Release update 2026-11-05: new sessions, instructions, annotations (part 136)

.gitattributes

@@ -47510,3 +47510,30 @@ actions/locomanipulation/LM71/session_013/raw/sensors/robowrist_imu_left.db filt
 actions/locomanipulation/LM71/session_013/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM71/session_013/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM71/session_013/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_014/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_014/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_014/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_014/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_014/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_014/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_014/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_014/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_014/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_015/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_015/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_015/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_015/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_015/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_015/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_015/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_015/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_015/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_016/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_016/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_016/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_016/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_016/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_016/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_016/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_016/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM71/session_016/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM71/session_014/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0e2d364dc06a655ad1190eef02379bf5ddb9a845ff4c1a580122336d968ee1f
+size 112705917

actions/locomanipulation/LM71/session_014/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3ca9c85454b736fc65a62cad0f629303c17f6c99dfafa0aef858c337f6aa21c
+size 24939857

actions/locomanipulation/LM71/session_014/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6586d50accc3ea99ade5020e89cddc68d758d4b413942570f8c85aef4d5bfa3
+size 1167360

actions/locomanipulation/LM71/session_014/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba3ceac51c7882b2ae28da425f956972b9484a62c35d737bd917475f3975240d
+size 1126400

actions/locomanipulation/LM71/session_014/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75443732f7e89937b0e2213234117a8476a7d0efbdb68c7e2ef51b1fa3c88a1b
+size 307200

actions/locomanipulation/LM71/session_014/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:351515b02a998782e4672108479c151c8d51beaa827ee790b6cb66fcf5ca9b1e
+size 1130496

actions/locomanipulation/LM71/session_014/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48a317d5e91fe771b8e41a14b8f94bf43435fe3d8af2c0244c014e19cf621de4
+size 1138688

actions/locomanipulation/LM71/session_014/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a333e56d61e12eb43288e38c1a1235b28145e026d1a16aa5edfd804c8dd22f8b
+size 294912

actions/locomanipulation/LM71/session_014/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:679918cabf494d4611fac6a9636ae8989c5df99bf99c769b3e9b6b853fc490de
+size 294912

actions/locomanipulation/LM71/session_014/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3721ab795b48583d8bcac4cc2416b9930ccf5bb473e906c07f8d4e67df4bcfd9
+size 1288322

actions/locomanipulation/LM71/session_014/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b9c2c525e63034a0d963a34a1e11b9ffb3feaa945f474f214c7c58f6310b9fb
+size 146951

actions/locomanipulation/LM71/session_014/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c47f249b88f3ee89cd86291754cd71cd00d29a7dc3cd8466bc92b6ec0f247c1a
+size 1313396

actions/locomanipulation/LM71/session_014/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3410729b152ca01426bf2971c81cefce5966e3d089112a5d923971a895309cb
+size 264293

actions/locomanipulation/LM71/session_014/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfc1181a500395c8ef49691dcdd4c883da466fc0ac66063a3f0e4d14299ce0de
+size 230391

actions/locomanipulation/LM71/session_014/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99ffc4bf643f0c4ff332b0784fb9ac7664be2a76e53cef7890e2d3658122b262
+size 56481757

actions/locomanipulation/LM71/session_014/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0eeee15246d5b8709a2e74ae10963046681a2d463f6a92b64ebdad792f4bdfac
+size 55900343

actions/locomanipulation/LM71/session_014/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e86fd53b79921eef824dcd99793a76ee76554aa7e5897776ced2081dca251787
+size 56595756

actions/locomanipulation/LM71/session_014/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb39f588ef4c33ffc7deae444510cc7715ebea4d6920e65f31b13302a5d3be68
+size 56540666

actions/locomanipulation/LM71/session_014/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:292a7977dd5f74123231314273e7f79574eec19a5d3aec70eff659f8df41965d
+size 56483332

actions/locomanipulation/LM71/session_014/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6b7841ec45c0943f6348dc24f70b20f247745ccd11b14d93a087d30458a85dc
+size 56586774

