Upload folder using huggingface_hub (part 2134)

.gitattributes

@@ -41073,3 +41073,12 @@ actions/static_manipulation/SM24/session_006/raw/sensors/robowrist_imu_left.db f
 actions/static_manipulation/SM24/session_006/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM24/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM24/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM25/session_006/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM25/session_006/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM25/session_006/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM25/session_006/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM25/session_006/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM25/session_006/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM25/session_006/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM25/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM25/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/static_manipulation/SM25/session_006/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca12ea519090a93b6b2916657649a1d03e242b4ac5e201ee6199865760cf1af5
+size 1230056

actions/static_manipulation/SM25/session_006/meta.json

@@ -0,0 +1,534 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261026/SM25/20261026_103849_session89",
+ "session_id": "20261026_103849_session89",
+ "primitive": "SM25",
+ "batch": "20261026",
+ "participant": "zhangxinxin",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "c9205ac6e17d2d5c",
+  "left": "cc5681142208e29a",
+  "right": "a85418f7d807dff9"
+ },
+ "generated_at_utc": "2026-10-27T04:57:39.662929+00:00",
+ "generated_by": "scripts/sync_dataset.py",
+ "time_base": {
+  "definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
+  "mocap_rate_hz": 120.0,
+  "mocap_rate_fix": null,
+  "first_solved_frame": 0,
+  "duration_s": 140.95833333333334,
+  "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": -0.082376,
+  "rate": 0.0,
+  "global_lag_s": -0.08,
+  "peak_corr": 0.9015,
+  "reference_imu_first_sample_s": 20714.649998206,
+  "windows": {
+   "n_windows": 13,
+   "window_corr_median": 0.9104751630648346,
+   "drift_ppm": -322.73321434574035,
+   "drift_se_ppm": 185.3118213380676,
+   "drift_ms_over_take": -45.4892465620321,
+   "lag_scatter_ms": 22.996592255495838,
+   "lag_range_ms": 98.39554571470987
+  }
+ },
+ "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": 28673,
+    "n_gyro": 28668,
+    "t_start": -0.09380904970964317,
+    "t_end": 141.15249026929234
+   },
+   "imu_head_left": {
+    "n_acc": 28495,
+    "n_gyro": 28489,
+    "t_start": 0.0214938702935165,
+    "t_end": 141.31884409629276
+   },
+   "imu_wrist_right": {
+    "n_acc": 27986,
+    "n_gyro": 27997,
+    "t_start": -0.8698088867080237,
+    "t_end": 140.4673951552919
+   },
+   "imu_wrist_left": {
+    "n_acc": 27898,
+    "n_gyro": 27910,
+    "t_start": -0.7749487657077857,
+    "t_end": 140.46999943529374
+   },
+   "mag_head": {
+    "n": 14139,
+    "t_start": 0.10070920329383674,
+    "t_end": 141.48070806229373
+   },
+   "mag_wrist_right": {
+    "n": 14132,
+    "t_start": -0.8458962317075652,
+    "t_end": 140.46392500529112
+   },
+   "mag_wrist_left": {
+    "n": 14123,
+    "t_start": -0.7564394737076959,
+    "t_end": 140.4634684372919
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 20714.770241,
+    "frames": 4228,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0026284356473863946,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.040495637936719994,
+    "t_end": 140.9404626379379,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 20714.770212,
+    "frames": 4228,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0024181146161434135,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.04025631690604363,
+    "t_end": 140.94021231690715,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 20714.770232,
+    "frames": 4228,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002458947067077895,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.04031714935775248,
+    "t_end": 140.94027314935886,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 20714.77025,
+    "frames": 4228,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0021420814739499558,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.0400182837671587,
+    "t_end": 140.93998528376835,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 20714.770221,
+    "frames": 4222,
+    "pts_gaps": 6,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002801984596191448,
+    "gap_test": {
+     "pts": {
+      "offset_ms": 0.1,
+      "corr": 0.756,
+      "err_ms": 2.7
+     },
+     "nominal": {
+      "offset_ms": 52.5,
+      "corr": 0.754,
+      "err_ms": 49.7
+     }
+    },
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.04064918688675838,
+    "t_end": 140.95724918688722,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 20714.770198,
