Upload folder using huggingface_hub (part 1028)

.gitattributes

@@ -39916,3 +39916,35 @@ actions/static_manipulation/SM43/session_006/raw/sensors/robowrist_mag_right.db
 actions/static_manipulation/SM43/session_007/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM43/session_007/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM43/session_007/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM43/session_007/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM43/session_007/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM43/session_007/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM43/session_007/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM43/session_007/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM43/session_007/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM43/session_007/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM44/session_001/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM44/session_001/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM44/session_001/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM44/session_001/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM44/session_001/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM44/session_001/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM44/session_001/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM44/session_001/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM44/session_002/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM44/session_002/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM44/session_002/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM44/session_002/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM44/session_002/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM44/session_002/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM44/session_002/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM44/session_002/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM44/session_003/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM44/session_003/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM44/session_003/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM44/session_003/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM44/session_003/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM44/session_003/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM44/session_003/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM44/session_003/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM44/session_003/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/static_manipulation/SM43/session_007/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b585bc86cc9bf0cc0319ed6de792502dd79a31710dd191c76876b134ddc4f77
+size 1601536

actions/static_manipulation/SM43/session_007/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01abbbcbef628ee3421eff391e903526951d1ec6b0736024bd52fb4f515e68c1
+size 1544192

actions/static_manipulation/SM43/session_007/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:170fa6977aa4cf9010875ef2850cff3e0996cba244e5ecb89aa7057afd851076
+size 409600

actions/static_manipulation/SM43/session_007/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0c7549404399ba3a0673f57e39d29dbf793ba9ac7aa3e4c596e00cfe5fcf879
+size 1552384

actions/static_manipulation/SM43/session_007/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f9106f9f57b1f67f6770a6d1e3ca4b28fb44dab8fab23d09f5b01f5fbbacda7
+size 1540096

actions/static_manipulation/SM43/session_007/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dae6d99e37833ee194267ea2b4b9e2f8eac17d52b5b61c6448e98800472f3be
+size 393216

actions/static_manipulation/SM43/session_007/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20afdc051c08e7e3ae0077f9cf33cc491ef891bb2bd78f557f67c44fd6dae88f
+size 393216

actions/static_manipulation/SM43/session_007/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab6d78613a05a484a73bdf3b228ef6c8f78afceb3b102339273a449525a0d4c4
+size 1635423

actions/static_manipulation/SM43/session_007/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af002f2c54efc2ab5109262481739e67757ccaf2d3332cb4ed208efd0dba8382
+size 194217

actions/static_manipulation/SM43/session_007/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3b3eda6f3e1006edc430c294d1b0232acc4eef1fe61802077d285f282340927
+size 1757559

actions/static_manipulation/SM43/session_007/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:255f3a4a935ec58e83547eb7bead92c3688c9014cb71acfa1b91824880a5f5a3
+size 353708

actions/static_manipulation/SM43/session_007/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2da558f5a00b4ada4d6d6f970c9e4a13db2a7d048b0cd1e60205752ccd610316
+size 309117

actions/static_manipulation/SM43/session_007/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0646edfbc58ba2aa93188054180ed88ebaf1c6784b15106c52aef4fe68c7fc23
+size 77354961

actions/static_manipulation/SM43/session_007/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f0aafb510098a6cae87c81f5e928ef32256469a36bb91eed66ac8373edb21da
+size 75320160

actions/static_manipulation/SM43/session_007/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce434ae7ce31ad343c9ac48a3a8f45a5f565357a89eb37cafb5cb86373157b4c
+size 77306101

actions/static_manipulation/SM43/session_007/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2376924d0557ffd6818cf45f4ba4b200e37adb0625d960df0aefc8c49b0445f8
+size 77468422

actions/static_manipulation/SM43/session_007/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60bc97b40e405e6a87fc5b1126701de281ac93adf0d2190b76485a665a7573a9
+size 77342723

