Upload folder using huggingface_hub (part 987)

.gitattributes

@@ -38430,3 +38430,21 @@ actions/static_manipulation/SM14/session_003/raw/sensors/robowrist_mag_left.db f
 actions/static_manipulation/SM14/session_003/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM14/session_004/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM14/session_004/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM14/session_004/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM14/session_004/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM14/session_004/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM14/session_004/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM14/session_004/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM14/session_004/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM14/session_004/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM14/session_005/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM14/session_005/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM14/session_005/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM14/session_005/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM14/session_005/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM14/session_005/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM14/session_005/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM14/session_005/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM14/session_005/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM14/session_006/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM14/session_006/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/static_manipulation/SM14/session_004/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e6f8a7ec6a191456bbdf1f73e80ee9e23b28f1c53d1a61bc7a5beedf2b4f4f0
+size 1355776

actions/static_manipulation/SM14/session_004/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b49ecdd93e706ae50070757573fbe4a8b08c0cd7d4fb879eb7ce11e7ef1f0109
+size 1306624

actions/static_manipulation/SM14/session_004/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:504ba14552c0db12e2d4e113ce836870526dad53f0130aa695862d79e597d428
+size 360448

actions/static_manipulation/SM14/session_004/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6205971f3e9c15c87f54560194329adf8c7f4a41222e81ea301aaade6e59ab5
+size 1331200

actions/static_manipulation/SM14/session_004/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69f11d57e3a0e408e7fd299883a312d536422a35c54630eca4389617cf804354
+size 1339392

actions/static_manipulation/SM14/session_004/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d417ccf96d25749933df6a46530b0a22bda1673ee3ee9f6518ca58e6aac53d60
+size 344064

actions/static_manipulation/SM14/session_004/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f841047b33e8912fd19346b2b3f21626fe7504e250b311590574b5279985dd81
+size 344064

actions/static_manipulation/SM14/session_004/scene/infer.json

@@ -0,0 +1,36 @@
+{
+  "model": "facebook/map-anything",
+  "views": 268,
+  "windows": 6,
+  "cams": "left_front,right_front",
+  "stride_s": 1.0,
+  "size": [
+    518,
+    392
+  ],
+  "K": [
+    [
+      308.6641804819004,
+      0.0,
+      259.0
+    ],
+    [
+      0.0,
+      308.6641804819004,
+      196.0
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "pitch_deg": -20.0,
+  "hfov_deg": 80.0,
+  "pose_agreement_window_aligned": {
+    "trans_median_m": 0.0071,
+    "trans_p95_m": 0.0176,
+    "rot_median_deg": 0.388,
+    "rot_p95_deg": 0.55
+  }
+}

actions/static_manipulation/SM14/session_004/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:583390d4eb3d3f116860a46e0bf99d23c35c0cbc2ce2f28004cf1c06fe4284bb
+size 277441618

actions/static_manipulation/SM14/session_004/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a34986cef9956ea00481939f632bfd5257c50cc44b715e242f26a57299bde2f
+size 1246725

actions/static_manipulation/SM14/session_004/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4e529c09ccf37fc9b2e2bcf48445a73142d209731ad55bf09c6246c440ad0b2
+size 156621

actions/static_manipulation/SM14/session_004/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09eb879f8a15bea82172a8aaa4ebfdea8091c5f663a133d9c62c91518e36424d
+size 1403457

actions/static_manipulation/SM14/session_004/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5de62712bb2f662fcc1e6dae2d8ad6457390c52fc74f41dbf357210029ff89f0
+size 283166

actions/static_manipulation/SM14/session_004/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82559249cb6f8a8f71b7360729faddd69e3133d1fbdbb4d0a9be074e4f3046f0
+size 267220

actions/static_manipulation/SM14/session_004/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b242bcbdf5c025110ec064a10ccbcfc8eb5fc23537a59fd359b1353fbc9cd8f
+size 67116341

actions/static_manipulation/SM14/session_004/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3516fe954c2ee2d4ea3a319dfeca40df26691406a377bceef7cda1e35e0aef0
+size 66574445

actions/static_manipulation/SM14/session_004/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60438ade78527dc961addd763a93e03e173c471ac5871e165d794351b2623031
+size 67047783

actions/static_manipulation/SM14/session_004/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4b8e7653f6547678924d0fea356c82fa4033bd382450b92624a4682c1a712dc
+size 67256198