+    "frames": 4228,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002930366888236734,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.04075456917928981,
+    "t_end": 140.94069856917997,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 20713.981993,
+    "frames": 4236,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -0.7503807977067204,
+    "t_end": 140.41622120229442,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 20713.874437,
+    "frames": 4239,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -0.8579367977093802,
+    "t_end": 140.40853420228962,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-SM25-S01-zhangxinxin-02p1-1.mp4",
+    "frames": 4229,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 140.93333333333334
+   }
+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "c9205ac6e17d2d5c/20261026-afternoon/labels-503412/session-c62adcef5259c85d",
+  "R_tracker0_imu0": [
+   [
+    -0.64314642,
+    0.00381819,
+    -0.7657337
+   ],
+   [
+    0.76437865,
+    -0.05647106,
+    -0.64228988
+   ],
+   [
+    -0.04569418,
+    -0.99839694,
+    0.03340062
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   0.017987336547679603,
+   -0.00989009632084716,
+   -0.010716821853760064
+  ],
+  "rig_check": {
+   "gyro_samples": 2186,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 2.461
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-27T06:43:20.570617+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": 44.1,
+   "headtop_p95_mm": 1625.4
+  },
+  "gravity_check": {
+   "static_samples": 4520,
+   "g_world_mean_m_s2": [
+    -0.0707,
+    -0.1819,
+    9.7984
+   ],
+   "tilt_from_z_deg": 1.141,
+   "tilt_from_z_deg_before_levelling": 1.466,
+   "magnitude_m_s2": 9.8003
+  },
+  "rig_tracker_definition": "c9205ac6e17d2d5c/20261026-afternoon/labels-503412/session-c62adcef5259c85d",
+  "rig_check": {
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 2.461
+  },
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-27T08:33:06.837932+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": [
+      0.04020442068576813,
+      0.02918274514377117,
+      0.00798630528151989
+     ],
+     "LHandOut": [
+      0.05508102476596832,
+      0.004661015700548887,
+      -0.02747936360538006
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.047553420066833496,
+      -0.03083568811416626,
+      0.025612905621528625
+     ],
+     "RHandOut": [
+      -0.05421094596385956,
+      0.02576136775314808,
+      0.024366317316889763
+     ],
+     "RWristOut": [
+      0.003581691300496459,
+      0.02828359045088291,
+      0.025826601311564445
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 3.27,
+   "p95_frame": 4.98
+  },
+  "worst_markers": [
+   "RElbowIn 8mm",
+   "RShoulderBack 6mm",
+   "LElbowIn 6mm",
+   "LShoulderBack 6mm",
+   "CLAV 6mm"
+  ],
+  "valid_fraction": 0.9996,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": -7.6,
+    "p5": -10.5
+   },
+   "frames_checked": 564,
+   "stature_mm": 1627.7
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 11.65
+  },
+  "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": 170.6,
+    "opposite_sign_bend_deg": 22.1,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.05,
+    "hand_vs_marker_frame_deg": {
+     "before": 179.24,
+     "after": 2.05
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -156.06,
+     "wrist_twist_deg_after": {
+      "median": -22.26,
+      "iqr": [
+       -29.5,
+       -2.8
+      ]
+     },
+     "wrist_total_deg_median_after": 34.7,
+     "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": 29.6,
+    "opposite_sign_bend_deg": 169.6,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.98,
+    "hand_vs_marker_frame_deg": {
+     "before": 1.98,
+     "after": 1.98
+    },
+    "markers_on_wrist": [
+     "RWristOut",
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -0.0,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -14.3,
+       8.6
+      ]
+     },
+     "wrist_total_deg_median_after": 29.4,
+     "markers_on_forearm": [
+      "RElbow",
+      "RForearm",
+      "RWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-28T06:51:02.366603+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/static_manipulation/SM25/session_006",
+  "family": "static_manipulation",
+  "primitive": "SM25",
+  "source_session": "20261026/SM25/20261026_103849_session89"
+ },
+ "objects": [
+  {
+   "name": "BigBox",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "Table",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
+}

actions/static_manipulation/SM25/session_006/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3eb0536548bd436ddd2eddf8da754620832400bc46249ea61414d8fcab0b4feb
+size 1241867

actions/static_manipulation/SM25/session_006/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9497888e1f661f30b57895a4ebec92d09fa88381dc4576bcc04a08cf01498dd3
+size 9750593