actions/static_manipulation/SM43/session_007/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b9beb898c6f899a9c95eafe703aca5f7bea8c5db32d18b5cff39b74bfb1ab67
+size 77330572

actions/static_manipulation/SM43/session_007/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b3a78986498639716f7ebee376661dc7fe48e5665aa1e5dea2a788577e89ec7
+size 77174570

actions/static_manipulation/SM43/session_007/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb095daeb40179e5aff193d06d121ea46a33b57b3320681d72e29df9bf298efe
+size 64414909

actions/static_manipulation/SM43/session_007/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05de4b7227e34eb92a770041a7bf16843c38b825fd1c0773b80dc84b88bc4e0f
+size 63028277

actions/static_manipulation/SM44/session_001/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec5c0461e6963c345ef869f7a57de4bc263e658b79a961274dbe9ba97802a983
+size 1157973

actions/static_manipulation/SM44/session_001/meta.json

@@ -0,0 +1,534 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20260914/SM44/20260914_022036_session27",
+ "session_id": "20260914_022036_session27",
+ "primitive": "SM44",
+ "batch": "20260914",
+ "participant": "daihaoxiang",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e17c9efadb69e7b1",
+  "left": "cc5681142208e29a",
+  "right": "60a6f081bbe60b0d"
+ },
+ "generated_at_utc": "2026-10-14T11:08:02.658952+00:00",
+ "generated_by": "scripts/sync_dataset.py",
+ "time_base": {
+  "definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
+  "mocap_rate_hz": 120.0,
+  "first_solved_frame": 0,
+  "duration_s": 134.025,
+  "mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
+ },
+ "alignment": {
+  "reference_imu": "imu_head_right",
+  "model": "offset (median of windows)",
+  "mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
+  "offset_s": -1.175166,
+  "rate": 0.0,
+  "global_lag_s": -1.175,
+  "peak_corr": 0.9761,
+  "reference_imu_first_sample_s": 6606.001546484,
+  "windows": {
+   "n_windows": 12,
+   "window_corr_median": 0.9868520276688391,
+   "drift_ppm": 8.499780844972042,
+   "drift_se_ppm": 5.483933291471268,
+   "drift_ms_over_take": 1.1391122962403366,
+   "lag_scatter_ms": 0.5986452748622568,
+   "lag_range_ms": 2.3936018982211316
+  }
+ },
+ "units": {
+  "mocap": "millimetres, Nokov world, Y-up (unchanged)",
+  "y_up_to_z_up": [
+   [
+    1.0,
+    0.0,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   [
+    0.0,
+    1.0,
+    0.0
+   ]
+  ],
+  "acc": "m/s^2 (8192 LSB/g)",
+  "gyro": "rad/s (65.536 LSB/dps)",
+  "mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
+  "quaternions": "xyzw, Nokov global"
+ },
+ "calibration": {
+  "device": "e17c9efadb69e7b1",
+  "status": "ok",
+  "date": "2026-09-08"
+ },
+ "streams": {
+  "sensors": {
+   "imu_head_right": {
+    "n_acc": 27251,
+    "n_gyro": 27244,
+    "t_start": -1.1917190024691733,
+    "t_end": 134.6700703865313
+   },
+   "imu_head_left": {
+    "n_acc": 27200,
+    "n_gyro": 27194,
+    "t_start": -1.0741952344692178,
+    "t_end": 134.83632011853072
+   },
+   "imu_wrist_left": {
+    "n_acc": 26174,
+    "n_gyro": 26186,
+    "t_start": 0.2627594195314744,
+    "t_end": 132.7603008745314
+   },
+   "mag_head": {
+    "n": 13600,
+    "t_start": -0.9889449844690459,
+    "t_end": 135.0010602475309
+   },
+   "mag_wrist_right": {
+    "n": 13170,
+    "t_start": 1.0729531995307555,
+    "t_end": 132.76274410653107
+   },
+   "mag_wrist_left": {
+    "n": 13249,
+    "t_start": 0.2780499375308212,
+    "t_end": 132.75858985553126
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 6607.214265,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0023423887986386703,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.03989454732939368,
