Release update 2026-11-05: new sessions, instructions, annotations (part 40)

actions/locomanipulation/LM15/session_048/cameras/gsi_online_calibration.json

@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.433
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 2.4239,
+   "gate_fail": [],
+   "held_out_px_after": 0.578,
+   "held_out_px_before": 10.207,
+   "inliers": 1626,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.0436,
+    -1.2354,
+    0.4157
+   ],
+   "split_deg": 0.1271,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7859,
+   "gate_fail": [],
+   "held_out_px_after": 0.604,
+   "held_out_px_before": 3.314,
+   "inliers": 2873,
+   "position_fitted": true,
+   "position_mm": [
+    5.76,
+    -12.63,
+    8.07
+   ],
+   "position_sigma_mm": 0.542,
+   "position_split_mm": 3.47,
+   "rotvec_deg": [
+    0.0585,
+    -0.1266,
+    0.7734
+   ],
+   "split_deg": 0.0174,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.7638,
+   "gate_fail": [],
+   "held_out_px_after": 0.513,
+   "held_out_px_before": 9.285,
+   "inliers": 2520,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.1787,
+    -1.0065,
+    2.8994
+   ],
+   "split_deg": 0.0211,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9441,
+   "gate_fail": [],
+   "held_out_px_after": 0.405,
+   "held_out_px_before": 5.851,
+   "inliers": 4526,
+   "position_fitted": true,
+   "position_mm": [
+    3.91,
+    -11.68,
+    5.23
+   ],
+   "position_sigma_mm": 0.464,
+   "position_split_mm": 2.754,
+   "rotvec_deg": [
+    0.3629,
+    -0.892,
+    1.6888
+   ],
+   "split_deg": 0.0537,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.9045,
+   "gate_fail": [],
+   "held_out_px_after": 0.417,
+   "held_out_px_before": 5.75,
+   "inliers": 5982,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.6964,
+    -0.3391,
+    -0.4672
+   ],
+   "split_deg": 0.0537,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e3296774a321bb51",
+ "factory_root_name": "e3296774a321bb51",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "9564343eb877e1d389f55855fa5a5b3de84ec668fe75fa2d12644e2bbc57bfd7",
+   "source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "d5ce2f8d0934181535f199251c1905fc464ae474c4286a59af33b69e724759d8",
+   "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "e99453f0db98f24fe2525e5620c94b593a2d0e0ca28992a5390388c1c1f057be",
+   "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "0011ec93125e3b863adf51773c2c0922d6a02c54e2264eb8aecd5b8e167bb655",
+   "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
+  }
+ },
+ "input_fingerprint": "64dd30a86fde83e9",
+ "kind": "online_calibration",
+ "output_sha256": "6224162e2321600d412549d74dc5b27ecf8d92b2a5aaf48874a736aed147a939",
+ "overlap": {
+  "left-right": 0.489,
+  "left_eye-left": 0.684,
+  "left_eye-right": 0.685,
+  "left_eye-right_eye": 1.0,
+  "left_front-left": 0.466,
+  "left_front-left_eye": 0.717,
+  "left_front-right": 0.447,
+  "left_front-right_eye": 0.72,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.672,
+  "right_eye-right": 0.676,
+  "right_front-left": 0.469,
+  "right_front-left_eye": 0.746,
+  "right_front-right": 0.472,
+  "right_front-right_eye": 0.74
+ },
+ "picture_change": {
+  "left": 31.037,
+  "left_eye": 29.412,
+  "left_front": 35.041,
+  "right": 29.023,
+  "right_eye": 27.563,
+  "right_front": 35.489
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   4065514049000,
+   4066514060111,
+   4068514049000,
+   4069514049000,
+   4072514037888,
+   4073514049000,
+   4076514049000,
+   4077514037888,
+   4078514049000,
+   4079514037888,
+   4082514060111,
+   4083514071222,
+   4086514082333,
+   4087514049000,
+   4092514060111,
+   4093514071222,
+   4097514060111,
+   4098514049000,
+   4099514049000,
+   4100514071222,
+   4105514071222,
+   4106514082333,
+   4108514049000,
+   4109514049000,
+   4112514049000,
+   4113514071222,
+   4114514049000,
+   4115514071222,
+   4118514071222,
+   4119514071222,
+   4124514049000,
+   4125514049000,
+   4126514049000,
+   4130514049000,
+   4131514049000,
+   4134514049000,
+   4135514060111,
+   4137514049000,
+   4138514060111,
+   4141514049000,
+   4142514060111,
+   4146514060111,
+   4147514071222,
+   4150514060111,
+   4151514060111,
+   4154514060111,
+   4155514060111,
+   4160514060111,
+   4161514071222,
+   4164514071222,
+   4165514049000,
+   4166514049000,
+   4169514060111,
+   4170514071222,
+   4176514082333,
+   4177514071222,
+   4178514071222
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM15/session_048/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fcc79d6237454558e146af158b44ae968cca7fb173e47f639beceeec8addbbd
+size 690639