actions/static_manipulation/SM25/session_006/motions/object_markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15be14ba3d79b6b062331c2745af774554cacaafb23372c5af1c835780e7a0f4
+size 1251508

actions/static_manipulation/SM25/session_006/motions/objects.json

@@ -0,0 +1,61 @@
+{
+ "session": "20261026/SM25/20261026_103849_session89",
+ "generated_at_utc": "2026-10-29T13:41:37.617730+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": "BigBox",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/BigBox/bigbox.ply",
+   "calibration": {
+    "instance": "BigBox",
+    "rms_mm": 1.03
+   },
+   "valid_pct": 94.59,
+   "verified_pct": 94.58,
+   "moving_pct": 42.26,
+   "vision_source": null
+  },
+  {
+   "name": "Table",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 0.0,
+   "vision_source": null
+  }
+ ],
+ "absent": [],
+ "object_list": {
+  "status": "corrected",
+  "notes": [],
+  "declared": [
+   "BigBox0",
+   "Table0"
+  ],
+  "listed": [
+   {
+    "name": "BigBox",
+    "object": "BigBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "Table",
+    "object": null,
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/static_manipulation/SM25/session_006/motions/objects.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cd7137bd2b8ce387aba8658fca7a66c3a727e99886ccbc9116e9a9c855314e7
+size 1325654

actions/static_manipulation/SM25/session_006/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6118cfa0beb3c0c15fc18fe55a73b20528ae3938dc924a47e0a6191b87cafd5
+size 9749482

actions/static_manipulation/SM25/session_006/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b72cd7a20d8fa118270105217f5331e057c18068b0fae5277ed399441932ed1b
+size 6432580

actions/static_manipulation/SM25/session_006/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbe688c051452f06848315a4f426b996c167f5069b447fce2c4a427d906e3778
+size 27146958

