Upload folder using huggingface_hub (part 2110)

.gitattributes

@@ -40952,3 +40952,12 @@ actions/static_manipulation/SM05/session_007/raw/sensors/robowrist_imu_left.db f
 actions/static_manipulation/SM05/session_007/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM05/session_007/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM05/session_007/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM06/session_006/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM06/session_006/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM06/session_006/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM06/session_006/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM06/session_006/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM06/session_006/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM06/session_006/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM06/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM06/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/static_manipulation/SM06/session_006/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa3e349316f8deb1ba4ec6d0b7e0e4442896f65d06dcf094ac312ba4ec8b5255
+size 1130423

actions/static_manipulation/SM06/session_006/meta.json

@@ -0,0 +1,514 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261026/SM06/20261026_100625_session79",
+ "session_id": "20261026_100625_session79",
+ "primitive": "SM06",
+ "batch": "20261026",
+ "participant": "zhangxinxin",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "c9205ac6e17d2d5c",
+  "left": "cc5681142208e29a",
+  "right": "a85418f7d807dff9"
+ },
+ "generated_at_utc": "2026-10-27T04:57:06.657898+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": 463,
+  "duration_s": 125.96666666666667,
+  "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": -0.083223,
+  "rate": 0.0,
+  "global_lag_s": -0.085,
+  "peak_corr": 0.8965,
+  "reference_imu_first_sample_s": 18771.09883981,
+  "windows": {
+   "n_windows": 11,
+   "window_corr_median": 0.875538365125873,
+   "drift_ppm": 7.991257408447431,
+   "drift_se_ppm": 9.987904962629536,
+   "drift_ms_over_take": 1.0373983992399505,
+   "lag_scatter_ms": 0.9475358620562481,
+   "lag_range_ms": 2.944697722702061
+  }
+ },
+ "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": 26417,
+    "n_gyro": 26412,
+    "t_start": -3.9529866968064207,
+    "t_end": 126.17543892219463
+   },
+   "imu_head_left": {
+    "n_acc": 26253,
+    "n_gyro": 26247,
+    "t_start": -3.8355249288056266,
+    "t_end": 126.34038565519357
+   },
+   "imu_wrist_right": {
+    "n_acc": 25686,
+    "n_gyro": 25698,
+    "t_start": -4.789412425807769,
+    "t_end": 124.88897128819507
+   },
+   "imu_wrist_left": {
+    "n_acc": 25623,
+    "n_gyro": 25622,
+    "t_start": -4.795412848807701,
+    "t_end": 124.88724578619211
+   },
+   "mag_head": {
+    "n": 13026,
+    "t_start": -3.753696094807766,
+    "t_end": 126.49630121719518
+   },
+   "mag_wrist_right": {
+    "n": 12963,
+    "t_start": -4.775028541806479,
+    "t_end": 124.88486279319248
+   },
+   "mag_wrist_left": {
+    "n": 12962,
+    "t_start": -4.776591826807363,
+    "t_end": 124.88298510319281
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 18771.219601,
+    "frames": 3894,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0026284356473863946,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": -3.8181669001592136,
+    "t_end": 125.94844409983988,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 18771.219574,
+    "frames": 3894,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0024181146161434135,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": -3.818404221192851,
+    "t_end": 125.94820677880624,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 18771.219594,
+    "frames": 3894,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002458947067077895,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": -3.818343388741142,
+    "t_end": 125.94825661125786,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 18771.219612,
+    "frames": 3894,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0021420814739499558,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": -3.8186422543317358,
+    "t_end": 125.94795774566727,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 18771.219584,
+    "frames": 3891,
+    "pts_gaps": 3,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002801984596191448,
+    "gap_test": {
+     "pts": {
+      "offset_ms": 30.4,
+      "corr": 0.907,
+      "err_ms": 27.6
+     },
+     "nominal": {
+      "offset_ms": 80.3,
+      "corr": 0.907,
+      "err_ms": 77.5
+     }
+    },
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": -3.8180103512117975,
+    "t_end": 125.96524564878699,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 18771.21956,
+    "frames": 3894,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002930366888236734,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": -3.8179059689159667,
