Upload folder using huggingface_hub (part 1184)

actions/locomanipulation/LM84/session_004/meta.json

@@ -369,7 +369,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-23T04:19:50.385753+00:00",
+  "generated_at_utc": "2026-10-27T17:49:55.544378+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -384,46 +384,46 @@
    "hand_marker_offsets_m": {
     "left": {
      "LHandIn": [
-      0.0679117813706398,
-      0.011971121653914452,
-      -0.020016992464661598
+      0.06240882724523544,
+      0.0025976027827709913,
+      -0.03986161947250366
      ],
      "LHandOut": [
-      0.06536375731229782,
-      -0.02508704550564289,
-      -0.0054022641852498055
+      0.06840160489082336,
+      0.0137241305783391,
+      -0.0016918025212362409
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     },
     "right": {
      "RHandIn": [
-      -0.051109012216329575,
-      0.013741358183324337,
-      0.03144438564777374
+      -0.05172516405582428,
+      0.012584859505295753,
+      0.03189743310213089
      ],
      "RHandOut": [
-      -0.053754501044750214,
-      0.027728106826543808,
-      -0.025335140526294708
+      -0.05331821367144585,
+      0.028712406754493713,
+      -0.024312341585755348
      ]
     }
    }
   },
   "marker_rmse_mm": {
-   "median_frame": 6.46,
-   "p95_frame": 14.99
+   "median_frame": 6.28,
+   "p95_frame": 14.73
   },
   "worst_markers": [
+   "LElbowIn 17mm",
    "LThigh 16mm",
-   "LWristOut 14mm",
-   "LKneeIn 14mm",
-   "LElbowIn 13mm",
+   "LKneeIn 13mm",
+   "WaistRFront 13mm",
    "STRN 13mm"
   ],
   "valid_fraction": 1.0,
   "qc": {
    "lowest_vertex_mm": {
     "median": -3.6,
-    "p5": -11.9
+    "p5": -12.6
    },
    "frames_checked": 548,
    "stature_mm": 1598.8
@@ -432,80 +432,80 @@
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 12.85
+   "surface_rmse_mm_median": 12.76
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 77.09,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     1.28426,
-     -0.34503,
-     -0.20422
+     0.0,
+     -0.0,
+     0.0
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-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 85.2,
-    "opposite_sign_bend_deg": 116.2,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 7.04,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 40.0,
+    "opposite_sign_bend_deg": 172.5,
+    "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": 76.29,
-     "after": 7.04
+     "before": 4.69,
+     "after": 4.69
     },
     "markers_on_wrist": [
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 73.49,
+     "twist_moved_deg": -2.43,
      "wrist_twist_deg_after": {
-      "median": 0.03,
+      "median": 0.0,
       "iqr": [
-       -54.8,
-       16.3
+       -8.5,
+       28.5
       ]
      },
-     "wrist_total_deg_median_after": 50.0,
+     "wrist_total_deg_median_after": 42.3,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
       "LWristOut"
      ]
     },
-    "frames_used": 1500
+    "frames_used": 1355
    },
    "right": {
     "status": "corrected",
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+    "Q_deg": 0.0,
     "Q_rotvec": [
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-     0.364,
-     -0.25346
+     0.0,
+     0.0,
+     -0.0
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 43.7,
-    "opposite_sign_bend_deg": 146.8,
+    "wrist_bend_deg_median": 19.9,
+    "opposite_sign_bend_deg": 173.2,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 1.95,
+    "marker_frame_spread_deg": 1.8,
     "hand_vs_marker_frame_deg": {
-     "before": 32.22,
-     "after": 1.95
+     "before": 1.8,
+     "after": 1.8
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     "markers_on_wrist": [
      "RHandIn",
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -38.39,
+     "twist_moved_deg": -0.01,
      "wrist_twist_deg_after": {
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+      "median": 0.0,
       "iqr": [
        -5.8,
-       9.0
+       8.3
       ]
      },
-     "wrist_total_deg_median_after": 18.2,
+     "wrist_total_deg_median_after": 19.3,
      "markers_on_forearm": [
       "RElbowIn",
       "RForearm",
@@ -515,14 +515,133 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-23T04:19:53.555168+00:00",
+   "generated_at_utc": "2026-10-28T06:41:33.854340+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-27T14:52:11.206387+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
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+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 2923,
+    "frames_flipped": 594,
+    "stretches": [
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+      "t1": 64.43,
+      "dur_s": 7.02,
+      "marker_turn_deg": 51.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 164.9,
+      "err_swapped_deg": 16.5,
+      "calib_err_deg": 21.1,
+      "applied": true
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+      "t1": 78.77,
+      "dur_s": 7.52,
+      "marker_turn_deg": 57.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 161.0,
+      "err_swapped_deg": 16.3,
+      "calib_err_deg": 21.1,
+      "applied": true
+     },
+     {
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+      "t1": 85.35,
+      "dur_s": 4.4,
+      "marker_turn_deg": 54.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 157.9,
+      "err_swapped_deg": 15.0,
+      "calib_err_deg": 21.1,
+      "applied": true
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+      "t1": 122.13,
+      "dur_s": 4.68,
+      "marker_turn_deg": 52.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 147.0,
+      "err_swapped_deg": 9.5,
+      "calib_err_deg": 21.1,
+      "applied": true
+     }
+    ]
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+   "right": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3907,
+    "frames_flipped": 0,
+    "stretches": []
+   }
+  },
+  "applied": 4
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM84/session_004",
   "family": "locomanipulation",
   "primitive": "LM84",
   "source_session": "20261017/LM84/20261017_085732_session114"
- }
+ },
+ "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": "OpenBox",
+   "object_type": "OpenBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "Desk",
+   "object_type": "Desk",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/locomanipulation/LM84/session_004/motions/markers.npz