+    "t_end": 134.00658354732926,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 6607.214206,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0019489646456461974,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.039442123176312016,
+    "t_end": 134.00616412317643,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 6607.214249,
+    "frames": 4019,
+    "pts_gaps": 1,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0018171232386612972,
+    "gap_test": {
+     "pts": {
+      "offset_ms": -3.4,
+      "corr": 0.96,
+      "err_ms": 5.2
+     },
+     "nominal": {
+      "offset_ms": 29.9,
+      "corr": 0.96,
+      "err_ms": 28.1
+     }
+    },
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.03935328176933428,
+    "t_end": 134.00605328176928,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 6607.214284,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017295646474508202,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.03930072317828337,
+    "t_end": 134.00597872317806,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 6607.214225,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.001668932298833096,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.0391810908299961,
+    "t_end": 134.00589209083003,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 6607.214179,
+    "frames": 4020,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0017169377622902274,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.03918309629309835,
+    "t_end": 134.0059160962933,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 6607.426128,
+    "frames": 3975,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": 0.24941515853109042,
+    "t_end": 132.7166021585313,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 6608.392993,
+    "frames": 3946,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": 1.2162801585314158,
+    "t_end": 132.7160851585318,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-SM44-S01-daihaoxiang-02p1-1.mp4",
+    "frames": 4021,
+    "fps": 29.916666666666668,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 134.3732590529248
+   }
+  }
+ },
+ "flags": [],
+ "sanity": {
+  "status": {
+   "structure": "FAIL",
+   "markers": "WARN",
+   "timing": "WARN"
+  },
+  "verdict": "READY_WITH_WARNINGS",
+  "issues": [
+   "FAIL S_MISSING",
+   "WARN M_BODY_ID",
+   "WARN M_TRACKER_LABELS",
+   "WARN S_REPORT_TIMING",
+   "WARN S_VIDEO_FPS",
+   "WARN T_PTS",
+   "WARN T_UNITS"
+  ]
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-14T12:19:33.957538+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": [
+   [
+    0.9998966542,
+    -0.0143763067,
+    -5.22487e-05
+   ],
+   [
+    5.22487e-05,
+    0.0072682458,
+    -0.9999735846
+   ],
+   [
+    0.0143763067,
+    0.9998702388,
+    0.0072682458
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999896654,
+    -1.4376307e-05,
+    -5.2249e-08,
+    0.0
+   ],
+   [
+    5.2249e-08,
+    7.268246e-06,
+    -0.000999973585,
+    0.0
+   ],
+   [
+    1.4376307e-05,
+    0.000999870239,
+    7.268246e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20260914-morning",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.9230277933448321,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 31.6,
+   "headtop_p95_mm": 1771.9
+  },
+  "gravity_check": {
+   "static_samples": 8165,
+   "g_world_mean_m_s2": [
+    0.2041,
+    0.1418,
+    9.7707
+   ],
+   "tilt_from_z_deg": 1.457,
+   "tilt_from_z_deg_before_levelling": 2.063,
+   "magnitude_m_s2": 9.7739
+  },
+  "rig_tracker_definition": "e17c9efadb69e7b1/20260914-morning/labels-530412/session-13b3da2aac2e59ac",
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-15T11:37:23.279070+00:00",
