Upload folder using huggingface_hub (part 2150)

.gitattributes

@@ -41128,3 +41128,5 @@ actions/static_manipulation/SM32/session_008/raw/sensors/robowrist_imu_left.db f
 actions/static_manipulation/SM32/session_008/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM32/session_008/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM32/session_008/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM33/session_007/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM33/session_007/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/static_manipulation/SM33/session_005/meta.json

@@ -344,7 +344,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-26T16:29:09.291816+00:00",
+  "generated_at_utc": "2026-10-27T19:58:01.839185+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -359,46 +359,46 @@
    "hand_marker_offsets_m": {
     "left": {
      "LHandIn": [
-      0.06757710129022598,
-      0.012525133788585663,
-      0.02939564734697342
+      0.0691242516040802,
+      0.010562778450548649,
+      0.032075464725494385
      ],
      "LHandOut": [
-      0.050320520997047424,
-      0.00443154526874423,
-      -0.0397411584854126
+      0.05403349548578262,
+      0.010546681471168995,
+      -0.038016777485609055
      ]
     },
     "right": {
      "RHandIn": [
-      -0.06765240430831909,
-      -0.03163459151983261,
-      0.013932153582572937
+      -0.0697721317410469,
+      -0.0031885779462754726,
+      0.04124317318201065
      ],
      "RHandOut": [
-      -0.06092653051018715,
-      0.02428354136645794,
-      -0.007307205814868212
+      -0.06135465204715729,
+      0.022676264867186546,
+      -0.01261502131819725
      ]
     }
    }
   },
   "marker_rmse_mm": {
-   "median_frame": 6.04,
-   "p95_frame": 9.29
+   "median_frame": 5.48,
+   "p95_frame": 9.7
   },
   "worst_markers": [
    "RWristOut 15mm",
    "RElbowIn 14mm",
-   "RWristIn 14mm",
-   "LElbowIn 12mm",
-   "RForearm 11mm"
+   "RWristIn 13mm",
+   "LElbowIn 11mm",
+   "RForearm 10mm"
   ],
   "valid_fraction": 0.9995,
   "qc": {
    "lowest_vertex_mm": {
-    "median": -18.9,
-    "p5": -23.6
+    "median": -19.1,
+    "p5": -23.2
    },
    "frames_checked": 516,
    "stature_mm": 1631.4
@@ -407,41 +407,41 @@
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 14.94
+   "surface_rmse_mm_median": 14.03
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 178.33,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     2.95909,
-     -0.58533,
-     -0.76725
+     -0.0,
+     0.0,
+     -0.0
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 167.1,
-    "opposite_sign_bend_deg": 29.3,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 5.65,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 24.4,
+    "opposite_sign_bend_deg": 170.7,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 5.11,
     "hand_vs_marker_frame_deg": {
-     "before": 178.16,
-     "after": 5.65
+     "before": 5.11,
+     "after": 5.11
     },
     "markers_on_wrist": [
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 159.19,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
-      "median": 7.77,
+      "median": 0.0,
       "iqr": [
-       -4.1,
-       16.2
+       -15.3,
+       10.4
       ]
      },
-     "wrist_total_deg_median_after": 40.4,
+     "wrist_total_deg_median_after": 24.0,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -452,51 +452,141 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 73.76,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     1.2596,
-     0.06494,
-     0.25792
+     -0.0,
+     -0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 72.6,
-    "opposite_sign_bend_deg": 126.2,
+    "wrist_bend_deg_median": 34.7,
+    "opposite_sign_bend_deg": 164.0,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 7.41,
+    "marker_frame_spread_deg": 6.93,
     "hand_vs_marker_frame_deg": {
-     "before": 74.49,
-     "after": 7.41
+     "before": 6.93,
+     "after": 6.93
     },
     "markers_on_wrist": [
      "RHandIn",
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -65.64,
+     "twist_moved_deg": -0.03,
      "wrist_twist_deg_after": {
-      "median": -0.01,
+      "median": -0.0,
       "iqr": [
-       -18.1,
-       18.2
+       -14.2,
+       20.2
       ]
      },
-     "wrist_total_deg_median_after": 36.1,
+     "wrist_total_deg_median_after": 37.6,
      "markers_on_forearm": [
       "RForearm",
       "RWristIn",
       "RWristOut"
      ]
     },
-    "frames_used": 1500
+    "frames_used": 1390
    },
-   "generated_at_utc": "2026-10-26T16:29:12.286600+00:00",
+   "generated_at_utc": "2026-10-28T06:48:15.164736+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-27T14:49:23.051478+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
+   "left": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3515,
+    "frames_flipped": 1,
+    "stretches": []
+   },
+   "right": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 2813,
+    "frames_flipped": 116,
+    "stretches": [
+     {
+      "t0": 26.2,
+      "t1": 30.75,
+      "dur_s": 4.55,
+      "marker_turn_deg": 94.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 104.4,
+      "err_swapped_deg": 17.5,
+      "calib_err_deg": 22.5,
+      "applied": true
+     },
+     {
+      "t0": 38.73,
+      "t1": 41.47,
+      "dur_s": 2.73,
+      "marker_turn_deg": 89.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 114.9,
+      "err_swapped_deg": 33.9,
+      "calib_err_deg": 22.5,
+      "applied": true
+     },
+     {
+      "t0": 92.4,
+      "t1": 94.95,
+      "dur_s": 2.55,
+      "marker_turn_deg": 145.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 114.0,
+      "err_swapped_deg": 5.1,
+      "calib_err_deg": 22.5,
+      "applied": true
+     }
+    ]
+   }
+  },
+  "applied": 3
+ },
  "release": {
   "release_path": "actions/static_manipulation/SM33/session_005",
   "family": "static_manipulation",
   "primitive": "SM33",
   "source_session": "20261023/SM33/20261023_084057_session17"
- }
+ },
+ "objects": [
+  {
+   "name": "LittleBox1",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "Table",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/static_manipulation/SM33/session_005/motions/markers.npz