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actions/locomanipulation/LM84/session_004/motions/object_markers.npz

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actions/locomanipulation/LM84/session_004/motions/objects.json

@@ -0,0 +1,183 @@
+{
+ "session": "20261017/LM84/20261017_085732_session114",
+ "generated_at_utc": "2026-10-29T12:49:47.539595+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": 90.71,
+   "verified_pct": 90.7,
+   "moving_pct": 18.55,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox2",
+    "rms_mm": 0.64
+   },
+   "valid_pct": 94.86,
+   "verified_pct": 94.85,
+   "moving_pct": 4.66,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox3",
+    "rms_mm": 0.34
+   },
+   "valid_pct": 95.85,
+   "verified_pct": 95.84,
+   "moving_pct": 0.68,
+   "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": 0.52
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+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 9.28,
+   "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": 0.39
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+   "valid_pct": 17.85,
+   "verified_pct": 17.82,
+   "moving_pct": 6.24,
+   "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": 1.29
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+   "valid_pct": 34.09,
+   "verified_pct": 34.07,
+   "moving_pct": 4.87,
+   "vision_source": null
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+  {
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+   "object_type": "Desk",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
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+   "calibration": null,
+   "valid_pct": 99.99,
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+ ],
+ "absent": [
+  {
+   "name": "OpenBox",
+   "object_type": "OpenBox",
+   "valid_s": 0.0
+  }
+ ],
+ "object_list": {
+  "status": "corrected",
+  "notes": [
+   "desk -> Desk"
+  ],
+  "declared": [
+   "desk",
+   "LittleBox1",
+   "LittleBox2",
+   "LittleBox3",
+   "LittleBox4",
+   "LittleBox5",
+   "LittleBox6",
+   "OpenBox"
+  ],
+  "listed": [
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+    "name": "LittleBox1",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
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+   {
+    "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": "OpenBox",
+    "object": "OpenBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "Desk",
+    "object": null,
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/locomanipulation/LM84/session_004/motions/objects.npz

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actions/locomanipulation/LM84/session_004/motions/smplx.npz

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actions/locomanipulation/LM84/session_005/meta.json

@@ -435,19 +435,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 10.04,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     -0.00717,
-     -0.09765,
-     0.14527
+     -2.98662,
+     0.4392,
+     0.86995
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-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 38.8,
-    "opposite_sign_bend_deg": 159.9,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 170.8,
+    "opposite_sign_bend_deg": 26.8,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.43,
     "hand_vs_marker_frame_deg": {
-     "before": 10.79,
+     "before": 179.07,
      "after": 3.43
     },
     "markers_on_wrist": [
@@ -456,15 +456,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 29.83,
+     "twist_moved_deg": 168.0,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": 3.88,
       "iqr": [
-       -6.4,
-       6.3
+       -4.7,
+       8.8
       ]
      },
-     "wrist_total_deg_median_after": 26.5,
+     "wrist_total_deg_median_after": 39.6,
      "markers_on_forearm": [
       "LForearm",
       "LWristOut"
@@ -474,19 +474,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 55.2,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     0.88574,
-     0.3781,
-     -0.02287
+     0.0,
+     0.0,
+     -0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 58.5,
-    "opposite_sign_bend_deg": 129.8,
+    "wrist_bend_deg_median": 20.3,
+    "opposite_sign_bend_deg": 173.6,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.85,
     "hand_vs_marker_frame_deg": {
-     "before": 55.06,
+     "before": 2.85,
      "after": 2.85
     },
     "markers_on_wrist": [
@@ -495,7 +495,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -56.06,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
       "median": 0.0,
       "iqr": [
@@ -512,7 +512,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-26T14:54:37.885755+00:00",
+   "generated_at_utc": "2026-10-28T06:47:04.008807+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -521,5 +521,49 @@
   "family": "locomanipulation",
   "primitive": "LM84",
   "source_session": "20261022/LM84/20261022_101847_session47"
- }
+ },
+ "objects": [
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+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
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+   "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": "OpenBox",
+   "object_type": "OpenBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "Table2",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/locomanipulation/LM84/session_005/motions/object_markers.npz

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actions/locomanipulation/LM84/session_005/motions/objects.json

@@ -0,0 +1,168 @@
+{
+ "session": "20261022/LM84/20261022_101847_session47",
+ "generated_at_utc": "2026-10-29T13:19:16.447398+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",
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+   "calibration": {
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+   "verified_pct": 47.95,
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+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
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+    "rms_mm": 0.67
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+   "verified_pct": 89.85,
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+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
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+    "rms_mm": 0.26
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+   "verified_pct": 66.14,
+   "moving_pct": 8.71,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox6",
+    "rms_mm": 1.44
+   },
+   "valid_pct": 92.34,
+   "verified_pct": 92.32,
+   "moving_pct": 9.5,
+   "vision_source": null
+  },
+  {
+   "name": "OpenBox",
+   "object_type": "OpenBox",
+   "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
+  },
+  {
+   "name": "Table2",
+   "object_type": "Table",
+   "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
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+ ],
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+ "object_list": {
+  "status": "corrected",
+  "notes": [],
+  "declared": [
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+   "LittleBox3",
+   "LittleBox4",
+   "LittleBox5",
+   "LittleBox6",
+   "OpenBox0",
+   "Table2"
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+    "object": "LittleBox",
+    "source": "mocap",
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+    "name": "LittleBox3",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
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+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
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+    "name": "LittleBox5",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
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+    "object": "LittleBox",
+    "source": "mocap",
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+    "object": null,
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

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