+  "generated_by": "scripts/fit_smplx_dataset.py",
+  "file": "smplx.npz",
+  "gender": "male",
+  "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": [
+      0.04666769132018089,
+      0.04228052496910095,
+      0.015003563836216927
+     ],
+     "LHandOut": [
+      0.06314393877983093,
+      0.005117447581142187,
+      0.038674645125865936
+     ],
+     "LWristIn": [
+      -0.016978612169623375,
+      0.03701644763350487,
+      0.00735135143622756
+     ],
+     "LWristOut": [
+      -0.016297247260808945,
+      -0.025157269090414047,
+      0.029040850698947906
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.06217801570892334,
+      0.015427544713020325,
+      0.030210895463824272
+     ],
+     "RHandOut": [
+      -0.050226397812366486,
+      0.03388477489352226,
+      -0.01664220355451107
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 4.49,
+   "p95_frame": 10.06
+  },
+  "worst_markers": [
+   "LShoulderBack 14mm",
+   "CLAV 12mm",
+   "RShoulderFront 10mm",
+   "LShoulderFront 10mm",
+   "LWristOut 10mm"
+  ],
+  "valid_fraction": 0.9995,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 2.2,
+    "p5": -1.9
+   },
+   "frames_checked": 536,
+   "stature_mm": 1770.9
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 12.43
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 68.7,
+    "Q_rotvec": [
+     1.15962,
+     -0.04156,
+     0.30238
+    ],
+    "in_out_sign": -1,
+    "wrist_bend_deg_median": 94.2,
+    "opposite_sign_bend_deg": 104.2,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 4.64,
+    "hand_vs_marker_frame_deg": {
+     "before": 69.19,
+     "after": 4.64
+    },
+    "markers_on_wrist": [
+     "LWristIn",
+     "LWristOut",
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 87.07,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -4.6,
+       7.4
+      ]
+     },
+     "wrist_total_deg_median_after": 29.2,
+     "markers_on_forearm": [
+      "LForearm"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 32.25,
+    "Q_rotvec": [
+     0.51878,
+     0.06249,
+     -0.20912
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 23.7,
+    "opposite_sign_bend_deg": 166.9,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 4.27,
+    "hand_vs_marker_frame_deg": {
+     "before": 34.25,
+     "after": 4.27
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -17.15,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -12.9,
+       3.2
+      ]
+     },
+     "wrist_total_deg_median_after": 17.5,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-15T11:37:26.225938+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "rig_tracker": {
+  "definition": "e17c9efadb69e7b1/20260914-morning/labels-530412/session-13b3da2aac2e59ac",
+  "R_tracker0_imu0": [
+   [
+    -0.69659526,
+    0.24937301,
+    -0.67273185
+   ],
+   [
+    0.70098662,
+    0.03675821,
+    -0.71222651
+   ],
+   [
+    -0.15288165,
+    -0.96770963,
+    -0.20041274
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.17544835219748822,
+   -0.029099034760553217,
+   -0.02424043124802447
+  ],
+  "rig_check": {
+   "gyro_samples": 1528,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 1.159
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "rig_calibration_repair": {
+  "version": 2,
+  "applied_at_utc": "2026-10-18T18:53:13.897720+00:00",
+  "generated_by": "scripts/correct_processed_rig.py",
+  "remaining_gyro_frame_deg": 0.9902366136686682
+ },
+ "release": {
+  "release_path": "actions/static_manipulation/SM44/session_001",
+  "family": "static_manipulation",
+  "primitive": "SM44",
+  "source_session": "20260914/SM44/20260914_022036_session27"
+ }
+}

