Upload folder using huggingface_hub (part 2146)

actions/static_manipulation/SM32/session_004/meta.json

@@ -445,19 +445,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 126.74,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     -2.17084,
-     -0.18662,
-     0.38127
+     -3.02575,
+     0.26943,
+     0.80116
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 123.7,
-    "opposite_sign_bend_deg": 70.8,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 170.8,
+    "opposite_sign_bend_deg": 30.8,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 4.34,
     "hand_vs_marker_frame_deg": {
-     "before": 127.24,
+     "before": 177.49,
      "after": 4.34
     },
     "markers_on_wrist": [
@@ -466,15 +466,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -121.23,
+     "twist_moved_deg": -154.95,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": -19.56,
       "iqr": [
-       -8.4,
-       12.1
+       -27.5,
+       -5.1
       ]
      },
-     "wrist_total_deg_median_after": 31.1,
+     "wrist_total_deg_median_after": 39.4,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn"
@@ -484,19 +484,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 39.94,
+    "Q_deg": 0.0,
     "Q_rotvec": [
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-     0.29017,
-     -0.2735
+     -0.0,
+     -0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 34.5,
-    "opposite_sign_bend_deg": 164.3,
+    "wrist_bend_deg_median": 26.6,
+    "opposite_sign_bend_deg": 171.3,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 7.76,
     "hand_vs_marker_frame_deg": {
-     "before": 40.53,
+     "before": 7.76,
      "after": 7.76
     },
     "markers_on_wrist": [
@@ -504,9 +504,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -20.9,
+     "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": 0.0,
       "iqr": [
        -11.3,
        6.6
@@ -521,7 +521,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-23T06:46:18.429852+00:00",
+   "generated_at_utc": "2026-10-28T06:43:20.590776+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -530,5 +530,37 @@
   "family": "static_manipulation",
   "primitive": "SM32",
   "source_session": "20261019/SM32/20261019_074610_session17"
- }
+ },
+ "objects": [
+  {
+   "name": "LittleBox1",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "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_004/motions/object_markers.npz

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actions/static_manipulation/SM32/session_004/motions/objects.json

@@ -0,0 +1,124 @@
+{
+ "session": "20261019/SM32/20261019_074610_session17",
+ "generated_at_utc": "2026-10-29T12:56:32.801369+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": 74.67,
+   "verified_pct": 74.63,
+   "moving_pct": 4.67,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox3",
+    "rms_mm": 0.5
+   },
+   "valid_pct": 93.79,
+   "verified_pct": 93.77,
+   "moving_pct": 10.97,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 84.58,
+   "verified_pct": 84.57,
+   "moving_pct": 11.57,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox5",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox5",
+    "rms_mm": 0.29
+   },
+   "valid_pct": 63.05,
+   "verified_pct": 63.03,
+   "moving_pct": 7.66,
+   "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": "match",
+  "notes": [],
+  "declared": [
+   "LittleBox",
+   "Table"
+  ],
+  "listed": [
+   {
+    "name": "LittleBox1",
+    "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
+   },
+   {
+    "name": "LittleBox",
+    "object": "LittleBox",
+    "source": "manifest_only (no mocap rigid body)",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/static_manipulation/SM32/session_004/motions/objects.npz

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+size 2534160

actions/static_manipulation/SM32/session_004/motions/smplx.npz

@@ -1,3 +1,3 @@
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actions/static_manipulation/SM32/session_005/meta.json