actions/static_manipulation/SM14/session_004/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cfb11bf3f1cb865b22500dc5e6e711280c9ff0013e4e3a4bd59a9cfa43274b5
+size 67076238

actions/static_manipulation/SM14/session_004/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2c9bd41c8b5d6e0b41cca029c0293a1b58d7fa948775a77bd5d921605d25e93
+size 67113575

actions/static_manipulation/SM14/session_004/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:add66850e429938be28cb3025c2f0ddcb692035718e2dd553d268d7fcf44ead4
+size 67416106

actions/static_manipulation/SM14/session_004/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:305f45c298c26886ab9071fc4eb4f1852a44500841016b1c57f3c8ed0899143f
+size 50133240

actions/static_manipulation/SM14/session_004/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29dcb8684ed62283f5e2eb650faf461c73bdeaab54baaeeb6e10ba9155f11d91
+size 54724513

actions/static_manipulation/SM14/session_005/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9643b9b3e904cdea5113289d42e9187a2ffd8f86eb1d16e081afd95c3863e33b
+size 1075579

actions/static_manipulation/SM14/session_005/meta.json

@@ -0,0 +1,521 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261020/SM14/20261020_121818_session85",
+ "session_id": "20261020_121818_session85",
+ "primitive": "SM14",
+ "batch": "20261020",
+ "participant": "yanyitong",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "c9205ac6e17d2d5c",
+  "left": "452031d7af00ef6f",
+  "right": "60a6f081bbe60b0d"
+ },
+ "generated_at_utc": "2026-10-22T16:16:43.968651+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": 0,
+  "duration_s": 130.725,
+  "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": -0.087876,
+  "rate": 0.0,
+  "global_lag_s": -0.09,
+  "peak_corr": 0.806,
+  "reference_imu_first_sample_s": 14576.749714015,
+  "windows": {
+   "n_windows": 11,
+   "window_corr_median": 0.8034060539343061,
+   "drift_ppm": 6.684178730711865,
+   "drift_se_ppm": 7.789384351910995,
+   "drift_ms_over_take": 0.873733563082886,
+   "lag_scatter_ms": 0.7389658836753986,
+   "lag_range_ms": 2.991090183234041
+  }
+ },
+ "units": {
+  "mocap": "millimetres, Nokov world, Y-up (unchanged)",
+  "y_up_to_z_up": [
+   [
+    1.0,
+    0.0,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   [
+    0.0,
+    1.0,
+    0.0
+   ]
+  ],
+  "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"
+ },
+ "streams": {
+  "sensors": {
+   "imu_head_right": {
+    "n_acc": 26600,
+    "n_gyro": 26595,
+    "t_start": -0.09477421141207343,
+    "t_end": 130.93222721658742
+   },
+   "imu_head_left": {
+    "n_acc": 26437,
+    "n_gyro": 26431,
+    "t_start": 0.018004455586491885,
+    "t_end": 131.10280276558763
+   },
+   "imu_wrist_right": {
+    "n_acc": 20281,
+    "n_gyro": 20281,
+    "t_start": -0.8870569264134934,
+    "t_end": 99.34199733658818
+   },
+   "imu_wrist_left": {
+    "n_acc": 26502,
+    "n_gyro": 26502,
+    "t_start": -0.9161859144122678,
+    "t_end": 129.9743778325875
+   },
+   "mag_head": {
+    "n": 13117,
+    "t_start": 0.10174516358813379,
+    "t_end": 131.26178864258793
+   },
+   "mag_wrist_right": {
+    "n": 10022,
+    "t_start": -0.8693515744133725,
+    "t_end": 99.34014094758743
+   },
+   "mag_wrist_left": {
+    "n": 13088,
+    "t_start": -0.8983851204128547,
+    "t_end": 129.97089547958706
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 14576.875315,
+    "frames": 3921,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0026284356473863946,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.04035310823485305,
+    "t_end": 130.70698610823558,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 14576.875276,
+    "frames": 3921,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0024181146161434135,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.04010378720442931,
+    "t_end": 130.70675978720385,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 14576.875302,
+    "frames": 3921,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002458947067077895,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.04017061965453139,
+    "t_end": 130.70680361965526,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 14576.875328,
+    "frames": 3921,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0021420814739499558,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.03987975406118893,
+    "t_end": 130.70651275406192,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 240.0,
+    "start_device_s": 14576.875288,
+    "frames": 3031,
+    "pts_gaps": 3030,
+    "timing": "pts (gap undecided)",
+    "timeshift_cam_imu_s": 0.002801984596191448,
+    "gap_test": {
+     "pts": {
+      "offset_ms": -8.5,
+      "corr": 0.512,
+      "err_ms": 11.3
+     },
+     "nominal": {
+      "offset_ms": NaN,
+      "corr": NaN,
+      "err_ms": NaN
+     }
+    },
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.04049965718252169,
+    "t_end": 130.74038865718205,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 14576.875256,
+    "frames": 3921,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002930366888236734,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.040596039475644274,
+    "t_end": 130.70725203947507,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 14575.917873,
+    "frames": 3926,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -0.9197173274122866,
+    "t_end": 129.91289967258774,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 14575.94726,
