Upload folder using huggingface_hub (part 2147)

actions/static_manipulation/SM32/session_006/meta.json

@@ -344,7 +344,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-26T16:28:57.075399+00:00",
+  "generated_at_utc": "2026-10-27T19:58:52.587133+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -359,46 +359,46 @@
    "hand_marker_offsets_m": {
     "left": {
      "LHandIn": [
-      0.05875590071082115,
-      0.013499350287020206,
-      0.026645474135875702
+      0.05697612091898918,
+      0.013811750337481499,
+      0.026032740250229836
      ],
      "LHandOut": [
-      0.047968436032533646,
-      -0.005546466447412968,
-      -0.03992785885930061
+      0.048356808722019196,
+      -0.006753073073923588,
+      -0.04051591083407402
      ]
     },
     "right": {
      "RHandIn": [
-      -0.06001590937376022,
-      -0.03307805582880974,
-      -0.014987532049417496
+      -0.06600635498762131,
+      -0.029322627931833267,
+      0.010197660885751247
      ],
      "RHandOut": [
-      -0.062387313693761826,
-      0.02465035393834114,
-      0.00601446395739913
+      -0.054188407957553864,
+      0.01800559274852276,
+      -0.028437208384275436
      ]
     }
    }
   },
   "marker_rmse_mm": {
-   "median_frame": 5.31,
-   "p95_frame": 8.58
+   "median_frame": 4.59,
+   "p95_frame": 8.54
   },
   "worst_markers": [
-   "LWristOut 14mm",
    "LElbowIn 14mm",
-   "LWristIn 13mm",
-   "RElbowIn 12mm",
-   "LForearm 12mm"
+   "LWristOut 12mm",
+   "LWristIn 11mm",
+   "RForearm 10mm",
+   "RWristIn 10mm"
   ],
   "valid_fraction": 0.9995,
   "qc": {
    "lowest_vertex_mm": {
-    "median": -24.8,
-    "p5": -26.8
+    "median": -24.7,
+    "p5": -26.6
    },
    "frames_checked": 577,
    "stature_mm": 1631.4
@@ -407,96 +407,386 @@
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 14.24
+   "surface_rmse_mm_median": 14.43
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 170.83,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     2.8662,
-     -0.6029,
-     -0.55767
+     -0.0,
+     0.0,
+     -0.0
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 137.9,
-    "opposite_sign_bend_deg": 52.1,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 7.26,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 36.8,
+    "opposite_sign_bend_deg": 159.9,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 7.03,
     "hand_vs_marker_frame_deg": {
-     "before": 171.08,
-     "after": 7.26
+     "before": 7.03,
+     "after": 7.03
     },
     "markers_on_wrist": [
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 130.07,
+     "twist_moved_deg": -0.05,
      "wrist_twist_deg_after": {
-      "median": 13.37,
+      "median": -0.0,
       "iqr": [
-       -4.9,
-       40.0
+       -20.0,
+       27.9
       ]
      },
-     "wrist_total_deg_median_after": 48.2,
+     "wrist_total_deg_median_after": 36.5,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
       "LWristOut"
      ]
     },
-    "frames_used": 1500
+    "frames_used": 1385
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 115.77,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     1.98035,
-     0.15327,
-     0.37061
+     -0.0,
+     -0.0,
+     0.0
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 122.8,
-    "opposite_sign_bend_deg": 68.9,
+    "wrist_bend_deg_median": 41.1,
+    "opposite_sign_bend_deg": 157.2,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 5.96,
+    "marker_frame_spread_deg": 3.9,
     "hand_vs_marker_frame_deg": {
-     "before": 115.74,
-     "after": 5.96
+     "before": 3.9,
+     "after": 3.9
     },
     "markers_on_wrist": [
      "RHandIn",
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -120.8,
+     "twist_moved_deg": -1.68,
      "wrist_twist_deg_after": {
-      "median": -2.23,
+      "median": 0.0,
       "iqr": [
-       -14.3,
-       12.8
+       -28.3,
+       24.9
       ]
      },
-     "wrist_total_deg_median_after": 37.6,
+     "wrist_total_deg_median_after": 43.5,
      "markers_on_forearm": [
       "RForearm",
       "RWristIn",
       "RWristOut"
      ]
     },
-    "frames_used": 1500
+    "frames_used": 1198
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-   "generated_at_utc": "2026-10-26T16:29:00.352833+00:00",
+   "generated_at_utc": "2026-10-28T06:48:14.948631+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-27T14:49:23.109475+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
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+     "imu"
+    ],
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+      "err_swapped_deg": 38.5,
+      "calib_err_deg": 16.6,
+      "applied": true
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+      "err_swapped_deg": 21.0,
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+      "applied": true
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+      "err_swapped_deg": 24.0,
+      "calib_err_deg": 16.6,
+      "applied": true
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+      "err_swapped_deg": 57.5,
+      "calib_err_deg": 25.4,
+      "applied": false
+     }
+    ]
+   }
+  },
+  "applied": 15
+ },
  "release": {
   "release_path": "actions/static_manipulation/SM32/session_006",
   "family": "static_manipulation",
   "primitive": "SM32",
   "source_session": "20261023/SM32/20261023_090847_session22"
- }
+ },
+ "objects": [
+  {
+   "name": "BigBox2",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "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": "Table",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/static_manipulation/SM32/session_006/motions/markers.npz

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+size 9761206

actions/static_manipulation/SM32/session_006/motions/object_markers.npz

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actions/static_manipulation/SM32/session_006/motions/objects.json