+    "t_end": 125.94870503108312,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 18771.882675,
+    "frames": 3841,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -3.1577213358054914,
+    "t_end": 124.84182266419292,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 18771.855926,
+    "frames": 3842,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -3.184470335806055,
+    "t_end": 124.84873266419298,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-SM06-S01-zhangxinxin-02p1-1.mp4",
+    "frames": 3895,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": -3.8583333333333334,
+    "t_end": 125.94166666666668
+   }
+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "c9205ac6e17d2d5c/20261026-afternoon/labels-503412/session-5fea3754d84eb3d7",
+  "R_tracker0_imu0": [
+   [
+    -0.64311688,
+    0.00387429,
+    -0.76575823
+   ],
+   [
+    0.76440623,
+    -0.05636272,
+    -0.64226658
+   ],
+   [
+    -0.04564854,
+    -0.99840284,
+    0.03328628
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   0.017975668829300805,
+   -0.009883029840052598,
+   -0.010730764943506171
+  ],
+  "rig_check": {
+   "gyro_samples": 358,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 2.252
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-27T06:43:16.878371+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": [
+   [
+    0.9999374706,
+    0.0111827925,
+    -4.351e-06
+   ],
+   [
+    4.351e-06,
+    -0.0007781413,
+    -0.9999996972
+   ],
+   [
+    -0.0111827925,
+    0.9999371678,
+    -0.0007781413
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999937471,
+    1.1182793e-05,
+    -4.351e-09,
+    0.0
+   ],
+   [
+    4.351e-09,
+    -7.78141e-07,
+    -0.000999999697,
+    0.0
+   ],
+   [
+    -1.1182793e-05,
+    0.000999937168,
+    -7.78141e-07,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20261026-afternoon",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.6422895637056524,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 43.5,
+   "headtop_p95_mm": 1622.3
+  },
+  "gravity_check": {
+   "static_samples": 5548,
+   "g_world_mean_m_s2": [
+    -0.0442,
+    -0.2188,
+    9.7796
+   ],
+   "tilt_from_z_deg": 1.307,
+   "tilt_from_z_deg_before_levelling": 1.529,
+   "magnitude_m_s2": 9.7822
+  },
+  "rig_tracker_definition": "c9205ac6e17d2d5c/20261026-afternoon/labels-503412/session-5fea3754d84eb3d7",
+  "rig_check": {
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 2.252
+  },
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-27T08:22:07.217881+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": [
+      0.044508371502161026,
+      -0.04593614861369133,
+      -0.03607727587223053
+     ],
+     "LHandOut": [
+      0.06021643802523613,
+      -0.01746709831058979,
+      -0.0026829612907022238
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.027948567643761635,
+      0.003684624331071973,
+      0.032975174486637115
+     ],
+     "RHandOut": [
+      -0.03274120017886162,
+      0.04061468318104744,
+      -0.011408770456910133
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 3.47,
+   "p95_frame": 5.25
+  },
+  "worst_markers": [
+   "LWristOut 11mm",
+   "LHandIn 10mm",
+   "RElbowIn 9mm",
+   "LWristIn 8mm",
+   "LHandOut 8mm"
+  ],
+  "valid_fraction": 1.0,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": -5.4,
+    "p5": -5.9
+   },
+   "frames_checked": 504,
+   "stature_mm": 1627.7
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 15.85
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 180.0,
+    "Q_rotvec": [
+     -2.98601,
+     0.43444,
+     0.87442
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 178.8,
+    "opposite_sign_bend_deg": 11.5,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 12.08,
+    "hand_vs_marker_frame_deg": {
+     "before": 169.45,
+     "after": 12.08
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 96.25,
+     "wrist_twist_deg_after": {
+      "median": 83.1,
+      "iqr": [
+       3.6,
+       84.2
+      ]
+     },
+     "wrist_total_deg_median_after": 87.2,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 0.0,
+    "Q_rotvec": [
+     0.0,
+     0.0,
+     -0.0
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 31.6,
+    "opposite_sign_bend_deg": 163.8,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 6.49,
+    "hand_vs_marker_frame_deg": {
+     "before": 6.49,
+     "after": 6.49
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -0.0,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -12.0,
+       14.3
+      ]
+     },
+     "wrist_total_deg_median_after": 31.7,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-28T06:50:55.640542+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/static_manipulation/SM06/session_006",
+  "family": "static_manipulation",
+  "primitive": "SM06",
+  "source_session": "20261026/SM06/20261026_100625_session79"
+ }
+}