@@ -344,7 +344,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-26T15:11:05.279155+00:00",
+  "generated_at_utc": "2026-10-27T19:18:12.581731+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -359,46 +359,46 @@
    "hand_marker_offsets_m": {
     "left": {
      "LHandIn": [
-      0.051046036183834076,
-      0.02441859245300293,
-      0.024117212742567062
+      0.051084503531455994,
+      0.024273591116070747,
+      0.024457601830363274
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      "LHandOut": [
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-      0.01882283389568329,
-      -0.028199607506394386
+      0.03868039697408676,
+      0.01940549537539482,
+      -0.02800147235393524
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     "right": {
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-      -0.038479890674352646,
-      0.026131052523851395
+      -0.06008453294634819,
+      -0.038253962993621826,
+      0.028584253042936325
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      "RHandOut": [
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-      0.0036172557156533003,
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+      -0.05494876205921173,
+      0.0052063860930502415,
+      0.039544396102428436
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    }
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   "marker_rmse_mm": {
-   "median_frame": 3.55,
-   "p95_frame": 7.08
+   "median_frame": 3.51,
+   "p95_frame": 6.8
   },
   "worst_markers": [
    "RElbowIn 14mm",
-   "LElbowIn 10mm",
-   "LWristOut 8mm",
+   "LElbowIn 9mm",
    "RWristOut 8mm",
-   "RWristIn 8mm"
+   "RWristIn 8mm",
+   "LWristIn 7mm"
   ],
   "valid_fraction": 0.9995,
   "qc": {
    "lowest_vertex_mm": {
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-    "p5": 13.4
+    "median": 14.0,
+    "p5": 13.1
    },
    "frames_checked": 553,
    "stature_mm": 1600.3
@@ -407,80 +407,80 @@
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 13.01
+   "surface_rmse_mm_median": 12.58
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 178.59,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     3.00444,
-     0.0795,
-     -0.82642
+     0.0,
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-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 3.84,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 40.7,
+    "opposite_sign_bend_deg": 169.5,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.66,
     "hand_vs_marker_frame_deg": {
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-     "after": 3.84
+     "before": 3.66,
+     "after": 3.66
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     "markers_on_wrist": [
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
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+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
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       "iqr": [
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-       10.7
+       -8.0,
+       12.1
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      },
-     "wrist_total_deg_median_after": 37.1,
+     "wrist_total_deg_median_after": 40.4,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
       "LWristOut"
      ]
     },
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-    "opposite_sign_bend_deg": 88.3,
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     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
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     "markers_on_wrist": [
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+     "wrist_total_deg_median_after": 41.1,
      "markers_on_forearm": [
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@@ -489,14 +489,88 @@
     },
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+   "generated_at_utc": "2026-10-28T06:47:16.503930+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
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+ "marker_relabel": {
+  "generated_at_utc": "2026-10-27T14:48:50.883304+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
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+      "confirm": "imu",
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+      "err_swapped_deg": 8.6,
+      "calib_err_deg": 15.7,
+      "applied": true
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  "release": {
   "release_path": "actions/static_manipulation/SM32/session_005",
   "family": "static_manipulation",
   "primitive": "SM32",
   "source_session": "20261022/SM32/20261022_033506_session29"
- }
+ },
+ "objects": [
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+   "name": "ArmlessChair",
+   "object_type": "ArmlessChair",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "BigBox2",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox5",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "Table2",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "Desk",
+   "object_type": "Desk",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

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actions/static_manipulation/SM32/session_005/motions/objects.json

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+{
+ "session": "20261022/SM32/20261022_033506_session29",
+ "generated_at_utc": "2026-10-29T13:20:31.510293+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": "LittleBox5",
+   "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": 94.49,
+   "moving_pct": 8.0,
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+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "source": "mocap",
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+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
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+   "verified_pct": 90.28,
+   "moving_pct": 7.35,
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+   "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": [
+  {
+   "name": "ArmlessChair",
+   "object_type": "ArmlessChair",
+   "valid_s": 0.19
+  },
+  {
+   "name": "BigBox2",
+   "object_type": "BigBox",
+   "valid_s": 0.76
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+  {
+   "name": "Desk",
+   "object_type": "Desk",
+   "valid_s": 0.0
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+ ],
+ "object_list": {
+  "status": "corrected",
+  "notes": [
+   "desk -> Desk"
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+   "ArmlessChair0",
+   "BigBox2",
+   "Desk0",
+   "LittleBox5",
+   "LittleBox6",
+   "Table2"
+  ],
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+    "name": "ArmlessChair",
+    "object": "ArmlessChair",
+    "source": "mocap",
+    "needs_video_check": false
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+   {
+    "name": "BigBox2",
+    "object": "BigBox",
+    "source": "mocap",
+    "needs_video_check": false
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+   {
+    "name": "LittleBox5",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox6",
+    "object": "LittleBox",
+    "source": "mocap",
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+   {
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+    "source": "mocap",
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+  ]
+ },
+ "notes": []
+}

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