Upload folder using huggingface_hub (part 2112)

actions/static_manipulation/SM08/session_003/meta.json

@@ -405,19 +405,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 172.61,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     2.94218,
-     -0.14573,
-     -0.63135
+     -2.98794,
+     0.42773,
+     0.87113
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 153.9,
-    "opposite_sign_bend_deg": 36.3,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 173.1,
+    "opposite_sign_bend_deg": 45.2,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.44,
     "hand_vs_marker_frame_deg": {
-     "before": 172.33,
+     "before": 179.36,
      "after": 2.44
     },
     "markers_on_wrist": [
@@ -425,15 +425,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 151.92,
+     "twist_moved_deg": 171.7,
      "wrist_twist_deg_after": {
-      "median": 0.46,
+      "median": 4.07,
       "iqr": [
-       -3.5,
-       5.6
+       0.3,
+       8.9
       ]
      },
-     "wrist_total_deg_median_after": 44.7,
+     "wrist_total_deg_median_after": 17.1,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -444,19 +444,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 54.96,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     0.89637,
-     0.25432,
-     0.22795
+     0.0,
+     0.0,
+     -0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 15.7,
-    "opposite_sign_bend_deg": 174.6,
+    "wrist_bend_deg_median": 15.6,
+    "opposite_sign_bend_deg": 175.4,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.98,
     "hand_vs_marker_frame_deg": {
-     "before": 56.25,
+     "before": 3.98,
      "after": 3.98
     },
     "markers_on_wrist": [
@@ -465,9 +465,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -2.94,
+     "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -0.0,
       "iqr": [
        -18.2,
        3.9
@@ -481,7 +481,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-15T08:09:49.534765+00:00",
+   "generated_at_utc": "2026-10-28T06:33:20.382512+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },

actions/static_manipulation/SM08/session_003/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:455bba8492e5e004ec87f825b454a63dbcd388ab777fa3207f14c028ccbbfa4c
-size 6470650
+oid sha256:9851da53fc0874fe70efcff22939704d05c95cccaff4e1728ced7ca1e2b19a5e
+size 6471421

actions/static_manipulation/SM08/session_004/meta.json

@@ -413,19 +413,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 177.47,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     2.98227,
-     0.11871,
-     -0.82829
+     -3.02706,
+     0.2415,
+     0.80509
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 175.6,
-    "opposite_sign_bend_deg": 28.2,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 159.9,
+    "opposite_sign_bend_deg": 29.1,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.48,
     "hand_vs_marker_frame_deg": {
-     "before": 177.82,
+     "before": 178.83,
      "after": 2.48
     },
     "markers_on_wrist": [
@@ -433,15 +433,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 163.27,
+     "twist_moved_deg": -158.8,
      "wrist_twist_deg_after": {
-      "median": 15.51,
+      "median": -0.0,
       "iqr": [
-       11.1,
-       20.5
+       -4.8,
+       5.2
       ]
      },
-     "wrist_total_deg_median_after": 29.5,
+     "wrist_total_deg_median_after": 27.4,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -452,19 +452,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 160.15,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     2.63756,
-     0.88826,
-     -0.25869
+     0.0,
+     0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 136.5,
-    "opposite_sign_bend_deg": 56.0,
+    "wrist_bend_deg_median": 32.3,
+    "opposite_sign_bend_deg": 173.9,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 1.84,
     "hand_vs_marker_frame_deg": {
-     "before": 160.0,
+     "before": 1.84,
      "after": 1.84
     },
     "markers_on_wrist": [
@@ -472,7 +472,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -134.92,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
       "median": -0.0,
       "iqr": [
@@ -489,7 +489,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-26T13:35:25.345547+00:00",
+   "generated_at_utc": "2026-10-28T06:46:05.639760+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -498,5 +498,19 @@
   "family": "static_manipulation",
   "primitive": "SM08",
   "source_session": "20261021/SM08/20261021_042526_session7"
- }
+ },
+ "objects": [
+  {
+   "name": "LittleBox1",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "Table2",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/static_manipulation/SM08/session_004/motions/object_markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dacefa00a2d931df1d32f64886e53fd9e88e6ea342ea3ad4e91e19c4d391cd1
+size 922761