actions/locomanipulation/LM71/session_014/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c052a4ac98d2abbe3ddb63387384f027d70d228e4ba2ef8b67310b290cfe9fe9
+size 58835338

actions/locomanipulation/LM71/session_014/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba9b1d1e63c99bfd8b8215c49fa953ffd0988cd002e98ae727a58537e644a39e
+size 42533932

actions/locomanipulation/LM71/session_014/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a740a1dbb90c36d18d513fd062bcc904299a38e4de2ad637070202ebfa6b8d77
+size 45363307

actions/locomanipulation/LM71/session_015/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7434daf07188e9af7def2844f298b320e03a5ae2ae7d5d464ee668ee687760d0
+size 1175516

actions/locomanipulation/LM71/session_015/meta.json

@@ -0,0 +1,521 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261027/LM71/20261027_100749_session38",
+ "session_id": "20261027_100749_session38",
+ "primitive": "LM71",
+ "batch": "20261027",
+ "participant": "gaoziyue",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "c9205ac6e17d2d5c",
+  "left": "cc5681142208e29a",
+  "right": "a85418f7d807dff9"
+ },
+ "generated_at_utc": "2026-10-28T19:56:38.610543+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": 133.95833333333334,
+  "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": -0.080462,
+  "rate": 0.0,
+  "global_lag_s": -0.08,
+  "peak_corr": 0.9907,
+  "reference_imu_first_sample_s": 8840.019200317,
+  "windows": {
+   "n_windows": 12,
+   "window_corr_median": 0.9950746579127011,
+   "drift_ppm": -364.8708752357239,
+   "drift_se_ppm": 208.9465641261556,
+   "drift_ms_over_take": -48.874453737825206,
+   "lag_scatter_ms": 22.809335319115085,
+   "lag_range_ms": 95.06414697326301
+  }
+ },
+ "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": 27255,
+    "n_gyro": 27248,
+    "t_start": -0.09683437077319218,
+    "t_end": 134.15518783422567
+   },
+   "imu_head_left": {
+    "n_acc": 27084,
+    "n_gyro": 27078,
+    "t_start": 0.027594407225936035,
+    "t_end": 134.32120752122546
+   },
+   "imu_wrist_right": {
+    "n_acc": 26517,
+    "n_gyro": 26531,
+    "t_start": -0.8717816247731183,
+    "t_end": 133.04397313522577
+   },
+   "imu_wrist_left": {
+    "n_acc": 26443,
+    "n_gyro": 26457,
+    "t_start": -0.8297713057740996,
+    "t_end": 133.04317211222633
+   },
+   "mag_head": {
+    "n": 13438,
+    "t_start": 0.11198871222632328,
+    "t_end": 134.48198377722701
+   },
+   "mag_wrist_right": {
+    "n": 13391,
+    "t_start": -0.8628519017743177,
+    "t_end": 133.03680261022646
+   },
+   "mag_wrist_left": {
+    "n": 13387,
+    "t_start": -0.8212610077730436,
+    "t_end": 133.03822398922648
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 8840.136708,
+    "frames": 4018,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0026284356473863946,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.03967368387430065,
+    "t_end": 133.93965168387376,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 8840.136666,
+    "frames": 4018,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0024181146161434135,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.039421362842861296,
+    "t_end": 133.93939936284232,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 8840.136695,
+    "frames": 4018,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002458947067077895,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.03949119529216,
+    "t_end": 133.93946919529162,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 8840.13672,
+    "frames": 4018,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0021420814739499558,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.03919932970029799,
+    "t_end": 133.93916632969967,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 8840.136677,
+    "frames": 4018,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002801984596191448,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.03981623282243413,
+    "t_end": 133.9397942328219,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 8840.136643,
+    "frames": 4018,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002930366888236734,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.039910615114879644,
+    "t_end": 133.93989961511443,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 8839.266172,
+    "frames": 4015,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -0.8334907517742043,
+    "t_end": 132.96598824822513,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 8839.224321,
+    "frames": 4017,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -0.8753417517741557,
+    "t_end": 132.99099924822667,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-LM71-S04-gaoziyue-01p1-1.mp4",