actions/static_manipulation/SM06/session_006/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:911647e705c6c595b0a19da84a91d02809aa7f896711dad139c785eec336494f
+size 1110594

actions/static_manipulation/SM06/session_006/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4845cf7da2d16e65052fa1823864be2b34b188acede8439f06474f540a27742e
+size 8753887

actions/static_manipulation/SM06/session_006/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a461a24b450f0b84363d1364883f545e467ef4336bc23d89dae6dcafad3e08f0
+size 8732789

actions/static_manipulation/SM06/session_006/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bb5bad6759f414e5bea6e05c5fe35978c9cd5d42f3163c36f24f63a33730f49
+size 5734304

actions/static_manipulation/SM06/session_006/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ad7470622dc70b265f207db54a460700b9d865dacb157f9f49aed075b494794
+size 25009998

actions/static_manipulation/SM06/session_006/raw/manifest.json

@@ -0,0 +1,263 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-10-26T15:19:20.668331+00:00",
+  "primitive_id": "SM06",
+  "session_id": "20261026_100625_session79",
+  "upload_batch_id": "20261026",
+  "dataset_path": "EgoMotionActions/20261026/SM06/20261026_100625_session79",
+  "segment": "auto/all",
+  "duration_s": 129.766611,
+  "device_ids": {
+    "main": "c9205ac6e17d2d5c",
+    "left": "cc5681142208e29a",
+    "right": "a85418f7d807dff9"
+  },
+  "mocap_rigid_names": [
+    "Body0",
+    "Tracker0"
+  ],
+  "objects": [],
+  "options": {
+    "raw_video": true,
+    "proxy_height": 540,
+    "proxy_crf": 28,
+    "proxy_bitrate": "1400k",
+    "mocap_selection": "explicit",
+    "mocap_files": [
+      "mocap-SM06-S01-zhangxinxin-02p1/mocap-SM06-S01-zhangxinxin-02p1-1.mp4",
+      "mocap-SM06-S01-zhangxinxin-02p1/mocap-SM06-S01-zhangxinxin-02p1-Body0.bvh",
+      "mocap-SM06-S01-zhangxinxin-02p1/mocap-SM06-S01-zhangxinxin-02p1-Body0.csv",
+      "mocap-SM06-S01-zhangxinxin-02p1/mocap-SM06-S01-zhangxinxin-02p1-Body0.trc",
+      "mocap-SM06-S01-zhangxinxin-02p1/mocap-SM06-S01-zhangxinxin-02p1-Tracker0.csv",
+      "mocap-SM06-S01-zhangxinxin-02p1/mocap-SM06-S01-zhangxinxin-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": 25009998,
+      "packaged_bytes": 25009998,
+      "compressed_video": false,
+      "sha256": "1ad7470622dc70b265f207db54a460700b9d865dacb157f9f49aed075b494794"
+    },
+    {
+      "source": "mocap-SM06-S01-zhangxinxin-02p1/mocap-SM06-S01-zhangxinxin-02p1-1.mp4",
+      "packaged_as": "mocap/mocap-SM06-S01-zhangxinxin-02p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 39886060,
+      "packaged_bytes": 39886060,
+      "compressed_video": false,
+      "sha256": "2459fcddfe59ad303e9b4076f586f6b1328061cd3b1d1a064bffe7452f66e47c"
+    },
+    {
+      "source": "mocap-SM06-S01-zhangxinxin-02p1/mocap-SM06-S01-zhangxinxin-02p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-SM06-S01-zhangxinxin-02p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 9193906,
+      "packaged_bytes": 9193906,
+      "compressed_video": false,
+      "sha256": "8991ba65913d20472d855c09eaadd53079386c69f595c74fe334de08d43b151e"
+    },
+    {
+      "source": "mocap-SM06-S01-zhangxinxin-02p1/mocap-SM06-S01-zhangxinxin-02p1-Body0.csv",
+      "packaged_as": "mocap/mocap-SM06-S01-zhangxinxin-02p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 127442381,
+      "packaged_bytes": 127442381,
+      "compressed_video": false,
+      "sha256": "4a4b79e7162b59ed5abe1ffc6581142803a6697c74248e52b7eb494d48fec621"
+    },
+    {
+      "source": "mocap-SM06-S01-zhangxinxin-02p1/mocap-SM06-S01-zhangxinxin-02p1-Body0.trc",
+      "packaged_as": "mocap/mocap-SM06-S01-zhangxinxin-02p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 27326350,
+      "packaged_bytes": 27326350,
+      "compressed_video": false,
+      "sha256": "486c1872e1ff0b860c33adbdd391e43d8c9d45d5aa60954f694eecc117ad45a4"
+    },
+    {
+      "source": "mocap-SM06-S01-zhangxinxin-02p1/mocap-SM06-S01-zhangxinxin-02p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-SM06-S01-zhangxinxin-02p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 4911898,
+      "packaged_bytes": 4911898,
+      "compressed_video": false,
+      "sha256": "d30b45ce80fd3b85e66be073a1b2928fa1bd7b531807270598ac7308cd45a6c2"
+    },
+    {
+      "source": "mocap-SM06-S01-zhangxinxin-02p1/mocap-SM06-S01-zhangxinxin-02p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-SM06-S01-zhangxinxin-02p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 2592936,
+      "packaged_bytes": 2592936,
+      "compressed_video": false,
+      "sha256": "622ac804d244ba132250cf21685ed7e50e18ed3b700d9894466d2056fd6c4558"
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1343488,