actions/static_manipulation/SM25/session_006/raw/manifest.json

@@ -0,0 +1,308 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-10-26T15:55:33.947032+00:00",
+  "primitive_id": "SM25",
+  "session_id": "20261026_103849_session89",
+  "upload_batch_id": "20261026",
+  "dataset_path": "EgoMotionActions/20261026/SM25/20261026_103849_session89",
+  "segment": "auto/all",
+  "duration_s": 140.899967,
+  "device_ids": {
+    "main": "c9205ac6e17d2d5c",
+    "left": "cc5681142208e29a",
+    "right": "a85418f7d807dff9"
+  },
+  "mocap_rigid_names": [
+    "BigBox",
+    "Body0",
+    "Table",
+    "Tracker0"
+  ],
+  "objects": [
+    "BigBox0",
+    "Table0"
+  ],
+  "options": {
+    "raw_video": true,
+    "proxy_height": 540,
+    "proxy_crf": 28,
+    "proxy_bitrate": "1400k",
+    "mocap_selection": "explicit",
+    "mocap_files": [
+      "mocap-SM25-S01-zhangxinxin-02p1/mocap-SM25-S01-zhangxinxin-02p1-1.mp4",
+      "mocap-SM25-S01-zhangxinxin-02p1/mocap-SM25-S01-zhangxinxin-02p1-BigBox.csv",
+      "mocap-SM25-S01-zhangxinxin-02p1/mocap-SM25-S01-zhangxinxin-02p1-BigBox.trc",
+      "mocap-SM25-S01-zhangxinxin-02p1/mocap-SM25-S01-zhangxinxin-02p1-Body0.bvh",
+      "mocap-SM25-S01-zhangxinxin-02p1/mocap-SM25-S01-zhangxinxin-02p1-Body0.csv",
+      "mocap-SM25-S01-zhangxinxin-02p1/mocap-SM25-S01-zhangxinxin-02p1-Body0.trc",
+      "mocap-SM25-S01-zhangxinxin-02p1/mocap-SM25-S01-zhangxinxin-02p1-Table.csv",
+      "mocap-SM25-S01-zhangxinxin-02p1/mocap-SM25-S01-zhangxinxin-02p1-Table.trc",
+      "mocap-SM25-S01-zhangxinxin-02p1/mocap-SM25-S01-zhangxinxin-02p1-Tracker0.csv",
+      "mocap-SM25-S01-zhangxinxin-02p1/mocap-SM25-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": 27146958,
+      "packaged_bytes": 27146958,
+      "compressed_video": false,
+      "sha256": "cbe688c051452f06848315a4f426b996c167f5069b447fce2c4a427d906e3778"
+    },
+    {
+      "source": "mocap-SM25-S01-zhangxinxin-02p1/mocap-SM25-S01-zhangxinxin-02p1-1.mp4",
+      "packaged_as": "mocap/mocap-SM25-S01-zhangxinxin-02p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 47273656,
+      "packaged_bytes": 47273656,
+      "compressed_video": false,
+      "sha256": "34de584bb7f38d7d6323d0d0c45ead0cd1ac50091852ebdbecb60f438183327b"
+    },
+    {
+      "source": "mocap-SM25-S01-zhangxinxin-02p1/mocap-SM25-S01-zhangxinxin-02p1-BigBox.csv",
+      "packaged_as": "mocap/mocap-SM25-S01-zhangxinxin-02p1-BigBox.csv",
+      "kind": "data",
+      "original_bytes": 5334955,
+      "packaged_bytes": 5334955,
+      "compressed_video": false,
+      "sha256": "f5c73389ed9d132d758d145add77ee28bde15251ba1a0068bcba5dbc86cdfca0"
+    },
+    {
+      "source": "mocap-SM25-S01-zhangxinxin-02p1/mocap-SM25-S01-zhangxinxin-02p1-BigBox.trc",
+      "packaged_as": "mocap/mocap-SM25-S01-zhangxinxin-02p1-BigBox.trc",
+      "kind": "data",
+      "original_bytes": 2898948,
+      "packaged_bytes": 2898948,
+      "compressed_video": false,
+      "sha256": "2222aa95d48e637faa3653276b34b5e6a57d383496e555e6000ea5510c63c0b6"
+    },
+    {
+      "source": "mocap-SM25-S01-zhangxinxin-02p1/mocap-SM25-S01-zhangxinxin-02p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-SM25-S01-zhangxinxin-02p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 10180060,
+      "packaged_bytes": 10180060,
+      "compressed_video": false,
+      "sha256": "4e7d28cb86578906aff66aa366e1a7e58153710d91b7f863f5f0ac53e8857307"
+    },
+    {
+      "source": "mocap-SM25-S01-zhangxinxin-02p1/mocap-SM25-S01-zhangxinxin-02p1-Body0.csv",
+      "packaged_as": "mocap/mocap-SM25-S01-zhangxinxin-02p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 140019380,
+      "packaged_bytes": 140019380,
+      "compressed_video": false,
+      "sha256": "86baab1eca818c8a21affa3690479febd17ed938c1385e82ad91e19eba10b573"
+    },
+    {
+      "source": "mocap-SM25-S01-zhangxinxin-02p1/mocap-SM25-S01-zhangxinxin-02p1-Body0.trc",
+      "packaged_as": "mocap/mocap-SM25-S01-zhangxinxin-02p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 31836453,
+      "packaged_bytes": 31836453,
+      "compressed_video": false,
+      "sha256": "deb0935b30616668a2a6c9f97de5b9a2244e9b01bf174309f4d56b608dbaf18c"
+    },
+    {
+      "source": "mocap-SM25-S01-zhangxinxin-02p1/mocap-SM25-S01-zhangxinxin-02p1-Table.csv",
+      "packaged_as": "mocap/mocap-SM25-S01-zhangxinxin-02p1-Table.csv",
+      "kind": "data",
+      "original_bytes": 5159198,
+      "packaged_bytes": 5159198,
+      "compressed_video": false,
+      "sha256": "ff329b0f8facc214323a3ec92ae79f90c3411e8bb2653ae749fd8e4f60668066"
+    },
+    {
+      "source": "mocap-SM25-S01-zhangxinxin-02p1/mocap-SM25-S01-zhangxinxin-02p1-Table.trc",
+      "packaged_as": "mocap/mocap-SM25-S01-zhangxinxin-02p1-Table.trc",
+      "kind": "data",
+      "original_bytes": 5220151,
+      "packaged_bytes": 5220151,
+      "compressed_video": false,
+      "sha256": "61e69e3de71915344281007209d456e644cd7025994691498e278d1ddd9ccf57"
+    },
+    {
+      "source": "mocap-SM25-S01-zhangxinxin-02p1/mocap-SM25-S01-zhangxinxin-02p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-SM25-S01-zhangxinxin-02p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 5414055,