+    "frames": 4019,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 133.93333333333334
+   }
+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "c9205ac6e17d2d5c/20261027-afternoon/labels-053142/session-9576fde1d6ab58e4",
+  "R_tracker0_imu0": [
+   [
+    -0.67670662,
+    0.09559051,
+    -0.73002096
+   ],
+   [
+    0.73332242,
+    -0.00086696,
+    -0.67988049
+   ],
+   [
+    -0.06562302,
+    -0.99542037,
+    -0.06951198
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.18017930221208578,
+   -0.014908610746607903,
+   -0.008882544703890173
+  ],
+  "rig_check": {
+   "gyro_samples": 7784,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 1.961
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-28T23:23:46.976615+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": [
+   [
+    0.9999951019,
+    0.0031298597,
+    1.01836e-05
+   ],
+   [
+    -1.01836e-05,
+    0.0065073133,
+    -0.9999788272
+   ],
+   [
+    -0.0031298597,
+    0.9999739291,
+    0.0065073133
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999995102,
+    3.12986e-06,
+    1.0184e-08,
+    0.0
+   ],
+   [
+    -1.0184e-08,
+    6.507313e-06,
+    -0.000999978827,
+    0.0
+   ],
+   [
+    -3.12986e-06,
+    0.000999973929,
+    6.507313e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20261027-afternoon",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.413729700581665,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 26.5,
+   "headtop_p95_mm": 1643.9
+  },
+  "gravity_check": {
+   "static_samples": 1757,
+   "g_world_mean_m_s2": [
+    -0.1522,
+    0.1843,
+    9.7577
+   ],
+   "tilt_from_z_deg": 1.403,
+   "tilt_from_z_deg_before_levelling": 1.286,
+   "magnitude_m_s2": 9.7607
+  },
+  "rig_tracker_definition": "c9205ac6e17d2d5c/20261027-afternoon/labels-053142/session-9576fde1d6ab58e4",
+  "rig_check": {
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 1.961
+  },
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-29T07:36:55.663513+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": [
+      0.04811752587556839,
+      0.0087082888931036,
+      0.029315268620848656
+     ],
+     "LHandOut": [
+      0.044626958668231964,
+      0.023765046149492264,
+      -0.024821164086461067
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.04927270859479904,
+      0.009476816281676292,
+      0.01761101931333542
+     ],
+     "RHandOut": [
+      -0.038047924637794495,
+      0.03906932845711708,
+      -0.012532006949186325
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 3.4,
+   "p95_frame": 5.94
+  },
+  "worst_markers": [
+   "RThigh 13mm",
+   "LThigh 10mm",
+   "LKneeIn 8mm",
+   "RKneeIn 7mm",
+   "RHeel 6mm"
+  ],
+  "valid_fraction": 0.9882,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 18.9,
+    "p5": 10.5
+   },
+   "frames_checked": 530,
+   "stature_mm": 1598.8
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 12.29
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 29.03,
+    "Q_rotvec": [
+     0.3869,
+     -0.25309,
+     0.20725
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 49.2,
+    "opposite_sign_bend_deg": 135.8,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 0.91,
+    "hand_vs_marker_frame_deg": {
+     "before": 29.07,
+     "after": 0.91
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 47.28,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -1.3,
+       1.9
+      ]
+     },
+     "wrist_total_deg_median_after": 14.4,
+     "markers_on_forearm": [
+      "LElbowIn",
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 56.36,
+    "Q_rotvec": [
+     0.92906,
+     0.14424,
+     -0.28899
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 67.0,
+    "opposite_sign_bend_deg": 122.5,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.19,
+    "hand_vs_marker_frame_deg": {
+     "before": 56.36,
+     "after": 1.19
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -65.55,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -1.5,
+       1.7
+      ]
+     },
+     "wrist_total_deg_median_after": 15.3,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-29T07:36:58.858808+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM71/session_015",
+  "family": "locomanipulation",
+  "primitive": "LM71",
+  "source_session": "20261027/LM71/20261027_100749_session38"
+ },
+ "task": {
+  "primitive": "LM71",
+  "instruction": "Carry the box across the room. The operator will step into your path partway across, so go around them and carry on. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+ },
+ "objects": [
+  {
+   "name": "BigBox",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "CcBlue",
+   "object_type": "CcBlue",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  }
+ ]
+}

