Upload folder using huggingface_hub (part 2129)

.gitattributes

@@ -41044,3 +41044,13 @@ actions/static_manipulation/SM20/session_006/raw/sensors/robowrist_imu_left.db f
 actions/static_manipulation/SM20/session_006/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM20/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM20/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM21/session_007/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM21/session_007/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM21/session_007/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM21/session_007/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM21/session_007/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM21/session_007/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM21/session_007/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM21/session_007/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM21/session_007/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM21/session_007/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/static_manipulation/SM21/session_005/meta.json

@@ -425,19 +425,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 166.99,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     2.75312,
-     -0.14208,
-     -0.946
+     2.98163,
+     -0.44128,
+     -0.88585
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-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 130.8,
-    "opposite_sign_bend_deg": 49.3,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 175.7,
+    "opposite_sign_bend_deg": 35.8,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 0.27,
     "hand_vs_marker_frame_deg": {
-     "before": 166.96,
+     "before": 179.82,
      "after": 0.27
     },
     "markers_on_wrist": [
@@ -445,15 +445,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 127.99,
+     "twist_moved_deg": -175.8,
      "wrist_twist_deg_after": {
       "median": -0.0,
       "iqr": [
-       -0.6,
-       0.5
+       -0.5,
+       0.4
       ]
      },
-     "wrist_total_deg_median_after": 35.8,
+     "wrist_total_deg_median_after": 13.0,
      "markers_on_forearm": [
       "LElbowIn",
       "LForearm",
@@ -465,19 +465,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 108.32,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     1.87367,
-     0.2316,
-     0.09798
+     -0.0,
+     -0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 78.1,
-    "opposite_sign_bend_deg": 115.2,
+    "wrist_bend_deg_median": 25.4,
+    "opposite_sign_bend_deg": 168.3,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.76,
     "hand_vs_marker_frame_deg": {
-     "before": 108.23,
+     "before": 2.76,
      "after": 2.76
     },
     "markers_on_wrist": [
@@ -485,7 +485,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -76.05,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
       "median": -0.0,
       "iqr": [
@@ -502,7 +502,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-23T08:19:37.361661+00:00",
+   "generated_at_utc": "2026-10-28T06:44:27.894404+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -511,5 +511,13 @@
   "family": "static_manipulation",
   "primitive": "SM21",
   "source_session": "20261020/SM21/20261020_120223_session80"
- }
+ },
+ "objects": [
+  {
+   "name": "Table2",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/static_manipulation/SM21/session_005/motions/object_markers.npz

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actions/static_manipulation/SM21/session_005/motions/objects.json

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+ "session": "20261020/SM21/20261020_120223_session80",
+ "generated_at_utc": "2026-10-29T13:02:13.966760+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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+   "name": "Table2",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
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+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 0.0,
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+  }
+ ],
+ "absent": [],
+ "object_list": {
+  "status": "corrected",
+  "notes": [],
+  "declared": [
+   "Table2"
+  ],
+  "listed": [
+   {
+    "name": "Table2",
+    "object": null,
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/static_manipulation/SM21/session_005/motions/objects.npz

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actions/static_manipulation/SM21/session_005/motions/smplx.npz

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actions/static_manipulation/SM21/session_006/meta.json

@@ -432,19 +432,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 52.66,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     -0.55027,
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-     0.21856
+     3.02575,
+     -0.26943,
+     -0.80116
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-    "wrist_bend_deg_median": 69.6,
-    "opposite_sign_bend_deg": 134.2,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 173.0,
+    "opposite_sign_bend_deg": 45.7,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 0.3,
     "hand_vs_marker_frame_deg": {
-     "before": 52.54,
+     "before": 179.87,
      "after": 0.3
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     "markers_on_wrist": [
@@ -452,15 +452,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -53.96,
+     "twist_moved_deg": -172.84,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -0.01,
       "iqr": [
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+       -0.7,
        0.1
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+     "wrist_total_deg_median_after": 23.4,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -471,19 +471,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 21.87,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     0.12223,
-     -0.1102,
-     -0.34447
+     -0.0,
+     -0.0,
+     0.0
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     "in_out_sign": 1,
     "wrist_bend_deg_median": 17.5,
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     "marker_frame_spread_deg": 3.75,
     "hand_vs_marker_frame_deg": {
-     "before": 22.42,
+     "before": 3.75,
      "after": 3.75
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     "markers_on_wrist": [
@@ -491,7 +491,7 @@
      "RHandOut"
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+     "twist_moved_deg": 0.0,
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@@ -509,7 +509,7 @@
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+   "generated_at_utc": "2026-10-28T06:46:07.193767+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -518,5 +518,13 @@
   "family": "static_manipulation",
   "primitive": "SM21",
   "source_session": "20261021/SM21/20261021_081649_session101"
- }
+ },
+ "objects": [
+  {
+   "name": "Table",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/static_manipulation/SM21/session_006/motions/object_markers.npz

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actions/static_manipulation/SM21/session_006/motions/objects.json

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+ "generated_at_utc": "2026-10-29T13:11:20.568335+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",
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actions/static_manipulation/SM21/session_007/meta.json

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+ "schema_version": 1,
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+ "session_id": "20261026_091727_session67",
+ "primitive": "SM21",
+ "batch": "20261026",
+ "participant": "zhangxinxin",
+ "participant_source": "manifest",
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+  "model": "offset (median of windows)",
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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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