@@ -0,0 +1,165 @@
+{
+ "session": "20261023/SM32/20261023_090847_session22",
+ "generated_at_utc": "2026-10-29T13:27:04.789907+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": "BigBox2",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 5.97,
+   "verified_pct": 5.79,
+   "moving_pct": 0.68,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox1",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 1.49,
+   "verified_pct": 1.48,
+   "moving_pct": 0.0,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox2",
+    "rms_mm": 0.59
+   },
+   "valid_pct": 92.94,
+   "verified_pct": 92.9,
+   "moving_pct": 8.8,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox3",
+    "rms_mm": 1.07
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+   "verified_pct": 88.31,
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+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
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+    "rms_mm": 0.38
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+   "verified_pct": 95.9,
+   "moving_pct": 12.08,
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+  },
+  {
+   "name": "LittleBox5",
+   "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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+   "verified_pct": 95.65,
+   "moving_pct": 14.62,
+   "vision_source": null
+  },
+  {
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+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
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+   "calibration": null,
+   "valid_pct": 99.99,
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+   "moving_pct": 0.0,
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+  }
+ ],
+ "absent": [],
+ "object_list": {
+  "status": "corrected",
+  "notes": [],
+  "declared": [
+   "BigBox2",
+   "LittleBox1",
+   "LittleBox2",
+   "LittleBox3",
+   "LittleBox4",
+   "LittleBox5",
+   "Table0"
+  ],
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+    "name": "BigBox2",
+    "object": "BigBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "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": "LittleBox5",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "Table",
+    "object": null,
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/static_manipulation/SM32/session_006/motions/objects.npz

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actions/static_manipulation/SM32/session_007/meta.json

@@ -432,19 +432,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 80.29,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     -1.37831,
-     -0.24002,
-     0.08001
+     -2.98442,
+     0.43848,
+     0.87784
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 97.8,
-    "opposite_sign_bend_deg": 100.2,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 169.1,
+    "opposite_sign_bend_deg": 30.4,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.16,
     "hand_vs_marker_frame_deg": {
-     "before": 80.49,
+     "before": 177.81,
      "after": 3.16
     },
     "markers_on_wrist": [
@@ -452,15 +452,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -93.76,
+     "twist_moved_deg": -159.9,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -11.37,
       "iqr": [
-       -8.0,
-       9.6
+       -20.8,
+       -0.6
       ]
      },
-     "wrist_total_deg_median_after": 30.5,
+     "wrist_total_deg_median_after": 39.9,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -471,19 +471,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 30.3,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     0.4232,
-     0.12017,
-     -0.29336
+     0.0,
+     -0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 28.7,
-    "opposite_sign_bend_deg": 174.4,
+    "wrist_bend_deg_median": 28.4,
+    "opposite_sign_bend_deg": 172.7,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 6.2,
     "hand_vs_marker_frame_deg": {
-     "before": 30.59,
+     "before": 6.2,
      "after": 6.2
     },
     "markers_on_wrist": [
@@ -491,9 +491,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -5.81,
+     "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": 0.0,
       "iqr": [
        -6.2,
        4.3
@@ -508,7 +508,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-26T18:32:51.833143+00:00",
+   "generated_at_utc": "2026-10-28T06:50:00.605472+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -517,5 +517,37 @@
   "family": "static_manipulation",
   "primitive": "SM32",
   "source_session": "20261024/SM32/20261024_032411_session22"
- }
+ },
+ "objects": [
+  {
+   "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": "Table",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/static_manipulation/SM32/session_007/motions/object_markers.npz

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+size 2479701

actions/static_manipulation/SM32/session_007/motions/objects.json

@@ -0,0 +1,127 @@
+{
+ "session": "20261024/SM32/20261024_032411_session22",
+ "generated_at_utc": "2026-10-29T13:37:29.124783+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": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox3",
+    "rms_mm": 0.26
+   },
+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 6.16,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox4",
+    "rms_mm": 0.26
+   },
+   "valid_pct": 99.03,
+   "verified_pct": 99.01,
+   "moving_pct": 3.53,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox5",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox5",
+    "rms_mm": 0.63
+   },
+   "valid_pct": 94.6,
+   "verified_pct": 94.58,
+   "moving_pct": 5.34,
+   "vision_source": null
+  },
+  {
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+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox6",
+    "rms_mm": 1.42
+   },
+   "valid_pct": 96.69,
+   "verified_pct": 96.67,
+   "moving_pct": 3.29,
+   "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": [],
+ "object_list": {
+  "status": "corrected",
+  "notes": [],
+  "declared": [
+   "LittleBox3",
+   "LittleBox4",
+   "LittleBox5",
+   "LittleBox6",
+   "Table0"
+  ],
+  "listed": [
+   {
+    "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": "Table",
+    "object": null,
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

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+size 2874202

actions/static_manipulation/SM32/session_007/motions/smplx.npz

@@ -1,3 +1,3 @@
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-oid sha256:db02b8868abcdc22962179c0d34de259dcbb31beef42feb980d07a2478dbabfc
-size 5756230
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actions/static_manipulation/SM32/session_007/raw/manifest.json

@@ -1,6 +1,6 @@
 {
   "schema_version": 1,
-  "created_at_utc": "2026-10-25T19:51:42.504524+00:00",
+  "created_at_utc": "2026-10-27T11:20:29.306270+00:00",
   "primitive_id": "SM32",
   "session_id": "20261024_032411_session22",
   "upload_batch_id": "20261024",
@@ -362,7 +362,7 @@
     "participant": "fengyixuan",
     "repetition_count": 2
   },
-  "upload_batch_created_at": "2026-10-26T04:05:14.256352+08:00",
+  "upload_batch_created_at": "2026-10-27T19:23:41.409857+08:00",
   "participant_gender": "female",
   "participant_height_cm": 162,
   "participant_weight_kg": 46,