actions/static_manipulation/SM44/session_001/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4b59866ae93fbc4097d4fecc1effc46fca5e312944069eaeed50cec2493a1eb
+size 1163257

actions/static_manipulation/SM44/session_001/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb0dfc84395e69f8f6fe5ba01b960234a8da6aa1609ed3611bc1ed66b4f5f5ed
+size 9051183

actions/static_manipulation/SM44/session_001/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edd437ee35ab3198bb20a4a4d29491d02187c006e0ca19d3bd71818cec9f1dc6
+size 8598796

actions/static_manipulation/SM44/session_001/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06b8f8f2cfee5f3982e86aa9a0b07b7762c9c0dbfa9d46dfcef9a86aa78d940d
+size 6052235

actions/static_manipulation/SM44/session_001/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d19a133772de2f424ae332ecf9918e8b631817992d057760e086d0a632c9ac46
+size 25958478

actions/static_manipulation/SM44/session_001/raw/manifest.json

@@ -0,0 +1,225 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-10-09T00:48:39.440779+00:00",
+  "primitive_id": "SM44",
+  "session_id": "20260914_022036_session27",
+  "upload_batch_id": "20260914",
+  "dataset_path": "EgoMotionActions/20260914/SM44/20260914_022036_session27",
+  "segment": "auto/all",
+  "duration_s": 133.966689,
+  "device_ids": {
+    "main": "e17c9efadb69e7b1",
+    "left": "cc5681142208e29a",
+    "right": "60a6f081bbe60b0d"
+  },
+  "options": {
+    "raw_video": true,
+    "proxy_height": 540,
+    "proxy_crf": 28,
+    "proxy_bitrate": "1400k",
+    "mocap_selection": "explicit",
+    "mocap_files": [
+      "mocap-SM44-S01-daihaoxiang-02p1/mocap-SM44-S01-daihaoxiang-02p1-1.mp4",
+      "mocap-SM44-S01-daihaoxiang-02p1/mocap-SM44-S01-daihaoxiang-02p1-Body0.bvh",
+      "mocap-SM44-S01-daihaoxiang-02p1/mocap-SM44-S01-daihaoxiang-02p1-Body0.csv",
+      "mocap-SM44-S01-daihaoxiang-02p1/mocap-SM44-S01-daihaoxiang-02p1-Body0.trc",
+      "mocap-SM44-S01-daihaoxiang-02p1/mocap-SM44-S01-daihaoxiang-02p1-Tracker0.csv",
+      "mocap-SM44-S01-daihaoxiang-02p1/mocap-SM44-S01-daihaoxiang-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": 25958478,
+      "packaged_bytes": 25958478,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-SM44-S01-daihaoxiang-02p1/mocap-SM44-S01-daihaoxiang-02p1-1.mp4",
+      "packaged_as": "mocap/mocap-SM44-S01-daihaoxiang-02p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 38281387,
+      "packaged_bytes": 38281387,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-SM44-S01-daihaoxiang-02p1/mocap-SM44-S01-daihaoxiang-02p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-SM44-S01-daihaoxiang-02p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 9601522,
+      "packaged_bytes": 9601522,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-SM44-S01-daihaoxiang-02p1/mocap-SM44-S01-daihaoxiang-02p1-Body0.csv",
+      "packaged_as": "mocap/mocap-SM44-S01-daihaoxiang-02p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 131371154,
+      "packaged_bytes": 131371154,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-SM44-S01-daihaoxiang-02p1/mocap-SM44-S01-daihaoxiang-02p1-Body0.trc",
+      "packaged_as": "mocap/mocap-SM44-S01-daihaoxiang-02p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 29267177,
+      "packaged_bytes": 29267177,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-SM44-S01-daihaoxiang-02p1/mocap-SM44-S01-daihaoxiang-02p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-SM44-S01-daihaoxiang-02p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 5016571,
+      "packaged_bytes": 5016571,
+      "compressed_video": false
+    },
+    {
+      "source": "mocap-SM44-S01-daihaoxiang-02p1/mocap-SM44-S01-daihaoxiang-02p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-SM44-S01-daihaoxiang-02p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 4958112,
+      "packaged_bytes": 4958112,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1388544,
+      "packaged_bytes": 1388544,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1335296,
+      "packaged_bytes": 1335296,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 364544,
+      "packaged_bytes": 364544,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67224026,
+      "packaged_bytes": 67224026,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67155219,
+      "packaged_bytes": 67155219,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67157078,
+      "packaged_bytes": 67157078,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67153296,
+      "packaged_bytes": 67153296,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67106308,
+      "packaged_bytes": 67106308,
+      "compressed_video": false
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67162298,
+      "packaged_bytes": 67162298,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_mag_right.db",
+      "packaged_as": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_mag_right.db",
+      "kind": "data",
+      "original_bytes": 339968,
+      "packaged_bytes": 339968,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
+      "packaged_as": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 46580740,
+      "packaged_bytes": 46580740,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_cc5681142208e29a_left/robowrist_segment1_imu_left.db",
+      "packaged_as": "robowrist_cc5681142208e29a_left/robowrist_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1294336,
+      "packaged_bytes": 1294336,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_cc5681142208e29a_left/robowrist_segment1_mag_left.db",
+      "packaged_as": "robowrist_cc5681142208e29a_left/robowrist_segment1_mag_left.db",
+      "kind": "data",
+      "original_bytes": 339968,
+      "packaged_bytes": 339968,
+      "compressed_video": false
+    },
+    {
+      "source": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+      "packaged_as": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 50206648,
+      "packaged_bytes": 50206648,
+      "compressed_video": false
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 743760,
+      "packaged_bytes": 743709,
+      "compressed_video": false
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-SM44-S01-daihaoxiang-02p1",
+    "action_id": "SM44",
+    "collection_session_index": 1,
+    "participant": "daihaoxiang",
+    "repetition_count": 2
+  },
+  "upload_batch_created_at": "2026-10-09T08:51:07.958917+08:00",
+  "participant_gender": "male",
+  "participant_height_cm": 174,
+  "participant_weight_kg": 55,
+  "collection_site": {
+    "id": "site_00"
+  }
+}

