Upload folder using huggingface_hub (part 2132)

.gitattributes

@@ -41063,3 +41063,13 @@ actions/static_manipulation/SM23/session_007/raw/sensors/robowrist_imu_left.db f
 actions/static_manipulation/SM23/session_007/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM23/session_007/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM23/session_007/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM24/session_006/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM24/session_006/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM24/session_006/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM24/session_006/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM24/session_006/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM24/session_006/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM24/session_006/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM24/session_006/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM24/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM24/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/static_manipulation/SM24/session_003/meta.json

@@ -385,19 +385,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 131.96,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     -2.23223,
-     -0.14575,
-     0.54804
+     -2.98794,
+     0.42773,
+     0.87113
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 153.6,
-    "opposite_sign_bend_deg": 36.7,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 172.8,
+    "opposite_sign_bend_deg": 31.2,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.41,
     "hand_vs_marker_frame_deg": {
-     "before": 131.93,
+     "before": 179.27,
      "after": 2.41
     },
     "markers_on_wrist": [
@@ -405,15 +405,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -149.44,
+     "twist_moved_deg": -161.57,
      "wrist_twist_deg_after": {
-      "median": -2.81,
+      "median": -16.91,
       "iqr": [
-       -12.2,
-       6.9
+       -25.5,
+       -11.0
       ]
      },
-     "wrist_total_deg_median_after": 31.2,
+     "wrist_total_deg_median_after": 26.6,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -424,19 +424,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 11.35,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     0.1357,
-     0.07263,
-     -0.12484
+     0.0,
+     0.0,
+     -0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 20.2,
-    "opposite_sign_bend_deg": 163.3,
+    "wrist_bend_deg_median": 14.6,
+    "opposite_sign_bend_deg": 172.5,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.23,
     "hand_vs_marker_frame_deg": {
-     "before": 11.45,
+     "before": 2.23,
      "after": 2.23
     },
     "markers_on_wrist": [
@@ -444,7 +444,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 15.21,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
       "median": -0.0,
       "iqr": [
@@ -461,7 +461,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-15T08:18:49.775286+00:00",
+   "generated_at_utc": "2026-10-28T06:33:27.353762+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },

actions/static_manipulation/SM24/session_003/motions/smplx.npz

@@ -1,3 +1,3 @@
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+size 6703071

actions/static_manipulation/SM24/session_004/meta.json

@@ -372,7 +372,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-23T04:54:31.119904+00:00",
+  "generated_at_utc": "2026-10-27T17:57:04.816924+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -387,46 +387,46 @@
    "hand_marker_offsets_m": {
     "left": {
      "LHandIn": [
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-      0.004053986631333828,
-      0.002670770511031151
+      0.06650391221046448,
+      0.006071767769753933,
+      0.027358349412679672
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      "LHandOut": [
-      0.04524641111493111,
-      0.0424371063709259,
-      0.001889172475785017
+      0.04909869655966759,
+      0.04035317525267601,
+      -0.0017633131938055158
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     "right": {
      "RHandIn": [
-      -0.07847698032855988,
-      0.008893408812582493,
-      0.02554088644683361
+      -0.0772903561592102,
+      0.008061349391937256,
+      0.0254218727350235
      ],
      "RHandOut": [
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-      0.01823047176003456,
-      -0.015275548212230206
+      -0.06078982353210449,
+      0.01857833005487919,
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     }
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   "marker_rmse_mm": {
-   "median_frame": 6.89,
-   "p95_frame": 10.94
+   "median_frame": 5.05,
+   "p95_frame": 11.11
   },
   "worst_markers": [
-   "LWristIn 30mm",
-   "LUArmHigh 23mm",
-   "LElbow 20mm",
+   "LWristIn 28mm",
+   "LUArmHigh 16mm",
+   "LElbow 15mm",
    "RElbowIn 13mm",
-   "LElbowIn 11mm"
+   "LForearm 10mm"
   ],
   "valid_fraction": 0.9995,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 7.6,
-    "p5": 6.4
+    "median": 7.1,
+    "p5": 6.2
    },
    "frames_checked": 532,
    "stature_mm": 1593.9
@@ -435,41 +435,41 @@
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 13.86
+   "surface_rmse_mm_median": 13.87
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 98.17,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     -1.39183,
-     -0.59265,
-     0.80448
+     0.0,
+     -0.0,
+     0.0
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-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 146.1,
-    "opposite_sign_bend_deg": 52.5,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 6.1,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 30.0,
+    "opposite_sign_bend_deg": 168.3,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 5.26,
     "hand_vs_marker_frame_deg": {
-     "before": 97.99,
-     "after": 6.1
+     "before": 5.26,
+     "after": 5.26
     },
     "markers_on_wrist": [
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -139.52,
+     "twist_moved_deg": 6.3,
      "wrist_twist_deg_after": {
-      "median": -5.0,
+      "median": 0.0,
       "iqr": [
-       -19.8,
-       10.1
+       -9.8,
+       51.1
       ]
      },
-     "wrist_total_deg_median_after": 44.9,
+     "wrist_total_deg_median_after": 41.1,
      "markers_on_forearm": [
       "LElbowIn",
       "LForearm",
@@ -477,39 +477,39 @@
       "LWristOut"
      ]
     },
-    "frames_used": 1500
+    "frames_used": 1232
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    "right": {
     "status": "corrected",
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+    "Q_deg": 0.0,
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+     0.0,
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+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 25.2,
-    "opposite_sign_bend_deg": 168.9,
+    "wrist_bend_deg_median": 24.7,
+    "opposite_sign_bend_deg": 169.5,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 3.62,
+    "marker_frame_spread_deg": 3.6,
     "hand_vs_marker_frame_deg": {
-     "before": 22.5,
-     "after": 3.62
+     "before": 3.6,
+     "after": 3.6
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     "markers_on_wrist": [
      "RHandIn",
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 1.64,
+     "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
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       "iqr": [
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-       14.2
+       -6.2,
+       13.7
       ]
      },
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+     "wrist_total_deg_median_after": 23.4,
      "markers_on_forearm": [
       "RForearm",
       "RWristIn",
@@ -518,14 +518,146 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-23T04:54:34.225882+00:00",
+   "generated_at_utc": "2026-10-28T06:42:00.044376+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-27T14:52:17.504713+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
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+     "imu"
+    ],
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+    "stretches": [
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+      "marker_turn_deg": 79.0,
+      "confirm": "imu",
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+      "err_swapped_deg": 26.2,
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+      "applied": true
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  "release": {
   "release_path": "actions/static_manipulation/SM24/session_004",
   "family": "static_manipulation",
   "primitive": "SM24",
   "source_session": "20261017/SM24/20261017_054136_session68"
- }
+ },
+ "objects": [
+  {
+   "name": "Table",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/static_manipulation/SM24/session_004/motions/markers.npz