actions/locomanipulation/LM71/session_015/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36c416b32d02627b7ebb7939ababab316ac8b7ff7a2d66cee1a6a9a5e546378d
+size 1199050

actions/locomanipulation/LM71/session_015/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:138415e392d908815b05868aa1cbb1141746de22940143d3961c39617e848cc3
+size 9084938

actions/locomanipulation/LM71/session_015/motions/object_markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4a7e4adc52bfe9afe455a2f1c11d4f281fb0019229fafdd66e3317e782fbca4
+size 1360043

actions/locomanipulation/LM71/session_015/motions/objects.json

@@ -0,0 +1,64 @@
+{
+ "session": "20261027/LM71/20261027_100749_session38",
+ "generated_at_utc": "2026-11-04T19:58:30.700203+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": 1.7
+   },
+   "valid_pct": 98.96,
+   "verified_pct": 98.95,
+   "moving_pct": 98.96,
+   "vision_source": null
+  },
+  {
+   "name": "CcBlue",
+   "object_type": "CcBlue",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/CcBlue/ccblue.ply",
+   "calibration": {
+    "instance": "CcBlue_1",
+    "rms_mm": 0.96
+   },
+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 0.0,
+   "vision_source": null
+  }
+ ],
+ "absent": [],
+ "object_list": {
+  "status": "corrected",
+  "notes": [],
+  "declared": [
+   "BigBox0",
+   "CcBlue0"
+  ],
+  "listed": [
+   {
+    "name": "BigBox",
+    "object": "BigBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "CcBlue",
+    "object": "CcBlue",
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/locomanipulation/LM71/session_015/motions/objects.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29ee28a8df619b064a248a7e7f5a3eb4bf82476f336f7b37f44706d860c89ab9
+size 1431098

actions/locomanipulation/LM71/session_015/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a35d22d9df6a7a0a7eba1b86a33e1d870555a7a6333f00383beb6f1acb6da25b
+size 9254425

actions/locomanipulation/LM71/session_015/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7776d490220ece484831cecf8de6c7b75f4d6909b3a95a6ebc7503c0bb5abb6e
+size 6145164

actions/locomanipulation/LM71/session_015/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce68c5f6199862af5976d3e60d3bcbe6a081ea4db1d1dd118f77e39176acbc5c
+size 25801038

