Upload folder using huggingface_hub (part 73)

actions/environment_coupled_wholebody/EC16/session_003/meta.json

@@ -356,7 +356,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-26T12:06:12.644597+00:00",
+  "generated_at_utc": "2026-10-27T18:23:10.834756+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "male",
@@ -371,51 +371,51 @@
    "hand_marker_offsets_m": {
     "left": {
      "LHandIn": [
-      0.052782248705625534,
-      -0.02289600856602192,
-      0.023089637979865074
+      0.052593640983104706,
+      -0.023094605654478073,
+      0.02297467552125454
      ],
      "LHandOut": [
-      0.05037381127476692,
-      0.019840283319354057,
-      0.010710496455430984
+      0.0498562790453434,
+      0.019658884033560753,
+      0.010695571079850197
      ]
     },
     "right": {
      "RHandIn": [
-      -0.043228231370449066,
-      0.002301052212715149,
-      0.05943276733160019
+      -0.04322076961398125,
+      0.0020790016278624535,
+      0.05966496095061302
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      "RHandOut": [
-      -0.04883848875761032,
-      0.03195939585566521,
-      0.013843601569533348
+      -0.048952698707580566,
+      0.032032810151576996,
+      0.014072143472731113
      ],
      "RWristIn": [
-      0.02983654849231243,
-      -0.01780637353658676,
-      0.04478828236460686
+      0.030973270535469055,
+      -0.016561906784772873,
+      0.045229751616716385
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     }
    }
   },
   "marker_rmse_mm": {
-   "median_frame": 5.98,
-   "p95_frame": 9.71
+   "median_frame": 5.62,
+   "p95_frame": 9.52
   },
   "worst_markers": [
-   "RWristOut 15mm",
-   "RForearm 11mm",
-   "RWristIn 11mm",
+   "RWristOut 14mm",
    "LShin 11mm",
-   "RElbowIn 11mm"
+   "RWristIn 11mm",
+   "RElbowIn 11mm",
+   "RKneeIn 9mm"
   ],
   "valid_fraction": 1.0,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 5.1,
-    "p5": -1.4
+    "median": 4.8,
+    "p5": -1.7
    },
    "frames_checked": 395,
    "stature_mm": 1765.5
@@ -424,41 +424,41 @@
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 17.36
+   "surface_rmse_mm_median": 16.75
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 101.38,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     -1.71767,
-     -0.0262,
-     0.4237
+     0.0,
+     0.0,
+     -0.0
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-    "wrist_bend_deg_median": 122.8,
-    "opposite_sign_bend_deg": 66.0,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 3.49,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 23.7,
+    "opposite_sign_bend_deg": 173.7,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.63,
     "hand_vs_marker_frame_deg": {
-     "before": 101.35,
-     "after": 3.49
+     "before": 3.63,
+     "after": 3.63
     },
     "markers_on_wrist": [
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -121.02,
+     "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
-      "median": -0.05,
+      "median": -0.0,
       "iqr": [
-       -13.1,
-       5.1
+       -14.4,
+       3.9
       ]
      },
-     "wrist_total_deg_median_after": 29.8,
+     "wrist_total_deg_median_after": 23.7,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -469,20 +469,20 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 47.67,
+    "Q_deg": 0.0,
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-     0.41915,
-     -0.22006
+     0.0,
+     -0.0,
+     0.0
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 65.1,
-    "opposite_sign_bend_deg": 144.7,
+    "wrist_bend_deg_median": 49.5,
+    "opposite_sign_bend_deg": 161.4,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 2.77,
+    "marker_frame_spread_deg": 2.74,
     "hand_vs_marker_frame_deg": {
-     "before": 47.3,
-     "after": 2.77
+     "before": 2.74,
+     "after": 2.74
     },
     "markers_on_wrist": [
      "RWristIn",
@@ -490,30 +490,92 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -46.07,
+     "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
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+      "median": 0.0,
       "iqr": [
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-       11.6
+       -32.5,
+       10.4
       ]
      },
-     "wrist_total_deg_median_after": 50.5,
+     "wrist_total_deg_median_after": 49.7,
      "markers_on_forearm": [
       "RForearm",
       "RWristOut"
      ]
     },
-    "frames_used": 1184
+    "frames_used": 1148
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-   "generated_at_utc": "2026-10-26T12:06:16.155678+00:00",
+   "generated_at_utc": "2026-10-28T06:44:44.306110+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-27T14:48:20.514951+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
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+    "evidence": [
+     "imu"
+    ],
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+    "frames_flipped": 0,
+    "stretches": []
+   },
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+     "imu"
+    ],
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+    "frames_flipped": 13,
+    "stretches": [
+     {
+      "t0": 83.48,
+      "t1": 85.87,
+      "dur_s": 2.38,
+      "marker_turn_deg": 90.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 111.7,
+      "err_swapped_deg": 3.4,
+      "calib_err_deg": 8.8,
+      "applied": true
+     }
+    ]
+   }
+  },
+  "applied": 1
+ },
  "release": {
   "release_path": "actions/environment_coupled_wholebody/EC16/session_003",
   "family": "environment_coupled_wholebody",
   "primitive": "EC16",
   "source_session": "20261021/EC16/20261021_013357_session18"
- }
+ },
+ "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"
+  }
+ ]
 }

