Upload folder using huggingface_hub (part 984)

.gitattributes

@@ -38349,3 +38349,31 @@ actions/static_manipulation/SM12/session_001/raw/sensors/robocap_mag_middle.db f
 actions/static_manipulation/SM12/session_001/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM12/session_001/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM12/session_001/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM12/session_002/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM12/session_002/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM12/session_002/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM12/session_002/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM12/session_002/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM12/session_002/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM12/session_002/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM12/session_002/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM12/session_003/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM12/session_003/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM12/session_003/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM12/session_003/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM12/session_003/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM12/session_003/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM12/session_003/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM12/session_003/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM12/session_003/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM12/session_004/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM12/session_004/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM12/session_004/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM12/session_004/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM12/session_004/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM12/session_004/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM12/session_004/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM12/session_004/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM12/session_004/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM12/session_005/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM12/session_005/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/static_manipulation/SM12/session_002/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78dd250ef17837d7d4c47f6643e495cd580bf6823ba9218bda7857d174aaa4f2
+size 131957534

actions/static_manipulation/SM12/session_002/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04adcf58742ff9d089f6d386288b395ad7b475c8542096255d826d3d0ce2f365
+size 28635803

actions/static_manipulation/SM12/session_002/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa2aec34cfe9531fc778b9e08c5693a67427c97e466530e86910c96535234955
+size 1409024

actions/static_manipulation/SM12/session_002/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8a55ce972e3351ea4d7232905869dc1e34cc310569df1eb656b8376cce9a86f
+size 1351680

actions/static_manipulation/SM12/session_002/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fcb0054408de365f537ccc9fbf3cb4da95286aa0b59931e1d6d92edec62ce4e
+size 364544

actions/static_manipulation/SM12/session_002/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bafcb53347c2c9a4adc987928238c47f9ff0cb4d4d3c90da801b6d082094f5b
+size 1323008

actions/static_manipulation/SM12/session_002/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f33a73e3892aebbbbc8561539e43bfc920f3d471cb2f0bc04e42cef0525955e6
+size 335872

actions/static_manipulation/SM12/session_002/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c5743a2b7da936814c58f90ac1401157eb306a4ca02aafc253943c01df8b97a
+size 339968

actions/static_manipulation/SM12/session_002/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": 0.0187,
+    "trans_p95_m": 0.0687,
+    "rot_median_deg": 0.455,
+    "rot_p95_deg": 1.087
+  }
+}

actions/static_manipulation/SM12/session_002/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5771de1473841977cbb715dc843e2af80563bd2b14ef0edb9a803172ff3b34e6
+size 257661166

actions/static_manipulation/SM12/session_002/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36d2a20382bbfe362456196be8d0f13b1fb96003ee3320dddbc2881fcc366a2e
+size 1495441

actions/static_manipulation/SM12/session_002/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bfdafa243a13b471d1ed6e0350e8f6e06932be4d4299887d92a17f1711ca237
+size 129491

actions/static_manipulation/SM12/session_002/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5651bd00c30c48022c3347c08a35d7ea1c74e31dd1ddb9c9416e481ff1353aa3
+size 768101

actions/static_manipulation/SM12/session_002/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8def1a66bdf51a66945198b2a91933bbebdad769aed308b414dec0d48d0ba5d
+size 311735

actions/static_manipulation/SM12/session_002/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d264fb282e9c24f29e125784878c9a7a8d88eb93bbbb7319fbe5994b9bf50e02
+size 268489

actions/static_manipulation/SM12/session_002/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:618757f5dbe0a2518b88d580e53c88cb095c480eb2575794d9e9753f4141fddf
+size 67123724

actions/static_manipulation/SM12/session_002/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3bc347759ef8ffe78f7b7ecd3f02069342eab1eee50e20455559b6a2de4064d
+size 67067759

actions/static_manipulation/SM12/session_002/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1b116a22f1f498f24310a55af3b31fafb1ac0dfbd66fb9ccfddf1aeb8c2d822
+size 67100729

actions/static_manipulation/SM12/session_002/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dba40c67f5bc7278e4a3b6092ee842567017bb2a1054aa5c2246fda9a34bf53
+size 67120669

actions/static_manipulation/SM12/session_002/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9e3eb4aacdeb9bfbff1326af0ee735b4f0599c3c9a265ea6739a759f1c4a408
+size 67068547

actions/static_manipulation/SM12/session_002/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd9e8eba3ae777b2ec825378bdcba8c8892ee34dd9abac5386b38013a00ace4b
+size 67093169