+    "frames": 3006,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -0.8903303274117894,
+    "t_end": 99.27581567258778,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-SM14-S01-yanyitong-02p1-1.mp4",
+    "frames": 3922,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 130.7
+   }
+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "c9205ac6e17d2d5c/20261020-afternoon/labels-235140/session-7e6b43edf1106f2e",
+  "R_tracker0_imu0": [
+   [
+    -0.6811291,
+    -0.05064696,
+    -0.7304095
+   ],
+   [
+    0.71624989,
+    0.16076851,
+    -0.67907259
+   ],
+   [
+    0.15181981,
+    -0.98569182,
+    -0.07322823
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.17871053704441728,
+   -0.017720692752624473,
+   0.013471949482694054
+  ],
+  "rig_check": {
+   "gyro_samples": 19,
+   "gyro_max_deg": 2.5,
+   "status": "unchecked",
+   "dropped_marker": null,
+   "gyro_deg": null
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-26T10:24:36.680054+00:00",
+  "generated_by": "scripts/canonicalise_dataset.py",
+  "frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
+  "R_canon_nokov": [
+   [
+    0.9999961192,
+    0.002785949,
+    8.8845e-06
+   ],
+   [
+    -8.8845e-06,
+    0.0063779982,
+    -0.9999796603
+   ],
+   [
+    -0.002785949,
+    0.9999757795,
+    0.0063779982
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999996119,
+    2.785949e-06,
+    8.884e-09,
+    0.0
+   ],
+   [
+    -8.884e-09,
+    6.377998e-06,
+    -0.00099997966,
+    0.0
+   ],
+   [
+    -2.785949e-06,
+    0.00099997578,
+    6.377998e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20261020-afternoon",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.398776794692196,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 40.9,
+   "headtop_p95_mm": 1615.4
+  },
+  "gravity_check": {
+   "static_samples": 14203,
+   "g_world_mean_m_s2": [
+    -0.0592,
+    -0.079,
+    9.7752
+   ],
+   "tilt_from_z_deg": 0.578,
+   "tilt_from_z_deg_before_levelling": 0.971,
+   "magnitude_m_s2": 9.7757
+  },
+  "rig_tracker_definition": "c9205ac6e17d2d5c/20261020-afternoon/labels-235140/session-7e6b43edf1106f2e",
+  "rig_check": {
+   "status": "unchecked",
+   "dropped_marker": null,
+   "gyro_deg": null
+  },
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-23T08:18:50.388655+00:00",
+  "generated_by": "scripts/fit_smplx_dataset.py",
+  "file": "smplx.npz",
+  "gender": "female",
+  "n_betas": 16,
+  "betas_source": "participant median (derived/smplx/participants.json)",
+  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
+  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
+  "hands": {
+   "observed": false,
+   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
+   "hand_marker_offsets_m": {
+    "left": {
+     "LHandIn": [
+      0.060508180409669876,
+      0.016759013757109642,
+      0.009286805987358093
+     ],
+     "LHandOut": [
+      0.04912665858864784,
+      0.004583827219903469,
+      -0.03803398832678795
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.06698326766490936,
+      -0.004608022049069405,
+      0.03965942934155464
+     ],
+     "RHandOut": [
+      -0.0666031464934349,
+      0.027684736996889114,
+      0.0135171664878726
+     ],
+     "RWristOut": [
+      0.007729863747954369,
+      0.03428167104721069,
+      0.009676930494606495
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 2.95,
+   "p95_frame": 5.73
+  },
+  "worst_markers": [
+   "LForearm 17mm",
+   "LElbow 13mm",
+   "LElbowIn 9mm",
+   "LWristOut 8mm",
+   "LUArmHigh 7mm"
+  ],
+  "valid_fraction": 0.9996,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 8.4,
+    "p5": 7.9
+   },
+   "frames_checked": 523,
+   "stature_mm": 1600.3
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 11.49
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 170.44,
+    "Q_rotvec": [
+     2.87083,
+     -0.05663,
+     -0.77725
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 156.6,
+    "opposite_sign_bend_deg": 39.6,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.99,
+    "hand_vs_marker_frame_deg": {
+     "before": 170.57,
+     "after": 2.99
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -154.81,
+     "wrist_twist_deg_after": {
+      "median": -0.01,
+      "iqr": [
+       -3.5,
+       19.6
+      ]
+     },
+     "wrist_total_deg_median_after": 37.7,
+     "markers_on_forearm": [
+      "LElbow",
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 64.68,
+    "Q_rotvec": [
+     1.01732,
+     0.42814,
+     -0.23725
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 45.9,
+    "opposite_sign_bend_deg": 144.3,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.85,
+    "hand_vs_marker_frame_deg": {
+     "before": 64.69,
+     "after": 1.85
+    },
+    "markers_on_wrist": [
+     "RWristOut",
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -42.22,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -3.5,
+       3.2
+      ]
+     },
+     "wrist_total_deg_median_after": 19.1,
+     "markers_on_forearm": [
+      "RElbowIn",
+      "RForearm",
+      "RWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-23T08:18:53.479114+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/static_manipulation/SM14/session_005",
+  "family": "static_manipulation",
+  "primitive": "SM14",
+  "source_session": "20261020/SM14/20261020_121818_session85"
+ }
+}