actions/locomanipulation/LM15/session_048/meta.json

@@ -540,6 +540,10 @@
   "primitive": "LM15",
   "source_session": "20261020/LM15/20261020_101209_session30"
  },
+ "task": {
+  "primitive": "LM15",
+  "instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
+ },
  "objects": [
   {
    "name": "LittleBox2",

actions/locomanipulation/LM15/session_048/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14baacd8b4b97781d9dc17d5f556f609f5366fdbfeaf7d985e23bbeed8d19f9e
+size 3887644

actions/locomanipulation/LM15/session_049/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07eaf7cc9e6b42b25e8a3a043a97d9c2e81eb8e5ed15b14c340b83f0eb196b29
+size 1148224

actions/locomanipulation/LM15/session_049/meta.json

@@ -0,0 +1,520 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261028/LM15/20261028_052430_session65",
+ "session_id": "20261028_052430_session65",
+ "primitive": "LM15",
+ "batch": "20261028",
+ "participant": "wangmengli",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "c9205ac6e17d2d5c",
+  "left": "cc5681142208e29a",
+  "right": "a85418f7d807dff9"
+ },
+ "generated_at_utc": "2026-10-30T07:22:38.747520+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": 131.95833333333334,
+  "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": -0.089774,
+  "rate": 0.0,
+  "global_lag_s": -0.09,
+  "peak_corr": 0.9645,
+  "reference_imu_first_sample_s": 13271.800162109,
+  "windows": {
+   "n_windows": 12,
+   "window_corr_median": 0.9663255664532714,
+   "drift_ppm": -405.6496295970524,
+   "drift_se_ppm": 255.53112971895072,
+   "drift_ms_over_take": -53.52546862533106,
+   "lag_scatter_ms": 27.894668891098743,
+   "lag_range_ms": 117.17219861641604
+  }
+ },
+ "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": 26849,
+    "n_gyro": 26843,
+    "t_start": -0.1012026683403369,
+    "t_end": 132.14835052166003
+   },
+   "imu_head_left": {
+    "n_acc": 26684,
+    "n_gyro": 26677,
+    "t_start": 0.00403147365963516,
+    "t_end": 132.31040036965882
+   },
+   "imu_wrist_right": {
+    "n_acc": 26126,
+    "n_gyro": 26126,
+    "t_start": -0.8109692443414664,
+    "t_end": 131.1223613146593
+   },
+   "imu_wrist_left": {
+    "n_acc": 26087,
+    "n_gyro": 26099,
+    "t_start": -0.9403234843413506,
+    "t_end": 131.12524084065976
+   },
+   "mag_head": {
+    "n": 13240,
+    "t_start": 0.08683534866017137,
+    "t_end": 132.47687195365856
+   },
+   "mag_wrist_right": {
+    "n": 13193,
+    "t_start": -0.8022457863409349,
+    "t_end": 131.11773290965888
+   },
+   "mag_wrist_left": {
+    "n": 13205,
+    "t_start": -0.9217243033400868,
+    "t_end": 131.11856782866002
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 13271.926456,
+    "frames": 3958,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0026284356473863946,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.03914829030676767,
+    "t_end": 131.93929229030604,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 13271.926423,
+    "frames": 3958,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0024181146161434135,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.03890496927655615,
+    "t_end": 131.93902696927566,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 13271.926445,
+    "frames": 3958,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002458947067077895,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.03896780172530409,
+    "t_end": 131.9391008017245,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 13271.926465,
+    "frames": 3958,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0021420814739499558,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.038670936133568395,
+    "t_end": 131.93882693613327,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 13271.926432,
+    "frames": 3958,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002801984596191448,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.03929783925545191,
+    "t_end": 131.93943083925464,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 13271.926408,
+    "frames": 3958,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002930366888236734,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.039402221547644806,
+    "t_end": 131.9395022215484,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 13270.941229,
+    "frames": 3962,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -0.9487071453405937,
+    "t_end": 131.08488685465986,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 13271.075492,
+    "frames": 3958,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -0.8144441453406748,
+    "t_end": 131.08555585465896,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-LM15-S07-wangmengli-01p1-1.mp4",
+    "frames": 3959,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 131.93333333333334
+   }
+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "c9205ac6e17d2d5c/20261028-morning/labels-053142/session-0f53931ac980636f",
+  "R_tracker0_imu0": [
+   [
+    -0.65802884,
+    0.21865533,
+    -0.72054694
+   ],
+   [
+    0.74441146,
+    0.04484773,
+    -0.66621337
+   ],
+   [
+    -0.11335621,
+    -0.97477101,
+    -0.19228063
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.17881399022307143,
+   -0.011712138677325562,
+   -0.03172489831555103
+  ],
+  "rig_check": {
+   "gyro_samples": 2967,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 2.398
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-30T18:45:27.899116+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": [
+   [
+    0.9999999999,
+    -1.6484e-05,
+    1.4e-08
+   ],
+   [
+    -1.4e-08,
+    -0.0016934171,
+    -0.9999985662
+   ],
+   [
+    1.6484e-05,
+    0.999998566,
+    -0.0016934171
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.001,
+    -1.6484e-08,
+    1.4e-11,
+    0.0
+   ],
+   [
+    -1.4e-11,
+    -1.693417e-06,
+    -0.000999998566,
+    0.0
+   ],
+   [
+    1.6484e-08,
+    0.000999998566,
+    -1.693417e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20261028-morning",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.09703029591991919,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 42.0,
+   "headtop_p95_mm": 1644.0
+  },
+  "gravity_check": {
+   "static_samples": 4173,
+   "g_world_mean_m_s2": [
+    -0.1274,
+    0.063,
+    9.7658
+   ],
+   "tilt_from_z_deg": 0.834,
+   "tilt_from_z_deg_before_levelling": 0.881,
+   "magnitude_m_s2": 9.7669
+  },
+  "rig_tracker_definition": "c9205ac6e17d2d5c/20261028-morning/labels-053142/session-0f53931ac980636f",
+  "rig_check": {
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 2.398
+  },
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-11-02T15:31:07.636257+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": [
+      0.09227588027715683,
+      0.0031749983318150043,
+      0.023799240589141846
+     ],
+     "LHandOut": [
+      0.08210863173007965,
+      0.015547341667115688,
+      -0.021938150748610497
+     ],
+     "LWristIn": [
+      0.00749459071084857,
+      0.00033693143632262945,
+      0.03938566893339157
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.054597850888967514,
+      0.01364640612155199,
+      -0.024970028549432755
+     ],
+     "RHandOut": [
+      -0.058194421231746674,
+      -0.03377683460712433,
+      -0.016771238297224045
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 3.55,
+   "p95_frame": 5.59
+  },
+  "worst_markers": [
+   "LHeel 9mm",
+   "RThigh 8mm",
+   "LKneeIn 8mm",
+   "RKneeIn 8mm",
+   "RHeel 8mm"
+  ],
+  "valid_fraction": 1.0,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 19.0,
+    "p5": 15.2
+   },
+   "frames_checked": 528,
+   "stature_mm": 1616.5
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 14.5
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 21.71,
+    "Q_rotvec": [
+     0.3685,
+     -0.08844,
+     0.00337
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 20.8,
+    "opposite_sign_bend_deg": 162.4,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 0.58,
+    "hand_vs_marker_frame_deg": {
+     "before": 21.75,
+     "after": 0.58
+    },
+    "markers_on_wrist": [
+     "LWristIn",
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -16.04,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -0.6,
+       0.7
+      ]
+     },
+     "wrist_total_deg_median_after": 13.2,
+     "markers_on_forearm": [
+      "LElbowIn",
+      "LForearm",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 95.59,
+    "Q_rotvec": [
+     -1.59496,
+     0.0449,
+     -0.4874
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 108.5,
+    "opposite_sign_bend_deg": 71.9,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.1,
+    "hand_vs_marker_frame_deg": {
+     "before": 95.62,
+     "after": 1.1
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 104.61,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -2.7,
+       3.2
+      ]
+     },
+     "wrist_total_deg_median_after": 32.9,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-11-02T15:31:10.838084+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM15/session_049",
+  "family": "locomanipulation",
+  "primitive": "LM15",
+  "source_session": "20261028/LM15/20261028_052430_session65"
+ },
+ "task": {
+  "primitive": "LM15",
+  "instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
+ },
+ "objects": [
+  {
+   "name": "BigBox",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  }
+ ]
+}