actions/static_manipulation/SM12/session_002/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c63ad0fb65355ac0f52d61246215f861568e7f8436347ac1593057cad9f031ef
+size 62574113

actions/static_manipulation/SM12/session_002/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb4c0422a858753c3eabbf95d2e320b4f15669185b4c5c528771a53547fc2e3f
+size 61161678

actions/static_manipulation/SM12/session_002/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c722ccd417f3033076b2c1f5499cdf01108b977c4090e3c521a09aea91e742a6
+size 61391425

actions/static_manipulation/SM12/session_003/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b4effe895bca312035a0eeea9e30c69af38e5bcb8f74586a1e321e6dfbbf5e0
+size 1182082

actions/static_manipulation/SM12/session_003/meta.json

@@ -0,0 +1,541 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261008/SM12/20261008_030602_session38",
+ "session_id": "20261008_030602_session38",
+ "primitive": "SM12",
+ "batch": "20261008",
+ "participant": "gaoziyue",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e17c9efadb69e7b1",
+  "left": "cc5681142208e29a",
+  "right": "60a6f081bbe60b0d"
+ },
+ "generated_at_utc": "2026-10-14T11:34:57.504137+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,
+  "first_solved_frame": 0,
+  "duration_s": 134.025,
+  "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": -1.179148,
+  "rate": 0.0,
+  "global_lag_s": -1.18,
+  "peak_corr": 0.9636,
+  "reference_imu_first_sample_s": 9855.973198092,
+  "windows": {
+   "n_windows": 11,
+   "window_corr_median": 0.9944626683669745,
+   "drift_ppm": -2.9967779552257077,
+   "drift_se_ppm": 5.4198399812307105,
+   "drift_ms_over_take": -0.40161819229949863,
+   "lag_scatter_ms": 0.5141711668299986,
+   "lag_range_ms": 1.6963923312909301
+  }
+ },
+ "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": "e17c9efadb69e7b1",
+  "status": "ok",
+  "date": "2026-09-08"
+ },
+ "streams": {
+  "sensors": {
+   "imu_head_right": {
+    "n_acc": 27272,
+    "n_gyro": 27266,
+    "t_start": -1.1861278419916679,
+    "t_end": 134.77823090200883
+   },
+   "imu_head_left": {
+    "n_acc": 27222,
+    "n_gyro": 27216,
+    "t_start": -1.0726740079923665,
+    "t_end": 134.94626079800884
+   },
+   "imu_wrist_right": {
+    "n_acc": 26937,
+    "n_gyro": 26948,
+    "t_start": 0.2601191240076397,
+    "t_end": 133.38145055600882
+   },
+   "imu_wrist_left": {
+    "n_acc": 26274,
+    "n_gyro": 26285,
+    "t_start": 0.36613545800838176,
+    "t_end": 133.383257557008
+   },
+   "mag_head": {
+    "n": 13611,
+    "t_start": -0.9906201749915389,
+    "t_end": 135.109378140008
+   },
+   "mag_wrist_right": {
+    "n": 13311,
+    "t_start": 0.2778824650079579,
+    "t_end": 133.37753465500765
+   },
+   "mag_wrist_left": {
+    "n": 13299,
+    "t_start": 0.3803917880080072,
+    "t_end": 133.3600206570075
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 9857.190017,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0023423887986386703,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.04001288980662787,
+    "t_end": 134.00667988980723,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 9857.189953,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0019489646456461974,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.03955546565276302,
+    "t_end": 134.00623346565345,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 9857.189995,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0018171232386612972,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.03946562424726574,
+    "t_end": 134.00613262424787,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 9857.190036,
+    "frames": 4019,
+    "pts_gaps": 1,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017295646474508202,
+    "gap_test": {
+     "pts": {
+      "offset_ms": 27.2,
+      "corr": 0.981,
+      "err_ms": 25.4
+     },
+     "nominal": {
+      "offset_ms": 60.4,
+      "corr": 0.981,
+      "err_ms": 58.7
+     }
+    },
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.039419065654608065,
+    "t_end": 134.00607506565512,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 9857.189972,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.001668932298833096,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.03929443330644711,
+    "t_end": 134.00596143330705,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 9857.189918,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017169377622902274,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.03928843877047905,
+    "t_end": 134.00596643877117,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 9857.504667,
+    "frames": 3990,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": 0.35232050100722256,
+    "t_end": 133.31859650100643,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 9857.414588,
+    "frames": 3993,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": 0.26224150100761756,
+    "t_end": 133.32858250100736,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-SM12-S01-gaoziyue-02p1-1.mp4",
+    "frames": 4021,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 134.0
+   }
+  }
+ },
+ "flags": [],
+ "sanity": {
+  "status": {
+   "structure": "WARN",