actions/static_manipulation/SM08/session_004/motions/objects.json

@@ -0,0 +1,58 @@
+{
+ "session": "20261021/SM08/20261021_042526_session7",
+ "generated_at_utc": "2026-10-29T13:11:09.774843+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": 68.22,
+   "verified_pct": 68.0,
+   "moving_pct": 48.14,
+   "vision_source": null
+  },
+  {
+   "name": "Table2",
+   "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": "corrected",
+  "notes": [],
+  "declared": [
+   "LittleBox1",
+   "Table2"
+  ],
+  "listed": [
+   {
+    "name": "LittleBox1",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "Table2",
+    "object": null,
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/static_manipulation/SM08/session_004/motions/objects.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e684d324f5707b449d644aaeebdc0e88a134e420d49183d6deee8a1be21ae858
+size 1111793

actions/static_manipulation/SM08/session_004/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:07e44e46506b27ca53572015d59ac941c9e1635aef3e60172cb31ead23932a03
-size 6013260
+oid sha256:108026cea7acef6dbcbd541f2436f55af9ead82e555dd344c47d9f2870fd4a1c
+size 6011236

actions/static_manipulation/SM08/session_005/meta.json

@@ -356,7 +356,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-26T15:07:37.537237+00:00",
+  "generated_at_utc": "2026-10-27T19:12:23.197807+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -371,56 +371,51 @@
    "hand_marker_offsets_m": {
     "left": {
      "LHandIn": [
-      0.06512679904699326,
-      -0.03433748707175255,
-      0.01606002449989319
+      0.0670088678598404,
+      -0.03556032478809357,
+      0.014371247962117195
      ],
      "LHandOut": [
-      0.06417731195688248,
-      0.019034823402762413,
-      0.02008284442126751
+      0.0679420456290245,
+      0.017572255805134773,
+      0.024661395698785782
      ],
      "LWristIn": [
-      0.008809314109385014,
-      -0.044124968349933624,
-      -0.013688192702829838
-     ],
-     "LWristOut": [
-      -0.008578915148973465,
-      0.023580124601721764,
-      0.02222675457596779
+      0.023520182818174362,
+      -0.03878360614180565,
+      -0.030707957223057747
      ]
     },
     "right": {
      "RHandIn": [
-      -0.05604063719511032,
-      0.01712922938168049,
-      0.017821040004491806
+      -0.053787149488925934,
+      0.016957057639956474,
+      0.01705186441540718
      ],
      "RHandOut": [
-      -0.04903825372457504,
-      -0.023667361587285995,
-      -0.0015292044263333082
+      -0.047344889491796494,
+      -0.024151984602212906,
+      -0.0018163786735385656
      ]
     }
    }
   },
   "marker_rmse_mm": {
-   "median_frame": 3.52,
-   "p95_frame": 9.35
+   "median_frame": 2.21,
+   "p95_frame": 8.28
   },
   "worst_markers": [
-   "LForearm 24mm",
-   "LElbowIn 13mm",
-   "LWristOut 10mm",
-   "LElbow 9mm",
-   "RElbowIn 7mm"
+   "LElbowIn 10mm",
+   "LForearm 9mm",
+   "RElbowIn 9mm",
+   "LWristOut 7mm",
+   "LElbow 6mm"
   ],
   "valid_fraction": 1.0,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 12.8,
-    "p5": 12.2
+    "median": 12.6,
+    "p5": 11.9
    },
    "frames_checked": 517,
    "stature_mm": 1600.3
@@ -429,78 +424,80 @@
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 12.79
+   "surface_rmse_mm_median": 12.24
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 84.59,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     -1.43712,
-     -0.29961,
-     0.1568
+     -0.0,
+     0.0,
+     -0.0
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 82.0,
-    "opposite_sign_bend_deg": 106.1,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 5.92,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 30.7,
+    "opposite_sign_bend_deg": 175.7,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 4.08,
     "hand_vs_marker_frame_deg": {
-     "before": 83.66,
-     "after": 5.92
+     "before": 4.08,
+     "after": 4.08
     },
     "markers_on_wrist": [
      "LWristIn",
-     "LWristOut",
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -81.38,
+     "twist_moved_deg": 0.03,