@@ -1,3 +1,3 @@
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+size 8983140

actions/static_manipulation/SM33/session_005/motions/object_markers.npz

@@ -0,0 +1,3 @@
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+size 665678

actions/static_manipulation/SM33/session_005/motions/objects.json

@@ -0,0 +1,95 @@
+{
+ "session": "20261023/SM33/20261023_084057_session17",
+ "generated_at_utc": "2026-10-29T13:27:08.400308+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": 23.11,
+   "verified_pct": 23.07,
+   "moving_pct": 1.98,
+   "vision_source": null
+  },
+  {
+   "name": "Table",
+   "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
+  }
+ ],
+ "absent": [
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "valid_s": 0.01
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "valid_s": 0.0
+  },
+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "valid_s": 0.0
+  }
+ ],
+ "object_list": {
+  "status": "corrected",
+  "notes": [],
+  "declared": [
+   "LittleBox1",
+   "LittleBox2",
+   "LittleBox3",
+   "LittleBox4",
+   "Table0"
+  ],
+  "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
+   },
+   {
+    "name": "Table",
+    "object": null,
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/static_manipulation/SM33/session_005/motions/objects.npz

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+size 747949

actions/static_manipulation/SM33/session_005/motions/smplx.npz

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actions/static_manipulation/SM33/session_006/meta.json