+      "packaged_bytes": 5414055,
+      "compressed_video": false,
+      "sha256": "e6068bd547259d9807e104cf35a4799157ecf2649089cb19c0e274aa5809c5eb"
+    },
+    {
+      "source": "mocap-SM25-S01-zhangxinxin-02p1/mocap-SM25-S01-zhangxinxin-02p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-SM25-S01-zhangxinxin-02p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 5355482,
+      "packaged_bytes": 5355482,
+      "compressed_video": false,
+      "sha256": "3b5cf71312b5d66afa83f4a446cec7b8209eb5376ce69f99dbc94f9edbfa689e"
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1462272,
+      "packaged_bytes": 1462272,
+      "compressed_video": false,
+      "sha256": "db9df1c62a5f9d1090e7ab80c5f7160d25186a5d559d56812d8fd568bffef26a"
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1413120,
+      "packaged_bytes": 1413120,
+      "compressed_video": false,
+      "sha256": "9eec796fcffd9dd62e589ffe94d8bee06809c1bf4db39ced39e497d3e1f3de18"
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 372736,
+      "packaged_bytes": 372736,
+      "compressed_video": false,
+      "sha256": "6f8b75eed5769daabec925314a6fc0e9d9857644a99a6c6073d968539b05d1b7"
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 70604942,
+      "packaged_bytes": 70604942,
+      "compressed_video": false,
+      "sha256": "f0d80897895445cffd92ae7bcc5fc02505ee13c34042719382b9966374482e83"
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 70400457,
+      "packaged_bytes": 70400457,
+      "compressed_video": false,
+      "sha256": "3e12d6d15e3d19b8336f22a1247348a2f02061394b6b5489541a0b1b972dfdd0"
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 70538232,
+      "packaged_bytes": 70538232,
+      "compressed_video": false,
+      "sha256": "8e3108afdb4bdb5f96d7509e021bb28be27a45e3cba5e7dc2ffe9d0eb2234731"
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 70507936,
+      "packaged_bytes": 70507936,
+      "compressed_video": false,
+      "sha256": "3cd63cc1c2ef3a25026dee03d826c16a17f80f3f7cbcf17f2951814ca7cdd6b4"
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 70538544,
+      "packaged_bytes": 70538544,
+      "compressed_video": false,
+      "sha256": "6353d0003dc7dd3b7d7c78610149862e742a316899059df0f71cc28b5d414145"
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 70564977,
+      "packaged_bytes": 70564977,
+      "compressed_video": false,
+      "sha256": "3a9c35836e673143cf72cd1223f20c39575709f451f21e1265d3517761948f38"
+    },
+    {
+      "source": "robowrist_a85418f7d807dff9_right/robowrist_segment1_imu_right.db",
+      "packaged_as": "robowrist_a85418f7d807dff9_right/robowrist_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1392640,
+      "packaged_bytes": 1392640,
+      "compressed_video": false,
+      "sha256": "a7165c1a5fbfb46ce8a5b4b3fb77356632e152f1a443047affb2670980cdffc5"
+    },
+    {
+      "source": "robowrist_a85418f7d807dff9_right/robowrist_segment1_mag_right.db",
+      "packaged_as": "robowrist_a85418f7d807dff9_right/robowrist_segment1_mag_right.db",
+      "kind": "data",
+      "original_bytes": 364544,
+      "packaged_bytes": 364544,
+      "compressed_video": false,
+      "sha256": "56caf085e9fa79f63eaa383e08d9523a3c7be5ec6052ac894b0f55db51a540d9"
+    },
+    {
+      "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": 51496152,
+      "packaged_bytes": 51496152,
+      "compressed_video": false,
+      "sha256": "b0b51117c214d37366e91148c2aa09e1c433a5946b948d1ab8866e5dec95e91e"
+    },
+    {
+      "source": "robowrist_cc5681142208e29a_left/robowrist_segment1_imu_left.db",
+      "packaged_as": "robowrist_cc5681142208e29a_left/robowrist_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1388544,
+      "packaged_bytes": 1388544,
+      "compressed_video": false,
+      "sha256": "d6e9840510f07443d5b378c39f52aced451f300e15fc21f3c12e8b64088c2169"
+    },
+    {
+      "source": "robowrist_cc5681142208e29a_left/robowrist_segment1_mag_left.db",
+      "packaged_as": "robowrist_cc5681142208e29a_left/robowrist_segment1_mag_left.db",
+      "kind": "data",
+      "original_bytes": 364544,
+      "packaged_bytes": 364544,
+      "compressed_video": false,
+      "sha256": "32462078eec9a25c2df361a5d2fc7e321f30f4338b29737ae828106ded0819cf"
+    },
+    {
+      "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": 56893590,
+      "packaged_bytes": 56893590,
+      "compressed_video": false,
+      "sha256": "7fc14f7b280e75054675d64596bbd4b565dbeddb77b77641da88e780de50ec25"
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 720219,
+      "packaged_bytes": 720156,
+      "compressed_video": false,
+      "sha256": "d958184c7b4a173d55d37cc43b5bcbc049f07acbc043dc11e9fcbe0696eb04af"
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-SM25-S01-zhangxinxin-02p1",
+    "action_id": "SM25",
+    "collection_session_index": 1,
+    "participant": "zhangxinxin",
+    "repetition_count": 2
+  },
+  "upload_batch_created_at": "2026-10-27T00:18:18.068504+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/SM25/session_006/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86baab1eca818c8a21affa3690479febd17ed938c1385e82ad91e19eba10b573
+size 140019380