+      "packaged_bytes": 1343488,
+      "compressed_video": false,
+      "sha256": "64c189bc50c20872fe63b3d019ac8caebe5fad2c062d12c64d9a8c8c87c4e985"
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1298432,
+      "packaged_bytes": 1298432,
+      "compressed_video": false,
+      "sha256": "fa957a603c2ae904d103c1a1d92bd51dfd0a4d4c26d30f2ec8046476ab64c557"
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 348160,
+      "packaged_bytes": 348160,
+      "compressed_video": false,
+      "sha256": "e33637ea17b0788a76cd3f813793683ad41512379b92a7d243574d3e0d48d2e3"
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 65080467,
+      "packaged_bytes": 65080467,
+      "compressed_video": false,
+      "sha256": "c8dafa235a5c0128519736c3adee78e03430dcdf24eaf05d77805ec90ceab32c"
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 65039294,
+      "packaged_bytes": 65039294,
+      "compressed_video": false,
+      "sha256": "84e7dbbde33d8a0afd58a0a16eb9c827181d56e069f11322c73f4a0a9a58f27d"
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 65031608,
+      "packaged_bytes": 65031608,
+      "compressed_video": false,
+      "sha256": "9801201c1ea2e96a3c583c57cbf0d888742df1eb18718a558ae17dd1bbdf7b4f"
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 65142556,
+      "packaged_bytes": 65142556,
+      "compressed_video": false,
+      "sha256": "fb588f0ed8cea594c1f92e2ccd7e9f09ac308e88e3abddbedc14e3d9fdf92ebc"
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 65063856,
+      "packaged_bytes": 65063856,
+      "compressed_video": false,
+      "sha256": "a707c0609dc32a87c411cd2c41c4ace4af7837e211c2ac4b2a5ed4ab469bb0f9"
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 65080609,
+      "packaged_bytes": 65080609,
+      "compressed_video": false,
+      "sha256": "22bc1d2dfa4f4c7e2d8b8f4ca0e8a11cc0b95aea6bc79763344954dbeb54991e"
+    },
+    {
+      "source": "robowrist_a85418f7d807dff9_right/robowrist_segment1_imu_right.db",
+      "packaged_as": "robowrist_a85418f7d807dff9_right/robowrist_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1282048,
+      "packaged_bytes": 1282048,
+      "compressed_video": false,
+      "sha256": "6d61964df70194e16b01586f1ba348e316c6aa4699bffddec9624335ab198c14"
+    },
+    {
+      "source": "robowrist_a85418f7d807dff9_right/robowrist_segment1_mag_right.db",
+      "packaged_as": "robowrist_a85418f7d807dff9_right/robowrist_segment1_mag_right.db",
+      "kind": "data",
+      "original_bytes": 335872,
+      "packaged_bytes": 335872,
+      "compressed_video": false,
+      "sha256": "10cc0e9ca8edc24265543c7a74dd2fd4f383710d42e017f1c560c79068be52c7"
+    },
+    {
+      "source": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
+      "packaged_as": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 60436500,
+      "packaged_bytes": 60436500,
+      "compressed_video": false,
+      "sha256": "15591295a7d39330ab5bd7f746a6301c76d7209d0ea1d80b4c447c088432c18a"
+    },
+    {
+      "source": "robowrist_cc5681142208e29a_left/robowrist_segment1_imu_left.db",
+      "packaged_as": "robowrist_cc5681142208e29a_left/robowrist_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1261568,
+      "packaged_bytes": 1261568,
+      "compressed_video": false,
+      "sha256": "16da3c9124877ee3f14d1dd642849135296c1b625b94ce8885e334fdbc21062a"
+    },
+    {
+      "source": "robowrist_cc5681142208e29a_left/robowrist_segment1_mag_left.db",
+      "packaged_as": "robowrist_cc5681142208e29a_left/robowrist_segment1_mag_left.db",
+      "kind": "data",
+      "original_bytes": 335872,
+      "packaged_bytes": 335872,
+      "compressed_video": false,
+      "sha256": "1d44cbc2ef0047f8606b472015a18c3bb3ab3b9b61fff1712b9f17193879208a"
+    },
+    {
+      "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": 31880650,
+      "packaged_bytes": 31880650,
+      "compressed_video": false,
+      "sha256": "a7cca1864104f46281c69defbcbb41448471956706650440de3cd9eaabf6cf23"
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 868886,
+      "packaged_bytes": 868823,
+      "compressed_video": false,
+      "sha256": "316ce09565f5950deddf5210c44f5c78c8cb85b06c516eee2c0c3a9238fe5f55"
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-SM06-S01-zhangxinxin-02p1",
+    "action_id": "SM06",
+    "collection_session_index": 1,
+    "participant": "zhangxinxin",
+    "repetition_count": 2
+  },
+  "upload_batch_created_at": "2026-10-26T23:55:35.202528+08:00",
+  "participant_gender": "female",
+  "participant_height_cm": 160,
+  "participant_weight_kg": 60,
+  "collection_site": {
+    "id": "site_01",
+    "assignment_method": "env",
+    "catalog": "collection_sites.json"
+  }
+}