actions/static_manipulation/SM14/session_005/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02ddded5d24b08db33a8564970f55c2876158d526b2ee20a4308836dda463ed2
+size 1115467

actions/static_manipulation/SM14/session_005/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d4e9ddad8a85ab85f76574f680d0a8b840601fdac39efbcae19c9ac49dacc4a
+size 8849561

actions/static_manipulation/SM14/session_005/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43e16c7fd800db502876b3ddc1522930ee6e16ee0e0304125eeeb42e0f9da931
+size 8815355

actions/static_manipulation/SM14/session_005/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72327867ee0edcc5811788d646acc45d7e152a20cdaa1e7a9fb622dc5a0e714c
+size 5881990

actions/static_manipulation/SM14/session_005/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0b4089d6768299772baf6b077dcb93b2ddcb3745b08318069a78d103e74c676
+size 25180878

actions/static_manipulation/SM14/session_005/raw/manifest.json

@@ -0,0 +1,306 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-10-22T13:22:47.107123+00:00",
+  "primitive_id": "SM14",
+  "session_id": "20261020_121818_session85",
+  "upload_batch_id": "20261020",
+  "dataset_path": "EgoMotionActions/20261020/SM14/20261020_121818_session85",
+  "segment": "auto/all",
+  "duration_s": 130.666633,
+  "device_ids": {
+    "main": "c9205ac6e17d2d5c",
+    "left": "452031d7af00ef6f",
+    "right": "60a6f081bbe60b0d"
+  },
+  "mocap_rigid_names": [
+    "Body0",
+    "LittleBox1",
+    "Table2",
+    "Tracker0"
+  ],
+  "objects": [
+    "LittleBox1",
+    "Table2"
+  ],
+  "options": {
+    "raw_video": true,
+    "proxy_height": 540,
+    "proxy_crf": 28,
+    "proxy_bitrate": "1400k",
+    "mocap_selection": "explicit",
+    "mocap_files": [
+      "mocap-SM14-S01-yanyitong-02p1/mocap-SM14-S01-yanyitong-02p1-1.mp4",
+      "mocap-SM14-S01-yanyitong-02p1/mocap-SM14-S01-yanyitong-02p1-Body0.bvh",
+      "mocap-SM14-S01-yanyitong-02p1/mocap-SM14-S01-yanyitong-02p1-Body0.csv",
+      "mocap-SM14-S01-yanyitong-02p1/mocap-SM14-S01-yanyitong-02p1-Body0.trc",
+      "mocap-SM14-S01-yanyitong-02p1/mocap-SM14-S01-yanyitong-02p1-LittleBox1.csv",
+      "mocap-SM14-S01-yanyitong-02p1/mocap-SM14-S01-yanyitong-02p1-LittleBox1.trc",
+      "mocap-SM14-S01-yanyitong-02p1/mocap-SM14-S01-yanyitong-02p1-Table2.csv",
+      "mocap-SM14-S01-yanyitong-02p1/mocap-SM14-S01-yanyitong-02p1-Table2.trc",
+      "mocap-SM14-S01-yanyitong-02p1/mocap-SM14-S01-yanyitong-02p1-Tracker0.csv",
+      "mocap-SM14-S01-yanyitong-02p1/mocap-SM14-S01-yanyitong-02p1-Tracker0.trc"
+    ],
+    "include_rrd": false,
+    "rrd_files": [],
+    "aligned_intersection": false
+  },
+  "files": [
+    {
+      "source": "audio_segment1.wav",
+      "packaged_as": "audio_segment1.wav",
+      "kind": "data",
+      "original_bytes": 25180878,
+      "packaged_bytes": 25180878,
+      "compressed_video": false,
+      "sha256": "c0b4089d6768299772baf6b077dcb93b2ddcb3745b08318069a78d103e74c676"
+    },
+    {
+      "source": "mocap-SM14-S01-yanyitong-02p1/mocap-SM14-S01-yanyitong-02p1-1.mp4",
+      "packaged_as": "mocap/mocap-SM14-S01-yanyitong-02p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 41628421,
+      "packaged_bytes": 41628421,
+      "compressed_video": false,
+      "sha256": "bf368c11e43ef9550b72377b1ec71422af2f36fd5765df83334b53b3fc945296"
+    },
+    {
+      "source": "mocap-SM14-S01-yanyitong-02p1/mocap-SM14-S01-yanyitong-02p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-SM14-S01-yanyitong-02p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 9431106,
+      "packaged_bytes": 9431106,
+      "compressed_video": false,
+      "sha256": "472454619f9c7b7e4b78484bcd26825f98a9e010eda0d120395df8617253cc63"
+    },
+    {
+      "source": "mocap-SM14-S01-yanyitong-02p1/mocap-SM14-S01-yanyitong-02p1-Body0.csv",