actions/static_manipulation/SM25/session_006/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:deb0935b30616668a2a6c9f97de5b9a2244e9b01bf174309f4d56b608dbaf18c
+size 31836453

actions/static_manipulation/SM25/session_006/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db9df1c62a5f9d1090e7ab80c5f7160d25186a5d559d56812d8fd568bffef26a
+size 1462272

actions/static_manipulation/SM25/session_006/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9eec796fcffd9dd62e589ffe94d8bee06809c1bf4db39ced39e497d3e1f3de18
+size 1413120

actions/static_manipulation/SM25/session_006/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f8b75eed5769daabec925314a6fc0e9d9857644a99a6c6073d968539b05d1b7
+size 372736

actions/static_manipulation/SM25/session_006/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6e9840510f07443d5b378c39f52aced451f300e15fc21f3c12e8b64088c2169
+size 1388544

actions/static_manipulation/SM25/session_006/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7165c1a5fbfb46ce8a5b4b3fb77356632e152f1a443047affb2670980cdffc5
+size 1392640

actions/static_manipulation/SM25/session_006/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32462078eec9a25c2df361a5d2fc7e321f30f4338b29737ae828106ded0819cf
+size 364544

actions/static_manipulation/SM25/session_006/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56caf085e9fa79f63eaa383e08d9523a3c7be5ec6052ac894b0f55db51a540d9
+size 364544

actions/static_manipulation/SM25/session_006/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:711ab60b3d0950e77c2b594b3dc33ff2b972a40e145cefb704e57896c51cf5c1
+size 1435501

actions/static_manipulation/SM25/session_006/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c50aaeecc03fd27c3c4c8fecb30dab4313991b72d5b06cf5de7f787551d37ba4
+size 169630

actions/static_manipulation/SM25/session_006/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89c84edc636441532f8008f4925c90b1edc7629528f792ada1f13cfa742bb13a
+size 1546582

actions/static_manipulation/SM25/session_006/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18d9a24004c784049951f24a5543cabe21fad91e523c1934b952d068f90b8511
+size 305084

actions/static_manipulation/SM25/session_006/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8e8e3fd4f82e5e6ea5caa15d47fd4e873ed8890f2756183f94d152aefc74bfe
+size 284199

actions/static_manipulation/SM25/session_006/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0d80897895445cffd92ae7bcc5fc02505ee13c34042719382b9966374482e83
+size 70604942

actions/static_manipulation/SM25/session_006/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e12d6d15e3d19b8336f22a1247348a2f02061394b6b5489541a0b1b972dfdd0
+size 70400457

actions/static_manipulation/SM25/session_006/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e3108afdb4bdb5f96d7509e021bb28be27a45e3cba5e7dc2ffe9d0eb2234731
+size 70538232

actions/static_manipulation/SM25/session_006/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cd63cc1c2ef3a25026dee03d826c16a17f80f3f7cbcf17f2951814ca7cdd6b4
+size 70507936

actions/static_manipulation/SM25/session_006/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6353d0003dc7dd3b7d7c78610149862e742a316899059df0f71cc28b5d414145
+size 70538544