actions/static_manipulation/SM06/session_006/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a4b79e7162b59ed5abe1ffc6581142803a6697c74248e52b7eb494d48fec621
+size 127442381

actions/static_manipulation/SM06/session_006/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:486c1872e1ff0b860c33adbdd391e43d8c9d45d5aa60954f694eecc117ad45a4
+size 27326350

actions/static_manipulation/SM06/session_006/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64c189bc50c20872fe63b3d019ac8caebe5fad2c062d12c64d9a8c8c87c4e985
+size 1343488

actions/static_manipulation/SM06/session_006/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa957a603c2ae904d103c1a1d92bd51dfd0a4d4c26d30f2ec8046476ab64c557
+size 1298432

actions/static_manipulation/SM06/session_006/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e33637ea17b0788a76cd3f813793683ad41512379b92a7d243574d3e0d48d2e3
+size 348160

actions/static_manipulation/SM06/session_006/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16da3c9124877ee3f14d1dd642849135296c1b625b94ce8885e334fdbc21062a
+size 1261568

actions/static_manipulation/SM06/session_006/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d61964df70194e16b01586f1ba348e316c6aa4699bffddec9624335ab198c14
+size 1282048

actions/static_manipulation/SM06/session_006/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d44cbc2ef0047f8606b472015a18c3bb3ab3b9b61fff1712b9f17193879208a
+size 335872

actions/static_manipulation/SM06/session_006/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10cc0e9ca8edc24265543c7a74dd2fd4f383710d42e017f1c560c79068be52c7
+size 335872

actions/static_manipulation/SM06/session_006/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23b181d2dc57a053782070ab2f6ecc6dee4fb2a626d0a2c94ebf12afdb44c7ab
+size 1248957

actions/static_manipulation/SM06/session_006/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:772b53b31e10426a748dad8417cdb415775be4b6cf5ea10a53e88d1a7c4211ce
+size 153392

actions/static_manipulation/SM06/session_006/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cd5f8493d12a0930986599b72c2384009d37442458c05776667c0a9482b8f36
+size 1383173

actions/static_manipulation/SM06/session_006/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:472eadc36629f4266583cab6d04c5a911cd9d93f1ab0ee4fa719be9afe4a5e39
+size 270549

actions/static_manipulation/SM06/session_006/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40dd196c7c32744bd1020dc9f8a1644cbd5a59f75eff06c26591d99bf8b1043e
+size 270051

actions/static_manipulation/SM06/session_006/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8dafa235a5c0128519736c3adee78e03430dcdf24eaf05d77805ec90ceab32c
+size 65080467

actions/static_manipulation/SM06/session_006/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84e7dbbde33d8a0afd58a0a16eb9c827181d56e069f11322c73f4a0a9a58f27d
+size 65039294

actions/static_manipulation/SM06/session_006/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9801201c1ea2e96a3c583c57cbf0d888742df1eb18718a558ae17dd1bbdf7b4f
+size 65031608

actions/static_manipulation/SM06/session_006/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb588f0ed8cea594c1f92e2ccd7e9f09ac308e88e3abddbedc14e3d9fdf92ebc
+size 65142556

actions/static_manipulation/SM06/session_006/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a707c0609dc32a87c411cd2c41c4ace4af7837e211c2ac4b2a5ed4ab469bb0f9
+size 65063856

actions/static_manipulation/SM06/session_006/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22bc1d2dfa4f4c7e2d8b8f4ca0e8a11cc0b95aea6bc79763344954dbeb54991e
+size 65080609

actions/static_manipulation/SM06/session_006/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2459fcddfe59ad303e9b4076f586f6b1328061cd3b1d1a064bffe7452f66e47c
+size 39886060

actions/static_manipulation/SM06/session_006/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7cca1864104f46281c69defbcbb41448471956706650440de3cd9eaabf6cf23
+size 31880650

actions/static_manipulation/SM06/session_006/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15591295a7d39330ab5bd7f746a6301c76d7209d0ea1d80b4c447c088432c18a
+size 60436500