actions/static_manipulation/SM44/session_001/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ced5bbd61c344a7f9696aa11c86c359804e57dd382102d048a937ab65841edfb
+size 131371154

actions/static_manipulation/SM44/session_001/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9fb0412ddfa36800fa89dda096ede1d4641cbec4a667f76e9841c647c6a02a7
+size 29267177

actions/static_manipulation/SM44/session_001/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cce3c137e71d079d022b80ed9e8450841a37be7cd7c9b126770c75525c0061b
+size 1388544

actions/static_manipulation/SM44/session_001/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1599557e76eb6f55feab29174a514be5f20cfbd912123a9ab2428d7d50e1277
+size 1335296

actions/static_manipulation/SM44/session_001/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ed86cf275ab8d9124ce6249f48c08999aea86b1812969efed3aa968f04575fd
+size 364544

actions/static_manipulation/SM44/session_001/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:159aa81d54372e42c0e39c0125b9daff70526844ce977766dccd0b2cbf52f116
+size 1294336

actions/static_manipulation/SM44/session_001/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27bc98d9b939fa23d58bc219d187a834c9efa8fddbb97fec25c177ed88520156
+size 339968

actions/static_manipulation/SM44/session_001/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba40098a2372cf1c74cf92733be69491b0d0b64b70dbb887c4e032ed2b3ff703
+size 339968

actions/static_manipulation/SM44/session_001/scene/infer.json

@@ -0,0 +1,36 @@
+{
+  "model": "facebook/map-anything",
+  "views": 268,
+  "windows": 6,
+  "cams": "left_front,right_front",
+  "stride_s": 1.0,
+  "size": [
+    518,
+    392
+  ],
+  "K": [
+    [
+      308.6641804819004,
+      0.0,
+      259.0
+    ],
+    [
+      0.0,
+      308.6641804819004,
+      196.0
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "pitch_deg": -20.0,
+  "hfov_deg": 80.0,
+  "pose_agreement_window_aligned": {
+    "trans_median_m": 0.0068,
+    "trans_p95_m": 0.0216,
+    "rot_median_deg": 0.205,
+    "rot_p95_deg": 0.398
+  }
+}

actions/static_manipulation/SM44/session_001/scene/views.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95dcd27dc2a211b10d394d023c0f10042e3aff50c793b1437e6f888cf33536c6
+size 303142456