+      "packaged_as": "mocap/mocap-SM14-S01-yanyitong-02p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 128962280,
+      "packaged_bytes": 128962280,
+      "compressed_video": false,
+      "sha256": "f0b8a0714f2d9d76cb124db1fa3364d3e24a6766437483fbf794051023cc93ce"
+    },
+    {
+      "source": "mocap-SM14-S01-yanyitong-02p1/mocap-SM14-S01-yanyitong-02p1-Body0.trc",
+      "packaged_as": "mocap/mocap-SM14-S01-yanyitong-02p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 29688301,
+      "packaged_bytes": 29688301,
+      "compressed_video": false,
+      "sha256": "89e14679eb25c9467bef0daada5129ff317221b33eee22a3bd05b6d9961f0c12"
+    },
+    {
+      "source": "mocap-SM14-S01-yanyitong-02p1/mocap-SM14-S01-yanyitong-02p1-LittleBox1.csv",
+      "packaged_as": "mocap/mocap-SM14-S01-yanyitong-02p1-LittleBox1.csv",
+      "kind": "data",
+      "original_bytes": 4795746,
+      "packaged_bytes": 4795746,
+      "compressed_video": false,
+      "sha256": "21740d5dba192ee39e135ccfef7214e1a6bcef3807f3afb534c376ca3e9e6a0b"
+    },
+    {
+      "source": "mocap-SM14-S01-yanyitong-02p1/mocap-SM14-S01-yanyitong-02p1-LittleBox1.trc",
+      "packaged_as": "mocap/mocap-SM14-S01-yanyitong-02p1-LittleBox1.trc",
+      "kind": "data",
+      "original_bytes": 2777036,
+      "packaged_bytes": 2777036,
+      "compressed_video": false,
+      "sha256": "7ae31e1c94e6cf6f750dd02cb3a7a10d2b6f9cead055a577dcad90819dccfecf"
+    },
+    {
+      "source": "mocap-SM14-S01-yanyitong-02p1/mocap-SM14-S01-yanyitong-02p1-Table2.csv",
+      "packaged_as": "mocap/mocap-SM14-S01-yanyitong-02p1-Table2.csv",
+      "kind": "data",
+      "original_bytes": 4831525,
+      "packaged_bytes": 4831525,
+      "compressed_video": false,
+      "sha256": "184b1ebb07a794c6c84842b233e06ef09a8ae8af4314219bfa3c98417efd7900"
+    },
+    {
+      "source": "mocap-SM14-S01-yanyitong-02p1/mocap-SM14-S01-yanyitong-02p1-Table2.trc",
+      "packaged_as": "mocap/mocap-SM14-S01-yanyitong-02p1-Table2.trc",
+      "kind": "data",
+      "original_bytes": 4839468,
+      "packaged_bytes": 4839468,
+      "compressed_video": false,
+      "sha256": "d586d610e842b30551771c61f01fe91fd2cf1fcc112d407cdd8f31107c951c25"
+    },
+    {
+      "source": "mocap-SM14-S01-yanyitong-02p1/mocap-SM14-S01-yanyitong-02p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-SM14-S01-yanyitong-02p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 4962190,
+      "packaged_bytes": 4962190,
+      "compressed_video": false,
+      "sha256": "f4323006670aa73a0ca9b00470e6639c380dd05417d858db7d5febf8e1db71db"
+    },
+    {
+      "source": "mocap-SM14-S01-yanyitong-02p1/mocap-SM14-S01-yanyitong-02p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-SM14-S01-yanyitong-02p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 4964974,
+      "packaged_bytes": 4964974,
+      "compressed_video": false,
+      "sha256": "4a5908080bb2bff98e359445c4d956ee22ce2b00f2d0bb8f39066700fb1b40cd"
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1339392,
+      "packaged_bytes": 1339392,
+      "compressed_video": false,
+      "sha256": "08f18c5aae3a632290bd851defa435f17713812cc1dcc3467fa0b49d18fa95e1"
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1294336,
+      "packaged_bytes": 1294336,
+      "compressed_video": false,
+      "sha256": "88d4c19da32cb4f992f619c00d4b33ffd89787d745a77519cf48f7fa6f6e9cc4"
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 352256,
+      "packaged_bytes": 352256,
+      "compressed_video": false,
+      "sha256": "deac777998b71e449cffef69438c0f572834b3dfee3b446e2f1bfcdae6567fde"
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 65709860,
+      "packaged_bytes": 65709860,
+      "compressed_video": false,
+      "sha256": "454c3bbf3038d17ee4631b3a37eb9d007cea250c224fa583e568ee8004939381"
