {
    "lowest_vertex_mm": {
-    "median": -21.0,
-    "p5": -24.2
+    "median": -22.0,
+    "p5": -25.2
    },
    "frames_checked": 520,
    "stature_mm": 1631.4
@@ -431,25 +431,25 @@
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 15.66
+   "surface_rmse_mm_median": 16.01
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 152.63,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     2.55229,
-     -0.5141,
-     -0.56392
+     -0.0,
+     0.0,
+     -0.0
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 144.4,
-    "opposite_sign_bend_deg": 41.7,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 24.7,
+    "opposite_sign_bend_deg": 164.5,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 4.27,
     "hand_vs_marker_frame_deg": {
-     "before": 152.83,
+     "before": 4.27,
      "after": 4.27
     },
     "markers_on_wrist": [
@@ -457,15 +457,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 138.23,
+     "twist_moved_deg": -0.01,
      "wrist_twist_deg_after": {
-      "median": 7.53,
+      "median": 0.0,
       "iqr": [
-       -4.7,
-       30.3
+       -11.0,
+       21.4
       ]
      },
-     "wrist_total_deg_median_after": 47.4,
+     "wrist_total_deg_median_after": 24.1,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -476,19 +476,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 131.37,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     -2.11543,
-     -0.38544,
-     -0.79604
+     -0.0,
+     -0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 144.1,
-    "opposite_sign_bend_deg": 47.7,
+    "wrist_bend_deg_median": 37.1,
+    "opposite_sign_bend_deg": 171.9,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.46,
     "hand_vs_marker_frame_deg": {
-     "before": 131.68,
+     "before": 3.46,
      "after": 3.46
     },
     "markers_on_wrist": [
@@ -496,31 +496,139 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 141.41,
+     "twist_moved_deg": 1.98,
      "wrist_twist_deg_after": {
-      "median": 0.34,
+      "median": 0.0,
       "iqr": [
-       -9.1,
-       8.4
+       -8.9,
+       9.8
       ]
      },
-     "wrist_total_deg_median_after": 34.8,
+     "wrist_total_deg_median_after": 38.8,
      "markers_on_forearm": [
       "RForearm",
       "RWristIn",
       "RWristOut"
      ]
     },
-    "frames_used": 1500
+    "frames_used": 1391
    },
-   "generated_at_utc": "2026-10-26T16:23:48.850754+00:00",
+   "generated_at_utc": "2026-10-28T06:48:10.265093+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-27T14:49:23.055252+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
+   "left": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3752,
+    "frames_flipped": 4,
+    "stretches": []
+   },
+   "right": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3400,
+    "frames_flipped": 363,
+    "stretches": [
+     {
+      "t0": 4.03,
+      "t1": 5.82,
+      "dur_s": 1.78,
+      "marker_turn_deg": 58.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 132.9,
+      "err_swapped_deg": 11.1,
+      "calib_err_deg": 14.1,
+      "applied": true
+     },
+     {
+      "t0": 38.37,
+      "t1": 47.05,
+      "dur_s": 8.68,
+      "marker_turn_deg": 158.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 147.0,
+      "err_swapped_deg": 12.7,
+      "calib_err_deg": 14.1,
+      "applied": true
+     },
+     {
+      "t0": 103.9,
+      "t1": 105.92,
+      "dur_s": 2.02,
+      "marker_turn_deg": 107.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 158.2,
+      "err_swapped_deg": 17.8,
+      "calib_err_deg": 14.1,
+      "applied": true
+     }
+    ]
+   }
+  },
+  "applied": 3
+ },
  "release": {
   "release_path": "actions/static_manipulation/SM14/session_007",
   "family": "static_manipulation",
   "primitive": "SM14",
   "source_session": "20261023/SM14/20261023_080514_session6"
- }
+ },
+ "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": "rigid_body"
+  },
+  {
+   "name": "LittleBox5",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "Table",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "Table2",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/static_manipulation/SM14/session_007/motions/markers.npz

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actions/static_manipulation/SM14/session_007/motions/object_markers.npz

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actions/static_manipulation/SM14/session_007/motions/objects.json

@@ -0,0 +1,178 @@
+{
+ "session": "20261023/SM14/20261023_080514_session6",
+ "generated_at_utc": "2026-10-29T13:26:44.883223+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",
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+   "valid_pct": 36.43,
+   "verified_pct": 36.41,
+   "moving_pct": 0.33,
+   "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": 0.56
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+   "valid_pct": 17.89,
+   "verified_pct": 17.86,
+   "moving_pct": 17.81,
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+  {
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+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
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+    "rms_mm": 0.42
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+   "verified_pct": 73.41,
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+ },
+ "notes": []
+}

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actions/static_manipulation/SM14/session_008/cameras/poses.npz

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actions/static_manipulation/SM14/session_008/meta.json

@@ -0,0 +1,650 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261026/SM14/20261026_094915_session74",
+ "session_id": "20261026_094915_session74",
+ "primitive": "SM14",
+ "batch": "20261026",
+ "participant": "zhangxinxin",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "c9205ac6e17d2d5c",
+  "left": "452031d7af00ef6f",
+  "right": "60a6f081bbe60b0d"
+ },
+ "generated_at_utc": "2026-10-27T04:57:09.364281+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,
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+  "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",
+  "offset_s": -0.088072,
+  "rate": 0.0,
+  "global_lag_s": -0.09,
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+ "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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+  "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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