+   "markers": "WARN",
+   "timing": "WARN"
+  },
+  "verdict": "READY_WITH_WARNINGS",
+  "issues": [
+   "WARN M_BODY_ID",
+   "WARN M_SPIKES",
+   "WARN M_TRACKER_LABELS",
+   "WARN S_REPORT_TIMING",
+   "WARN T_PTS",
+   "WARN T_UNITS"
+  ]
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-14T12:22:55.751933+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": [
+   [
+    0.9999946774,
+    -0.0032627035,
+    5.0113e-06
+   ],
+   [
+    -5.0113e-06,
+    -0.0030718258,
+    -0.9999952819
+   ],
+   [
+    0.0032627035,
+    0.9999899593,
+    -0.0030718258
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999994677,
+    -3.262703e-06,
+    5.011e-09,
+    0.0
+   ],
+   [
+    -5.011e-09,
+    -3.071826e-06,
+    -0.000999995282,
+    0.0
+   ],
+   [
+    3.262703e-06,
+    0.000999989959,
+    -3.071826e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20261008-morning",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.2567559484663804,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 27.6,
+   "headtop_p95_mm": 1615.2
+  },
+  "gravity_check": {
+   "static_samples": 1594,
+   "g_world_mean_m_s2": [
+    0.261,
+    0.1381,
+    9.8427
+   ],
+   "tilt_from_z_deg": 1.718,
+   "tilt_from_z_deg_before_levelling": 1.967,
+   "magnitude_m_s2": 9.8472
+  },
+  "rig_tracker_definition": "e17c9efadb69e7b1/20261008-morning/labels-530412/session-73c38cd6f3b92185",
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-15T08:10:26.676694+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": [
+      0.06393204629421234,
+      0.00893748365342617,
+      0.0283922478556633
+     ],
+     "LHandOut": [
+      0.06002344563603401,
+      0.020728537812829018,
+      -0.022459689527750015
+     ],
+     "LWristOut": [
+      -0.013713707216084003,
+      0.03152552247047424,
+      -0.011043628677725792
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.06781455874443054,
+      0.016239294782280922,
+      0.028275413438677788
+     ],
+     "RHandOut": [
+      -0.061499644070863724,
+      0.016614994034171104,
+      -0.022985447198152542
+     ],
+     "RWristOut": [
+      0.004344413988292217,
+      0.02578386850655079,
+      -0.025171346962451935
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 5.83,
+   "p95_frame": 13.54
+  },
+  "worst_markers": [
+   "WaistRSide 17mm",
+   "WaistLSide 16mm",
+   "LElbowIn 14mm",
+   "WaistRFront 13mm",
+   "WaistLFront 12mm"
+  ],
+  "valid_fraction": 0.9996,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 1.4,
+    "p5": -5.2
+   },
+   "frames_checked": 536,
+   "stature_mm": 1598.8
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 11.35
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 161.58,
+    "Q_rotvec": [
+     -2.7681,
+     0.09038,
+     0.53153
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 171.6,
+    "opposite_sign_bend_deg": 24.4,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.8,
+    "hand_vs_marker_frame_deg": {
+     "before": 161.41,
+     "after": 2.8
+    },
+    "markers_on_wrist": [
+     "LWristOut",
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 164.49,
+     "wrist_twist_deg_after": {
+      "median": 8.83,
+      "iqr": [
+       1.4,
+       17.6
+      ]
+     },
+     "wrist_total_deg_median_after": 30.7,
+     "markers_on_forearm": [
+      "LElbow",
+      "LForearm",
+      "LWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 16.29,
+    "Q_rotvec": [
+     0.12332,
+     0.16913,
+     -0.19236
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 33.3,
+    "opposite_sign_bend_deg": 158.6,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.84,
+    "hand_vs_marker_frame_deg": {
+     "before": 16.93,
+     "after": 2.84
+    },
+    "markers_on_wrist": [
+     "RWristOut",
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -28.59,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -3.2,
+       7.5
+      ]
+     },
+     "wrist_total_deg_median_after": 19.0,
+     "markers_on_forearm": [
+      "RElbowIn",
+      "RForearm",
+      "RWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-15T08:10:29.599003+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "rig_tracker": {
+  "definition": "e17c9efadb69e7b1/20261008-morning/labels-530412/session-73c38cd6f3b92185",
+  "R_tracker0_imu0": [
+   [
+    -0.66414504,
+    0.15348293,
+    -0.73167913
+   ],
+   [
+    0.7458336,
+    0.06871664,
+    -0.6625785
+   ],
+   [
+    -0.05141596,
+    -0.98575911,
+    -0.16011054
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.1773722641007011,
+   -0.01794133096691707,
+   -0.007669273566076776
+  ],
+  "rig_check": {
+   "gyro_samples": 6868,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 1.526
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "rig_calibration_repair": {
+  "version": 2,
+  "applied_at_utc": "2026-10-18T19:08:51.181180+00:00",
+  "generated_by": "scripts/correct_processed_rig.py",
+  "remaining_gyro_frame_deg": 1.4704514121258583
+ },
+ "release": {
+  "release_path": "actions/static_manipulation/SM12/session_003",
+  "family": "static_manipulation",
+  "primitive": "SM12",
+  "source_session": "20261008/SM12/20261008_030602_session38"
+ }
+}