actions/environment_coupled_wholebody/EC16/session_003/motions/markers.npz

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actions/environment_coupled_wholebody/EC16/session_003/motions/object_markers.npz

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actions/environment_coupled_wholebody/EC16/session_003/motions/objects.json

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+{
+ "session": "20261021/EC16/20261021_013357_session18",
+ "generated_at_utc": "2026-10-28T02:35:21.983831+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": 99.99,
+   "verified_pct": 99.99,
+   "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": 0.84
+   },
+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 0.0,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox3",
+    "rms_mm": 0.29
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+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 0.0,
+   "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": 0.83
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+   "verified_pct": 99.99,
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+ ],
+ "object_list": {
+  "status": "match",
+  "notes": [],
+  "declared": [
+   "LittleBox1",
+   "LittleBox2",
+   "LittleBox3",
+   "LittleBox4"
+  ],
+  "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
+   }
+  ]
+ },
+ "notes": []
+}

actions/environment_coupled_wholebody/EC16/session_003/motions/objects.npz

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actions/environment_coupled_wholebody/EC16/session_003/motions/smplx.npz

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actions/environment_coupled_wholebody/EC17/session_001/meta.json

@@ -386,19 +386,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 103.91,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     -1.79399,
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-     0.24353
+     -2.98662,
+     0.4392,
+     0.86995
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-    "wrist_bend_deg_median": 97.5,
-    "opposite_sign_bend_deg": 89.5,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 167.6,
+    "opposite_sign_bend_deg": 23.5,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.0,
     "hand_vs_marker_frame_deg": {
-     "before": 104.55,
+     "before": 179.12,
      "after": 3.0
     },
     "markers_on_wrist": [
@@ -406,15 +406,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -95.69,
+     "twist_moved_deg": -161.41,
      "wrist_twist_deg_after": {
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+      "median": -17.15,
       "iqr": [
-       -15.8,
-       4.8
+       -35.9,
+       -7.5
       ]
      },
-     "wrist_total_deg_median_after": 23.5,
+     "wrist_total_deg_median_after": 36.5,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -425,19 +425,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 84.02,
+    "Q_deg": 0.0,
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-     0.46772,
-     -0.03789
+     0.0,
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+     -0.0
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 66.7,
-    "opposite_sign_bend_deg": 119.3,
+    "wrist_bend_deg_median": 20.0,
+    "opposite_sign_bend_deg": 175.3,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.05,
     "hand_vs_marker_frame_deg": {
-     "before": 84.18,
+     "before": 3.05,
      "after": 3.05
     },
     "markers_on_wrist": [
@@ -445,7 +445,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
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+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
       "median": 0.0,
       "iqr": [
@@ -463,7 +463,7 @@
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+   "generated_at_utc": "2026-10-28T06:15:37.622089+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },

actions/environment_coupled_wholebody/EC17/session_001/motions/smplx.npz

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actions/environment_coupled_wholebody/EC17/session_002/meta.json