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actions/static_manipulation/SM24/session_004/motions/object_markers.npz

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actions/static_manipulation/SM24/session_004/motions/objects.json

@@ -0,0 +1,39 @@
+{
+ "session": "20261017/SM24/20261017_054136_session68",
+ "generated_at_utc": "2026-10-29T12:51:20.249317+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": "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": [],
+ "object_list": {
+  "status": "match",
+  "notes": [],
+  "declared": [
+   "Table"
+  ],
+  "listed": [
+   {
+    "name": "Table",
+    "object": null,
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/static_manipulation/SM24/session_004/motions/objects.npz

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actions/static_manipulation/SM24/session_004/motions/smplx.npz

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actions/static_manipulation/SM24/session_005/meta.json

@@ -356,7 +356,7 @@
   ]
  },
  "smplx": {
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+  "generated_at_utc": "2026-10-27T18:20:27.854861+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -371,38 +371,38 @@
    "hand_marker_offsets_m": {
     "left": {
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+      0.043249934911727905,
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   "marker_rmse_mm": {
-   "median_frame": 3.22,
-   "p95_frame": 6.22
+   "median_frame": 3.19,
+   "p95_frame": 6.23
   },
   "worst_markers": [
    "LForearm 16mm",
@@ -415,7 +415,7 @@
   "qc": {
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     "median": 9.2,
-    "p5": 8.5
+    "p5": 8.6
    },
    "frames_checked": 589,
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@@ -424,41 +424,41 @@
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 11.43
+   "surface_rmse_mm_median": 11.6
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 103.44,
+    "Q_deg": 0.0,
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-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 12.01,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 48.2,
+    "opposite_sign_bend_deg": 168.6,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 11.6,
     "hand_vs_marker_frame_deg": {
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-     "after": 12.01
+     "before": 11.6,
+     "after": 11.6
     },
     "markers_on_wrist": [
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -111.47,
+     "twist_moved_deg": 0.99,
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+       -15.7,
+       22.1
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+     "wrist_total_deg_median_after": 48.4,
      "markers_on_forearm": [
       "LElbow",
       "LForearm",
@@ -466,24 +466,24 @@
       "LWristOut"
      ]
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+    "frames_used": 1466
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     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
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+     "before": 2.95,
+     "after": 2.95
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@@ -491,9 +491,9 @@
      "RHandOut"
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@@ -508,14 +508,69 @@
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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 }

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