Upload folder using huggingface_hub (part 2141)

.gitattributes

@@ -41101,3 +41101,5 @@ actions/static_manipulation/SM27/session_006/raw/sensors/robowrist_imu_left.db f
 actions/static_manipulation/SM27/session_006/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM27/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM27/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM29/session_007/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM29/session_007/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/static_manipulation/SM29/session_006/meta.json

@@ -344,7 +344,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-26T16:26:43.299458+00:00",
+  "generated_at_utc": "2026-10-27T19:58:03.384816+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -359,46 +359,46 @@
    "hand_marker_offsets_m": {
     "left": {
      "LHandIn": [
-      0.06200047954916954,
-      0.01855890452861786,
-      0.0022497065365314484
+      0.062305983155965805,
+      0.017987646162509918,
+      0.002892971271649003
      ],
      "LHandOut": [
-      0.04071987792849541,
-      -0.029118625447154045,
-      -0.0464714914560318
+      0.03738274425268173,
+      -0.027364172041416168,
+      -0.046386465430259705
      ]
     },
     "right": {
      "RHandIn": [
-      -0.06637173891067505,
-      0.011219670064747334,
-      0.02024947479367256
+      -0.06488873809576035,
+      -0.0276765339076519,
+      0.007107970304787159
      ],
      "RHandOut": [
-      -0.039102185517549515,
-      0.03301636129617691,
-      -0.029487553983926773
+      -0.04847702011466026,
+      0.01934841275215149,
+      -0.027736607939004898
      ]
     }
    }
   },
   "marker_rmse_mm": {
-   "median_frame": 5.89,
-   "p95_frame": 8.21
+   "median_frame": 5.69,
+   "p95_frame": 8.05
   },
   "worst_markers": [
-   "LElbowIn 18mm",
    "LKneeIn 17mm",
+   "LElbowIn 16mm",
    "RKneeIn 13mm",
    "RThigh 10mm",
-   "RElbowIn 10mm"
+   "LShin 8mm"
   ],
   "valid_fraction": 0.9996,
   "qc": {
    "lowest_vertex_mm": {
-    "median": -25.1,
-    "p5": -32.7
+    "median": -23.7,
+    "p5": -30.9
    },
    "frames_checked": 637,
    "stature_mm": 1631.4
@@ -407,41 +407,41 @@
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 13.08
+   "surface_rmse_mm_median": 12.78
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 142.57,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     2.35307,
-     -0.55979,
-     -0.58414
+     -0.0,
+     0.0,
+     -0.0
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 129.3,
-    "opposite_sign_bend_deg": 58.3,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 3.86,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 28.8,
+    "opposite_sign_bend_deg": 170.2,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.9,
     "hand_vs_marker_frame_deg": {
-     "before": 142.49,
-     "after": 3.86
+     "before": 3.9,
+     "after": 3.9
     },
     "markers_on_wrist": [
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 122.16,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": 0.0,
       "iqr": [
-       -11.3,
-       14.0
+       -9.7,
+       6.5
       ]
      },
-     "wrist_total_deg_median_after": 56.5,
+     "wrist_total_deg_median_after": 25.7,
      "markers_on_forearm": [
       "LElbow",
       "LForearm",
@@ -453,51 +453,119 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 39.06,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     0.60053,
-     -0.11746,
-     -0.30062
+     -0.0,
+     -0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 60.0,
-    "opposite_sign_bend_deg": 141.8,
+    "wrist_bend_deg_median": 29.9,
+    "opposite_sign_bend_deg": 170.9,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 2.99,
+    "marker_frame_spread_deg": 2.71,
     "hand_vs_marker_frame_deg": {
-     "before": 39.6,
-     "after": 2.99
+     "before": 2.71,
+     "after": 2.71
     },
     "markers_on_wrist": [
      "RHandIn",
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -52.85,
+     "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -0.0,
       "iqr": [
-       -5.6,
-       8.3
+       -6.6,
+       7.5
       ]
      },
-     "wrist_total_deg_median_after": 28.5,
+     "wrist_total_deg_median_after": 28.4,
      "markers_on_forearm": [
       "RForearm",
       "RWristIn",
       "RWristOut"
      ]
     },
-    "frames_used": 1500
+    "frames_used": 1471
    },
-   "generated_at_utc": "2026-10-26T16:26:50.759057+00:00",
+   "generated_at_utc": "2026-10-28T06:48:13.121373+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-27T14:49:16.778664+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
+   "left": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3983,
+    "frames_flipped": 0,
+    "stretches": []
+   },
+   "right": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 4024,
+    "frames_flipped": 20,
+    "stretches": [
+     {
+      "t0": 92.18,
+      "t1": 93.08,
+      "dur_s": 0.9,
+      "marker_turn_deg": 21.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 161.2,
+      "err_swapped_deg": 14.9,
+      "calib_err_deg": 13.7,
+      "applied": true
+     }
+    ]
+   }
+  },
+  "applied": 1
+ },
  "release": {
   "release_path": "actions/static_manipulation/SM29/session_006",
   "family": "static_manipulation",
   "primitive": "SM29",
   "source_session": "20261023/SM29/20261023_082618_session13"
- }
+ },
+ "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"
+  },
+  {
+   "name": "Table",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/static_manipulation/SM29/session_006/motions/markers.npz