      "wrist_twist_deg_after": {
-      "median": -0.01,
+      "median": -0.0,
       "iqr": [
-       -3.4,
-       25.6
+       -3.7,
+       9.8
       ]
      },
-     "wrist_total_deg_median_after": 17.8,
-     "markers_on_forearm": []
+     "wrist_total_deg_median_after": 31.6,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristOut"
+     ]
     },
-    "frames_used": 1500
+    "frames_used": 1437
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 61.47,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     -1.05736,
-     0.18154,
-     -0.00117
+     -0.0,
+     -0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 81.6,
-    "opposite_sign_bend_deg": 104.8,
+    "wrist_bend_deg_median": 12.0,
+    "opposite_sign_bend_deg": 175.8,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 2.31,
+    "marker_frame_spread_deg": 2.72,
     "hand_vs_marker_frame_deg": {
-     "before": 61.32,
-     "after": 2.31
+     "before": 2.72,
+     "after": 2.72
     },
     "markers_on_wrist": [
      "RHandIn",
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 80.77,
+     "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
       "median": 0.0,
       "iqr": [
-       -3.2,
-       3.0
+       -3.3,
+       3.1
       ]
      },
-     "wrist_total_deg_median_after": 10.9,
+     "wrist_total_deg_median_after": 12.3,
      "markers_on_forearm": [
       "RForearm",
       "RWristIn",
@@ -509,14 +506,69 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-26T15:07:40.715784+00:00",
+   "generated_at_utc": "2026-10-28T06:47:14.507988+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-27T14:48:50.859005+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
+   "left": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3116,
+    "frames_flipped": 664,
+    "stretches": [
+     {
+      "t0": 4.58,
+      "t1": 19.4,
+      "dur_s": 14.82,
+      "marker_turn_deg": 58.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 138.6,
+      "err_swapped_deg": 14.1,
+      "calib_err_deg": 10.9,
+      "applied": true
+     },
+     {
+      "t0": 20.05,
+      "t1": 27.72,
+      "dur_s": 7.67,
+      "marker_turn_deg": 21.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 152.3,
+      "err_swapped_deg": 13.2,
+      "calib_err_deg": 10.9,
+      "applied": true
+     }
+    ]
+   },
+   "right": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3812,
+    "frames_flipped": 0,
+    "stretches": []
+   }
+  },
+  "applied": 2
+ },
  "release": {
   "release_path": "actions/static_manipulation/SM08/session_005",
   "family": "static_manipulation",
   "primitive": "SM08",
   "source_session": "20261022/SM08/20261022_012742_session5"
- }
+ },
+ "objects": [
+  {
+   "name": "BigBox2",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/static_manipulation/SM08/session_005/motions/markers.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8c857aef1488e0fa321856c42b073e15dac159c7187b06f1e0fa789a7ca9e6ea
-size 8612013
+oid sha256:3523994e70300b5e02f71d24dc9884d7c9d526952424e1410b144cd782dce205
+size 8586654

actions/static_manipulation/SM08/session_005/motions/object_markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5e4d58f87e5890ba1eb39b6ecc00609a4d6b1af7f92a0bce20da5bccb9b7379
+size 60030

actions/static_manipulation/SM08/session_005/motions/objects.json

@@ -0,0 +1,38 @@
+{
+ "session": "20261022/SM08/20261022_012742_session5",
+ "generated_at_utc": "2026-10-28T03:02:44.122093+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": "BigBox2",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 0.23,
+   "verified_pct": 0.21,
+   "moving_pct": 0.22,
+   "vision_source": null
+  }
+ ],
+ "object_list": {
+  "status": "match",
+  "notes": [],
+  "declared": [
+   "BigBox2"
+  ],
+  "listed": [
+   {
+    "name": "BigBox2",
+    "object": "BigBox",
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/static_manipulation/SM08/session_005/motions/objects.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f01808d0b17733384f901657c6ccda9710c9d1f1f8f02ae180dc268caa2d870f
+size 61577