actions/locomanipulation/LM15/session_049/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c12d68156cae711a14ca52e4131fce6e88c228fae888b976cccdea83a95cf2be
+size 1170829

actions/locomanipulation/LM15/session_049/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a47da65c88e4eb23be60d708dd406d362c5de1bdd85af8ec093df3f0cf41cb14
+size 9008432

actions/locomanipulation/LM15/session_049/motions/object_markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:333137fdffa04569d0b85670c02cb2f64de89d48803e6a3d9519a5f08129fefb
+size 667480

actions/locomanipulation/LM15/session_049/motions/objects.json

@@ -0,0 +1,42 @@
+{
+ "session": "20261028/LM15/20261028_052430_session65",
+ "generated_at_utc": "2026-11-04T20:11:06.459354+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": 2.03
+   },
+   "valid_pct": 99.52,
+   "verified_pct": 99.52,
+   "moving_pct": 94.33,
+   "vision_source": null
+  }
+ ],
+ "absent": [],
+ "object_list": {
+  "status": "corrected",
+  "notes": [],
+  "declared": [
+   "BigBox0"
+  ],
+  "listed": [
+   {
+    "name": "BigBox",
+    "object": "BigBox",
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/locomanipulation/LM15/session_049/motions/objects.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:122f86b9bc865ff1f56f501c08857a573dffb71f51603e8dbf3fcbb3bcfb7cf2
+size 749813

actions/locomanipulation/LM15/session_049/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5047c9658937da1174955800c0cd6c3e6a41031428db235e428171c8d89f4d04
+size 9145705