actions/static_manipulation/SM12/session_003/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b94aba48d692ba0453612bff3565fb22bd88d0c66191eb2c0e59fe63c3bc5fe9
+size 1201449

actions/static_manipulation/SM12/session_003/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d99c7e678c10800568c8f2357d1c834f9d9f9733ace4a501a3f4a1f6dd90b524
+size 9332006

actions/static_manipulation/SM12/session_003/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:088d189e4167b4de40df28bbe99651c92a986e13a55d519af60cc383c28acd3b
+size 9388559

actions/static_manipulation/SM12/session_003/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aeb08f610c034c1d74d0f52f610294486d63443631eedf5935c37d00c5d738ed
+size 6197340

actions/static_manipulation/SM12/session_003/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91f809ddce406275825a22eb08edad4a0b1dc90be478b29c99a49d28f652c5fa
+size 25960398

actions/static_manipulation/SM12/session_003/raw/manifest.json

@@ -0,0 +1,246 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-10-09T04:08:04.433656+00:00",
+  "primitive_id": "SM12",
+  "session_id": "20261008_030602_session38",
+  "upload_batch_id": "20261008",
+  "dataset_path": "EgoMotionActions/20261008/SM12/20261008_030602_session38",
+  "segment": "auto/all",
+  "duration_s": 133.966667,
+  "device_ids": {
+    "main": "e17c9efadb69e7b1",
+    "left": "cc5681142208e29a",
+    "right": "60a6f081bbe60b0d"
+  },
+  "options": {
+    "raw_video": true,
+    "proxy_height": 540,
+    "proxy_crf": 28,
+    "proxy_bitrate": "1400k",
+    "mocap_selection": "explicit",
+    "mocap_files": [
+      "mocap-SM12-S01-gaoziyue-02p1/mocap-SM12-S01-gaoziyue-02p1-1.mp4",
+      "mocap-SM12-S01-gaoziyue-02p1/mocap-SM12-S01-gaoziyue-02p1-Body0.bvh",
+      "mocap-SM12-S01-gaoziyue-02p1/mocap-SM12-S01-gaoziyue-02p1-Body0.csv",
+      "mocap-SM12-S01-gaoziyue-02p1/mocap-SM12-S01-gaoziyue-02p1-Body0.trc",
+      "mocap-SM12-S01-gaoziyue-02p1/mocap-SM12-S01-gaoziyue-02p1-Tracker0.csv",
+      "mocap-SM12-S01-gaoziyue-02p1/mocap-SM12-S01-gaoziyue-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": 25960398,
+      "packaged_bytes": 25960398,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-SM12-S01-gaoziyue-02p1/mocap-SM12-S01-gaoziyue-02p1-1.mp4",
+      "packaged_as": "mocap/mocap-SM12-S01-gaoziyue-02p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64061034,
+      "packaged_bytes": 64061034,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-SM12-S01-gaoziyue-02p1/mocap-SM12-S01-gaoziyue-02p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-SM12-S01-gaoziyue-02p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 9659633,
+      "packaged_bytes": 9659633,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-SM12-S01-gaoziyue-02p1/mocap-SM12-S01-gaoziyue-02p1-Body0.csv",
+      "packaged_as": "mocap/mocap-SM12-S01-gaoziyue-02p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 133942840,
+      "packaged_bytes": 133942840,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-SM12-S01-gaoziyue-02p1/mocap-SM12-S01-gaoziyue-02p1-Body0.trc",
+      "packaged_as": "mocap/mocap-SM12-S01-gaoziyue-02p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 29064565,
+      "packaged_bytes": 29064565,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-SM12-S01-gaoziyue-02p1/mocap-SM12-S01-gaoziyue-02p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-SM12-S01-gaoziyue-02p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 5115799,
+      "packaged_bytes": 5115799,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-SM12-S01-gaoziyue-02p1/mocap-SM12-S01-gaoziyue-02p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-SM12-S01-gaoziyue-02p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 4867805,
+      "packaged_bytes": 4867805,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1409024,
+      "packaged_bytes": 1409024,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1355776,
+      "packaged_bytes": 1355776,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 364544,
+      "packaged_bytes": 364544,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67249471,
+      "packaged_bytes": 67249471,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67099936,
+      "packaged_bytes": 67099936,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67146208,
+      "packaged_bytes": 67146208,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67220078,
+      "packaged_bytes": 67220078,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67126466,
+      "packaged_bytes": 67126466,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67137176,
+      "packaged_bytes": 67137176,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_imu_right.db",
+      "packaged_as": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1339392,
+      "packaged_bytes": 1339392,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_mag_right.db",
+      "packaged_as": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_mag_right.db",
+      "kind": "data",
+      "original_bytes": 344064,
+      "packaged_bytes": 344064,
+      "compressed_video": false
+    },
+    {
+      "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": 57903288,
+      "packaged_bytes": 57903288,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_cc5681142208e29a_left/robowrist_segment1_imu_left.db",
+      "packaged_as": "robowrist_cc5681142208e29a_left/robowrist_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1306624,
+      "packaged_bytes": 1306624,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_cc5681142208e29a_left/robowrist_segment1_mag_left.db",
+      "packaged_as": "robowrist_cc5681142208e29a_left/robowrist_segment1_mag_left.db",
+      "kind": "data",
+      "original_bytes": 344064,
+      "packaged_bytes": 344064,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+      "packaged_as": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 62387171,
+      "packaged_bytes": 62387171,
+      "compressed_video": false
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 679963,
+      "packaged_bytes": 679909,
+      "compressed_video": false
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-SM12-S01-gaoziyue-02p1",
+    "action_id": "SM12",
+    "collection_session_index": 1,
+    "participant": "gaoziyue",
+    "repetition_count": 2
+  },
+  "upload_batch_created_at": "2026-10-09T12:29:21.951888+08:00",
+  "participant_gender": "female",
+  "participant_height_cm": 160,
+  "participant_weight_kg": 56,
+  "objects": [
+    {
+      "name": "LittleBox",
+      "num": 4,
+      "scan_file": "3dobjs/LittleBox.objcap/models/box[0, 1, 2].usdz",
+      "rigid_names": [
+        "LittleBox0",
+        "LittleBox1",
+        "LittleBox2",
+        "LittleBox3"
+      ]
+    }
+  ],
+  "collection_site": {
+    "id": "site_00"
+  }
+}