actions/static_manipulation/SM07/session_001/meta.json

@@ -402,19 +402,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 88.08,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     1.46194,
-     0.46144,
-     0.11473
+     -3.02575,
+     0.26943,
+     0.80116
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 75.0,
-    "opposite_sign_bend_deg": 112.4,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 174.5,
+    "opposite_sign_bend_deg": 16.1,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.27,
     "hand_vs_marker_frame_deg": {
-     "before": 87.56,
+     "before": 178.7,
      "after": 3.27
     },
     "markers_on_wrist": [
@@ -422,15 +422,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 73.26,
+     "twist_moved_deg": 159.84,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": 18.33,
       "iqr": [
-       -11.0,
-       4.7
+       7.4,
+       21.7
       ]
      },
-     "wrist_total_deg_median_after": 16.2,
+     "wrist_total_deg_median_after": 35.2,
      "markers_on_forearm": [
       "LElbow",
       "LForearm",
@@ -442,19 +442,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 21.57,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     -0.21353,
-     -0.01096,
-     -0.3098
+     -0.0,
+     -0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 25.0,
-    "opposite_sign_bend_deg": 167.6,
+    "wrist_bend_deg_median": 24.6,
+    "opposite_sign_bend_deg": 170.4,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 5.52,
     "hand_vs_marker_frame_deg": {
-     "before": 21.28,
+     "before": 5.52,
      "after": 5.52
     },
     "markers_on_wrist": [
@@ -462,9 +462,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -10.16,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": 0.0,
       "iqr": [
        -7.1,
        12.0
@@ -479,7 +479,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-15T11:30:26.800986+00:00",
+   "generated_at_utc": "2026-10-28T06:15:30.458249+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },

actions/static_manipulation/SM07/session_001/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6d45c5808f701b7be533f7871139234d8082d23df8e55c54a3b81e6d79e7e28e
-size 5865851
+oid sha256:bb7c8533fbbd69372a4700842c59ef28b463537196c209e14220e4579a5cbdaf
+size 5871109

actions/static_manipulation/SM07/session_002/meta.json

@@ -389,19 +389,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 159.51,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     -2.69423,
-     -0.13546,
-     0.68793
+     -2.98662,
+     0.4392,
+     0.86995
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 163.0,
-    "opposite_sign_bend_deg": 24.8,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 167.2,
+    "opposite_sign_bend_deg": 39.3,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 4.92,
     "hand_vs_marker_frame_deg": {
-     "before": 159.47,
+     "before": 178.61,
      "after": 4.92
     },
     "markers_on_wrist": [
@@ -409,15 +409,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -157.67,
+     "twist_moved_deg": 156.67,
      "wrist_twist_deg_after": {
-      "median": -3.77,
+      "median": 20.79,
       "iqr": [
-       -16.4,
-       7.9
+       8.8,
+       34.6
       ]
      },
-     "wrist_total_deg_median_after": 39.0,
+     "wrist_total_deg_median_after": 25.1,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -428,19 +428,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 21.57,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     -0.20371,
-     0.28522,
-     -0.13741
+     0.0,
+     0.0,
+     -0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 43.9,
-    "opposite_sign_bend_deg": 142.3,
+    "wrist_bend_deg_median": 25.2,
+    "opposite_sign_bend_deg": 165.1,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 5.35,
     "hand_vs_marker_frame_deg": {
-     "before": 21.78,
+     "before": 5.35,
      "after": 5.35
     },
     "markers_on_wrist": [
@@ -449,12 +449,12 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 27.82,
+     "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
       "median": 0.0,
       "iqr": [
        -11.2,
-       18.6
+       18.5
       ]
      },
      "wrist_total_deg_median_after": 24.8,
@@ -465,7 +465,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-15T03:57:47.101402+00:00",
+   "generated_at_utc": "2026-10-28T06:30:16.632443+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },

actions/static_manipulation/SM07/session_002/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d7bf1a6cb3b168b8c029abdba132624efb9b7ec12dc6f7937f8c04617467a82e
-size 5922899
+oid sha256:41a69b0b3b5e73ccbe0b3d091c6f84296f8792b8bcb2f9c92873dc2d958b910e
+size 5913239

actions/static_manipulation/SM07/session_003/meta.json

@@ -386,19 +386,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 160.46,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     2.68649,
-     -0.36822,
-     -0.70012
+     -2.98794,
+     0.42773,
+     0.87113
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 126.2,
-    "opposite_sign_bend_deg": 60.9,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 154.6,
+    "opposite_sign_bend_deg": 48.5,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 5.98,
     "hand_vs_marker_frame_deg": {
-     "before": 160.43,
+     "before": 177.36,
      "after": 5.98
     },
     "markers_on_wrist": [
@@ -406,15 +406,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 123.01,
+     "twist_moved_deg": 138.42,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": 41.26,
       "iqr": [
-       -21.9,
-       23.1
+       20.6,
+       67.9
       ]
      },
-     "wrist_total_deg_median_after": 47.4,
+     "wrist_total_deg_median_after": 42.3,
      "markers_on_forearm": [
       "LElbow",
       "LForearm",
@@ -426,19 +426,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 74.54,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     -1.28569,
-     0.19526,
-     0.03967
+     0.0,
+     0.0,
+     -0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 98.7,
-    "opposite_sign_bend_deg": 96.9,
+    "wrist_bend_deg_median": 35.1,
+    "opposite_sign_bend_deg": 164.1,
     "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": 75.59,
+     "before": 4.08,
      "after": 4.08
     },
     "markers_on_wrist": [
@@ -446,7 +446,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 90.14,
+     "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
       "median": -0.0,
       "iqr": [
@@ -463,7 +463,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-15T08:08:49.732973+00:00",
+   "generated_at_utc": "2026-10-28T06:33:20.271420+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },

actions/static_manipulation/SM07/session_003/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:180ae85957a2061308e2cdfa1eafee7b25130ca62caaedb5f059f3b38f26520c
-size 6087002
+oid sha256:963d40d4cd0516bda9902fd0bd268532bf9b47838bcaf95952d9803f83c1a9a1
+size 6085448

actions/static_manipulation/SM07/session_004/meta.json

@@ -344,7 +344,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-26T16:21:37.704134+00:00",
+  "generated_at_utc": "2026-10-27T19:52:20.093990+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -359,51 +359,51 @@
    "hand_marker_offsets_m": {
     "left": {
      "LHandIn": [
-      0.05711795389652252,
-      -0.032208699733018875,
-      0.015868401154875755
+      0.05465573072433472,
+      -0.043626632541418076,
+      -0.010467425920069218
      ],
      "LHandOut": [
-      0.06046542152762413,
-      0.009835072793066502,
-      -0.03693956136703491
+      0.07660659402608871,
+      0.020871391519904137,
+      -0.005941365379840136
      ],
      "LWristOut": [
-      0.004592211917042732,
-      0.04700819030404091,
-      -0.0008174953400157392
+      0.01932947337627411,
+      0.031097544357180595,
+      0.04508734494447708
      ]
     },
     "right": {
      "RHandIn": [
-      -0.03954259306192398,
-      -0.0036595179699361324,
-      -0.04268552362918854
+      -0.04032263532280922,
+      -0.0017238390864804387,
+      -0.04287656769156456
      ],
      "RHandOut": [
-      -0.06597870588302612,
-      -0.02961689420044422,
-      0.006167692132294178
+      -0.06534523516893387,
+      -0.030616451054811478,
+      0.005036772228777409
      ]
     }
    }
   },
   "marker_rmse_mm": {
-   "median_frame": 5.53,
-   "p95_frame": 8.64
+   "median_frame": 4.75,
+   "p95_frame": 8.13
   },
   "worst_markers": [
-   "LWristIn 17mm",
    "LElbowIn 15mm",
-   "LForearm 14mm",
+   "RElbowIn 12mm",
    "LWristOut 12mm",
-   "RElbowIn 12mm"
+   "LWristIn 12mm",
+   "LForearm 11mm"
   ],
   "valid_fraction": 1.0,
   "qc": {
    "lowest_vertex_mm": {
-    "median": -22.2,
-    "p5": -23.3
+    "median": -23.8,
+    "p5": -24.9
    },
    "frames_checked": 524,
    "stature_mm": 1631.4
@@ -412,26 +412,26 @@
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 16.35
+   "surface_rmse_mm_median": 16.2
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 133.61,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     -2.1624,
-     0.70339,
-     0.5169
+     -0.0,
+     0.0,
+     -0.0
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 135.1,
-    "opposite_sign_bend_deg": 63.8,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 10.37,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 61.7,
+    "opposite_sign_bend_deg": 145.5,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 10.61,
     "hand_vs_marker_frame_deg": {
-     "before": 131.75,
-     "after": 10.37
+     "before": 10.61,
+     "after": 10.61
     },
     "markers_on_wrist": [
      "LWristOut",
@@ -439,69 +439,217 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 125.01,
+     "twist_moved_deg": 0.06,
      "wrist_twist_deg_after": {
-      "median": 37.08,
+      "median": 0.0,
       "iqr": [
-       15.2,
-       118.8
+       -85.0,
+       19.7
       ]
      },
-     "wrist_total_deg_median_after": 77.6,
+     "wrist_total_deg_median_after": 68.3,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn"
      ]
     },
-    "frames_used": 1500
+    "frames_used": 1319
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 153.7,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     -2.34317,
-     -0.68834,
-     -1.11009
+     -0.0,
+     -0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 151.9,
-    "opposite_sign_bend_deg": 43.5,
+    "wrist_bend_deg_median": 54.3,
+    "opposite_sign_bend_deg": 170.4,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 3.97,
+    "marker_frame_spread_deg": 3.68,
     "hand_vs_marker_frame_deg": {
-     "before": 153.56,
-     "after": 3.97
+     "before": 3.68,
+     "after": 3.68
     },
     "markers_on_wrist": [
      "RHandIn",
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -147.88,
+     "twist_moved_deg": -0.07,
      "wrist_twist_deg_after": {
-      "median": -1.57,