actions/locomanipulation/LM71/session_015/raw/manifest.json

@@ -0,0 +1,308 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-10-27T14:07:46.739458+00:00",
+  "primitive_id": "LM71",
+  "session_id": "20261027_100749_session38",
+  "upload_batch_id": "20261027",
+  "dataset_path": "EgoMotionActions/20261027/LM71/20261027_100749_session38",
+  "segment": "auto/all",
+  "duration_s": 133.899978,
+  "device_ids": {
+    "main": "c9205ac6e17d2d5c",
+    "left": "cc5681142208e29a",
+    "right": "a85418f7d807dff9"
+  },
+  "mocap_rigid_names": [
+    "BigBox",
+    "Body0",
+    "CcBlue",
+    "Tracker0"
+  ],
+  "objects": [
+    "BigBox0",
+    "CcBlue0"
+  ],
+  "options": {
+    "raw_video": true,
+    "proxy_height": 540,
+    "proxy_crf": 28,
+    "proxy_bitrate": "1400k",
+    "mocap_selection": "explicit",
+    "mocap_files": [
+      "mocap-LM71-S04-gaoziyue-01p1/mocap-LM71-S04-gaoziyue-01p1-1.mp4",
+      "mocap-LM71-S04-gaoziyue-01p1/mocap-LM71-S04-gaoziyue-01p1-BigBox.csv",
+      "mocap-LM71-S04-gaoziyue-01p1/mocap-LM71-S04-gaoziyue-01p1-BigBox.trc",
+      "mocap-LM71-S04-gaoziyue-01p1/mocap-LM71-S04-gaoziyue-01p1-Body0.bvh",
+      "mocap-LM71-S04-gaoziyue-01p1/mocap-LM71-S04-gaoziyue-01p1-Body0.csv",
+      "mocap-LM71-S04-gaoziyue-01p1/mocap-LM71-S04-gaoziyue-01p1-Body0.trc",
+      "mocap-LM71-S04-gaoziyue-01p1/mocap-LM71-S04-gaoziyue-01p1-CcBlue.csv",
+      "mocap-LM71-S04-gaoziyue-01p1/mocap-LM71-S04-gaoziyue-01p1-CcBlue.trc",
+      "mocap-LM71-S04-gaoziyue-01p1/mocap-LM71-S04-gaoziyue-01p1-Tracker0.csv",
+      "mocap-LM71-S04-gaoziyue-01p1/mocap-LM71-S04-gaoziyue-01p1-Tracker0.trc"
+    ],
+    "include_rrd": false,
+    "rrd_files": [],
+    "aligned_intersection": false
+  },
+  "files": [
+    {
+      "source": "audio_segment1.wav",
+      "packaged_as": "audio_segment1.wav",
+      "kind": "data",
+      "original_bytes": 25801038,
+      "packaged_bytes": 25801038,
+      "compressed_video": false,
+      "sha256": "ce68c5f6199862af5976d3e60d3bcbe6a081ea4db1d1dd118f77e39176acbc5c"
+    },
+    {
+      "source": "mocap-LM71-S04-gaoziyue-01p1/mocap-LM71-S04-gaoziyue-01p1-1.mp4",
+      "packaged_as": "mocap/mocap-LM71-S04-gaoziyue-01p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 39119231,
+      "packaged_bytes": 39119231,
+      "compressed_video": false,
+      "sha256": "0fbfd10081f094f2ea2cc6e571fe3addf3341fea42a3bf3bac55856a99dc56d9"
+    },
+    {
+      "source": "mocap-LM71-S04-gaoziyue-01p1/mocap-LM71-S04-gaoziyue-01p1-BigBox.csv",
+      "packaged_as": "mocap/mocap-LM71-S04-gaoziyue-01p1-BigBox.csv",
+      "kind": "data",
+      "original_bytes": 5109267,
+      "packaged_bytes": 5109267,
+      "compressed_video": false,
+      "sha256": "0089fae8bdebed3b018dcec83e2f47b10e339e46dfc0984fb648ac4d0d5e9dc2"
+    },
+    {
+      "source": "mocap-LM71-S04-gaoziyue-01p1/mocap-LM71-S04-gaoziyue-01p1-BigBox.trc",
+      "packaged_as": "mocap/mocap-LM71-S04-gaoziyue-01p1-BigBox.trc",
+      "kind": "data",
+      "original_bytes": 2659341,
+      "packaged_bytes": 2659341,
+      "compressed_video": false,
+      "sha256": "b55b5b7222ad967b588b667f4c55d5a4fde0965f5a5c4cff49f1368db420437a"
+    },
+    {
+      "source": "mocap-LM71-S04-gaoziyue-01p1/mocap-LM71-S04-gaoziyue-01p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-LM71-S04-gaoziyue-01p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 9610489,
+      "packaged_bytes": 9610489,
+      "compressed_video": false,
+      "sha256": "71f4f5e87a7a179655a64c95ecc01b2b0fd285713ac099b0c5da0c55d4c838da"
+    },
+    {
+      "source": "mocap-LM71-S04-gaoziyue-01p1/mocap-LM71-S04-gaoziyue-01p1-Body0.csv",