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 50952384,
+      "packaged_bytes": 50952384,
+      "compressed_video": false,
+      "sha256": "854a2b8f17f69de4f7c0ccabcb65adf1336e71121efd535072301d787714419f"
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 65659683,
+      "packaged_bytes": 65659683,
+      "compressed_video": false,
+      "sha256": "36e5ddcae2624e057fd8bb91cf535f641e037e927b60eeae78cc53cc5653c1e8"
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 65590310,
+      "packaged_bytes": 65590310,
+      "compressed_video": false,
+      "sha256": "1c081eb96822beeef6f78574bb985d681ed1e727fbccbdb76c909a6195fae8ea"
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 65638794,
+      "packaged_bytes": 65638794,
+      "compressed_video": false,
+      "sha256": "1c4942cdf9cef53911556ed519c357ab5d7e6296707367c45d9557563c3fb4c9"
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 65629701,
+      "packaged_bytes": 65629701,
+      "compressed_video": false,
+      "sha256": "c868b87e4f76a3066dfa2884974a763f906ba83e520087c165b8d89c32e466d3"
+    },
+    {
+      "source": "robowrist_452031d7af00ef6f_left/robowrist_segment1_imu_left.db",
+      "packaged_as": "robowrist_452031d7af00ef6f_left/robowrist_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1318912,
+      "packaged_bytes": 1318912,
+      "compressed_video": false,
+      "sha256": "e57ca89b5637fb770c98cdfdeede8a2d528bcff602d63bb97feac0656abc3cb5"
+    },
+    {
+      "source": "robowrist_452031d7af00ef6f_left/robowrist_segment1_mag_left.db",
+      "packaged_as": "robowrist_452031d7af00ef6f_left/robowrist_segment1_mag_left.db",
+      "kind": "data",
+      "original_bytes": 335872,
+      "packaged_bytes": 335872,
+      "compressed_video": false,
+      "sha256": "da3c158fada792b4fa6842cdc69a9cf6b842b86c674a84fa4d222672c7e58eaa"
+    },
+    {
+      "source": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+      "packaged_as": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 53308063,
+      "packaged_bytes": 53308063,
+      "compressed_video": false,
+      "sha256": "5a3f685269ac9e58477a5b53fca7985ed9acf8a0fd72b66cdff0cb836c76dcc6"
+    },
+    {
+      "source": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_imu_right.db",
+      "packaged_as": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1003520,
+      "packaged_bytes": 1003520,
+      "compressed_video": false,
+      "sha256": "d2eaec52303b0d40334db1f37605e36e639f36653fb60b4ef3f7cbf78b9a0e76"
+    },
+    {
+      "source": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_mag_right.db",
+      "packaged_as": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_mag_right.db",
+      "kind": "data",
+      "original_bytes": 262144,
+      "packaged_bytes": 262144,
+      "compressed_video": false,
+      "sha256": "3a83a0e1c98941cd9196bd6c94d3d8a70bcc8980c2919ac0899f13618ae5904e"
+    },
+    {
+      "source": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
+      "packaged_as": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 45929505,
+      "packaged_bytes": 45929505,
+      "compressed_video": false,
+      "sha256": "dc7fe54929ab9f6ea3953cabfe4f428f8f3419ac4c2b3845b57dec2dc7a78ad3"
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 4113794,
+      "packaged_bytes": 4113741,
+      "compressed_video": false,
+      "sha256": "c40af4500f5141a05e8048c64fa2e52d0f427b1b4440f7d1c3431a8b15a0430c"
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-SM14-S01-yanyitong-02p1",
+    "action_id": "SM14",
+    "collection_session_index": 1,
+    "participant": "yanyitong",
+    "repetition_count": 2
+  },
+  "upload_batch_created_at": "2026-10-22T21:27:58.163145+08:00",
+  "participant_gender": "female",
+  "participant_height_cm": 158,
+  "participant_weight_kg": 50,
+  "collection_site": {
+    "id": "site_01"
+  }
+}