actions/static_manipulation/SM12/session_003/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c533eafac27cea479110b8c02db96e893b865cb00e0e059b2409fd7ed0f0c9a7
+size 133942840

actions/static_manipulation/SM12/session_003/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86742901235dc5c1ddeee5a9df9b57a85e41475ba3d4a5cd9ac2c57b0ea3c648
+size 29064565

actions/static_manipulation/SM12/session_003/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bead920edd5ae10c920f1d8c100405833a05cf4a3b76e07b1aab866f32e55eb2
+size 1409024

actions/static_manipulation/SM12/session_003/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c11df3b20e8fb2852432fe48c2466af1bb98f4d17788659bae53fd5fea72dd03
+size 1355776

actions/static_manipulation/SM12/session_003/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:805f553c24959fede95b79c758a50152185c64445acf5f9bd75b8a83743c846a
+size 364544

actions/static_manipulation/SM12/session_003/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb95137fa30cd3634925bab600d4c66cf7362ff4ed76e690ebd981e0fcda8413
+size 1306624

actions/static_manipulation/SM12/session_003/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4d29301f84ff41fb91521be89f15b5e4a7ae60c9bf62d150aa5b10abb5d0505
+size 1339392

actions/static_manipulation/SM12/session_003/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0efa496106a53710190af31101dce627912f102ef4cca23e3317c241e4862f6
+size 344064

actions/static_manipulation/SM12/session_003/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc4c93a3d107e02dfa1537115739a0ea44ee575406470f0c82dbe92af3b8833d
+size 344064

actions/static_manipulation/SM12/session_003/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": 0.0465,
+    "trans_p95_m": 0.1318,
+    "rot_median_deg": 0.328,
+    "rot_p95_deg": 0.994
+  }
+}

actions/static_manipulation/SM12/session_003/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ef46cc6033d5773e274b73d45235ea8e6ff2b7ba7bee5b2859aba839114378c
+size 301011237