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actions/static_manipulation/SM29/session_006/motions/object_markers.npz

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actions/static_manipulation/SM29/session_006/motions/objects.json

@@ -0,0 +1,115 @@
+{
+ "session": "20261023/SM29/20261023_082618_session13",
+ "generated_at_utc": "2026-10-29T13:26:54.554845+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": 11.42,
+   "verified_pct": 11.4,
+   "moving_pct": 9.32,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox3",
+    "rms_mm": 0.27
+   },
+   "valid_pct": 9.39,
+   "verified_pct": 9.37,
+   "moving_pct": 9.39,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox4",
+    "rms_mm": 0.88
+   },
+   "valid_pct": 8.63,
+   "verified_pct": 8.62,
+   "moving_pct": 8.63,
+   "vision_source": null
+  },
+  {
+   "name": "Table",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
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+   "calibration": null,
+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 0.0,
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+ ],
+ "absent": [
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+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "valid_s": 0.58
+  }
+ ],
+ "object_list": {
+  "status": "corrected",
+  "notes": [],
+  "declared": [
+   "LittleBox1",
+   "LittleBox2",
+   "LittleBox3",
+   "LittleBox4",
+   "Table0"
+  ],
+  "listed": [
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+    "name": "LittleBox1",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
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+   {
+    "name": "LittleBox2",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
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+   {
+    "name": "LittleBox3",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox4",
+    "object": "LittleBox",
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+ },
+ "notes": []
+}

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actions/static_manipulation/SM29/session_006/motions/smplx.npz

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actions/static_manipulation/SM29/session_007/cameras/poses.npz

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actions/static_manipulation/SM29/session_007/meta.json

@@ -0,0 +1,521 @@
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+ "schema_version": 1,
+ "session": "EgoMotionActions/20261026/SM29/20261026_101319_session82",
+ "session_id": "20261026_101319_session82",
+ "primitive": "SM29",
+ "batch": "20261026",
+ "participant": "zhangxinxin",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "c9205ac6e17d2d5c",
+  "left": "cc5681142208e29a",
+  "right": "a85418f7d807dff9"
+ },
+ "generated_at_utc": "2026-10-27T04:57:40.665684+00:00",
+ "generated_by": "scripts/sync_dataset.py",
+ "time_base": {
+  "definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
+  "mocap_rate_hz": 120.0,
+  "mocap_rate_fix": null,
+  "first_solved_frame": 7,
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+  "mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
+ },
+ "alignment": {
+  "reference_imu": "imu_head_right",
+  "model": "offset (median of windows)",
+  "mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
+  "offset_s": -0.077548,
+  "rate": 0.0,
+  "global_lag_s": -0.08,
+  "peak_corr": 0.9484,
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+   "lag_scatter_ms": 10.671335195860186,
+   "lag_range_ms": 44.1284337896653
+  }
+ },
+ "units": {
+  "mocap": "millimetres, Nokov world, Y-up (unchanged)",
+  "y_up_to_z_up": [
+   [
+    1.0,
+    0.0,
+    0.0
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+   [
+    0.0,
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+    -1.0
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+   [
+    0.0,
+    1.0,
+    0.0
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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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