actions/static_manipulation/SM08/session_005/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9c7225acbf501217ddbb17f7f94cafb613dbb466428b5f5f4a89b6af6050ab6b
-size 5840194
+oid sha256:d4907ba2ce1dee01f86073fb9a8daacde3a14a86494914225a0a533bbc02a3d1
+size 5845290

actions/static_manipulation/SM08/session_006/meta.json

@@ -344,7 +344,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-26T16:22:28.001070+00:00",
+  "generated_at_utc": "2026-10-27T19:53:02.657611+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -359,46 +359,46 @@
    "hand_marker_offsets_m": {
     "left": {
      "LHandIn": [
-      0.06857983767986298,
-      0.016369057819247246,
-      0.011519545689225197
+      0.06796960532665253,
+      0.015369770117104053,
+      0.0126170190051198
      ],
      "LHandOut": [
-      0.049402885138988495,
-      -0.021865881979465485,
-      -0.045175645500421524
+      0.04942333325743675,
+      -0.020706063136458397,
+      -0.04568217322230339
      ]
     },
     "right": {
      "RHandIn": [
-      -0.0425034798681736,
-      -0.038586270064115524,
-      -0.038129791617393494
+      -0.042871419340372086,
+      -0.037849172949790955,
+      -0.03858662396669388
      ],
      "RHandOut": [
-      -0.06147114932537079,
-      -0.031613122671842575,
-      0.018354276195168495
+      -0.06144513934850693,
+      -0.032613616436719894,
+      0.01828569732606411
      ]
     }
    }
   },
   "marker_rmse_mm": {
-   "median_frame": 2.58,
-   "p95_frame": 6.66
+   "median_frame": 2.41,
+   "p95_frame": 4.43
   },
   "worst_markers": [
-   "RElbowIn 9mm",
    "LElbowIn 8mm",
-   "RWristOut 8mm",
-   "RWristIn 7mm",
-   "RForearm 6mm"
+   "RElbowIn 8mm",
+   "RWristOut 6mm",
+   "RForearm 5mm",
+   "LWristIn 5mm"
   ],
   "valid_fraction": 1.0,
   "qc": {
    "lowest_vertex_mm": {
-    "median": -27.7,
-    "p5": -28.4
+    "median": -23.4,
+    "p5": -24.3
    },
    "frames_checked": 529,
    "stature_mm": 1631.4
@@ -407,41 +407,41 @@
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 13.91
+   "surface_rmse_mm_median": 13.85
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 152.32,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     2.53168,
-     -0.49291,
-     -0.64436
+     -0.0,
+     0.0,
+     -0.0
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 131.7,
-    "opposite_sign_bend_deg": 52.8,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 2.97,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 17.5,
+    "opposite_sign_bend_deg": 172.4,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.03,
     "hand_vs_marker_frame_deg": {
-     "before": 152.1,
-     "after": 2.97
+     "before": 3.03,
+     "after": 3.03
     },
     "markers_on_wrist": [
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 126.93,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
-      "median": 2.95,
+      "median": 0.0,
       "iqr": [
-       -6.2,
-       10.9
+       -5.7,
+       7.4
       ]
      },
-     "wrist_total_deg_median_after": 46.9,
+     "wrist_total_deg_median_after": 18.0,
      "markers_on_forearm": [
       "LElbow",
       "LForearm",
@@ -453,51 +453,143 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 179.15,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     2.85978,
-     0.9691,
-     0.8121
+     -0.0,
+     -0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 129.1,
-    "opposite_sign_bend_deg": 58.1,
+    "wrist_bend_deg_median": 45.7,
+    "opposite_sign_bend_deg": 176.2,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 2.8,
+    "marker_frame_spread_deg": 2.63,
     "hand_vs_marker_frame_deg": {
-     "before": 178.66,
-     "after": 2.8
+     "before": 2.63,
+     "after": 2.63
     },
     "markers_on_wrist": [
      "RHandIn",
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -125.21,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
-      "median": -0.32,
+      "median": -0.0,
       "iqr": [
-       -5.2,
-       5.6
+       -4.9,
+       5.8
       ]
      },
-     "wrist_total_deg_median_after": 45.5,
+     "wrist_total_deg_median_after": 45.8,
      "markers_on_forearm": [
       "RForearm",
       "RWristIn",
       "RWristOut"
      ]
     },
-    "frames_used": 1500
+    "frames_used": 1464
    },
-   "generated_at_utc": "2026-10-26T16:22:32.601334+00:00",
+   "generated_at_utc": "2026-10-28T06:48:09.023530+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-27T14:49:23.063116+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
+   "left": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3574,
+    "frames_flipped": 1,
+    "stretches": []
+   },
+   "right": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3876,
+    "frames_flipped": 45,
+    "stretches": [
+     {
+      "t0": 3.2,
+      "t1": 4.88,
+      "dur_s": 1.68,
+      "marker_turn_deg": 73.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 121.5,
+      "err_swapped_deg": 2.6,
+      "calib_err_deg": 8.6,
+      "applied": true
+     }
+    ]
+   }
+  },
+  "applied": 1
+ },
  "release": {
   "release_path": "actions/static_manipulation/SM08/session_006",
   "family": "static_manipulation",
   "primitive": "SM08",
   "source_session": "20261023/SM08/20261023_081412_session9"
- }
+ },
+ "objects": [
+  {
+   "name": "BigBox2",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox1",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox5",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "Table",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "Table2",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/static_manipulation/SM08/session_006/motions/markers.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5d29f9d9c8ed23dbf3f7d3b6c58356dd802133e1f013e03c1d2f3d96f213c739
-size 9110942
+oid sha256:cd7d8c728d1bfd4ed2517e62dfa6f84a9a9e6a1997be3bd90961b4712bd53d9c
+size 9095278