+      "packaged_as": "mocap/mocap-LM71-S04-gaoziyue-01p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 134047182,
+      "packaged_bytes": 134047182,
+      "compressed_video": false,
+      "sha256": "717f90d8d8f8af4cd6d1a9b1a54bd7942719c2962ce61bde6a4f967a787e7a4c"
+    },
+    {
+      "source": "mocap-LM71-S04-gaoziyue-01p1/mocap-LM71-S04-gaoziyue-01p1-Body0.trc",
+      "packaged_as": "mocap/mocap-LM71-S04-gaoziyue-01p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 29321264,
+      "packaged_bytes": 29321264,
+      "compressed_video": false,
+      "sha256": "7acae89d5552cf4cec54807227cab4d905b145583bdd531a1d63f718c6fcb875"
+    },
+    {
+      "source": "mocap-LM71-S04-gaoziyue-01p1/mocap-LM71-S04-gaoziyue-01p1-CcBlue.csv",
+      "packaged_as": "mocap/mocap-LM71-S04-gaoziyue-01p1-CcBlue.csv",
+      "kind": "data",
+      "original_bytes": 4927941,
+      "packaged_bytes": 4927941,
+      "compressed_video": false,
+      "sha256": "d67b2281b8c5800ba85624bc9aa6f151b14a6ebbae1bd001e33a373eda48f527"
+    },
+    {
+      "source": "mocap-LM71-S04-gaoziyue-01p1/mocap-LM71-S04-gaoziyue-01p1-CcBlue.trc",
+      "packaged_as": "mocap/mocap-LM71-S04-gaoziyue-01p1-CcBlue.trc",
+      "kind": "data",
+      "original_bytes": 2499887,
+      "packaged_bytes": 2499887,
+      "compressed_video": false,
+      "sha256": "cf97892dd79cbbec3229090cba1ba623864db0d06c8a7200702c2a6d7d6756f8"
+    },
+    {
+      "source": "mocap-LM71-S04-gaoziyue-01p1/mocap-LM71-S04-gaoziyue-01p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-LM71-S04-gaoziyue-01p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 5148478,
+      "packaged_bytes": 5148478,
+      "compressed_video": false,
+      "sha256": "700e3b2ea0adcda025983ae26f9c44a0f5a6bf2887a81f0d756f69f3c260e914"
+    },
+    {
+      "source": "mocap-LM71-S04-gaoziyue-01p1/mocap-LM71-S04-gaoziyue-01p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-LM71-S04-gaoziyue-01p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 4946030,
+      "packaged_bytes": 4946030,
+      "compressed_video": false,
+      "sha256": "dce77d9752049189bce9fda952fb3ff88c6d8a5306609c9c0975c01fc48f8515"
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1396736,
+      "packaged_bytes": 1396736,
+      "compressed_video": false,
+      "sha256": "0d0a163028d57c465ee21516a2bb874ef7683e7545214c7cf28c64281a9adc44"
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1351680,
+      "packaged_bytes": 1351680,
+      "compressed_video": false,
+      "sha256": "ca098c1c59d9cb4eb141e5c9a7bfab69c4609de23d73f86c4585c14bc376a945"
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 360448,
+      "packaged_bytes": 360448,
+      "compressed_video": false,
+      "sha256": "25303ada9f03c6394fb6b0c4b03053d75fcf21e54c241be851a00faa4487a560"
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67034306,
+      "packaged_bytes": 67034306,
+      "compressed_video": false,
+      "sha256": "9c82ca306d84a43aa6f758275a9d7f6cd83721da05c6cac5bc06e8709e08d489"
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67033132,
+      "packaged_bytes": 67033132,
+      "compressed_video": false,
+      "sha256": "7b3567175eb12b4a38da91ae606f340fc416f7dcb7d7101d532ece3bc1587325"
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67085290,
+      "packaged_bytes": 67085290,
+      "compressed_video": false,
+      "sha256": "e2ac8444d44c12f9177d7302c794e31536306a5545118e40d87d67a091ce1b34"
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67075670,
+      "packaged_bytes": 67075670,
+      "compressed_video": false,