actions/static_manipulation/SM25/session_006/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a9c35836e673143cf72cd1223f20c39575709f451f21e1265d3517761948f38
+size 70564977

actions/static_manipulation/SM25/session_006/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34de584bb7f38d7d6323d0d0c45ead0cd1ac50091852ebdbecb60f438183327b
+size 47273656

actions/static_manipulation/SM25/session_006/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fc14f7b280e75054675d64596bbd4b565dbeddb77b77641da88e780de50ec25
+size 56893590

actions/static_manipulation/SM25/session_006/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0b51117c214d37366e91148c2aa09e1c433a5946b948d1ab8866e5dec95e91e
+size 51496152

actions/static_manipulation/SM26/session_001/meta.json

@@ -388,19 +388,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 99.34,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     1.72955,
-     -0.01347,
-     -0.12025
+     -3.02706,
+     0.2415,
+     0.80509
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 103.2,
-    "opposite_sign_bend_deg": 92.0,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 168.1,
+    "opposite_sign_bend_deg": 35.7,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 4.33,
     "hand_vs_marker_frame_deg": {
-     "before": 99.52,
+     "before": 178.25,
      "after": 4.33
     },
     "markers_on_wrist": [
@@ -408,15 +408,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 101.78,
+     "twist_moved_deg": 149.33,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": 23.42,
       "iqr": [
-       -14.9,
-       9.9
+       8.0,
+       32.4
       ]
      },
-     "wrist_total_deg_median_after": 33.1,
+     "wrist_total_deg_median_after": 41.9,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -427,19 +427,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 21.32,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     0.1735,
-     0.27474,
-     -0.18141
+     -0.0,
+     0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 30.1,
-    "opposite_sign_bend_deg": 170.9,
+    "wrist_bend_deg_median": 29.7,
+    "opposite_sign_bend_deg": 171.8,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.75,
     "hand_vs_marker_frame_deg": {
-     "before": 21.83,
+     "before": 2.75,
      "after": 2.75
     },
     "markers_on_wrist": [
@@ -447,7 +447,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -5.77,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
       "median": -0.0,
       "iqr": [
@@ -464,7 +464,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-14T23:51:06.167361+00:00",
+   "generated_at_utc": "2026-10-28T06:16:22.200951+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },

actions/static_manipulation/SM26/session_001/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:cf4e7b3505c770e6624b1021cfec77923711b763a77f9212ab4806aa13614bc2
-size 7025555
+oid sha256:a2a59b7a536c1fe2020bd0c5cadf9b2cd7184e6ba4c345bd0a3ecf95059fd2df
+size 7031859

actions/static_manipulation/SM26/session_002/meta.json

@@ -384,19 +384,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 109.65,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     -1.8761,
-     -0.13262,
-     0.35404
+     -2.98662,
+     0.4392,
+     0.86995
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 123.0,
-    "opposite_sign_bend_deg": 72.4,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 165.9,
+    "opposite_sign_bend_deg": 31.3,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.68,
     "hand_vs_marker_frame_deg": {
-     "before": 110.01,
+     "before": 179.26,
      "after": 3.68
     },
     "markers_on_wrist": [
@@ -404,15 +404,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -121.92,
+     "twist_moved_deg": -155.62,
      "wrist_twist_deg_after": {
-      "median": -0.08,
+      "median": -19.73,
       "iqr": [
-       -11.2,
-       9.7
+       -31.1,
+       -6.4
       ]
      },
-     "wrist_total_deg_median_after": 31.8,
+     "wrist_total_deg_median_after": 41.2,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -423,19 +423,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 25.24,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     0.31087,
-     0.28521,
-     -0.12678
+     0.0,
+     0.0,
+     -0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 36.1,
-    "opposite_sign_bend_deg": 169.5,
+    "wrist_bend_deg_median": 35.9,
+    "opposite_sign_bend_deg": 170.7,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.85,
     "hand_vs_marker_frame_deg": {
-     "before": 25.63,
+     "before": 3.85,
      "after": 3.85
     },
     "markers_on_wrist": [
@@ -443,9 +443,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -5.88,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -0.0,
       "iqr": [
        -11.5,
        11.6
@@ -460,7 +460,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-15T04:05:56.267663+00:00",
+   "generated_at_utc": "2026-10-28T06:30:23.042540+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },

actions/static_manipulation/SM26/session_002/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ce55388fee66901a79de6b9370d3d615a4823f470f9a7bacceb6df5394b99634
-size 7066954
+oid sha256:14b4308e76b584b6597940e27d2a0290991ad27063c44fae83647851f50a22c9
+size 7059365

actions/static_manipulation/SM26/session_003/meta.json

@@ -386,19 +386,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 145.19,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     -2.49625,
-     -0.18132,
-     0.39673
+     -2.98794,
+     0.42773,
+     0.87113
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 154.2,
-    "opposite_sign_bend_deg": 39.0,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 169.8,
+    "opposite_sign_bend_deg": 30.1,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.37,
     "hand_vs_marker_frame_deg": {
-     "before": 145.23,
+     "before": 179.24,
      "after": 3.37
     },
     "markers_on_wrist": [
@@ -406,15 +406,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -150.51,
+     "twist_moved_deg": -155.75,
      "wrist_twist_deg_after": {
-      "median": -2.23,
+      "median": -21.93,
       "iqr": [
-       -14.0,
-       4.2
+       -34.4,
+       -16.1
       ]
      },
-     "wrist_total_deg_median_after": 29.1,
+     "wrist_total_deg_median_after": 37.2,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -425,19 +425,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 7.54,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     0.04973,
-     0.09671,
-     -0.07419
+     0.0,
+     0.0,
+     -0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 23.8,
-    "opposite_sign_bend_deg": 169.5,
+    "wrist_bend_deg_median": 24.1,
+    "opposite_sign_bend_deg": 169.6,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.71,
     "hand_vs_marker_frame_deg": {
-     "before": 8.5,
+     "before": 2.71,
      "after": 2.71
     },
     "markers_on_wrist": [
@@ -445,7 +445,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -2.53,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
       "median": 0.0,
       "iqr": [
@@ -462,7 +462,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-15T08:20:43.883179+00:00",
+   "generated_at_utc": "2026-10-28T06:33:28.730994+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },

actions/static_manipulation/SM26/session_003/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9ad7e9dbe53631dd30d6939284bafb280357b05e9dd906c8b8b9fdb394c0bfde
-size 6347554
+oid sha256:6f4af2a85c7ed2e0e162b5273864a2adb6b8d50eec953c428b23628cad9516f1
+size 6340087

actions/static_manipulation/SM26/session_004/meta.json

@@ -449,19 +449,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 94.09,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     -1.26599,
-     -0.95631,
-     0.42394
+     -3.02575,
+     0.26943,
+     0.80116
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 113.5,
-    "opposite_sign_bend_deg": 87.2,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 169.4,
+    "opposite_sign_bend_deg": 50.5,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 4.43,
     "hand_vs_marker_frame_deg": {
-     "before": 94.5,
+     "before": 178.55,
      "after": 4.43
     },
     "markers_on_wrist": [
@@ -469,15 +469,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -106.18,
+     "twist_moved_deg": -154.27,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -16.88,
       "iqr": [
-       -9.9,
-       11.8
+       -26.9,
+       -4.0
       ]
      },
-     "wrist_total_deg_median_after": 50.5,
+     "wrist_total_deg_median_after": 39.9,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -488,19 +488,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 18.38,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     0.23236,
-     0.12427,
-     -0.18306
+     -0.0,
+     -0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 34.9,
-    "opposite_sign_bend_deg": 163.9,
+    "wrist_bend_deg_median": 28.8,
+    "opposite_sign_bend_deg": 170.4,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.76,
     "hand_vs_marker_frame_deg": {
-     "before": 19.07,
+     "before": 3.76,
      "after": 3.76
     },
     "markers_on_wrist": [
@@ -509,7 +509,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -22.81,
+     "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
       "median": -0.0,
       "iqr": [
@@ -525,7 +525,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-26T13:45:42.412608+00:00",
+   "generated_at_utc": "2026-10-28T06:46:08.673130+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -534,5 +534,13 @@
   "family": "static_manipulation",
   "primitive": "SM26",
   "source_session": "20261021/SM26/20261021_082053_session103"
- }
+ },
+ "objects": [
+  {
+   "name": "Table",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/static_manipulation/SM26/session_004/motions/object_markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a73757c6161bb1ac013bc768c0c7f4c1811b0bdca98be9ad31ef5f83120ab61
+size 518225