actions/static_manipulation/SM14/session_005/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0b8a0714f2d9d76cb124db1fa3364d3e24a6766437483fbf794051023cc93ce
+size 128962280

actions/static_manipulation/SM14/session_005/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89e14679eb25c9467bef0daada5129ff317221b33eee22a3bd05b6d9961f0c12
+size 29688301

actions/static_manipulation/SM14/session_005/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08f18c5aae3a632290bd851defa435f17713812cc1dcc3467fa0b49d18fa95e1
+size 1339392

actions/static_manipulation/SM14/session_005/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88d4c19da32cb4f992f619c00d4b33ffd89787d745a77519cf48f7fa6f6e9cc4
+size 1294336

actions/static_manipulation/SM14/session_005/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:deac777998b71e449cffef69438c0f572834b3dfee3b446e2f1bfcdae6567fde
+size 352256

actions/static_manipulation/SM14/session_005/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e57ca89b5637fb770c98cdfdeede8a2d528bcff602d63bb97feac0656abc3cb5
+size 1318912

actions/static_manipulation/SM14/session_005/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2eaec52303b0d40334db1f37605e36e639f36653fb60b4ef3f7cbf78b9a0e76
+size 1003520

actions/static_manipulation/SM14/session_005/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da3c158fada792b4fa6842cdc69a9cf6b842b86c674a84fa4d222672c7e58eaa
+size 335872

actions/static_manipulation/SM14/session_005/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a83a0e1c98941cd9196bd6c94d3d8a70bcc8980c2919ac0899f13618ae5904e
+size 262144

actions/static_manipulation/SM14/session_005/scene/infer.json

@@ -0,0 +1,36 @@
+{
+  "model": "facebook/map-anything",
+  "views": 262,
+  "windows": 6,
+  "cams": "left_front,right_front",
+  "stride_s": 1.0,
+  "size": [
+    518,
+    392
+  ],
+  "K": [
+    [
+      308.6641804819004,
+      0.0,
+      259.0
+    ],
+    [
+      0.0,
+      308.6641804819004,
+      196.0
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "pitch_deg": -20.0,
+  "hfov_deg": 80.0,
+  "pose_agreement_window_aligned": {
+    "trans_median_m": 0.0063,
+    "trans_p95_m": 0.0106,
+    "rot_median_deg": 0.231,
+    "rot_p95_deg": 0.387
+  }
+}

actions/static_manipulation/SM14/session_005/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:143ab26dbb4679a34eaaa90bd5316aec6749b51bfe2bc9357a61cfbb4b8d5f88
+size 237008160