actions/static_manipulation/SM08/session_006/motions/object_markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cf44d067a88d0e59615dcdc726991d622b6a61cec0c0f691c0eee34daaee90b
+size 447928

actions/static_manipulation/SM08/session_006/motions/objects.json

@@ -0,0 +1,136 @@
+{
+ "session": "20261023/SM08/20261023_081412_session9",
+ "generated_at_utc": "2026-10-29T13:26:36.738903+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": "BigBox2",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 61.33,
+   "verified_pct": 61.23,
+   "moving_pct": 58.15,
+   "vision_source": null
+  }
+ ],
+ "absent": [
+  {
+   "name": "LittleBox1",
+   "object_type": "LittleBox",
+   "valid_s": 0.0
+  },
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "valid_s": 0.0
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "valid_s": 0.0
+  },
+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "valid_s": 0.0
+  },
+  {
+   "name": "LittleBox5",
+   "object_type": "LittleBox",
+   "valid_s": 0.0
+  },
+  {
+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "valid_s": 0.0
+  },
+  {
+   "name": "Table",
+   "object_type": "Table",
+   "valid_s": 0.0
+  },
+  {
+   "name": "Table2",
+   "object_type": "Table",
+   "valid_s": 0.0
+  }
+ ],
+ "object_list": {
+  "status": "corrected",
+  "notes": [],
+  "declared": [
+   "BigBox2",
+   "LittleBox1",
+   "LittleBox2",
+   "LittleBox3",
+   "LittleBox4",
+   "LittleBox5",
+   "LittleBox6",
+   "Table0",
+   "Table2"
+  ],
+  "listed": [
+   {
+    "name": "BigBox2",
+    "object": "BigBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox1",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox2",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox3",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox4",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox5",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox6",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "Table",
+    "object": null,
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "Table2",
+    "object": null,
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/static_manipulation/SM08/session_006/motions/objects.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f17ebf5c9b62963be4dbce906680ed7dbb8cfa842693bd1fd9723d89ec4e298d
+size 492278

actions/static_manipulation/SM08/session_006/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2eb37c37ada22a967ebe5d0ce31a5c1d6c5a39f949383de24aeefdea111bd755
-size 5982810
+oid sha256:cfc0db7de7916e518b1c0f2d3c560d139529409c82e18d76d7b3e04b01ea03c2
+size 5978364