+      "sha256": "5dbd7b2de726d4dd3e5331ae2e99d79356a91a7db81d52ef1a4dc3eecf68b102"
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67038031,
+      "packaged_bytes": 67038031,
+      "compressed_video": false,
+      "sha256": "c9246c9c229e0060a476dd16261dacfb9d7e2a588c9f9b3a97e73cca22f767a8"
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 67044195,
+      "packaged_bytes": 67044195,
+      "compressed_video": false,
+      "sha256": "f8d61b61a2efe2f48fe0f8e05387ab3ec9dbfe6788ca5bd732d618f762e7795d"
+    },
+    {
+      "source": "robowrist_a85418f7d807dff9_right/robowrist_segment1_imu_right.db",
+      "packaged_as": "robowrist_a85418f7d807dff9_right/robowrist_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1318912,
+      "packaged_bytes": 1318912,
+      "compressed_video": false,
+      "sha256": "071fd76603168020a930bcfef6a09b2f7e0c9411321264bdd1fb3ee2a2c1fb59"
+    },
+    {
+      "source": "robowrist_a85418f7d807dff9_right/robowrist_segment1_mag_right.db",
+      "packaged_as": "robowrist_a85418f7d807dff9_right/robowrist_segment1_mag_right.db",
+      "kind": "data",
+      "original_bytes": 344064,
+      "packaged_bytes": 344064,
+      "compressed_video": false,
+      "sha256": "6e67a21b883d65e9162600ec43650df830239fffae18413dd9823a0f89ea48f0"
+    },
+    {
+      "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": 42898496,
+      "packaged_bytes": 42898496,
+      "compressed_video": false,
+      "sha256": "d00da7d1213fd80007fe634a4bff4f93301b731e11ecf5f7ccb508e8eaf05e61"
+    },
+    {
+      "source": "robowrist_cc5681142208e29a_left/robowrist_segment1_imu_left.db",
+      "packaged_as": "robowrist_cc5681142208e29a_left/robowrist_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1310720,
+      "packaged_bytes": 1310720,
+      "compressed_video": false,
+      "sha256": "a0a31cc5c93ec54bf898c17bdea810caca54f1259eb99767c0a6b0a703f9908c"
+    },
+    {
+      "source": "robowrist_cc5681142208e29a_left/robowrist_segment1_mag_left.db",
+      "packaged_as": "robowrist_cc5681142208e29a_left/robowrist_segment1_mag_left.db",
+      "kind": "data",
+      "original_bytes": 344064,
+      "packaged_bytes": 344064,
+      "compressed_video": false,
+      "sha256": "18debc06eba620a45f10dd71e88d53de894b0c2085ea8c12505fa5b223c5b2f3"
+    },
+    {
+      "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": 40156968,
+      "packaged_bytes": 40156968,
+      "compressed_video": false,
+      "sha256": "4d8ff1ca620e93c0c73e57a7a315c59d428ee08b8c57e1d03c283e5ef85d0982"
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 775898,
+      "packaged_bytes": 775845,
+      "compressed_video": false,
+      "sha256": "dbcf0f327c6c921f7a4795d6da39f9ebc5ff4e8f34c5b43ea0402386c36bc869"
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-LM71-S04-gaoziyue-01p1",
+    "action_id": "LM71",
+    "collection_session_index": 4,
+    "participant": "gaoziyue",
+    "repetition_count": 1
+  },
+  "upload_batch_created_at": "2026-10-27T22:28:09.010125+08:00",
+  "participant_gender": "female",
+  "participant_height_cm": 160,
+  "participant_weight_kg": 56,
+  "collection_site": {
+    "id": "site_01",
+    "assignment_method": "env",
+    "catalog": "collection_sites.json"
+  }
+}

actions/locomanipulation/LM71/session_015/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:717f90d8d8f8af4cd6d1a9b1a54bd7942719c2962ce61bde6a4f967a787e7a4c
+size 134047182

actions/locomanipulation/LM71/session_015/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7acae89d5552cf4cec54807227cab4d905b145583bdd531a1d63f718c6fcb875
+size 29321264