@@ -424,19 +424,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
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+    "Q_deg": 180.0,
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-    "opposite_sign_bend_deg": 103.6,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 164.7,
+    "opposite_sign_bend_deg": 33.2,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
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     "hand_vs_marker_frame_deg": {
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+     "before": 177.27,
      "after": 4.5
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     "markers_on_wrist": [
@@ -445,15 +445,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
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+     "twist_moved_deg": -154.76,
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+       -59.4,
+       -15.8
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+     "wrist_total_deg_median_after": 35.9,
      "markers_on_forearm": [
       "LForearm",
       "LWristOut"
@@ -463,19 +463,19 @@
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     "status": "corrected",
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+     2e-05,
+     -1e-05,
+     3e-05
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 134.0,
-    "opposite_sign_bend_deg": 61.8,
+    "wrist_bend_deg_median": 36.0,
+    "opposite_sign_bend_deg": 163.3,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
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     "hand_vs_marker_frame_deg": {
-     "before": 129.98,
+     "before": 3.71,
      "after": 3.71
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     "markers_on_wrist": [
@@ -484,7 +484,7 @@
      "RHandOut"
     ],
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+     "twist_moved_deg": -0.0,
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       "iqr": [
@@ -500,7 +500,7 @@
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+   "generated_at_utc": "2026-10-28T06:43:38.422733+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -509,5 +509,13 @@
   "family": "environment_coupled_wholebody",
   "primitive": "EC17",
   "source_session": "20261020/EC17/20261020_044226_session7"
- }
+ },
+ "objects": [
+  {
+   "name": "BigBox",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  }
+ ]
 }

actions/environment_coupled_wholebody/EC17/session_002/motions/object_markers.npz

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+ "generated_at_utc": "2026-10-28T02:21:37.514396+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": "BigBox",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/BigBox/bigbox.ply",
+   "calibration": {
+    "instance": "BigBox",
+    "rms_mm": 0.42
+   },
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+   "verified_pct": 99.99,
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+   "vision_source": null
+  }
+ ],
+ "object_list": {
+  "status": "corrected",
+  "notes": [],
+  "declared": [
+   "BigBox0"
+  ],
+  "listed": [
+   {
+    "name": "BigBox",
+    "object": "BigBox",
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/environment_coupled_wholebody/EC17/session_002/motions/objects.npz

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actions/environment_coupled_wholebody/EC17/session_003/meta.json

@@ -413,19 +413,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 35.77,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     0.57503,
-     -0.2233,
-     -0.09611
+     3.02705,
+     -0.24148,
+     -0.8051
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 26.7,
-    "opposite_sign_bend_deg": 160.3,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 170.2,
+    "opposite_sign_bend_deg": 22.4,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.54,
     "hand_vs_marker_frame_deg": {
-     "before": 35.9,
+     "before": 178.87,
      "after": 3.54
     },
     "markers_on_wrist": [
@@ -433,15 +433,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 11.3,
+     "twist_moved_deg": -165.57,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -11.16,
       "iqr": [
-       -7.8,
-       5.0
+       -18.8,
+       -3.9
       ]
      },
-     "wrist_total_deg_median_after": 22.0,
+     "wrist_total_deg_median_after": 41.3,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -452,19 +452,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 149.27,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     2.5797,
-     0.34832,
-     0.10689
+     1e-05,
+     -1e-05,
+     4e-05
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 138.8,
-    "opposite_sign_bend_deg": 53.9,
+    "wrist_bend_deg_median": 35.9,
+    "opposite_sign_bend_deg": 173.7,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.99,
     "hand_vs_marker_frame_deg": {
-     "before": 148.87,
+     "before": 2.99,
      "after": 2.99
     },
     "markers_on_wrist": [
@@ -472,9 +472,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -136.15,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": 0.0,
       "iqr": [
        -6.2,
        20.1
@@ -489,7 +489,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-23T07:07:50.655169+00:00",
+   "generated_at_utc": "2026-10-28T06:43:39.704959+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -498,5 +498,13 @@
   "family": "environment_coupled_wholebody",
   "primitive": "EC17",
   "source_session": "20261020/EC17/20261020_044623_session9"
- }
+ },
+ "objects": [
+  {
+   "name": "BigBox",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  }
+ ]
 }

actions/environment_coupled_wholebody/EC17/session_003/motions/object_markers.npz

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actions/environment_coupled_wholebody/EC17/session_003/motions/objects.json

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+ "session": "20261020/EC17/20261020_044623_session9",
+ "generated_at_utc": "2026-10-28T02:22:58.393934+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": "BigBox",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/BigBox/bigbox.ply",
+   "calibration": {
+    "instance": "BigBox",
+    "rms_mm": 0.4
+   },
+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 77.64,
+   "vision_source": null
+  }
+ ],
+ "object_list": {
+  "status": "corrected",
+  "notes": [],
+  "declared": [
+   "BigBox0"
+  ],
+  "listed": [
+   {
+    "name": "BigBox",
+    "object": "BigBox",
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

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