+      "median": -0.0,
       "iqr": [
-       -12.2,
-       7.9
+       -10.2,
+       8.6
       ]
      },
-     "wrist_total_deg_median_after": 52.8,
+     "wrist_total_deg_median_after": 54.0,
      "markers_on_forearm": [
       "RForearm",
       "RWristIn",
       "RWristOut"
      ]
     },
-    "frames_used": 1500
+    "frames_used": 1463
    },
-   "generated_at_utc": "2026-10-26T16:21:43.768859+00:00",
+   "generated_at_utc": "2026-10-28T06:48:08.445811+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-27T14:49:29.352471+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
+   "left": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 2540,
+    "frames_flipped": 247,
+    "stretches": [
+     {
+      "t0": 3.42,
+      "t1": 6.65,
+      "dur_s": 3.23,
+      "marker_turn_deg": 57.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 126.7,
+      "err_swapped_deg": 21.4,
+      "calib_err_deg": 13.6,
+      "applied": true
+     },
+     {
+      "t0": 53.87,
+      "t1": 56.98,
+      "dur_s": 3.12,
+      "marker_turn_deg": 112.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 117.0,
+      "err_swapped_deg": 24.0,
+      "calib_err_deg": 13.6,
+      "applied": true
+     },
+     {
+      "t0": 59.67,
+      "t1": 64.38,
+      "dur_s": 4.72,
+      "marker_turn_deg": 115.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 122.3,
+      "err_swapped_deg": 10.2,
+      "calib_err_deg": 13.6,
+      "applied": true
+     },
+     {
+      "t0": 94.53,
+      "t1": 103.82,
+      "dur_s": 9.28,
+      "marker_turn_deg": 60.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 110.4,
+      "err_swapped_deg": 15.5,
+      "calib_err_deg": 13.6,
+      "applied": true
+     },
+     {
+      "t0": 121.25,
+      "t1": 122.97,
+      "dur_s": 1.72,
+      "marker_turn_deg": 84.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 117.2,
+      "err_swapped_deg": 18.1,
+      "calib_err_deg": 13.6,
+      "applied": true
+     }
+    ]
+   },
+   "right": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3448,
+    "frames_flipped": 155,
+    "stretches": [
+     {
+      "t0": 114.52,
+      "t1": 121.25,
+      "dur_s": 6.73,
+      "marker_turn_deg": 20.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 146.5,
+      "err_swapped_deg": 34.2,
+      "calib_err_deg": 18.5,
+      "applied": true
+     }
+    ]
+   }
+  },
+  "applied": 6
+ },
  "release": {
   "release_path": "actions/static_manipulation/SM07/session_004",
   "family": "static_manipulation",
   "primitive": "SM07",
   "source_session": "20261023/SM07/20261023_080844_session7"
- }
+ },
+ "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/SM07/session_004/motions/markers.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8802902e863bc4380252d005aa67e2e63cc9449955cb367a6477daa67a643758
-size 9102650
+oid sha256:d95cac4edf214890f16a96f531ca84a949d9a490918fd2ec9d86775a3c797c00
+size 9011033

actions/static_manipulation/SM07/session_004/motions/object_markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee7eeef58190b742aeb3cd19ac588c667bb71bd1bbf7939a058e18efcdd6331d
+size 676859

actions/static_manipulation/SM07/session_004/motions/objects.json

@@ -0,0 +1,136 @@
+{
+ "session": "20261023/SM07/20261023_080844_session7",
+ "generated_at_utc": "2026-10-29T13:26:34.106159+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": 86.39,
+   "verified_pct": 86.28,
+   "moving_pct": 68.85,
+   "vision_source": null
+  }
+ ],
+ "absent": [
+  {
+   "name": "LittleBox1",
+   "object_type": "LittleBox",
+   "valid_s": 0.01
+  },
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "valid_s": 0.0
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "valid_s": 0.01
+  },
+  {
+   "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/SM07/session_004/motions/objects.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22d1573e6c48dc7092f7088c78adec2b58ebe344f5f60d601517f7f308f46ede
+size 662698

actions/static_manipulation/SM07/session_004/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:11a534356665fe799af92bd8a672045b5446d8de884a6031af968f5e370169e0
-size 5960567
+oid sha256:250891e7581e6b217b17d993474c312dd3ec3430fb4ebd760d9d7e468120410a
+size 5972730