@@ -363,7 +363,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-26T18:34:31.877704+00:00",
+  "generated_at_utc": "2026-10-27T20:43:56.488223+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -378,46 +378,46 @@
    "hand_marker_offsets_m": {
     "left": {
      "LHandIn": [
-      0.07463373988866806,
-      -0.015747644007205963,
-      0.04351121932268143
+      0.07678528130054474,
+      -0.01693432778120041,
+      0.04505487158894539
      ],
      "LHandOut": [
-      0.08199143409729004,
-      0.018978018313646317,
-      0.021430369466543198
+      0.08453978598117828,
+      0.017902228981256485,
+      0.02320261485874653
      ]
     },
     "right": {
      "RHandIn": [
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-      0.01913832500576973,
-      0.012006158009171486
+      -0.05067490041255951,
+      0.019554466009140015,
+      0.0064374785870313644
      ],
      "RHandOut": [
-      -0.03833923116326332,
-      0.02569921500980854,
-      -0.029508478939533234
+      -0.03465155139565468,
+      0.026203429326415062,
+      -0.03363843262195587
      ]
     }
    }
   },
   "marker_rmse_mm": {
-   "median_frame": 5.59,
-   "p95_frame": 8.77
+   "median_frame": 5.6,
+   "p95_frame": 8.71
   },
   "worst_markers": [
-   "LElbowIn 13mm",
+   "LElbowIn 14mm",
    "LKneeIn 12mm",
    "RElbowIn 11mm",
    "RKneeIn 11mm",
-   "LWristIn 10mm"
+   "LWristOut 10mm"
   ],
   "valid_fraction": 1.0,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 1.9,
-    "p5": -1.7
+    "median": 0.1,
+    "p5": -3.0
    },
    "frames_checked": 552,
    "stature_mm": 1593.9
@@ -426,80 +426,80 @@
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 11.11
+   "surface_rmse_mm_median": 11.23
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 118.16,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     -2.05423,
-     -0.16011,
-     0.08851
+     0.0,
+     -0.0,
+     0.0
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 124.8,
-    "opposite_sign_bend_deg": 71.3,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 4.13,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 39.0,
+    "opposite_sign_bend_deg": 168.8,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 4.52,
     "hand_vs_marker_frame_deg": {
-     "before": 117.96,
-     "after": 4.13
+     "before": 4.52,
+     "after": 4.52
     },
     "markers_on_wrist": [
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -121.48,
+     "twist_moved_deg": 0.02,
      "wrist_twist_deg_after": {
-      "median": -0.22,
+      "median": -0.0,
       "iqr": [
-       -11.7,
-       9.7
+       -11.8,
+       12.7
       ]
      },
-     "wrist_total_deg_median_after": 30.1,
+     "wrist_total_deg_median_after": 38.3,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
       "LWristOut"
      ]
     },
-    "frames_used": 1500
+    "frames_used": 1470
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    "right": {
     "status": "corrected",
-    "Q_deg": 24.35,
+    "Q_deg": 0.0,
     "Q_rotvec": [
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-     0.03003,
-     -0.2731
+     0.0,
+     -0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 37.4,
-    "opposite_sign_bend_deg": 159.2,
+    "wrist_bend_deg_median": 25.8,
+    "opposite_sign_bend_deg": 170.5,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 5.88,
+    "marker_frame_spread_deg": 6.08,
     "hand_vs_marker_frame_deg": {
-     "before": 24.8,
-     "after": 5.88
+     "before": 6.08,
+     "after": 6.08
     },
     "markers_on_wrist": [
      "RHandIn",
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -28.36,
+     "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
       "median": -0.0,
       "iqr": [
-       -6.8,
-       10.0
+       -7.0,
+       10.1
       ]
      },
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+     "wrist_total_deg_median_after": 25.1,
      "markers_on_forearm": [
       "RForearm",
       "RWristIn",
@@ -508,10 +508,80 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-26T18:34:35.133625+00:00",
+   "generated_at_utc": "2026-10-28T06:50:01.057675+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-27T14:49:47.934817+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
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+      "t1": 8.12,
+      "dur_s": 2.13,
+      "marker_turn_deg": 21.0,
+      "confirm": "imu",
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+      "err_swapped_deg": 70.7,
+      "calib_err_deg": 32.7,
+      "applied": false
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+     {
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+      "t1": 46.7,
+      "dur_s": 1.02,
+      "marker_turn_deg": 68.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 158.4,
+      "err_swapped_deg": 44.7,
+      "calib_err_deg": 32.7,
+      "applied": true
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+     {
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+      "t1": 135.65,
+      "dur_s": 1.48,
+      "marker_turn_deg": 161.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 139.3,
+      "err_swapped_deg": 135.5,
+      "calib_err_deg": 32.7,
+      "applied": false
+     }
+    ]
+   },
+   "right": {
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+     "imu"
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+      "t1": 4.75,
+      "dur_s": 1.07,
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